Three-fingered robot hand

Abstract

The utility model relates to a kind of three-fingered mechanical hands, including base and three identical structure fingers installed on the base, three The fingers are arranged in circumferential symmetry on the base;Each The finger includes in turn connected finger root, finger palm and finger end, still includes first motor, second motor and third motor;The first motor is installed in The base, its output end is connected with The finger root transmission, for driving corresponding finger rotation;Second motor is installed in The connecting portion of The finger root and The finger palm, third motor is installed in The connecting portion of The finger palm and The finger end, second motor and third motor are used for the coordinated control corresponding finger's grip action.The utility model uses motor full drive to replace traditional connecting rod / rope drive structure, simple structure, easy to manufacture and install;Through multiple motor independent control, the multi-attitude of finger is realized, and the versatility is strong, can adapt to more special-shaped article's fine gripping operation, and application scene is widely.

Description

Technical Field

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

[0002] In the field of robotic grasping technology, the gripper, as a core actuator, directly affects the operational effectiveness of the entire robot system. Currently, commonly used grippers mostly employ linkage or cable-driven transmission structures. These structures have significant shortcomings: Firstly, linkage or cable-driven structures are complex in design, with numerous parts, leading to high processing difficulty and cumbersome assembly processes. Furthermore, backlash accumulation during transmission makes it difficult to control the gripper's motion precision. Secondly, traditional grippers generally have a low number of degrees of freedom, typically only capable of single-dimensional opening and closing movements. They cannot flexibly adjust their grasping posture according to the shape and size of the object being grasped, resulting in poor versatility and difficulty in performing complex tasks such as grasping irregularly shaped objects or operating in specific postures, thus limiting their application in various scenarios. Utility Model Content

[0003] This invention provides a three-finger robotic hand to solve the above-mentioned technical problems.

[0004] To solve the above-mentioned technical problems, this utility model provides a three-finger robotic hand, including a base and three identical fingers mounted on the base.

[0005] The three fingers are arranged symmetrically in a circle on the base;

[0006] Each finger includes a root, a pad, and a tip connected in sequence, and also includes a first motor, a second motor, and a third motor. The first motor is installed in the base, and its output end is connected to the root of the finger to drive the corresponding finger to rotate. The second motor is installed at the connection between the root of the finger and the pad of the finger, and the third motor is installed at the connection between the pad of the finger and the tip of the finger. The second motor and the third motor are used to coordinate the gripping action of the corresponding finger.

[0007] Preferably, the three fingers are arranged symmetrically on the base in a 120° circumference, and the rotation angle of each finger is within ±60°.

[0008] Preferably, the output end of the second motor is rigidly connected to the fingertip and is used to drive the fingertip to bend or extend relative to the finger root; the output end of the third motor is rigidly connected to the fingertip and is used to drive the fingertip to bend or extend relative to the fingertip.

[0009] Preferably, the grasping postures of the three fingers include at least: finger-to-finger grasping, fingertip pinching, and three-finger enveloping grasping.

[0010] Preferably, the first motor, the second motor, and the third motor are all DC servo motors, and each motor is equipped with an encoder.

[0011] Preferably, the inner surface of the base and the inner surfaces of the fingertips and fingertips are covered with a flexible anti-slip layer.

[0012] Preferably, the flexible anti-slip layer is made of silicone rubber.

[0013] Preferably, the surface of the flexible anti-slip layer is provided with anti-slip texture.

[0014] Compared with the prior art, the three-finger robotic hand provided by this utility model has the following advantages:

[0015] 1. This utility model adopts a fully electric motor-driven system to replace the traditional linkage or rope-driven structure, which is simple in structure and easy to manufacture and install;

[0016] 2. This utility model adopts independent control of multiple motors to realize finger rotation and multi-posture gripping, and can flexibly switch between finger-to-finger gripping, fingertip pinching, and envelope gripping modes;

[0017] 3. This utility model has strong versatility and can be adapted to more irregularly shaped items of various sizes and shapes. It can reliably complete delicate operations such as syringe injection and water spraying. Attached Figure Description

[0018] Figure 1 This is a three-dimensional structural diagram of a three-finger robotic hand in a specific embodiment of the present invention;

[0019] Figure 2 This is a schematic diagram of the three-finger robotic arm in a specific embodiment of the present invention (finger grasping state);

[0020] Figure 3 This is a schematic diagram of the three-finger robotic hand in a specific embodiment of the present invention (finger-tip pinching state);

[0021] Figure 4 This is a schematic diagram of the operation of the three-finger robotic arm in a specific embodiment of the present invention (three-finger enveloping grasping state).

