Parallel connection rod driving mechanical finger with four degrees of freedom

Abstract

The invention relates to the technical field of robots, and provides a parallel connection rod driving mechanical finger with four degrees of freedom, which comprises a base, and a first driving mechanism, a second driving mechanism, a third driving mechanism and a fourth driving mechanism which are arranged on the base in parallel, the mechanical finger further comprises an MCP joint, a PIP joint and a DIP joint which are connected in sequence. The MCP joint is connected with the base through a universal joint. The first driving mechanism and the second driving mechanism are connected with the two sides of the MCP joint correspondingly so as to drive the MCP joint to conduct pitching motion and side-sway motion. The third driving mechanism is connected with the PIP joint so as to drive the PIP joint to perform pitching motion; and the fourth driving mechanism is connected with the DIP joint so as to drive the DIP joint to perform pitching motion. Four degrees of freedom have high dexterity, and the repeated positioning precision is good; high load ratio, high rigidity and high energy density are achieved, the branch chain structure interchangeability is good, the overall structure is simple and compact, and the space occupation ratio is small.

Description

Technical Field

[0001] The present invention relates to the field of robotics, and more particularly to a parallel-connecting-rod driven mechanical finger with four degrees of freedom. Background Art

[0002] Mechanical fingers are an essential component of robots and their manipulation, directly determining their functional tasks and operational performance. Existing mechanical fingers primarily employ tendon mechanisms (tendon cords, rope transmissions) and linkage mechanisms (including four-bar linkages, gears, and pulley transmissions). Both mechanisms suffer from insufficient dexterity and poor repeatability. Summary of the Invention

[0003] The object of the present invention is to provide a parallel-link driven mechanical finger with four degrees of freedom, so as to solve the technical problems of insufficient dexterity and poor repeatability of mechanical fingers in the prior art.

[0004] To achieve the above object, the technical solution adopted by the present invention is:

[0005] The present invention provides a parallel link driven mechanical finger with four degrees of freedom, comprising a base and a first drive mechanism, a second drive mechanism, a third drive mechanism and a fourth drive mechanism arranged in parallel on the base;

[0006] The mechanical finger further comprises an MCP joint, a PIP joint and a DIP joint connected in sequence, and the MCP joint is connected to the base via a universal joint;

[0007] The first driving mechanism and the second driving mechanism are respectively connected to two sides of the MCP joint to drive the MCP joint to perform pitch motion and yaw motion;

[0008] The third driving mechanism is connected to the PIP joint to drive the PIP joint to perform pitch motion;

[0009] The fourth driving mechanism is connected to the DIP joint to drive the DIP joint to perform pitch motion.

[0010] According to the above-mentioned parallel-link driven mechanical finger with four degrees of freedom, the MCP joint includes a first MCP link and a second MCP link, the universal joint is provided between the first MCP link and the second MCP link and is located at one end of the first MCP link and the second MCP link close to the base, and the universal joint is connected to the first MCP link, the second MCP link, and the base;

[0011] The first driving mechanism is connected to the first MCP connecting rod, and the second driving mechanism is connected to the second MCP connecting rod.

[0012] According to the above-mentioned parallel link driven mechanical finger with four degrees of freedom, the first driving mechanism includes:

[0013] a first joint bearing seat, the first joint bearing seat being arranged on the base and connected to the base;

[0014] a first linear motor, the first linear motor being disposed on the first joint bearing seat and connected to the first joint bearing seat;

[0015] A first joint bearing is provided on the first linear motor and connected to the first linear motor, and the first joint bearing is connected to the first MCP connecting rod.

[0016] According to the above-mentioned parallel link driven mechanical finger with four degrees of freedom, the second driving mechanism includes:

[0017] a second joint bearing seat, the second joint bearing seat being arranged on the base and connected to the base;

[0018] a second linear motor, the second linear motor being disposed on the second joint bearing seat and connected to the second joint bearing seat;

[0019] The second joint bearing is provided on the second linear motor and connected to the second linear motor, and the second joint bearing is connected to the second MCP connecting rod.

[0020] According to the above-mentioned parallel-link driven mechanical finger with four degrees of freedom, the PIP joint includes a first PIP link, a second PIP link, a first linkage link and a first rotation axis;

[0021] The MCP joint is connected to the first PIP link and the second PIP link through the first rotation axis. The first linkage rod is arranged between the first PIP link and the second PIP link, and one end of the first linkage rod is connected to the first rotation axis, and the other end is connected to the third driving mechanism.

[0022] According to the above-mentioned parallel link driven mechanical finger with four degrees of freedom, the third driving mechanism includes:

[0023] a third joint bearing seat, the third joint bearing seat being arranged on the base and connected to the base;

[0024] a third linear motor, the third linear motor being disposed on the third joint bearing seat and connected to the third joint bearing seat;

[0025] a third joint bearing, the third joint bearing being provided on the third linear motor and connected to the third linear motor;

[0026] a first linkage shaft, the first linkage shaft being disposed on the third spherical bearing and connected to the third spherical bearing;

[0027] A fourth joint bearing is provided on the first linkage shaft and connected to the first linkage shaft, and the fourth joint bearing is connected to the first linkage rod.

