CN220826015U - Robot smart hand capable of achieving rotation and lateral swinging - Google Patents
Robot smart hand capable of achieving rotation and lateral swinging Download PDFInfo
- Publication number
- CN220826015U CN220826015U CN202322187312.5U CN202322187312U CN220826015U CN 220826015 U CN220826015 U CN 220826015U CN 202322187312 U CN202322187312 U CN 202322187312U CN 220826015 U CN220826015 U CN 220826015U
- Authority
- CN
- China
- Prior art keywords
- finger
- root
- palm
- rotation
- connecting rod
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000005540 biological transmission Effects 0.000 claims abstract description 35
- 244000060701 Kaempferia pandurata Species 0.000 claims abstract description 32
- 235000016390 Uvaria chamae Nutrition 0.000 claims abstract description 32
- 238000005452 bending Methods 0.000 claims abstract description 14
- 210000003811 finger Anatomy 0.000 claims description 101
- 210000003813 thumb Anatomy 0.000 claims description 13
- 210000004932 little finger Anatomy 0.000 claims description 5
- 238000012423 maintenance Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 208000032369 Primary transmission Diseases 0.000 description 1
- 208000032370 Secondary transmission Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 210000001145 finger joint Anatomy 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
The utility model relates to a robot smart hand taking rotation and side swing into consideration, comprising: the finger part comprises a fingertip part, a middle finger part and a finger root part which are connected in a detachable mode in sequence, wherein the fingertip part and the middle finger part are connected through a first transmission component respectively and are used for realizing bending of each part; the palm part comprises a palm and a second transmission assembly connected with the finger root part and the palm and is used for realizing lateral swinging of the finger part along the arrangement direction of the finger part. Compared with the prior art, the utility model skillfully realizes the lateral swinging and bending rotation of a plurality of finger parts through the multi-step transmission assembly, reduces the number of motors, simultaneously meets the requirement of the lateral swinging degree of freedom, reduces the cost while simplifying the structure, and can be disassembled and assembled through the modularized finger parts of the fingertip part, the finger middle part and the finger root part, so that the maintenance and the replacement are convenient, and the maintenance cost is also reduced.
Description
Technical Field
The utility model relates to the technical field of robots, in particular to a robot dexterous hand capable of considering rotation and side swing.
Background
The robot dexterous hand is a necessary part of the robot, the fingers of the traditional dexterous hand are easy to wear after being equipped on the robot and operated, and the whole hand is required to be disassembled and assembled after the fingers are worn, but the traditional dexterous hand fingers are generally of a connecting structure, so that the disassembly and assembly process is very complex and time-consuming each time. The prior patent CN111673781A discloses a variable-rigidity humanoid robot hand grip, fingers of which are integrally designed, each knuckle can not be independently disassembled and assembled, and the variable-rigidity humanoid robot hand grip also does not have a side swinging function.
Besides the function of rotating the holding claws, the traditional dexterous hand also has a side swinging function, but the traditional dexterous hand side swinging adopts a single motor to correspondingly drive each finger joint to do side swinging movement, so that the problems of more motors, larger occupied space and the like are caused. Therefore, there is a need for a smart hand that is easy to assemble, free and flexible, and has a high degree of freedom.
Disclosure of Invention
The utility model aims to overcome the defects of difficult assembly and multiple motors of the dexterous hand in the prior art and provides a robot dexterous hand capable of considering rotation and side swing.
The aim of the utility model can be achieved by the following technical scheme:
the technical scheme of the utility model is to provide a robot smart hand taking rotation and side swing into consideration, comprising:
The finger part comprises a fingertip part, a middle finger part and a finger root part which are connected in a detachable mode in sequence, wherein the fingertip part and the middle finger part are connected through a first transmission component respectively and are used for realizing bending of each part;
A palm part comprising a palm and a second transmission component connected with the finger root part and the palm and used for realizing the lateral swinging of the finger part along the arrangement direction,
The second transmission assembly comprises a screw rod connected with a plurality of finger root parts, a second gear assembly connected with the screw rod, a second motor connected with the palm and driving the second gear assembly to operate, and a third transmission assembly connected with the screw rod, wherein the third transmission assembly is also connected with a plurality of finger root parts.
The finger part is any one of thumb, index finger, middle finger, ring finger and little finger.
In some embodiments, the first transmission assembly includes a first gear assembly for connecting the fingertip part and the middle part, and the middle part and the root part, respectively, and a first motor for driving the first gear assembly to operate.
