A three-finger robotic hand with gesture expression capabilities

Abstract

This utility model discloses a three-finger robotic hand with gesture expression capabilities, including a base. A mounting seat is located on the left side of the base, and three mounting brackets are located on the left side of the mounting seat. A first robotic finger, a second robotic finger, and a third robotic finger are respectively mounted on the three mounting brackets. The first, second, and third robotic fingers are respectively connected to drive servo motors M1, M2, and M3. The beneficial effects of this utility model are: by setting multiple finger structures and corresponding servo motors, and using a lever assembly and a pivot assembly to complete the curling or extension of the finger joints, the robotic fingers can be made more flexible. Furthermore, the number of parts used is reduced, simplifying the structure of the finger joints and lowering manufacturing costs.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically a three-finger robotic hand with gesture expression capabilities. Background Technology

[0002] Existing robotic arms are mainly divided into two categories according to their driving method: Gear-driven robotic arms: These have a sophisticated structural design and are typically used in robotic arms or complex grasping mechanisms. However, their manufacturing process and control system are complex and costly, limiting their application in general grasping scenarios and simple gesture expression scenarios.

[0003] Cable-operated or electric actuator-type robotic arms: These are mostly two-finger structures and are commonly used for simple grasping actuators or demonstration equipment. Although these robotic arms are simple to manufacture and inexpensive, they can only perform basic grasping actions and do not have the ability to express gestures.

[0004] The core flaw of existing technologies is that gear-driven systems are difficult to popularize due to cost and complexity issues, while pull-wire / electric actuator systems lack gesture interaction functions and cannot meet the application requirements of having both grasping ability and flexible gesture expression. Summary of the Invention

[0005] The purpose of this invention is to provide a three-finger robotic hand with gesture expression capabilities to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a three-finger robotic hand with gesture expression capability, comprising a base, a mounting seat on the left side of the base, and three mounting brackets on the left side of the mounting seat, wherein a first robotic finger, a second robotic finger, and a third robotic finger are respectively mounted on the three mounting brackets, and the first robotic finger, the second robotic finger, and the third robotic finger are respectively connected to a drive servo motor M1, a drive servo motor M2, and a drive servo motor M3; The first and second mechanical fingers are deployed or curled under the drive of drive servo motors M1 and M2, respectively, and the third mechanical finger is deployed or curled under the drive of drive servo motor M3.

[0007] Preferably, the first and second mechanical fingers are positioned above the third mechanical finger, with the first and second mechanical fingers curling downwards and extending upwards, and the third mechanical finger curling upwards and extending downwards.

[0008] Preferably, the first, second, and third mechanical fingers are all three-joint structures, with each joint rotatably connected to the others.

[0009] Preferably, the first, second, and third mechanical fingers each include a universal joint, a mobile phone housing assembly, a finger joint link, and a pivot assembly. The universal joint is connected to a drive servo motor, the pivot assembly is mounted on the mobile phone housing assembly, the finger joint link is rotatably connected to the pivot assembly, and one end of the universal joint is connected to the finger joint link.

[0010] Preferably, the mobile phone housing assembly includes a first housing, a second housing, and a third housing; the pivot assembly includes a first pivot, a second pivot, a third pivot, a fourth pivot, a fifth pivot, and a sixth pivot; the finger joint linkage includes a first link, a second link, a third link, and a fourth link; one end of the first link is hinged to the mounting bracket via the first pivot; the other end of the first link is hinged to one end of the first housing via the second pivot; and the universal joint is hinged to the shaft of the second pivot.

[0011] Preferably, one end of the second connecting rod is hinged to the mounting bracket via a first pivot, one end of the first housing is hinged to the second housing and one end of the third connecting rod via a third pivot, the other end of the third connecting rod is hinged to the bend of the second connecting rod, one end of the fourth connecting rod is hinged to one end of the second connecting rod, the second housing and the third housing are hinged to one end of the fifth connecting rod via a fifth pivot, and the other end of the fifth connecting rod is hinged to one end of the fourth connecting rod via a sixth pivot.

[0012] Preferably, the mounting bracket of the mounting base is provided with a universal joint through hole, and the servo motors M1, M2 and M3 are all installed in the mounting base. The universal joint is connected to the first connecting rod through the universal joint through hole.

