Five-finger robot hand driven by pneumatic muscles

Abstract

The invention discloses a five-finger robot hand driven by pneumatic muscles. The five-finger robot hand comprises a connecting flange which is connected to industrial machinery as well as four bent single fingers and one thumb, which are mounted on the connecting flange, wherein each bent single finger comprises a bent single finger metacarpal bone, a bent single finger near finger end, a bent single finger middle finger end and a bent single finger far finger end; joints are hinged through hinges; a bent single finger return torsion spring is arranged outside the hinge shaft of each hinge ina sleeving mode; one side of the hand back of the bent single finger metacarpal bone is equipped with a bent single finger pneumatic muscle a, one side of the hand back of the bent single finger nearfinger end is equipped with a bent single finger pneumatic muscle b, and a bent single finger muscle tendon c is further tied on the bent single finger near finger end; and the thumb comprises a thumb metacarpal bone, a thumb near-finger end and a thumb far finger end. The five-finger robot hand driven by the pneumatic muscles provided by the invention is the five-finger robot hand which has an original state as a holding state under a state of not applying drive force; and after the five-finger robot hand applies drive force, fingers are opened.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a five-fingered dexterous hand driven by pneumatic muscles. Background technique [0002] The initial posture of the five-fingered dexterous hands researched on the market is basically an open palm state, and the bending and bending angle of the fingers are controlled through motors, tendon ropes, and other mechanical structures. The traditional implementation of finger movement is to control the closure of the open palm by applying tension on the key rope. During this movement, the layout of the tendon rope in the finger is difficult to arrange. At the same time, the fixing method of the tendon rope inside the finger If it is unreasonable, it is easy for the tendon cord to interfere with the internal structure of the finger and affect its control of the finger. At the same time, the traditional mechanical structure is too cumbersome, takes up a lot of space, and it is not easy t...

AI Technical Summary

Problems solved by technology

[0003] In order to overcome the defects of complex structure and extra driving force required for finger movement in existing mechanical fingers, the present invention provides a five-fingered dexterous hand driven by pneumatic muscles. When no driving force is applied, the initial state is the five-fingered dexterous hand in the gripping state. Dexterous hand, the fingers of this five-fingered dexterous hand will open when a driving force is applied

Images