In some embodiments, the first gear component is a worm and a worm wheel which are meshed with each other, two ends of the middle finger part are respectively provided with a worm, the finger root part is provided with a worm wheel which is meshed with the worm at one end of the middle finger part, the finger tip part is provided with a worm wheel which is meshed with the worm at the other end of the middle finger part,
The finger tip part is also provided with a first connecting rod, one end of the first connecting rod is connected with the finger tip part, and the other end of the first connecting rod is rotationally connected with the middle finger part.
In some embodiments, the worms at two ends of the middle finger part are respectively arranged at two sides of the middle finger part.
In some embodiments, the second gear assembly includes a driving gear coupled to the second motor and a driven gear engaged with the driving gear, the driven gear further being rotatably coupled to the lead screw.
In some embodiments, one end of the screw rod is rotatably connected with the finger root part of the index finger, and the other end of the screw rod is rotatably connected with the finger root part of the ring finger.
In some embodiments, the third transmission assembly includes a second connecting rod and a third connecting rod fixedly connected with the root part of the little finger and the root part of the ring finger respectively, a fourth connecting rod rotatably connected with the second connecting rod and the third connecting rod, and the third connecting rod is also rotatably connected with the screw rod.
In some embodiments, the root portion of the middle finger is fixedly connected to the palm portion.
In some embodiments, the root section of the thumb is further provided with a third motor connected to the palm section for effecting bending of the thumb.
In some embodiments, a bump is further disposed on the back of the palm, and a camera for enlarging the view angle range of the robot body is disposed in the bump.
In some embodiments, the bump is disposed at any finger root portion corresponding to the back of the palm according to actual requirements.
Compared with the prior art, the utility model has the following beneficial effects:
(1) According to the utility model, the lateral swinging of the three finger parts, namely the opening and closing of the finger parts, is realized through the multi-step transmission assembly skillfully, the number of motors is reduced, the requirement of the lateral swinging degree of freedom is met, the structure is more simplified, and the cost is reduced.
(2) The utility model realizes the bending, namely the rotation of the finger part through the transmission component of the worm gear and the worm, and the one-step transmission also has a large reduction ratio, so that the finger part has the characteristic of stability in working, can be self-locked, and simultaneously improves the load capacity of the finger part.
(3) The utility model is a modularized finger part, which is divided into a fingertip part, a middle finger part and a finger root part, each module can be disassembled and assembled, so that the maintenance and the replacement are convenient, and the maintenance cost is reduced.
Drawings
Fig. 1 is a schematic structural view of the present utility model.
Fig. 2 is a schematic view of the structure of the finger part of the present utility model.
Fig. 3 is a schematic view showing the structure of the finger part of the present utility model in detail.
Fig. 4 is a schematic structural view of the finger worm gear of the present utility model.
Fig. 5 is a schematic diagram of a combination of a palm portion and four fingers according to the present utility model.
Fig. 6 is a schematic diagram of the combination of the palm and thumb of the present utility model.
Fig. 7 is a schematic structural view of the back palm bump of the present utility model.
The figures are labeled as follows:
1 is finger part, 1-1 is fingertip part, 1-2 is finger middle part, 1-3 is finger root part, 1-4 is first gear component, 1-5 is first connecting rod, 1-6 is first motor,
2 Is a palm part, 2-1 is a screw rod, 2-2 is a second gear component, 2-2-1 is a driving gear, 2-2-2 is a driven gear, 2-3 is a third transmission component, 2-3-1 is a second connecting rod, 2-3-2 is a third connecting rod, 2-3-3 is a fourth connecting rod, 2-4 is a second motor, 2-5 is a third motor, and 2-6 is a convex block.
Detailed Description
The utility model will now be described in detail with reference to the drawings and specific examples. The present embodiment is implemented on the premise of the technical scheme of the present utility model, and a detailed implementation manner and a specific operation process are given, but the protection scope of the present utility model is not limited to the following examples.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
Some embodiments of the present utility model are described in detail below with reference to the accompanying drawings. The embodiments described below and features of the embodiments may be combined with each other without conflict.
In the following embodiments, unless otherwise specified, functional components or structures are indicated as conventional components or structures adopted in the art to achieve the corresponding functions.