[0013] Preferably, a control board is provided between the base and the mounting base, and the control board is electrically connected to servo motors M1, M2 and M3.

[0014] Compared with the prior art, the beneficial effects of this utility model are: by setting multiple finger structures and corresponding servo motors, and using rod assemblies and shaft assemblies to complete the curling or extension of finger joints, this utility model can make robot fingers more flexible, and the number of parts used is reduced, simplifying the structure of finger joints and reducing manufacturing costs. Attached Figure Description

[0015] Figure 1 is a schematic diagram of the structure of this utility model; Figure 2 is an unfolded view of the finger shell assembly of this utility model; Figure 3 shows the V-shaped hand gesture of this utility model; Figure 4 is an exploded view of this utility model; Figure 5 shows the "salute" gesture diagram of this utility model.

[0016] In the diagram: 1. Base; 2. Mounting seat; 3. Mounting bracket; 4. First mechanical finger; 5. Second mechanical finger; 6. Third mechanical finger; 7. Universal link; 8. First housing; 9. Second housing; 10. Third housing; 11. First pivot; 12. Second pivot; 13. Third pivot; 14. Fourth pivot; 15. Fifth pivot; 16. Sixth pivot; 17. First connecting rod; 18. Second connecting rod; 19. Third connecting rod; 20. Fourth connecting rod; 21. Fifth connecting rod; 22. Universal link through hole; 23. Control board; 24. Connecting seat. Detailed Implementation

[0017] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0018] Please refer to Figure 1. This utility model provides a technical solution: a three-finger robotic hand with gesture expression capability, including a base 1, a mounting seat 2 on the left side of the base 1, and three mounting brackets 3 on the left side of the mounting seat 2. A first robotic finger 4, a second robotic finger 5, and a third robotic finger 6 are respectively mounted on the three mounting brackets 3. The first robotic finger 4, the second robotic finger 5, and the third robotic finger 6 are respectively connected to a drive servo motor M1, a drive servo motor M2, and a drive servo motor M3.

[0019] Among them, the first mechanical finger 4 and the second mechanical finger 5 are deployed or curled under the drive of drive servo motor M1 and drive servo motor M2 respectively, and the third mechanical finger 6 is deployed or curled under the drive of drive servo motor M3.

[0020] In this embodiment, the first mechanical finger 4 and the second mechanical finger 5 are located above the third mechanical finger 6. The first mechanical finger 4 and the second mechanical finger 5 are curled downwards and extended upwards, while the third mechanical finger 6 is curled upwards and extended downwards.

[0021] Please refer to the figure. When the third mechanical finger 6 curls and the first mechanical hand 4 and the second mechanical hand unfold, the robotic hand as a whole makes a "V" shaped movement. In addition, by curling or extending the three mechanical fingers in different directions, the robotic hand of this invention can perform multiple actions.

[0022] In some embodiments, the first mechanical finger 4, the second mechanical finger 5, and the third mechanical finger 6 are all three-joint bionic structures, with their joints rotatably connected.

[0023] In this embodiment, the first mechanical finger 4, the second mechanical finger 5, and the third mechanical finger 6 each include a universal joint 7, a mobile phone housing assembly, a finger joint linkage assembly, and a pivot assembly. The universal joint is connected to a drive servo motor, the pivot assembly is mounted on the mobile phone housing assembly, the finger joint linkage assembly is rotatably connected to the pivot assembly, and one end of the universal joint 7 is connected to the finger joint linkage assembly.

[0024] In this embodiment, the mobile phone casing assembly includes a first casing 8, a second casing 9, and a third casing 10; the pivot assembly includes a first pivot 11, a second pivot 12, a third pivot 13, a fourth pivot 14, a fifth pivot 15, and a sixth pivot 16; and the finger joint linkage assembly includes a first link 17, a second link 18, a third link 19, a fourth link 20, and a fifth link 21. One end of the first link 17 is hinged to the mounting bracket 3 via the first pivot 11, and the other end of the first link 17 is hinged to one end of the first casing 8 via the second pivot 12. The universal link 7 is hinged to the shaft of the second pivot 12.