[0028] According to the above-mentioned parallel-link driven mechanical finger with four degrees of freedom, the DIP joint includes a DIP link, a second linkage rod, a second rotation axis and a third rotation axis, and the second rotation axis and the third rotation axis are both provided on the DIP link;

[0029] The first PIP link and the second PIP link are connected to the DIP link via a second rotation shaft. One end of the second linkage rod is connected to the third rotation shaft, and the other end is connected to the fourth driving mechanism.

[0030] According to the above-mentioned parallel-link driven mechanical finger with four degrees of freedom, the DIP joint further includes a fourth rotation axis, a third linkage rod and a fourth linkage rod;

[0031] One end of the third linkage rod is rotatably connected to the first rotation axis, and the other end is provided on the second linkage rod and connected to the second linkage rod via the fourth rotation axis;

[0032] One end of the fourth linkage rod is rotatably connected to the first rotation axis, and the other end is provided on the second linkage rod and connected to the second linkage rod via the fourth rotation axis;

[0033] The first rotation axis, the fourth rotation axis, the second rotation axis, the third rotation axis, the third linkage rod, the second linkage rod, the DIP link, and the first PIP link constitute an inverted quadrilateral linkage mechanism;

[0034] The first rotation axis, the fourth rotation axis, the second rotation axis, the third rotation axis, the fourth linkage rod, the second linkage rod, the DIP link, and the second PIP link constitute an inverted quadrilateral linkage mechanism.

[0035] According to the above-mentioned parallel link driven mechanical finger with four degrees of freedom, the fourth driving mechanism includes:

[0036] a fourth joint bearing seat, the fourth joint bearing seat being arranged on the base and connected to the base;

[0037] a fourth linear motor, the fourth linear motor being disposed on the fourth joint bearing seat and connected to the fourth joint bearing seat;

[0038] a fifth joint bearing, the fifth joint bearing being provided on the fourth linear motor and connected to the fourth linear motor;

[0039] a second linkage shaft, the second linkage shaft being disposed on the fifth spherical bearing and connected to the fifth spherical bearing;

[0040] A sixth joint bearing is provided on the second linkage shaft and connected to the second linkage shaft, and the sixth joint bearing is connected to the second linkage rod.

[0041] According to the above-mentioned parallel link driven mechanical finger with four degrees of freedom, the pitch motion range of the MCP joint is 0° to 90°;

[0042] The lateral swing motion range of the MCP joint is -35° to 35°;

[0043] The PIP joint pitch motion range is 0° to 90°;

[0044] The pitch motion range of the DIP joint is 0° to 90°.

[0045] The beneficial effects of the parallel-link driven mechanical finger with four degrees of freedom provided by the present invention are at least:

[0046] The parallel-link-driven mechanical finger with four degrees of freedom provided by the present invention realizes pitch and roll motions of the MCP joint through the cooperation of a first drive mechanism, a second drive mechanism, and a universal joint, realizes pitch motions of the PIP joint through a third drive mechanism, and realizes pitch motions of the DIP joint through a fourth drive mechanism, thereby enabling the mechanical finger to realize four degrees of freedom, and the four degrees of freedom have high dexterity. Its usage effect is similar to or even exceeds that of human fingers, and it can accurately and precisely imitate human fingers to perform movements or grasping operations, with good repeatability. The four drive mechanisms are connected in parallel to simultaneously bear the end load, and the theoretical end load can reach 280N, achieving a high load-to-weight ratio, high stiffness, and high energy density. In addition, the branched chain structure has good interchangeability, the overall structure is simple and compact, and the space occupation is small, which facilitates the compact assembly of the five fingers of the manipulator. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0048] Figure 1 The side view of the mechanical finger of the present invention is a schematic diagram of the three-dimensional structure Figure 1 ;

[0049] Figure 2 Schematic diagram of the MCP joint of the mechanical finger of the present invention performing pitch motion;

[0050] Figure 3 Schematic diagram of the MCP joint of the mechanical finger of the present invention performing lateral swing motion;

[0051] Figure 4 Schematic diagram of the pitch motion of the PIP joint of the mechanical finger of the present invention;

[0052] Figure 5 Schematic diagram of the pitch motion of the DIP joint of the mechanical finger of the present invention;

[0053] Figure 6 Schematic diagram of the rear perspective structure of the mechanical finger of the present invention;

[0054] Figure 7 The side view of the mechanical finger of the present invention is a schematic diagram of the three-dimensional structure Figure 2 ;

[0055] Figure 8 The side view of the mechanical finger of the present invention is a schematic diagram of the three-dimensional structure Figure 3 ;

[0056] Figure 9 Schematic diagram of the top view of the three-dimensional structure of the mechanical finger of the present invention;

[0057] Figure 10 It is a schematic diagram of a top-down exploded structure of the mechanical finger of the present invention;

[0058] Figure 11 This is a rear-view exploded structural schematic diagram of the mechanical finger of the present invention;

[0059] Figure 12 The side view of the mechanical finger of the present invention is a schematic diagram of the three-dimensional structure Figure 4 .

