An 8-degree-of-freedom three-fingered hand

Abstract

The utility model relates to an 8 -freedom three -finger mechanical hand, including base and three fingers of one -line arrangement on the base, three fingers include setting in the middle and the fixed first finger of bottom, and the second finger and third finger of setting respectively in the left and right sides of first finger, and first finger is 2 -freedom, and the second finger, third finger structure is same and all are 3 -freedom, three fingers respectively include independent transmission gear group, transmission connecting rod group, first motor and second motor, and first motor, second motor pass through transmission gear group deceleration and transmission connecting rod group drive, and the gripping action of corresponding finger is controlled in cooperation, the second finger, third finger still are equipped with the third motor of installation in the connecting part of corresponding finger bottom and base to drive corresponding finger rotation, the utility model discloses through the scientific combination of three fingers 8 -freedom, avoids the structural complication caused by redundant freedom, and also can flexible adaptation of the fine operation of a variety of objects of different size, shape.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to an 8-DOF three-finger robotic hand. Background Technology

[0002] In the field of robotic grasping and manipulation technology, three-finger robotic arms, as core execution components, are widely used in various scenarios such as industrial production, medical assistance, and precision assembly. However, existing commonly used three-finger robotic arms have many technical defects: On the one hand, traditional three-finger robotic arms mostly adopt a single transmission design with a low transmission ratio, resulting in limited load capacity and insufficient fingertip output force, making it difficult to complete delicate operations such as syringe injection that require precise force application. Such operations require the robotic arm to stably grip the syringe without deviation and to precisely control the fingertip thrust. Existing products are prone to injection failure or syringe damage due to insufficient load and precision. On the other hand, existing products generally face the problem of "difficulty in balancing structure and load"—pursuing a large load often leads to complex structures, large sizes, and low space utilization, while simplifying the structure sacrifices load-bearing performance and operational stability.

[0003] Furthermore, in existing technologies, to achieve operational flexibility of around 8 degrees of freedom, redundant drive components are often required, which further exacerbates the problems of structural complexity and cost increases. On the other hand, simplifying the degrees of freedom cannot meet the load and posture requirements of fine operation, making it difficult to balance the two. At the same time, the redundant configuration of the degrees of freedom of some three-finger manipulators not only increases manufacturing costs and control difficulty, but also reduces the operation response speed, failing to meet the diverse needs in practical applications. Utility Model Content

[0004] This invention provides an 8-DOF three-finger robotic hand to solve the above-mentioned technical problems.

[0005] To solve the above-mentioned technical problems, this utility model provides an 8-DOF three-finger robotic hand, including a base and three fingers mounted on the base, wherein the three fingers are arranged in a straight line;

[0006] The three fingers include a first finger located in the middle and fixed at the bottom, and a second finger and a third finger located on the left and right sides of the first finger, respectively. The first finger has 2 degrees of freedom, and the second and third fingers have the same structure and are both 3 degrees of freedom.

[0007] The first finger, the second finger, and the third finger each include an independent transmission gear set, a transmission linkage set, a first motor, and a second motor. The first motor and the second motor are decelerated by the transmission gear set and transmitted by the transmission linkage set, and coordinately control the gripping action of the corresponding fingers.

[0008] The second and third fingers are also equipped with a third motor, which is installed at the connection between the bottom of the corresponding finger and the base, and is used to drive the corresponding finger to rotate.

[0009] Preferably, the transmission gear set includes a driving gear and a driven gear that mesh with each other. The driving gear is fixedly connected to the output end of the corresponding motor, and the driven gear is fixedly connected to one end of the transmission linkage assembly. The rotation of the gear drives the linkage assembly to move.

[0010] Preferably, the transmission ratio of the transmission gear set is 1:2 to 1:4.

[0011] Preferably, the transmission linkage assembly includes a first link and a second link hinged to each other. One end of the first link is fixedly connected to the driven gear, and the other end is hinged to the second link. The end of the second link away from the first link is fixedly connected to the knuckle of the corresponding finger.

[0012] Preferably, the knuckles of the first, second, and third fingers are made of aluminum alloy in one piece.

[0013] Preferably, the first motor, the second motor, and the third motor are all DC servo motors, and each motor is equipped with an encoder.

[0014] Preferably, the base is a hollow structure, and a circuit board is provided inside the hollow structure. The circuit board is electrically connected to the first motor, the second motor, and the third motor respectively.

[0015] Preferably, the hollow structure is further provided with a heat dissipation component, which is attached to the heat-generating area of ​​the circuit board.