Example 1:
As shown in fig. 1 to 7, the robot smart hand with both rotation and lateral swing comprises: the finger part 1 comprises a fingertip part 1-1, a middle finger part 1-2 and a finger root part 1-3 which are connected in a detachable mode in sequence, wherein the fingertip part 1-1 and the middle finger part 1-2 are connected with the middle finger part 1-2 and the finger root part 1-3 through a first transmission component respectively and are used for realizing bending of all parts; the palm part 2 comprises a palm and a second transmission component connected with the finger root parts 1-3 and the palm, and is used for realizing lateral swinging of the finger parts 1 along the arrangement direction, namely realizing opening and closing among a plurality of finger parts 1, the second transmission component comprises a screw rod 2-1 connected with the finger root parts 1-3, a second gear component 2-2 connected with the screw rod 2-1, a second motor 2-4 connected with the palm and driving the second gear component 2-2 to operate, a third transmission component 2-3 connected with the screw rod 2-1, and the third transmission component 2-3 is also connected with the finger root parts 1-3. According to the technical scheme, on one hand, the joints of the finger part 1 are modularized, so that the disassembly and assembly are convenient; on the other hand, the bending rotation between the modularized finger parts 1 and the opening and closing lateral swinging among the plurality of finger parts 1 are realized through the transmission assembly, and particularly, the lateral swinging of the plurality of finger parts 1 is better controlled cooperatively in a mode that the gear assembly is matched with the screw rod 2-1 to drive the third transmission assembly 2-3.
In this embodiment, the first transmission assembly includes a first gear assembly 1-4 for connecting the fingertip part 1-1 and the middle finger part 1-2, and the middle finger part 1-2 and the root finger part 1-3, respectively, and a first motor 1-6 for driving the first gear assembly 1-4 to operate. The present embodiment allows bending rotation of the fingertip part 1-1 and the finger middle part 1-2 by the first gear assembly 1-4.
In this embodiment, the first gear assembly 1-4 is a worm and a worm wheel meshed with each other, two ends of the middle finger part 1-2 are respectively provided with a worm, the finger root part 1-3 is provided with a worm wheel meshed with one end of the middle finger part 1-2, the finger tip part 1-1 is provided with a worm wheel meshed with the other end of the middle finger part 1-2, the finger tip part 1-1 is further provided with a first connecting rod 1-5, one end of the first connecting rod 1-5 is connected with the finger tip part 1-1, and the other end of the first connecting rod is rotatably connected with the middle finger part 1-2. The first gear assembly 1-4 in this embodiment adopts a worm and worm wheel, the first motor 1-6 is used to drive the worm to rotate, the rotation of the worm rotates the worm wheel with space staggered by 90 degrees, so that the joints at the finger tip part 1-1 and the finger middle part 1-2 and the finger root part 1-3 rotate, and the gear assembly in the form of the worm and worm wheel as shown in fig. 4 enables the finger part 1 to have the characteristics of large reduction ratio, self-locking (i.e. keeping the bending state after power failure) and improving the load capacity of the finger part 1. In addition, the worm and gear also drives the first connecting rod 1-5 to rotate, so that on one hand, the connection relation between the fingertip part 1-1 and the finger middle part 1-2 is reinforced, and on the other hand, the bending of the fingertip part 1-1 is facilitated, and the first connecting rod 1-5 also has a certain radian, so that the finger layout is more compact.
In this embodiment, the worms at the two ends of the middle finger part 1-2 are respectively arranged at the two sides of the middle finger part 1-2. In the embodiment, the worm wheel, the first motor 1-6 and other parts are arranged in a staggered mode, so that space is saved, and the structure is more compact.
In the present embodiment, the second gear assembly 2-2 includes a driving gear 2-2-1 connected to the second motor 2-4 and a driven gear 2-2-2 engaged with the driving gear 2-2-1, the driven gear 2-2 being further rotatably connected to the screw 2-1. In the embodiment, the second motor 2-4 arranged in the middle of the palm part 2 drives the driving gear 2-2-1 and the driven gear 2-2-2 to carry out primary transmission, and drives the screw rod 2-1 to drive the plurality of finger parts 1 to swing sideways.
In this embodiment, one end of the screw rod 2-1 is rotatably connected to the finger root part 1-3 of the index finger, and the other end is rotatably connected to the finger root part 1-3 of the ring finger.
In this embodiment, the third transmission assembly 2-3 includes a second connecting rod 2-3-1 and a third connecting rod 2-3-2 fixedly connected to the root part 1-3 of the little finger and the root part 1-3 of the ring finger respectively, a fourth connecting rod 2-3-3 rotatably connected to the second connecting rod 2-3-1 and the third connecting rod 2-3-2, and the third connecting rod 2-3-2 is also rotatably connected to the screw rod 2-1. In the embodiment, the screw rod 2-1 rotates to drive the connecting rods of the third transmission assembly 2-3 to carry out secondary transmission, so that the index finger, the ring finger and the little finger simultaneously swing laterally, and the palm part 2 is integrally opened.