[0060] Among them, the reference numerals in the figures are:

[0061] 100. Mechanical finger; 10. Base; 20. First drive mechanism; 21. First joint bearing seat; 22. First linear motor; 23. First joint bearing; 30. Second drive mechanism; 31. First joint bearing seat; 32. Second linear motor; 33. First joint bearing; 40. Third drive mechanism; 41. Third joint bearing seat; 42. Third linear motor; 43. Third joint bearing; 44. First linkage shaft; 45. Fourth joint bearing; 50. Fourth drive mechanism; 51. Fourth joint bearing seat; 52. Fourth linear motor; 53. Fifth joint bearing; 54. Second linkage shaft; 55. Sixth joint bearing; 60. MCP joint; 61. First MCP link; 62. Second MCP link; 70. PIP joint; 71. First PIP link; 72. Second PIP link; 73. First linkage rod; 74. First rotation axis; 80. DIP joint; 81. DIP link; 82. Second linkage rod; 83. Second rotation axis; 84. Third rotation axis; 85. Fourth rotation axis; 86. Third linkage rod; 87. Fourth linkage rod; 90. Universal joint. DETAILED DESCRIPTION

[0062] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0063] It should be noted that when a component is referred to as being "fixed on" or "disposed on" another component, it may be located directly or indirectly on the other component. When a component is referred to as being "connected to" another component, it may be directly or indirectly connected to the other component. The directions or positions indicated by the terms "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. are based on the directions or positions shown in the accompanying drawings and are only for the convenience of description and cannot be understood as limitations on this technical solution. The terms "first" and "second" are only used for the purpose of convenience of description and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features. "Multiple" means two or more, unless otherwise clearly and specifically defined.

[0064] The main technical terms involved in the present invention are explained as follows:

[0065] MCP joints (Metacarpo-phalangeal joints, one of the joints of the human fingers, metacarpophalangeal joints in Chinese);

[0066] PIP joints (Proximal interphalangeal joints, one of the joints of the human fingers, and proximal interphalangeal joints in Chinese);

[0067] DIP joints (distal interphalangeal joints, one of the joints of the human fingers, distal interphalangeal joints in Chinese);

[0068] Universal joint (English full name: universal joint, also known as: U pair, abbreviated as: U, with two degrees of freedom);

[0069] Spherical bearings and spherical bearing seats (full name: spherical joint, abbreviated as: S, with three degrees of freedom);

[0070] Linear motor (English full name: prismatic joint, also known as: moving pair, abbreviated as: P, with one degree of freedom);

[0071] Rotational axis (full name: rotational joint, also known as revolute pair, abbreviated as R, with one degree of freedom);

[0072] Cylindrical joint (English full name: cylindrical joint, also known as: cylindrical pair, abbreviated as: C, two-degree-of-freedom motion pair).

[0073] The present invention relates to some connecting rods named in the above-mentioned letter combination, which represents a connecting rod mechanism composed of the kinematic pairs represented by the letters connected in sequence in a front-to-back order.

[0074] For example: SPS linkage (English full name: spherical joint--prismatic joint--spherical joint, a series linkage mechanism consisting of a spherical bearing seat-moving pair-spherical bearing);

[0075] PSSR connecting rod mechanism (English full name: prismatic joint--spherical joint--spherical joint--rotational joint, a series connecting rod mechanism composed of moving pair-spherical bearing-spherical bearing-rotational pair).

[0076] And so on.

[0077] See also Figure 1This embodiment provides a parallel-link driven mechanical finger 100 with four degrees of freedom, comprising a base 10 and a first drive mechanism 20, a second drive mechanism 30, a third drive mechanism 40, and a fourth drive mechanism 50 arranged in parallel on the base 10. The mechanical finger 100 also includes an MCP joint 60, a PIP joint 70, and a DIP joint 80 connected in sequence. The MCP joint 60 is connected to the base 10 via a universal joint 90. The first drive mechanism 20 and the second drive mechanism 30 are respectively connected to the two sides of the MCP joint 60 to drive the MCP joint 60 to perform pitch and roll motions; the third drive mechanism 40 is connected to the PIP joint 70 to drive the PIP joint 70 to perform pitch motion; and the fourth drive mechanism 50 is connected to the DIP joint 80 to drive the DIP joint 80 to perform pitch motion.

[0078] The working principle of the parallel link driven mechanical finger 100 with four degrees of freedom provided in this embodiment is as follows:

[0079] See also Figure 2 , Figure 2 (a) Figure 2 (b) Figure 2 (c) represent the pitch motion process of the MCP joint 60 respectively. When the third drive mechanism 40 and the fourth drive mechanism 50 are stationary, they drive the first drive mechanism 20 and the second drive mechanism 30, and through the cooperation of the universal joint 90, drive the first drive mechanism 20 and the second drive mechanism 30 to move up and down in the same direction and with the same step length, thereby realizing the single-free pitch motion of the MCP joint 60 driving the mechanical finger 100.

[0080] See also Figure 3 , Figure 3 (a) Figure 3 (b) Figure 3 (c) represent the side-swing motion process of the MCP joint 60. When the third drive mechanism 40 and the fourth drive mechanism 50 are stationary, they drive the first drive mechanism 20 and the second drive mechanism 30, and through the cooperation of the universal joint 90, drive the first drive mechanism 20 and the second drive mechanism 30 to move up and down in opposite directions and with the same step length, thereby realizing the single-free side-swing motion of the MCP joint 60 driving the mechanical finger 100.

[0081] Please refer to Figure 2 and Figure 3When the third drive mechanism 40 and the fourth drive mechanism 50 are stationary, they drive the first drive mechanism 20 and the second drive mechanism 30, and through the cooperation of the universal joint 90, drive the first drive mechanism 20 and the second drive mechanism 30 to move in the same direction and different step lengths, and can simultaneously drive the two-degree-of-freedom pitch and roll motion of the MCP joint 60 of the mechanical finger 100.

[0082] See also Figure 4 , Figure 4 (a) Figure 4 (b) Figure 4 (c) represent the pitch motion process of the PIP joint 70 respectively. When the first drive mechanism 20, the second drive mechanism 30 and the fourth drive mechanism 50 are stationary, the third drive mechanism 40 is driven to move up and down to realize the single-degree-of-freedom pitch motion of the PIP joint 70 driving the mechanical finger 100.

[0083] See also Figure 5 , Figure 5 (a) Figure 5 (b) Figure 5 (c) represent the pitch motion process of the DIP joint 80 respectively. When the first driving mechanism 20, the second driving mechanism 30 and the third driving mechanism 40 are stationary, the fourth driving mechanism 50 is driven to move, thereby realizing the pitch motion of the DIP joint 80 with a single degree of freedom of driving the mechanical finger 100.

[0084] It can be seen that the pitch motion and lateral motion of the MCP joint 60 are realized through the cooperation of the first drive mechanism 20, the second drive mechanism 30 and the universal joint 90, the pitch motion of the PIP joint 70 is realized through the third drive mechanism 40, and the pitch motion of the DIP joint 80 is realized through the fourth drive mechanism 50, thereby enabling the mechanical finger 100 to realize four degrees of freedom.

[0085] The beneficial effects of the parallel-link driven mechanical finger 100 with four degrees of freedom provided in this embodiment are as follows: the pitch and roll motions of the MCP joint 60 are realized through the cooperation of the first drive mechanism 20, the second drive mechanism 30 and the universal joint 90, the pitch motion of the PIP joint 70 is realized through the third drive mechanism 40, and the pitch motion of the DIP joint 80 is realized through the fourth drive mechanism 50, thereby enabling the mechanical finger 100 to realize four degrees of freedom, and the four degrees of freedom have high dexterity. Its usage effect is similar to or even exceeds that of human fingers, and it can accurately and precisely imitate human fingers to perform movements or grasping operations, with good repeatability. The use of four drive mechanisms in parallel can simultaneously bear the end load, and the theoretical end load can reach 280N, achieving a high load-to-weight ratio, high stiffness and high energy density. In addition, the branched chain structure has good interchangeability, the overall structure is simple and compact, and the space occupancy is small, which facilitates the compact assembly of the five fingers of the manipulator.

[0086] In one embodiment, please refer to Figure 1 and Figure 6 The MCP joint 60 includes a first MCP link 61 and a second MCP link 62. The universal joint 90 is arranged between the first MCP link 61 and the second MCP link 62 and is located at one end of the first MCP link 61 and the second MCP link 62 close to the base 10. The universal joint 90 is connected to the first MCP link 61, the second MCP link 62, and the base 10. The first drive mechanism 20 is connected to the first MCP link 61, and the second drive mechanism 30 is connected to the second MCP link 62.

[0087] A universal joint 90 having two degrees of freedom, pitch and roll, is mounted on the base 10, and the universal joint 90 is used to connect the end of the first MCP link 61 and the end of the second MCP link 62. The first drive mechanism 20 is connected to the first MCP link 61, and the second drive mechanism 30 is connected to the second MCP link 62. The pitch motion and roll motion of the first MCP link 61 and the second MCP link 62 are achieved through the joint action of the first drive mechanism 20, the second drive mechanism 30 and the universal joint 90.