[0025] In this embodiment, one end of the second connecting rod 18 is hinged to the mounting bracket 3 via the first rotating shaft 11, one end of the first outer shell 8 is hinged to the second outer shell 9 and one end of the third connecting rod 19 via the third rotating shaft 13, the other end of the third connecting rod 19 is hinged to the bend of the second connecting rod 18, one end of the fourth connecting rod 20 is hinged to one end of the second connecting rod 18, the second outer shell 9 and the third outer shell 10 are hinged to one end of the fifth connecting rod 21 via the fifth rotating shaft 15, and the other end of the fifth connecting rod 21 is hinged to one end of the fourth connecting rod 20 via the sixth rotating shaft 16.

[0026] In this embodiment, the mounting bracket 3 of the mounting base 2 is provided with a universal joint through hole 22. The servo motors M1, M2 and M3 are all installed in the mounting base 2. The universal joint 7 is connected to the first link 17 through the universal joint through hole 22.

[0027] In this embodiment, a control board 23 is provided between the base 1 and the mounting base 2. The control board 23 is electrically connected to the servo motors M1, M2 and M3. The base and the mounting base are connected together through the connecting seat 24. The control board is installed between the connecting seat 24 and the base, and the servo motors are installed between the connecting seat and the mounting base.

[0028] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A three-finger robotic hand with gesture expression capability, characterized in that, The device includes a base, a mounting seat on the left side of the base, and three mounting brackets on the left side of the mounting seat. A first mechanical finger, a second mechanical finger, and a third mechanical finger are respectively mounted on the three mounting brackets. The first mechanical finger, the second mechanical finger, and the third mechanical finger are respectively connected to a drive servo motor M1, a drive servo motor M2, and a drive servo motor M3. The first and second mechanical fingers are deployed or curled under the drive of drive servo motors M1 and M2, respectively, and the third mechanical finger is deployed or curled under the drive of drive servo motor M3.

2. A three-finger robotic hand with gesture expression capability according to claim 1, characterized in that: The first and second mechanical fingers are positioned above the third mechanical finger. The first and second mechanical fingers curl downwards and extend upwards, while the third mechanical finger curls upwards and extends downwards.

3. A three-finger robotic hand with gesture expression capability according to claim 2, characterized in that: The first, second, and third mechanical fingers are all three-joint structures, with each joint being rotatably connected to the others.

4. A three-finger robotic hand with gesture expression capability according to claim 3, characterized in that: The first, second, and third mechanical fingers each include a universal joint, a mobile phone housing assembly, a finger joint link, and a pivot assembly. The universal joint is connected to a drive servo motor, the pivot assembly is mounted on the mobile phone housing assembly, the finger joint link is rotatably connected to the pivot assembly, and one end of the universal joint is connected to the finger joint link.

5. A three-finger robotic hand with gesture expression capability according to claim 4, characterized in that: The mobile phone casing assembly includes a first casing, a second casing, and a third casing. The pivot assembly includes a first pivot, a second pivot, a third pivot, a fourth pivot, a fifth pivot, and a sixth pivot. The finger joint linkage includes a first link, a second link, a third link, and a fourth link. One end of the first link is hinged to the mounting bracket via the first pivot, and the other end of the first link is hinged to one end of the first casing via the second pivot. The universal joint is hinged to the shaft of the second pivot.

6. A three-finger robotic hand with gesture expression capability according to claim 5, characterized in that: One end of the second connecting rod is hinged to the mounting bracket via a first pivot. One end of the first housing is hinged to the second housing and one end of the third connecting rod via a third pivot. The other end of the third connecting rod is hinged to the bend of the second connecting rod. One end of the fourth connecting rod is hinged to one end of the second connecting rod. The second housing and the third housing are hinged to one end of the fifth connecting rod via a fifth pivot. The other end of the fifth connecting rod is hinged to one end of the fourth connecting rod via a sixth pivot.

7. A three-finger robotic hand with gesture expression capability according to claim 6, characterized in that: The mounting bracket of the mounting base is provided with a universal joint through hole. The servo motors M1, M2 and M3 are all installed in the mounting base. The universal joint is connected to the first link through the universal joint through hole.

8. A three-finger robotic hand with gesture expression capability according to claim 7, characterized in that: A control board is provided between the base and the mounting base, and the control board is electrically connected to servo motors M1, M2 and M3.

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