In this embodiment, the root sections 1-3 of the middle finger are fixedly connected to the palm section 2. Because the middle finger does not have the requirement of the side swinging freedom degree, the side swinging component of the middle finger is not designed in the embodiment, so that the use of structural parts is reduced, the cost is reduced, the weight is reduced, and the whole robot smart hand is more flexible.
In this embodiment the root section 1-3 of the thumb is further provided with a third motor 2-5 connected to the palm section 2 for effecting bending of the thumb. In this embodiment, since the thumb is laterally (the direction in which the thumb faces is perpendicular to the direction in which the remaining four fingers face) connected to the palm portion 1 by the third motor 2-5, the bending of each section on the thumb can be regarded as approaching or moving away from the remaining four fingers, i.e., swinging laterally. The lateral swing transmission mode of the thumb is continued by the transmission mode of the worm and worm wheel of the finger part 1 and the first connecting rod 1-5 in a direct connection mode of the third motor 2-5, so that the shaft system design among the finger parts 1 and the selection of transmission parts are unified conveniently, and the cost is saved while the installation is convenient. In addition, the third motor 2-5 directly drives the thumb to swing laterally, so that the number of the finger parts 1 driven by the palm part 2 is reduced, redundant transmission structures are avoided, and meanwhile, the third motor 2-5 is also attached to the curve of the palm part 2, so that the whole robot smart hand is more attractive.
In this embodiment, a bump 2-6 is further disposed on the back of the palm 2, the bump 2-6 is disposed at any finger root portion 1-3 corresponding to the back of the palm 2 according to actual requirements, and a camera for enlarging the view angle range of the robot body is disposed in the bump 2-6. In this embodiment, the camera is arranged on the palm portion 2, so that a new view angle range is provided for the robot body, and the problem that the robot body has a view angle blind area is solved.
The previous description of the embodiments is provided to facilitate a person of ordinary skill in the art in order to make and use the present utility model. It will be apparent to those skilled in the art that various modifications can be readily made to these embodiments and the generic principles described herein may be applied to other embodiments without the use of the inventive faculty. Therefore, the present utility model is not limited to the above-described embodiments, and those skilled in the art, based on the present disclosure, should make improvements and modifications without departing from the scope of the present utility model.
Claims (10)
1. A robot dexterous hand that compromise rotation and side pendulum, its characterized in that includes:
the finger part (1) comprises a fingertip part (1-1), a middle finger part (1-2) and a finger root part (1-3) which are connected in a detachable mode in sequence, wherein the fingertip part (1-1) is connected with the middle finger part (1-2), and the middle finger part (1-2) and the finger root part (1-3) are respectively connected through a first transmission component and are used for realizing bending of each part;
A palm part (2) comprising a palm and a second transmission component connecting the finger root parts (1-3) and the palm for realizing the lateral swinging of the finger part (1) along the arrangement direction,
The second transmission assembly comprises a screw rod (2-1) connected with a plurality of finger root parts (1-3), a second gear assembly (2-2) connected with the screw rod (2-1), a second motor (2-4) connected with the palm and driving the second gear assembly (2-2) to operate, and a third transmission assembly (2-3) connected with the screw rod (2-1), wherein the third transmission assembly (2-3) is also connected with the plurality of finger root parts (1-3).
2. A robot dexterous hand with both rotation and lateral swing according to claim 1, characterized in that the first transmission assembly comprises a first gear assembly (1-4) for connecting the fingertip part (1-1) and the mid-finger part (1-2), the mid-finger part (1-2) and the root finger part (1-3) respectively, and a first motor (1-6) driving the first gear assembly (1-4) to operate.
3. The robot dexterous hand considering both rotation and side sway according to claim 2, wherein the first gear assembly (1-4) is a worm and a worm wheel which are engaged with each other, two ends of the middle finger part (1-2) are respectively provided with a worm, the root finger part (1-3) is provided with a worm wheel which is engaged with one end worm of the middle finger part (1-2), the finger tip part (1-1) is provided with a worm wheel which is engaged with the other end worm of the middle finger part (1-2),
The finger tip part (1-1) is also provided with a first connecting rod (1-5), one end of the first connecting rod (1-5) is connected with the finger tip part (1-1), and the other end of the first connecting rod is rotationally connected with the finger middle part (1-2).
4. A robot dexterous hand with both rotation and lateral swinging according to claim 3, characterized in that the worms at both ends of the middle finger section (1-2) are respectively arranged at both sides of the middle finger section (1-2).