[0088] In one embodiment, the first driving mechanism 20 and the second driving mechanism 30 have the same structure and are symmetrically arranged to facilitate the pitch motion and yaw motion of the MCP joint 60 .

[0089] In one embodiment, see Figure 7 The first driving mechanism 20 includes a first spherical bearing seat 21, a first linear motor 22, and a first spherical bearing 23. The first spherical bearing seat 21 is disposed on and connected to the base 10; the first linear motor 22 is disposed on and connected to the first spherical bearing seat 21; the first spherical bearing 23 is disposed on and connected to the first linear motor 22, and is connected to the first MCP connecting rod 61.

[0090] The first linear motor 22 used in the first drive mechanism 20 is a direct-drive mechanism with only one degree of freedom. The first spherical bearing seat 21 and the first spherical bearing 23 each have three degrees of freedom, making the first drive mechanism 20 more flexible and agile when driving the first MCP link 61 in pitch and roll motion. The first spherical bearing seat 21 (S), the first linear motor 22 (P), the first spherical bearing 23 (S), and the first MCP link 61 form an SPS linkage mechanism.

[0091] In one embodiment, see Figure 8The second driving mechanism 30 includes a first spherical plain bearing seat 31, a second linear motor 32, and a first spherical plain bearing 33. The first spherical plain bearing seat 31 is disposed on and connected to the base 10; the second linear motor 32 is disposed on and connected to the first spherical plain bearing seat 31; the first spherical plain bearing 33 is disposed on and connected to the second linear motor 32, and the first spherical plain bearing 33 is connected to the second MCP connecting rod 62.

[0092] The second linear motor 32 used in the second drive mechanism 30 is a direct drive mechanism with only one degree of freedom in one direction. The first spherical bearing seat 31 and the first spherical bearing 33 each have three degrees of freedom, making the second drive mechanism 30 more flexible and dexterous when driving the second MCP link 62 to perform pitch and roll motions. The first spherical bearing seat 31 (S), the second linear motor 32 (P), the first spherical bearing 33 (S), and the second MCP link 62 form an SPS linkage mechanism. Two SPS connection mechanisms and a universal joint 90 constitute a 2SPS&U parallel mechanism.

[0093] In one embodiment, see Figure 9 and Figure 10 The PIP joint 70 includes a first PIP link 71, a second PIP link 72, a first linkage rod 73, and a first rotation axis 74. The MCP joint 60 is connected to the first PIP link 71 and the second PIP link 72 via the first rotation axis 74. The first linkage rod 73 is disposed between the first PIP link 71 and the second PIP link 72. One end of the first linkage rod 73 is connected to the first rotation axis 74, and the other end is connected to the third driving mechanism 40.

[0094] One end of the first PIP link 71 and one end of the second PIP link 72 are both connected to a first rotation axis 74 having one degree of freedom in a rotational direction, and one end of the first linkage rod 73 is also connected to the first rotation axis 74, and the other end is connected to the third drive mechanism 40, thereby achieving the pitch motion of the first PIP link 71 and the second PIP link 72 driven by the third drive mechanism 40.

[0095] In one embodiment, the first MCP link 61 , the second MCP link 62 , the first PIP link 71 , the second PIP link 72 , and the first linkage link 73 are all connected to a first rotation shaft 74 .

[0096] In one embodiment, see Figure 11The third driving mechanism 40 includes a third joint bearing seat 41, a third linear motor 42, a third joint bearing 43, a first linkage shaft 44, and a fourth joint bearing 45. The third joint bearing seat 41 is disposed on the base 10 and connected to the base 10; the third linear motor 42 is disposed on the third joint bearing seat 41 and connected to the third joint bearing seat 41; the third joint bearing 43 is disposed on the third linear motor 42 and connected to the third linear motor 42; the first linkage shaft 44 is disposed on the third joint bearing 43 and connected to the third joint bearing 43; the fourth joint bearing 45 is disposed on the first linkage shaft 44 and connected to the first linkage shaft 44. The fourth joint bearing 45 is connected to the PIP joint 70, that is, the fourth joint bearing 45 is connected to the first linkage rod 73.

[0097] The third linear motor 42 used in the third drive mechanism 40 is a direct-drive mechanism with only one degree of freedom. The third spherical bearing seat 41, third spherical bearing 43, and fourth spherical bearing 45 each have three degrees of freedom, making the third drive mechanism 40 more flexible and agile when driving the first and second PIP links 71, 72 for pitch motion. The third linear motor 42 (P), third spherical bearing 43 (S), fourth spherical bearing 45 (S), first rotation axis 74 (R), and first and second PIP links 71, 72 form a PSSR linkage.