[0016] Compared with the prior art, the 8-DOF three-finger manipulator provided by this utility model has the following advantages:

[0017] 1. This utility model scientifically combines the first middle finger (2 degrees of freedom) with the second and third fingers on both sides (3 degrees of freedom each) to form 8 degrees of freedom. This avoids the problems of structural complexity and increased cost caused by redundant degrees of freedom. It can also flexibly switch between various postures such as finger grasping, fingertip pinching, and envelope grasping. It can adapt to objects of different sizes and shapes, from micro parts to irregularly shaped workpieces. Its operational flexibility is significantly better than that of traditional single-degree-of-freedom or redundant-degree-of-freedom robotic arms.

[0018] 2. This utility model adopts a combined transmission structure of "transmission gear set + transmission linkage set", which effectively amplifies the output torque of the motor and solves the problem of "insufficient fingertip force" in traditional three-finger robotic arms. It can stably complete delicate operations that require precise force application, such as syringe injection and precision parts assembly, and has stronger load-bearing capacity and operational stability.

[0019] 3. The base of this utility model adopts a hollow structure with built-in circuit board and heat dissipation components, realizing the integrated layout of the control module. Compared with the traditional distributed layout, the overall volume is smaller, the space utilization is higher, the wiring is neat, and the heat dissipation is efficient. It can perfectly adapt to the integrated operation requirements of robotic arms and expand the application scenarios. Attached Figure Description

[0020] Figure 1 This is a three-dimensional structural diagram of an 8-DOF three-finger manipulator in a specific embodiment of the present invention.

[0021] Figure 2 This is a schematic diagram of the internal structure of an 8-DOF three-finger manipulator in a specific embodiment of this utility model.

[0022] In the diagram: 100 - base, 110 - circuit board, 200 - first finger, 210 - transmission gear set, 211 - driving gear, 212 - driven gear, 220 - transmission linkage set, 230 - first motor, 240 - second motor, 300 - second finger, 310 - third motor, 400 - third finger. Detailed Implementation

[0023] To illustrate the technical solution of the above utility model in more detail, specific embodiments are listed below to demonstrate the technical effects; it should be emphasized that these embodiments are used to illustrate the present utility model and not to limit the scope of the present utility model.

[0024] The 8-DOF three-finger robotic hand provided by this utility model, such as Figure 1 and Figure 2 As shown, the device includes a base 100 and three fingers mounted on the base 100, with the three fingers arranged in a straight line. The three fingers include a first finger 200 located in the middle and fixed at the bottom, and a second finger 300 and a third finger 400 located on the left and right sides of the first finger 200, respectively. The first finger 200 has 2 degrees of freedom, and the second finger 300 and the third finger 400 have the same structure and are both 3 degrees of freedom.

[0025] The first finger 200, the second finger 300, and the third finger 400 each include an independent transmission gear set 210, a transmission linkage set 220, a first motor 230, and a second motor 240. The first motor 230 and the second motor 240 are reduced in speed by the transmission gear set 210 and driven by the transmission linkage set 220, and coordinately control the grasping action of the corresponding fingers. The second finger 300 and the third finger 400 are also equipped with a third motor 310, which is installed at the connection between the bottom of the corresponding finger and the base 100 and is used to drive the corresponding finger to rotate. This scientific combination of 8 degrees of freedom, with 2 degrees of freedom in the middle and 3 degrees of freedom on each side, avoids the problems of structural complexity and increased cost caused by redundant degrees of freedom, and can flexibly switch between various grasping postures, with significantly better operational flexibility than traditional robotic hands.

[0026] In some embodiments, such as Figure 2 As shown, the transmission gear set 210 includes a driving gear 211 and a driven gear 212 that mesh with each other. The driving gear 211 is fixedly connected to the output end of the corresponding motor (first motor 230 or second motor 240), and the driven gear 212 is fixedly connected to one end of the transmission linkage assembly 220. The rotation of the gears drives the linkage assembly to move. The independent transmission gear set design avoids interference from multiple components, ensuring precise and efficient power transmission.

[0027] Preferably, the transmission ratio of the transmission gear set 210 is 1:2. Combined with the combined transmission structure of "transmission gear set 210 + transmission linkage set 220", the output torque of the motor can be effectively amplified, completely solving the pain point of "insufficient fingertip force" in traditional three-finger robotic hands. It can stably complete delicate operations that require precise force application, such as syringe injection and precision parts assembly, and significantly improve load-bearing performance and operational stability.

[0028] In some embodiments, the transmission linkage 220 includes a first link and a second link hinged to each other. One end of the first link is fixedly connected to the driven gear 212, and the other end is hinged to the second link. The end of the second link away from the first link is fixedly connected to the knuckle of the corresponding finger. This hinged linkage structure allows for flexible bending and extension of the finger knuckles, further improving the coordination and adaptability of gripping movements.