5. A robot dexterous hand with both rotation and lateral swing according to claim 1, characterized in that the second gear assembly (2-2) comprises a driving gear (2-2-1) connected to the second motor (2-4) and a driven gear (2-2-2) meshing with the driving gear (2-2-1), the driven gear (2-2-2) being also in rotational connection with the screw (2-1).
6. A robot dexterous hand with both rotation and lateral swing according to claim 1, wherein one end of the screw rod (2-1) is rotatably connected with the finger root part (1-3) of the index finger and the other end is rotatably connected with the finger root part (1-3) of the ring finger.
7. The robot dexterous hand with both rotation and lateral swing according to claim 1, wherein the third transmission assembly (2-3) comprises a second connecting rod (2-3-1) and a third connecting rod (2-3-2) which are fixedly connected with the finger root part (1-3) of the little finger and the finger root part (1-3) of the ring finger respectively, a fourth connecting rod (2-3-3) which is rotatably connected with the second connecting rod (2-3-1) and the third connecting rod (2-3-2), and the third connecting rod (2-3-2) is also rotatably connected with the screw rod (2-1).
8. A robot dexterous hand with both rotation and lateral swing according to claim 1, characterized in that the root part (1-3) of the middle finger is fixedly connected with the palm part (2).
9. A robot dexterous hand with both rotation and lateral swing according to claim 1, characterized in that the root section (1-3) of the thumb is further provided with a third motor (2-5) connected to the palm section (2) for effecting bending of the thumb.
10. The robot dexterous hand with both rotation and lateral swing according to claim 1, wherein a bump (2-6) is further provided on the back of the palm portion (2), and a camera for enlarging the view angle range of the robot body is provided in the bump (2-6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322187312.5U CN220826015U (en) | 2023-08-15 | 2023-08-15 | Robot smart hand capable of achieving rotation and lateral swinging |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322187312.5U CN220826015U (en) | 2023-08-15 | 2023-08-15 | Robot smart hand capable of achieving rotation and lateral swinging |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220826015U true CN220826015U (en) | 2024-04-23 |
Family
ID=90724196
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202322187312.5U Active CN220826015U (en) | 2023-08-15 | 2023-08-15 | Robot smart hand capable of achieving rotation and lateral swinging |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220826015U (en) |
-
2023
- 2023-08-15 CN CN202322187312.5U patent/CN220826015U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2018157643A1 (en) | Anthropomorphic full-drive five-finger dexterous robotic hand | |
| CN100462208C (en) | Four-freedom redundantly driven parallel robot mechanism | |
| CN101508115B (en) | Variable sequence under-actuated two-articulated robot finger device | |
| CN101486192B (en) | Single motor driven two-freedom degree joint structure | |
| WO2021189677A1 (en) | Limb structure having parallel-driven joint for bionic robot, and bionic robot | |
| CN107225559B (en) | A kind of four-degree-of-freedom high speed parallel robot of achievable SCARA movement | |
| CN100581756C (en) | Double bevel wheel under-driven robot finger | |
| CN209954679U (en) | Under-actuated humanoid dexterous hand driven and controlled by micro motor | |
| CN102284957A (en) | Differential bevel gear rack type combination underactuated robot finger device | |
| CN205415678U (en) | Bionical three indicate manipulator | |
| CN220826015U (en) | Robot smart hand capable of achieving rotation and lateral swinging | |
| CN109606634B (en) | Double-shaft wing folding mechanism | |
| CN102303313A (en) | Asymmetrical completely-isotropic three-degree-of-freedom parallel connection robot mechanism | |
| CN102848381A (en) | High-speed parallel mechanism with two-dimensional translation and one-dimensional rotation of four branch chains | |
| CN210361383U (en) | Two-degree-of-freedom hip joint of anthropomorphic robot and anthropomorphic robot | |
| CN109605406B (en) | Bionic finger | |
| CN109732641A (en) | A kind of submissive joint of bifurcation formula variation rigidity and operating method | |
| CN213381549U (en) | Drive module for ultra-small intelligent robot | |
| CN112192551B (en) | Two-degree-of-freedom spherical motion parallel mechanism | |
| CN206551012U (en) | A kind of six-degree-of-freedom parallel connection mechanism based on differential driving structure | |
| CN111844123A (en) | Wrist type robot joint | |
| CN111015644A (en) | Rope drives formula arm based on coupling linkage | |
| CN219705239U (en) | Series-parallel mechanical arm | |
| CN111283721B (en) | Hinge type robot joint | |
| CN103009398A (en) | Humanoid hand in underactuation exquisite transmission structure |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |