A robotic hand structure

Abstract

This utility model relates to the field of robotic hand technology and discloses a robotic hand structure, including a hand assembly. The end of the hand assembly has at least three fingers, and a thumb is located on the side of the hand assembly. Each finger includes a knuckle assembly and a knuckle base. The knuckle assembly includes a first knuckle and a second knuckle. The lower end of the first knuckle is rotatably connected to the second knuckle via a first drive shaft. A first power assembly is provided within the first knuckle to drive the first knuckle to rotate around the first drive shaft. The lower end of the second knuckle has a second drive shaft, and a second power assembly is provided within the second knuckle to drive the second knuckle to rotate around the second drive shaft. This utility model has the advantages of a compact and stable structure, more flexible movement, and greater grip strength.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a robot hand structure. Background Technology

[0002] In the field of robotics, the structure of a robot's hand plays a crucial role in the stability and flexibility of its grasping ability. Existing robot fingers are typically composed of knuckles connected by cables. The bending of the fingers is achieved by power pulling the cables at their ends. In this type of hand, each knuckle is controlled by a single power source, and individual knuckles cannot bend independently. Furthermore, the cables have a certain degree of elasticity, making it impossible to grasp heavy objects. For example, Chinese Patent No. 2019224375943, filed on December 30, 2019, discloses a robot hand with bendable fingers that uses motors, levers, and steel cables to synchronously control the movement of all fingers. However, this type of robot hand has relatively limited movement, cannot control the movement of individual finger knuckles, cannot perform complex grasping actions, and cannot meet the requirements for refined and complex movements. Moreover, the gripping force of the fingers is limited by the strength of the steel cables. Utility Model Content

[0003] In order to solve the above-mentioned problems in the prior art, this utility model provides a robot hand structure that is compact and stable, more flexible in movement, and has greater gripping force.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] A robotic hand structure includes a hand assembly. The hand assembly has at least three fingers at its end and a thumb on its side. Each finger includes a knuckle assembly and a knuckle seat rotatably connected to the knuckle assembly. The knuckle seat is fixedly connected to the end of the hand assembly. The knuckle assembly includes a first knuckle and a second knuckle. The lower end of the first knuckle is rotatably connected to the second knuckle via a first drive shaft. The first knuckle contains a first power assembly that drives the first knuckle to rotate around the first drive shaft. The lower end of the second knuckle has a second drive shaft, and the second knuckle contains a second power assembly that drives the second knuckle to rotate around the second drive shaft.

[0006] By adopting the above technical solution: the knuckle components in the fingers and thumb each include a first knuckle and a second knuckle. The first and second knuckles are driven to rotate by independent power components, resulting in a compact structure, flexible movement, and greater gripping force.

[0007] Preferably, the first drive shaft is rotatably connected to the first finger joint, and the first drive shaft is provided with a first drive wheel. The first power assembly includes a first motor and a first transmission component, and the first motor drives the first transmission component to rotate around the first drive wheel. The upper end of the second finger joint is provided with second connecting ears on both sides. The two ends of the first drive shaft are respectively fixedly connected to the second connecting ears. The second drive shaft is rotatably connected to the lower end of the second finger joint, and the second drive shaft is provided with a second drive wheel. The second power assembly includes a second motor and a second transmission component, and the second motor drives the second transmission component to rotate around the second drive wheel.

[0008] Preferably, both the first and second transmission wheels are configured as worm gears, and both the first and second transmission components are configured as worms. Power is transmitted through a worm gear mechanism, which is compact, has good stability, and allows for greater output torque from the transmission shaft.

[0009] Preferably, the first phalanx comprises two interlocking first phalanx bodies, which are detachably connected; the second phalanx comprises two interlocking second phalanx bodies, which are detachably connected. The first phalanx is connected by the two first phalanx bodies, thereby facilitating the installation, disassembly, and maintenance of the internal first drive shaft and first power component.

[0010] Preferably, the second phalanx body has a motor receiving groove, which contains a motor positioning groove. The second motor has a motor positioning seat, which is snap-fitted into the motor positioning groove. Positioning of the second motor via the motor receiving groove and the motor positioning groove is convenient and stable.

