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CN-121973261-A - Dexterous hand and robot

CN121973261ACN 121973261 ACN121973261 ACN 121973261ACN-121973261-A

Abstract

The invention discloses a smart hand and a robot, and relates to the technical field of robots, wherein the smart hand comprises a palm main body, a hand support and a hand support, wherein the palm main body is also provided with a palm surface positioned between a wrist end and a finger end; the thumb and the auxiliary finger are arranged to bend relative to the palm main body to move towards or away from each other, at least one of the tip of the thumb and the tip of the auxiliary finger is provided with a first image acquisition member, the palm surface is provided with at least one second image acquisition member, and the control module is suitable for jointly controlling the thumb and the auxiliary finger to move according to the image information acquired by the first image acquisition member and the second image acquisition member. The dexterous hand has the advantages of high degree of freedom, high motion stability, high gripping force, capability of realizing more accurate motion so as to realize accurate gripping of objects, capability of gripping finer and softer objects, high integration level, small whole volume, light weight and low cost, and is beneficial to realizing the weight reduction of a robot.

Inventors

  • KANG PENG
  • HOU JIEMING
  • WANG QINGSONG
  • ZHANG YINGSHUAI

Assignees

  • 江淮前沿技术协同创新中心

Dates

Publication Date
20260505
Application Date
20260306

Claims (10)

  1. 1. A smart hand, comprising: A palm body (1), the palm body (1) having a wrist end (13) and a finger end (14) facing away from each other, the palm body (1) further having a palm face (15) located between the wrist end (13) and the finger end (14); -a thumb (2) and at least two auxiliary fingers (3), said thumb (2) being movably mounted to said palm face (15), at least two of said auxiliary fingers (3) being movably mounted to said finger end (14), said thumb (2) and said auxiliary fingers (3) being arranged to be bendable relative to said palm body (1) to move in a direction towards or away from each other; The control module (9), first image acquisition piece (41) and second image acquisition piece (42), at least one of fingertip (51) of thumb (2) and fingertip (51) of supplementary finger (3) is equipped with first image acquisition piece (41), palm face (15) are equipped with at least one second image acquisition piece (42), control module (9) are suitable for according to image information that first image acquisition piece (41) and second image acquisition piece (42) gathered together control thumb (2) with supplementary finger (3) motion.
  2. 2. A dexterous hand according to claim 1, wherein the wrist end (13) and the finger end (14) are distributed along a first direction, the number of auxiliary fingers (3) is two, and the two auxiliary fingers (3) are distributed at the finger end (14) at intervals along a second direction, the first direction intersecting the second direction; Wherein two second image capturing elements (42) are provided, and the two second image capturing elements (42) are distributed on the palm surface (15) at intervals along the second direction.
  3. 3. Dexterous hand according to claim 2, characterized in that two second image capturing members (42) are located on both sides of the thumb (2), respectively; And/or, two of said second image capturing elements (42) are symmetrically distributed with respect to said first direction; and/or, in the projection in the second direction, the projection of the thumb (2) is located between the projections of the two auxiliary fingers (3).
  4. 4. The dexterous hand according to claim 2, wherein the palm face (15) has a protruding boss area (151), the boss area (151) being spaced apart from the finger tip (14), an open mounting hole (1511) being provided at the boss area (151), the thumb (2) being movably mounted at the mounting hole (1511), and both of the second image capturing members (42) being located within the boss area (151).
  5. 5. Dexterous hand according to claim 1, characterized in that the first image capturing element (41) comprises a first camera (411), a fingertip accommodating cavity (511) is formed in the fingertip (51) of the thumb (2) and/or the fingertip (51) of the auxiliary finger (3), a side of the fingertip (51) facing the palm face (15) is configured as a transparent body (512), the first camera (411) is located in the fingertip accommodating cavity (511) and adapted to take an image outwards from the transparent body (512); And/or, the second image acquisition member (42) comprises a second camera (421), wherein the second camera (421) is exposed on the palm surface (15) and is suitable for shooting towards one side close to the finger end (14) above the palm surface (15).
  6. 6. A dexterous hand according to any of claims 1-5, further comprising a first drive assembly (6) and a second drive assembly (7), the first drive assembly (6) being connected to the auxiliary finger (3) to drive the auxiliary finger (3) to move relative to the palm body (1), the second drive assembly (7) being connected to the thumb (2) to drive the thumb (2) to move relative to the palm body (1); wherein, be formed with accommodation space (16) in palm main part (1), first drive assembly (6) with second drive assembly (7) all set up to be located at least partially in accommodation space (16).
  7. 7. The dexterous hand according to claim 6, wherein the first driving assembly (6) comprises a first driving member (61) and a pushing structure (62), the auxiliary finger (3) comprises a first knuckle (31), the first knuckle (31) is rotatable with respect to the palm body (1), an output end of the first driving member (61) is connected to the pushing structure (62), and the pushing structure (62) is connected to the first knuckle (31) such that the first driving member (61) drives the first knuckle (31) to rotate by the pushing structure (62).
  8. 8. The dexterous hand according to claim 7, wherein the palm body (1) is provided with a mounting seat (17), the first knuckle (31) is rotatably connected to the mounting seat (17), the auxiliary finger (3) further comprises a second knuckle (32), a first connecting piece (311) is arranged in the first knuckle (31), one end of the first connecting piece (311) is rotatably connected with the mounting seat (17) around a first axis, the other end of the first connecting piece (311) is rotatably connected with the second knuckle (32) around a second axis, the first knuckle (31) is rotatably connected with the second knuckle (32), and the first knuckle (31) drives the second knuckle (32) to rotate relative to the first knuckle (31) through the first connecting piece (311) when the first knuckle (31) rotates.
  9. 9. The dexterous hand according to claim 6, wherein the second driving assembly (7) comprises a second driving member (71), a first transmission member (72), a third driving member (73), a second transmission member (74) and a support bar (75), wherein the thumb (2) comprises a finger root assembly (21), wherein the finger root assembly (21) is connected with the support bar (75), wherein the finger root assembly (21) comprises a second connecting member (211) and a joint unit (212), wherein the second connecting member (211) is relatively movably connected with the joint unit (212); The first transmission piece (72) is sleeved outside the supporting rod (75), the first transmission piece (72) is rotatable relative to the supporting rod (75) around a third axis perpendicular to the central axis of the supporting rod (75), the second driving piece (71) is in power connection with the first transmission piece (72), the second transmission piece (74) is sleeved outside the supporting rod (75) and is in movable connection with the joint unit (212) relatively, the second transmission piece (74) is rotatable relative to the first transmission piece (72) around the central axis of the supporting rod (75), and the third driving piece (73) is in power connection with the supporting rod (75).
  10. 10. A robot comprising a dexterous hand according to any one of claims 1 to 9.

Description

Dexterous hand and robot Technical Field The invention relates to the technical field of robots, in particular to a dexterous hand and a robot with the same. Background The dexterous hand is used as a highly bionic robot end effector, aims to imitate the structure and the function of a human hand, plays a vital role in the interaction between a robot and the environment, is widely applied to the fields of aerospace, medical operation, intelligent manufacturing and the like, and is expected to become one of core technologies in the development of humanoid robots. The human hand has a highly complex motion capability, the whole palm has 21 to 23 degrees of freedom in total, the thumb has 5 degrees of freedom (CMC joints 2, MCP joints 2, DIP joints 1), and the remaining fingers typically have 4 degrees of freedom (MCP joints 2, PIP and DIP joints 1 each). It is worth noting that the wrist-palm joints (CMC) of ring finger and little finger have a certain degree of freedom of movement except for thumb, although the range of movement is smaller, it plays a key role in realizing fine manipulation of finger, so the actual movement of the whole human hand requires approximately 23 degrees of freedom. In the related art, the smart hand is very complicated to make the mechanism because of needing to satisfy high degree of freedom, and is bulky, heavy, and motion stability is poor, in other words, current smart hand can't realize high degree of freedom in limited volume space, simultaneously, guarantees high grip, light in weight, realizes accurate action. Disclosure of Invention The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, the invention provides the smart hand which has the advantages of high degree of freedom, high motion stability, high grasping force, capability of realizing more accurate motion so as to realize accurate grasping of objects, capability of grasping finer and softer objects, high integration level, small whole volume, light weight and low cost, and is beneficial to realizing the light weight of the robot. The dexterous hand comprises a palm main body, a thumb and at least two auxiliary fingers, a control module, a first image acquisition piece and a second image acquisition piece, wherein the palm main body is provided with a wrist end and a finger end which face away from each other, the palm main body is further provided with a palm face between the wrist end and the finger end, the thumb is movably arranged on the palm face, the at least two auxiliary fingers are movably arranged on the finger end, the thumb and the auxiliary fingers are arranged to bend relative to the palm main body to move towards a direction approaching or separating from each other, at least one of a toe portion of the thumb and a toe portion of the auxiliary finger is provided with the first image acquisition piece, the palm face is provided with the at least one second image acquisition piece, and the control module is suitable for jointly controlling the thumb and the auxiliary fingers to move according to image information acquired by the first image acquisition piece and the second image acquisition piece. According to the dexterous hand, the thumb and the auxiliary finger can be bent relative to the palm main body to move towards the direction approaching or separating from each other, multiple complex grabbing actions such as pinching, grabbing and the like can be achieved, the dexterous hand has high freedom degree, high motion stability and high grabbing force, the first image acquisition piece is arranged on at least one of the tip of the thumb and the tip of the auxiliary finger, and the at least one second image acquisition piece is arranged on the palm surface, so that the control module jointly controls the thumb and the auxiliary finger to move according to the image information acquired by the first image acquisition piece and the second image acquisition piece, the dexterous hand can achieve more accurate actions to achieve accurate grabbing of objects, the dexterous hand can grab finer and softer objects, and the dexterous hand has high integration level, small overall size, light weight and low cost and is beneficial to achieving light weight of a robot. According to the dexterous hand, the wrist end and the finger end are distributed along a first direction, the number of the auxiliary fingers is two, the two auxiliary fingers are distributed at intervals on the finger end along a second direction, the first direction intersects with the second direction, the number of the second image acquisition pieces is two, and the two second image acquisition pieces are distributed on the palm surface along the second direction at intervals. According to some embodiments of the invention, the two second image acquisition members are respectively located at two sides of the thumb; and/or, the two second image acquisition pieces are symmetrically distr