[0098] In one embodiment, see Figure 9 and Figure 10 The DIP joint 80 includes a DIP link 81, a second linkage rod 82, a second rotation axis 83, and a third rotation axis 84. The second rotation axis 83 and the third rotation axis 84 are both provided on the DIP link 81. The first PIP link 71 and the second PIP link 72 are connected to the DIP link 81 via the second rotation axis 83. One end of the second linkage rod 82 is connected to the third rotation axis 84, and the other end is connected to the fourth drive mechanism 50. The PIP joint 70 and the DIP link 81 are both connected to the second rotation axis 83, which has one degree of freedom in a rotational direction. One end of the second linkage rod 82 is connected to the third rotation axis 84, and the other end is connected to the fourth drive mechanism 50. This enables the fourth drive mechanism 50 to drive the DIP link 81 to perform pitch motion. Optionally, the fingertips of the DIP link 81 are provided with anti-slip portions to prevent slipping when grasping objects.

[0099] In one embodiment, the first PIP link 71 , the second PIP link 72 , and the DIP link 81 are all connected to the second rotation shaft 83 .

[0100] In one embodiment, see Figure 9 and Figure 10 The DIP joint 80 further includes a fourth rotation axis 85, a third linkage rod 86, and a fourth linkage rod 87. One end of the third linkage rod 86 is rotationally connected to the first rotation axis 74, and the other end is provided on the second linkage rod 82 and connected to the second linkage rod 82 through the fourth rotation axis 85; one end of the fourth linkage rod 87 is rotationally connected to the first rotation axis 74, and the other end is provided on the second linkage rod 82 and connected to the second linkage rod 82 through the fourth rotation axis 85. The first rotation axis 74, the fourth rotation axis 85, the second rotation axis 83, the third rotation axis 84, the third linkage rod 86, the second linkage rod 82, the DIP link 81, and the first PIP link 71 constitute an inverted quadrilateral linkage mechanism ( Figure 10 The first rotating shaft 74, the fourth rotating shaft 85, the second rotating shaft 83, the third rotating shaft 84, the fourth linkage rod 87, the second linkage rod 82, the DIP link 81, and the second PIP link 72 constitute an inverse quadrilateral linkage mechanism.

[0101] The inverted quadrilateral arrangement enables the fourth driving mechanism 50 to more effectively control the pitch degree of freedom when driving the DIP joint 80 .

[0102] In one embodiment, the first MCP link 61 , the second MCP link 62 , the first PIP link 71 , the second PIP link 72 , the first linkage link 73 , the third linkage link 86 , and the fourth linkage link 87 are all connected to the first rotation shaft 74 .

[0103] In one embodiment, see Figure 12 The fourth driving mechanism 50 includes a fourth joint bearing seat 51, a fourth linear motor 52, a fifth joint bearing 53, a second linkage shaft 54 ​​and a sixth joint bearing 55.

[0104] The fourth joint bearing seat 51 is provided on the base 10 and connected to the base 10;

[0105] The fourth linear motor 52 is disposed on the fourth joint bearing seat 51 and is connected to the fourth joint bearing seat 51;

[0106] The fifth joint bearing 53 is provided on the fourth linear motor 52 and is connected to the fourth linear motor 52;

[0107] The second linkage shaft 54 ​​is provided on the fifth joint bearing 53 and connected to the fifth joint bearing 53;

[0108] The sixth joint bearing 55 is disposed on the second linkage shaft 54 ​​and connected to the second linkage shaft 54 ​​. The sixth joint bearing 55 is connected to the DIP joint 80 , that is, the sixth joint bearing 55 is connected to the second linkage rod 82 .

[0109] The fourth linear motor 52 used in the fourth drive mechanism 50 is a direct-drive mechanism with only one degree of freedom. The fourth spherical bearing 51, fifth spherical bearing 53, and sixth spherical bearing 55 each have three degrees of freedom, making the fourth drive mechanism 50 more flexible and agile when driving the DIP link 81 for pitch motion. The fourth linear motor 52 (P), fifth spherical bearing 53 (S), sixth spherical bearing 55 (S), fourth rotation axis 85 (R), and DIP link 81 form a PSSR linkage mechanism, which is coupled with an inverse quadrilateral linkage mechanism to form a PSSR-inverse quadrilateral parallel mechanism.

[0110] In one embodiment, see Figure 2 The pitch motion range of the MCP joint 60 is 0° to 90°, and the maximum pitch angle of the MCP joint of a human finger is 90°. Figure 3 The lateral swing range of the MCP joint 60 is -35° to 35°, and the swing range of the MCP joint of a human finger is -30° to 30°. Figure 4 The pitching motion range of the PIP joint 70 is 0° to 90°, and the maximum pitching angle of the PIP joint of a human finger is 90°. Figure 5 The pitch range of the DIP joint 80 is 0° to 90°, while the maximum pitch angle of the DIP joint of a human finger is 90°. The range of motion of the MCP joint, PIP joint, and DIP joint in this embodiment is similar to that of a human finger, providing high dexterity.