[0011] Preferably, both ends of the first drive shaft are provided with limiting grooves, and the bottom of the limiting grooves is provided with connecting holes. The second connecting lug is provided with through holes coaxially distributed with the first drive shaft, and the inner side of the second connecting lug is provided with a limiting strip that engages with the limiting grooves. The through holes and connecting holes are connected by fasteners. This connection makes the connection between the first drive shaft and the second connecting lug more convenient and stable, and ensures that there is no relative rotation between the first drive shaft and the second connecting lug.

[0012] Preferably, one end of the knuckle seat is detachably connected to the palm assembly, and the other end of the knuckle seat is provided with a third connecting ear, and the second drive shaft in the finger is fixedly connected to the third connecting ear.

[0013] Preferably, the thumb includes a knuckle assembly and a thumb seat rotatably connected to the knuckle assembly, and the palm assembly is provided with a thumb drive assembly for driving the thumb seat to rotate.

[0014] Preferably, one end of the thumb seat is provided with a fourth connecting ear that connects to the second drive shaft in the corresponding finger assembly, and the other end of the thumb seat is provided with a fifth connecting ear for connecting to the thumb drive assembly. The thumb drive assembly includes a thumb connecting seat, a third drive shaft rotatably connected to the thumb connecting seat, and a third power assembly for driving the third drive shaft to rotate. Both ends of the third drive shaft are fixedly connected to the fifth connecting ear, and the third drive shaft is perpendicularly distributed to the second drive shaft on the fourth connecting ear. The thumb drive assembly increases the degree of freedom of the thumb, allowing the thumb to be used in conjunction with each finger.

[0015] Therefore, this invention has the beneficial effects of more flexible movement and greater grip. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of one structure of the present utility model.

[0017] Figure 2 for Figure 1 Another perspective view.

[0018] Figure 3 An exploded image of a finger.

[0019] Figure 4 This is a schematic diagram of the internal structure of the second phalanx.

[0020] Figure 5 This is a schematic diagram of the thumb's structure.

[0021] Figure 6 This is a partial exploded view of the thumb. Detailed Implementation

[0022] To make the technical problem to be solved, the technical solution, and the beneficial technical effects of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and several exemplary embodiments. It should be understood that the specific embodiments described herein are only for explaining the present utility model and are not intended to limit the scope of protection of the present utility model.

[0023] It should be understood that the terms "first," "second," etc., used herein are for descriptive purposes only and should not be construed as indicating or implying relative importance, nor should they be construed as implicitly specifying the number of technical features indicated. Features specified as "first" or "second" may expressly or implicitly indicate that at least one of those features is included.

[0024] like Figures 1-6The illustrated robotic hand structure includes a hand assembly 1. The end of the hand assembly 1 has at least three fingers 2, and a thumb 4 is located on the side of the hand assembly 1. Each finger 2 includes a knuckle assembly 20 and a knuckle seat 3 rotatably connected to the knuckle assembly 20. The knuckle seat 3 is fixedly connected to the end of the hand assembly 1. The thumb 4 assembly includes a knuckle assembly 20 and a thumb seat 40 rotatably connected to the knuckle assembly 20. The side of the hand assembly 1 has a thumb drive assembly 5 for driving the thumb seat 40 to rotate. The knuckle assembly 20 includes a first knuckle 21 and a second knuckle 22. The lower end of the first knuckle 21 is rotatably connected to the second knuckle 22 via a first drive shaft 211. The first knuckle 21 contains a first power assembly 212 that drives the first knuckle 21 to rotate around the first drive shaft 211. The lower end of the second knuckle 22 has a second drive shaft 221, and the second knuckle 22 contains a second power assembly 222 that drives the second knuckle 22 to rotate around the second drive shaft 221.

[0025] In some embodiments, the outer end of the first knuckle 21 is provided with an inclined gripping surface 23, such that when the thumb 4 is in contact with the gripping surface 23 at the end of any finger 2, the first knuckle 21 on the thumb 4 and the first knuckle 21 on the finger 2 form an obtuse angle. This allows the thumb and finger to better grasp thin, sheet-like objects.