[0022] In the diagram: 10-base, 11-flexible anti-slip layer, 21-finger root, 22-finger pad, 23-finger tip, 24-first motor, 25-second motor, 26-third motor. 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 three-finger robotic hand provided by this utility model, such as Figure 1 As shown, the device includes a base 10 and three identical fingers mounted on the base 10, arranged symmetrically in a circle. Each finger includes a root 21, a pad 22, and a tip 23 connected in sequence. It also includes a first motor 24, a second motor 25, and a third motor 26. The first motor 24 is installed inside the base 10, and its output is connected to the root 21 to drive the corresponding finger to rotate. The second motor 25 is installed at the connection between the root 21 and the pad 22, and the third motor 26 is installed at the connection between the pad 22 and the tip 23. The second motor 25 and the third motor 26 work together to control the gripping action of the corresponding fingers. This invention uses a fully motor-driven system to replace the traditional gripper's linkage or rope-driven structure, eliminating complex transmission components and resulting in a simpler overall structure. This effectively solves the problems of complex structures and difficult manufacturing in traditional grippers.

[0025] In some embodiments, please refer to Figure 1 The three fingers are symmetrically arranged in a 120° circumference on the base 10, and the rotation angle range of each finger is ±60°. The 120° circumferential arrangement forms a stable triangular support, which makes the gripping force evenly distributed. Combined with the full-angle rotation function, it greatly improves the operation flexibility of the robot and can adapt to gripping needs in different directions.

[0026] In some embodiments, the output end of the second motor 25 is rigidly connected to the fingertip 22, and is used to drive the fingertip 22 to bend or extend relative to the finger root 21; the output end of the third motor 26 is rigidly connected to the fingertip 23, and is used to drive the fingertip 23 to bend or extend relative to the fingertip 22. The direct rigid connection between the motor and the structural component results in a small transmission gap and easy precision control, solving the problem of difficult precision control in traditional rope-driven or linkage structures, and enabling more precise motion adjustment.

[0027] In some embodiments, the grasping posture of the three fingers includes at least: Figure 2 The illustrated finger grasping mechanism can grasp a cylindrical object with a diameter of 30mm. The object is secured and limited using two fingers (finger pads 22 and fingertips 23) and the base 10. Figure 3 The fingertip pinching technique shown can be used to grasp objects that are rectangular or triangular, using two or three fingertips together to fix the object in place; for example... Figure 4 The three-finger enveloping grasp shown can grasp a sphere with a diameter of 10mm, using the three fingertips together to limit and fix the grasped object.

[0028] In some embodiments, the first motor 24, the second motor 25, and the third motor 26 are all DC servo motors, and each motor is equipped with an encoder to achieve real-time rotation angle feedback, further improving the accuracy of motion control, ensuring the stability and reliability of the grasping process, and avoiding the object from slipping or being damaged due to control errors.

[0029] In some embodiments, please refer to the following: Figure 1 The inner surface of the base 10, as well as the inner surfaces of the fingertips 22 and fingertips 23, are all covered with a flexible anti-slip layer 11, thereby increasing the friction of the gripping contact surface. Simultaneously, the flexible contact buffers the clamping force, improving gripping stability and preventing damage to fragile or delicate items. In this embodiment, the flexible anti-slip layer 11 is made of silicone rubber, which combines flexibility and wear resistance, has good chemical stability, and a long service life.

[0030] In some embodiments, the surface of the flexible anti-slip layer 11 is further provided with anti-slip textures to further enhance the friction coefficient of the contact surface, effectively solve the problem of slipping when grasping smooth objects, and make the grasping operation more reliable.

[0031] In summary, the three-finger robotic hand provided by this utility model includes a base 10, three fingers with the same structure (including finger root 21, finger pad 22, and finger tip 23), and a first motor 24, a second motor 25, and a third motor 26. It achieves multi-posture grasping through full motor drive, and the flexible anti-slip layer 11 improves the grasping stability. The structure is simple and highly versatile.

[0032] 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. A three-finger robotic hand, characterized in that, Includes a base and three identical fingers mounted on the base. The three fingers are arranged symmetrically in a circle on the base; Each finger includes a root, a pad, and a tip connected in sequence, and also includes a first motor, a second motor, and a third motor. The first motor is installed in the base, and its output end is connected to the root of the finger to drive the corresponding finger to rotate. The second motor is installed at the connection between the root of the finger and the pad of the finger, and the third motor is installed at the connection between the pad of the finger and the tip of the finger. The second motor and the third motor are used to coordinate the gripping action of the corresponding finger.

2. The three-finger robotic hand as described in claim 1, characterized in that, The three fingers are arranged symmetrically in a 120° circumference on the base, and the rotation angle of each finger is within ±60°.

3. The three-finger robotic hand as described in claim 1, characterized in that, The output end of the second motor is rigidly connected to the fingertip and is used to drive the fingertip to bend or extend relative to the finger root; the output end of the third motor is rigidly connected to the fingertip and is used to drive the fingertip to bend or extend relative to the fingertip.

4. The three-finger robotic hand as described in claim 1, characterized in that, The grasping postures of the three fingers include at least: finger grasping, fingertip pinching, and three-finger enveloping grasping.

5. The 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.

6. The three-finger robotic hand as described in claim 1, characterized in that, The inner surface of the base, as well as the inner surfaces of the fingertips and fingertips, are covered with a flexible anti-slip layer.

7. The three-finger robotic hand as described in claim 6, characterized in that, The flexible anti-slip layer is made of silicone rubber.

8. The three-finger robotic hand as described in claim 7, characterized in that, The surface of the flexible anti-slip layer is provided with anti-slip texture.

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