[0111] In summary, the complete mechanism of the parallel-link driven mechanical finger with four degrees of freedom provided in the embodiment of the present application is a 2SPS&U&2PSSR-anti-quadrilateral hybrid mechanism, in which multiple component sub-mechanisms can be equivalently replaced as follows, all of which are protected by this patent.

[0112] (1) The 2SPS&U component sub-organization can be replaced by:

[0113] 2UPS&U parallel mechanism;

[0114] 2RSS&U parallel mechanism;

[0115] 2RUS&U parallel mechanism;

[0116] 2PUS&U parallel mechanism;

[0117] 2RCS&U parallel mechanism;

[0118] SPS&PUS&U parallel mechanism;

[0119] SPS&RCS&U parallel mechanism;

[0120] SPS&RSS&U parallel mechanism;

[0121] PUS&SPS&U parallel mechanism;

[0122] PUS&RCS&U parallel mechanism;

[0123] PUS&RSS&U parallel mechanism;

[0124] RCS&SPS&U parallel mechanism;

[0125] RCS&PUS&U parallel mechanism;

[0126] RCS&RSS&U parallel mechanism;

[0127] wait.

[0128] (2) For the 2PSSR component sub-organization, replace it with:

[0129] 2SPSR, 2UPSR, 2PUSR, 2SPUR, 2PSSP;

[0130] PSSR&SPSR parallel mechanism;

[0131] PSSR&UPSR parallel mechanism;

[0132] PSSR&RSSP parallel mechanism;

[0133] PSSR&PSSP parallel mechanism;

[0134] PSSR&RSSR parallel mechanism;

[0135] PSSR&SPUR parallel mechanism;

[0136] UPSR&SPSR parallel mechanism;

[0137] UPSR&RSSP parallel mechanism;

[0138] UPSR&PSSP parallel mechanism;

[0139] RSSP&PSSP parallel mechanism;

[0140] RSSP&SPSR parallel mechanism;

[0141] PSSP&RSSR parallel mechanism;

[0142] RSSR&SPUR parallel mechanism;

[0143] SPUR&SPSR parallel mechanism;

[0144] wait.

[0145] (3) The anti-quadrilateral component sub-mechanism can be replaced by:

[0146] Regular quadrilateral, any other single-degree-of-freedom mechanism (including six-bar mechanism, eight-bar mechanism, etc.).

[0147] In summary, this embodiment provides a parallel-link driven mechanical finger 100 with four degrees of freedom, comprising a base 10 and a first drive mechanism 20, a second drive mechanism 30, a third drive mechanism 40, and a fourth drive mechanism 50 arranged in parallel on the base 10. The mechanical finger 100 also includes an MCP joint 60, a PIP joint 70, and a DIP joint 80 connected in sequence, with the MCP joint 60 being connected to the base 10 via a universal joint 90. The first drive mechanism 20 and the second drive mechanism 30 are respectively connected to the two sides of the MCP joint 60 to drive the MCP joint 60 to perform pitch and roll motions; the third drive mechanism 40 is connected to the PIP joint 70 to drive the PIP joint 70 to perform pitch motions; and the fourth drive mechanism 50 is connected to the DIP joint 80 to drive the DIP joint 80 to perform pitch motions. The coordination of the first drive mechanism 20, the second drive mechanism 30 and the universal joint 90 realizes the pitch and roll motions of the MCP joint 60, the pitch motion of the PIP joint 70 is realized by the third drive mechanism 40, and the pitch motion of the DIP joint 80 is realized by the fourth drive mechanism 50, thereby enabling the mechanical finger 100 to realize four degrees of freedom, and the four degrees of freedom have high dexterity. Its use effect is similar to or even exceeds that of human fingers, and it can accurately and precisely imitate human fingers to perform movements or grasping operations, with good repeatability. The use of four drive mechanisms in parallel can simultaneously bear the end load, and the theoretical end load can reach 280N, realizing a high load-to-weight ratio, high stiffness and high energy density, and the branched chain structure has good interchangeability, the overall structure is simple and compact, and the space occupancy is small, which facilitates the compact assembly of the five fingers of the robot.

[0148] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A parallel link driven mechanical finger with four degrees of freedom, characterized in that: It comprises a base and a first driving mechanism, a second driving mechanism, a third driving mechanism and a fourth driving mechanism which are arranged in parallel on the base; The mechanical finger further comprises an MCP joint, a PIP joint and a DIP joint connected in sequence, and the MCP joint is connected to the base via a universal joint; The first driving mechanism and the second driving mechanism are respectively connected to two sides of the MCP joint to drive the MCP joint to perform pitch motion and yaw motion; The third driving mechanism is connected to the PIP joint to drive the PIP joint to perform pitch motion; The fourth driving mechanism is connected to the DIP joint to drive the DIP joint to perform pitch motion.