[0026] The first drive shaft 211 is rotatably connected to the first finger joint 21. A first drive wheel 213 is fixedly mounted on the first drive shaft 211. The first power assembly 212 includes a first motor 2120 and a first transmission component 2121. The first motor drives the first transmission component to rotate around the first drive wheel. The upper ends of the second finger joint 22 are provided with second connecting ears 223 on both sides. The two ends of the first drive shaft 211 are fixedly connected to the second connecting ears 223 respectively. The second drive shaft 221 is rotatably connected to the lower end of the second finger joint 22. A second drive wheel 224 is mounted on the second drive shaft 221. The second power assembly 222 includes a second motor 2220 and a second transmission component 2221. The second motor drives the second transmission component to rotate around the second transmission wheel.

[0027] The first phalanx 21 includes two interlocking first phalanx bodies 210, which are detachably connected; the second phalanx 22 includes two interlocking second phalanx bodies 220, which are detachably connected. In some embodiments, the first phalanx bodies 210 are connected to each other by bolts, and the second phalanx bodies 220 are connected to each other by bolts.

[0028] The second phalanx body 220 is provided with a motor receiving groove 2200, and the motor receiving groove 2200 is provided with a motor positioning groove 2201. The second motor 2220 is provided with a motor positioning seat 2222, and the motor positioning seat 2222 is snapped into the motor positioning groove 2201. Similarly, the connection method of the first motor in the first phalanx is the same as or similar to the installation method of the second motor in the second phalanx.

[0029] One end of the knuckle seat 3 is detachably connected to the palm assembly 1, and the other end of the knuckle seat 3 is provided with a third connecting ear 30. The second drive shaft 221 in the finger 2 is fixedly connected to the third connecting ear 30. In some embodiments, the knuckle seat 3 and the palm assembly 1 are connected by bolts.

[0030] like Figure 5 and Figure 6 As shown, one end of the thumb seat 40 is provided with a fourth connecting ear 41 that is connected to the second drive shaft 221 in the corresponding knuckle assembly 20, and the other end of the thumb seat 40 is provided with a fifth connecting ear 42 for connecting with the thumb drive assembly 5; the thumb drive assembly 5 includes a thumb connecting seat 50, a third drive shaft 51 rotatably connected to the thumb connecting seat 50, and a third power assembly 52 that drives the third drive shaft 51 to rotate. The two ends of the third drive shaft 51 are fixedly connected to the fifth connecting ear 42, and the third drive shaft 51 and the second drive shaft 221 on the fourth connecting ear 41 are perpendicularly distributed.

[0031] The first transmission wheel 213 and the second transmission wheel 224 are both configured as worm gears, and the first transmission component 2121 and the second transmission component 2221 are both configured as worms; the structure of the third power assembly 52 is the same as that of the first power assembly.

[0032] like Figure 4 As shown, both ends of the first drive shaft 211 are provided with limiting grooves 2110, and the bottom of the limiting grooves 2110 is provided with connecting holes 2111. The second connecting ear 223 is provided with through holes 2230 coaxially distributed with the first drive shaft 211. The inner side of the second connecting ear 223 is provided with limiting strips 2231 that engage with the limiting grooves 2110. The through holes 2230 and the connecting holes 2111 are connected by fasteners. Similarly, the connection methods between the second drive shaft and the third connecting ear, the second drive shaft and the fourth connecting ear, and the third drive shaft and the fifth connecting ear adopt the same or equivalent connection methods as described above.

[0033] The robot hand structure in this embodiment adopts a structure of three fingers and one thumb. The knuckle components of each finger and thumb are rotated by independent power control. The first and second knuckles of the knuckle components can be bent independently, making the movement more agile and flexible. The power component adopts a worm gear structure, which is compact, has a large output torque, and can be self-positioned, thereby making the robot hand grip stronger, more stable, and less prone to loosening.

[0034] In the description of this utility model, it should be understood that the directions or positional relationships indicated by up, down, left, right, inner end, outer end, one end, and the other end are based on the orientation or positional relationships shown in the accompanying drawings. They are only for the purpose of more clearly describing the technical solution of this utility model, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and should not be construed as a limitation of this utility model.

[0035] Although specific embodiments of the present invention are described in detail herein, they are given for illustrative purposes only and should not be construed as limiting the scope of the present invention. Various substitutions, alterations, and modifications may be conceived without departing from the spirit and scope of the present invention.