[0029] In some embodiments, the knuckles of the first finger 200, the second finger 300, and the third finger 400 are made of aluminum alloy in one piece, which combines lightweight and structural strength. While reducing the overall weight of the robotic arm, it ensures the structural stability of long-term operation and provides favorable conditions for integrated operation with the robotic arm.

[0030] In some embodiments, the first motor 230, the second motor 240, and the third motor 310 are all DC servo motors, and each motor is equipped with an encoder. The servo motors, combined with the encoder, can achieve real-time angle feedback. With the independent transmission structure, they can achieve precise closed-loop control of finger rotation and gripping actions, avoiding objects from slipping or being damaged due to control errors, and further improving operational reliability.

[0031] In some embodiments, such as Figure 2 As shown, the base 100 has a hollow structure, and a circuit board 110 is installed inside the hollow structure. The circuit board 110 is electrically connected to the first motor 230, the second motor 240, and the third motor 310, respectively. Compared with the traditional distributed design, this integrated layout makes the overall volume smaller, the space utilization rate higher, and the wiring more organized, adapting to the integrated operation requirements of robotic arms and effectively expanding the application scenarios.

[0032] In some embodiments, the hollow structure is further provided with heat dissipation components (such as aluminum heat sinks, thermally conductive silicone pads, miniature cooling fans, etc.). The heat dissipation components are attached to the heat-generating area of ​​the circuit board 110, which can quickly dissipate the heat generated by the circuit board 110 during operation, avoid electronic component failure caused by high temperature, ensure the stability of the robot arm in long-term continuous operation, and extend its service life.

[0033] In summary, the 8-DOF three-finger robotic hand provided by this utility model includes a base 100, a first finger 200, a second finger 300, a third finger 400, and matching motors, transmission structures, and control components. Through scientific configuration of degrees of freedom, efficient combined transmission design, and integrated layout, it has the core advantages of flexible operation, strong load capacity, compact structure, and precise control. It can be widely used in many fields such as industrial assembly, medical assistance, and precision operation, and has extremely high practicality.

[0034] Obviously, those skilled in the art can make various modifications and variations to the utility model without departing from the spirit and scope of the utility model. Therefore, if these modifications and variations of the utility model fall within the scope of the claims of the utility model and their equivalents, the utility model also intends to include these modifications and variations.

Claims

1. An 8-DOF three-finger robotic hand, characterized in that, It includes a base and three fingers mounted on the base, the three fingers being arranged in a straight line; The three fingers include a first finger located in the middle and fixed at the bottom, and a second finger and a third finger located on the left and right sides of the first finger, respectively. The first finger has 2 degrees of freedom, and the second and third fingers have the same structure and are both 3 degrees of freedom. The first finger, the second finger, and the third finger each include an independent transmission gear set, a transmission linkage set, a first motor, and a second motor. The first motor and the second motor are decelerated by the transmission gear set and transmitted by the transmission linkage set, and coordinately control the gripping action of the corresponding fingers. The second and third fingers are also equipped with a third motor, which is installed at the connection between the bottom of the corresponding finger and the base, and is used to drive the corresponding finger to rotate.

2. The 8-DOF three-finger robotic hand as described in claim 1, characterized in that, The transmission gear set includes a driving gear and a driven gear that mesh with each other. The driving gear is fixedly connected to the output end of the corresponding motor, and the driven gear is fixedly connected to one end of the transmission linkage assembly. The rotation of the gear drives the linkage assembly to move.

3. The 8-DOF three-finger robotic hand as described in claim 2, characterized in that, The transmission ratio of the transmission gear set is 1:2 to 1:

4.

4. The 8-DOF three-finger robotic hand as described in claim 2, characterized in that, The transmission linkage assembly includes a first link and a second link that are hinged to each other. One end of the first link is fixedly connected to the driven gear, and the other end is hinged to the second link. The end of the second link away from the first link is fixedly connected to the knuckle of the corresponding finger.

5. The 8-DOF three-finger robotic hand as described in claim 1, characterized in that, The knuckles of the first, second, and third fingers are all integrally formed from aluminum alloy.

6. The 8-DOF three-finger robotic hand as described in claim 1, characterized in that, The first motor, the second motor, and the third motor are all DC servo motors, and each motor is equipped with an encoder.

7. The 8-DOF three-finger robotic hand as described in claim 1, characterized in that, The base is a hollow structure, and a circuit board is installed inside the hollow structure. The circuit board is electrically connected to the first motor, the second motor, and the third motor respectively.

8. The 8-DOF three-finger manipulator as described in claim 7, characterized in that, The hollow structure is also equipped with a heat dissipation component, which is attached to the heat-generating area of ​​the circuit board.

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