2. The parallel link driven mechanical finger with four degrees of freedom according to claim 1, characterized in that: The MCP joint includes a first MCP link and a second MCP link. The universal joint is arranged between the first MCP link and the second MCP link and is located at one end of the first MCP link and the second MCP link close to the base. The universal joint is connected to the first MCP link, the second MCP link, and the base. The first drive mechanism is connected to the first MCP link, and the second drive mechanism is connected to the second MCP link.

3. The parallel link driven mechanical finger with four degrees of freedom according to claim 2, characterized in that: The first driving mechanism comprises: a first joint bearing seat, the first joint bearing seat being arranged on the base and connected to the base; a first linear motor, the first linear motor being disposed on the first joint bearing seat and connected to the first joint bearing seat; A first joint bearing is provided on the first linear motor and connected to the first linear motor, and the first joint bearing is connected to the first MCP connecting rod.

4. The parallel link driven mechanical finger with four degrees of freedom according to claim 2 or 3, characterized in that: The second driving mechanism comprises: a second joint bearing seat, the second joint bearing seat being arranged on the base and connected to the base; a second linear motor, the second linear motor being disposed on the second joint bearing seat and connected to the second joint bearing seat; The second joint bearing is provided on the second linear motor and connected to the second linear motor, and the second joint bearing is connected to the second MCP connecting rod.

5. The parallel link driven mechanical finger with four degrees of freedom according to claim 1, characterized in that: The PIP joint includes a first PIP link, a second PIP link, a first linkage link and a first rotation axis; The MCP joint is connected to the first PIP link and the second PIP link through the first rotation axis. The first linkage rod is arranged between the first PIP link and the second PIP link, and one end of the first linkage rod is connected to the first rotation axis, and the other end is connected to the third driving mechanism.

6. The parallel link driven mechanical finger with four degrees of freedom according to claim 5, characterized in that: The third driving mechanism comprises: a third joint bearing seat, the third joint bearing seat being arranged on the base and connected to the base; a third linear motor, the third linear motor being disposed on the third joint bearing seat and connected to the third joint bearing seat; a third joint bearing, the third joint bearing being provided on the third linear motor and connected to the third linear motor; a first linkage shaft, the first linkage shaft being disposed on the third spherical bearing and connected to the third spherical bearing; A fourth joint bearing is provided on the first linkage shaft and connected to the first linkage shaft, and the fourth joint bearing is connected to the first linkage rod.

7. The parallel link driven mechanical finger with four degrees of freedom according to claim 5, characterized in that: The DIP joint includes a DIP link, a second linkage link, a second rotation axis, and a third rotation axis, wherein the second rotation axis and the third rotation axis are both provided on the DIP link; The first PIP link and the second PIP link are connected to the DIP link via a second rotation shaft. One end of the second linkage rod is connected to the third rotation shaft, and the other end is connected to the fourth driving mechanism.

8. The parallel link driven mechanical finger with four degrees of freedom according to claim 7, characterized in that: The DIP joint further includes a fourth rotation axis, a third linkage rod and a fourth linkage rod; One end of the third linkage rod is rotatably connected to the first rotation axis, and the other end is provided on the second linkage rod and connected to the second linkage rod via the fourth rotation axis; One end of the fourth linkage rod is rotatably connected to the first rotation axis, and the other end is provided on the second linkage rod and connected to the second linkage rod via the fourth rotation axis; The first rotation axis, the fourth rotation axis, the second rotation axis, the third rotation axis, the third linkage rod, the second linkage rod, the DIP link, and the first PIP link constitute an inverted quadrilateral linkage mechanism; The first rotation axis, the fourth rotation axis, the second rotation axis, the third rotation axis, the fourth linkage rod, the second linkage rod, the DIP link, and the second PIP link constitute an inverted quadrilateral linkage mechanism.

9. The parallel link driven mechanical finger with four degrees of freedom according to claim 8, characterized in that: The fourth driving mechanism comprises: a fourth joint bearing seat, the fourth joint bearing seat being arranged on the base and connected to the base; a fourth linear motor, the fourth linear motor being disposed on the fourth joint bearing seat and connected to the fourth joint bearing seat; a fifth joint bearing, the fifth joint bearing being provided on the fourth linear motor and connected to the fourth linear motor; a second linkage shaft, the second linkage shaft being disposed on the fifth spherical bearing and connected to the fifth spherical bearing; A sixth joint bearing is provided on the second linkage shaft and connected to the second linkage shaft, and the sixth joint bearing is connected to the second linkage rod.

10. The parallel link driven mechanical finger with four degrees of freedom according to claim 1, characterized in that: The MCP joint pitch motion range is 0° to 90°; The lateral swing motion range of the MCP joint is -35° to 35°; The PIP joint pitch motion range is 0° to 90°; The pitch motion range of the DIP joint is 0° to 90°.

Images