Claims

1. A robotic hand structure, comprising a hand assembly (1), wherein the end of the hand assembly (1) is provided with at least three fingers (2), and a thumb (4) is provided on the side of the hand assembly (1), characterized in that, The finger (2) includes a knuckle assembly (20) and a knuckle seat (3) rotatably connected to the knuckle assembly (20), and the knuckle seat (3) is fixedly connected to the end of the palm assembly (1); The knuckle assembly (20) includes a first knuckle (21) and a second knuckle (22). The lower end of the first knuckle (21) is rotatably connected to the second knuckle (22) via a first drive shaft (211). The first knuckle (21) is provided with a first power assembly (212) that drives the first knuckle (21) to rotate around the first drive shaft (211). The lower end of the second knuckle (22) is provided with a second drive shaft (221). The second knuckle (22) is provided with a second power assembly (222) that drives the second knuckle (22) to rotate around the second drive shaft (221).

2. The robot hand structure according to claim 1, characterized in that, The first drive shaft (211) is rotatably connected to the first finger joint (21), and the first drive shaft (211) is provided with a first drive wheel (213). The first power assembly (212) includes a first motor (2120) and a first transmission component (2121). The first motor (2120) drives the first transmission component (2121) to rotate around the first drive wheel (213). The second finger joint (22) has a second connecting ear (223) on both sides of its upper end. The two ends of the first drive shaft (211) are fixedly connected to the second connecting ear (223) respectively. The second drive shaft (221) is rotatably connected to the lower end of the second finger joint (22). The second drive shaft (221) is provided with a second drive wheel (224). The second power assembly (222) includes a second motor (2220) and a second transmission component (2221). The second motor (2220) drives the second transmission component (2221) to rotate around the second transmission wheel (224).

3. The robot hand structure according to claim 2, characterized in that, The first transmission wheel (213) and the second transmission wheel (224) are both configured as worm gears, and the first transmission component (2121) and the second transmission component (2221) are both configured as worms.

4. A robot hand structure according to claim 2 or 3, characterized in that, The first phalanx (21) includes two interlocking first phalanx bodies (210), which are detachably connected; the second phalanx (22) includes two interlocking second phalanx bodies (220), which are detachably connected.

5. The robot hand structure according to claim 4, characterized in that, The second knuckle body (220) is provided with a motor receiving groove (2200), the motor receiving groove (2200) is provided with a motor positioning groove (2201), the second motor (2220) is provided with a motor positioning seat (2222), and the motor positioning seat (2222) is snapped into the motor positioning groove (2201).

6. The robot hand structure according to claim 2, characterized in that, Both ends of the first drive shaft (211) are provided with limiting grooves (2110), and the bottom of the limiting groove (2110) is provided with a connecting hole (2111). The second connecting ear (223) is provided with a through hole (2230) coaxially distributed with the first drive shaft (211). The inner side of the second connecting ear (223) is provided with a limiting strip (2231) that engages with the limiting groove (2110). The through hole (2230) and the connecting hole (2111) are connected by fasteners.

7. The robot hand structure according to claim 1, characterized in that, One end of the knuckle seat (3) is detachably connected to the palm assembly (1), and the other end of the knuckle seat (3) is provided with a third connecting ear (30). The second drive shaft (221) in the finger (2) is fixedly connected to the third connecting ear (30).

8. The robot hand structure according to claim 1, characterized in that, The thumb (4) includes a knuckle assembly (20) and a thumb seat (40) rotatably connected to the knuckle assembly (20). The palm assembly (1) is provided with a thumb drive assembly (5) that drives the thumb seat (40) to rotate.

9. A robot hand structure according to claim 8, characterized in that, One end of the thumb seat (40) is provided with a fourth connecting ear (41) that is connected to the second drive shaft (221) in the corresponding finger (2) assembly, and the other end of the thumb seat (40) is provided with a fifth connecting ear (42) for connecting to the thumb drive assembly (5). The thumb drive assembly (5) includes a thumb connector (50), a third drive shaft (51) rotatably connected to the thumb connector (50), and a third power assembly (52) for driving the third drive shaft (51) to rotate. The two ends of the third drive shaft (51) are fixedly connected to the fifth connecting ear (42), and the third drive shaft (51) is perpendicularly distributed to the second drive shaft (221) on the fourth connecting ear (41).

Images