Modularized interlocking assembled replaceable robot finger structure and assembling method thereof

Abstract

The invention relates to the technical field of robots, in particular to a modular interlocking assembled replaceable robot finger structure and an assembling method thereof.The modular interlocking assembled replaceable robot finger structure comprises a manipulator body and a first knuckle hinged to the manipulator body, and a fixing plate is arranged on the first knuckle; the connecting transmission mechanism is arranged on the fixing plate, a second knuckle is connected to the connecting transmission mechanism, and a supporting plate is arranged in the second knuckle; the movable disc is installed in the second knuckle in a sliding mode, a friction positioning assembly connected with the connecting transmission mechanism is arranged on the movable disc, and a third knuckle is further installed in the second knuckle in a sliding mode; the locking mechanism is arranged in the second knuckle and connected with the third knuckle, a follow-up rotating mechanism is arranged on the supporting plate, the locking mechanism can act when the third knuckle is inserted into the second knuckle, and the position of the third knuckle is locked through the follow-up rotating mechanism.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a modular, interlocking, and replaceable robot finger structure and its assembly method. Background Technology

[0002] Robotics technology is increasingly being applied in fields such as industrial automation, medical services, and daily life. As a key component for performing delicate operations, the flexibility and functionality of robotic fingers are particularly important. Modern robotic fingers typically integrate multiple sensors (such as tactile, force, and temperature sensors) to adapt to complex working environments and task requirements. To improve the adaptability and ease of maintenance of robots, modular design has become an important direction in the development of robotic fingers, allowing for the rapid replacement of finger modules with different functions according to different tasks.

[0003] The disassembly and replacement of existing robot fingers mainly adopt methods such as threaded connection, pin fixing or electromagnetic adsorption. Threaded connection is used to fix the modules by turning screws, pin fixing uses spring pins or buckles to achieve quick connection, and electromagnetic adsorption uses magnetic force to achieve non-contact connection, which is convenient for disassembly and assembly.

[0004] However, the above methods all have different drawbacks when disassembling robot fingers. For example, the disassembly and assembly of threaded connections often require tools or complex operations, making it impossible to achieve truly rapid replacement; the pins fixed when the robot finger is under stress are prone to loosening; and electromagnetic connections are prone to causing electromagnetic interference to sensors. Summary of the Invention

[0005] The purpose of this invention is to provide a modular interlocking assembly replaceable robot finger structure and its assembly method to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: A modular, interlocking, replaceable robotic finger structure, comprising: The robotic arm body, and the first finger joint hinged to the robotic arm body, with a fixing plate provided on the first finger joint; Also includes: A connecting transmission mechanism is mounted on the fixed plate, and a second finger joint is connected to the connecting transmission mechanism. A support plate is provided inside the second finger joint. A movable disc is slidably installed inside the second finger joint. The movable disc is provided with a friction positioning component connected to the connecting transmission mechanism. A third finger joint is also slidably installed inside the second finger joint. A locking mechanism is disposed within the second phalanx and connected to the third phalanx. A follow-up rotation mechanism is provided on the support plate. The locking mechanism can operate when the third phalanx is inserted into the second phalanx and lock the position of the third phalanx through the follow-up rotation mechanism.

[0007] As a further aspect of the present invention: the connecting transmission mechanism includes a groove and a limiting hole formed on the inner wall of the second phalanx, and a follower block placed in the limiting hole is provided inside the second phalanx.

[0008] As a further embodiment of the present invention: the connecting transmission mechanism further includes a transmission rod rotatably mounted on the fixed plate, a rotating sleeve slidingly on the transmission rod, a first spring sleeved on the transmission rod, the two ends of the first spring respectively abutting against the rotating sleeve and the fixed plate, a keyway forming on the inner wall of the rotating sleeve, and a transmission key slidably engaging with the keyway on the outer circumference of the transmission rod.

[0009] As a further embodiment of the present invention: the friction positioning assembly includes a first limiting ring and a second limiting ring fixed on the rotating sleeve, and the movable disk is provided with symmetrically arranged baffles. The baffles are provided with triangular blocks and inclined guide plates. The triangular blocks abut against the first limiting ring, and the inclined guide plates abut against the second limiting ring.

[0010] As a further embodiment of the present invention: the locking mechanism includes a rotating rod rotatably mounted on the support plate and passing through the movable disk, and a second spring is sleeved on the rotating rod, with the two ends of the second spring abutting against the movable disk and the support plate respectively; It also includes a driven component and a guide component disposed on the rotating rod and connected to the third phalanx.

[0011] As a further embodiment of the present invention: the driven component includes a push rod fixed to the end of the third finger joint and a plug sleeve. The push rod abuts against the movable disk, the plug sleeve is slidably connected to the rotating rod, the inner wall of the plug sleeve is formed with a groove, and the outer circumference of the rotating rod is provided with a rotating key that slidably engages with the groove.

[0012] As a further embodiment of the present invention: the guiding component includes a guide groove formed on the inner wall of the second phalanx, and the outer wall of the third phalanx is provided with a limiting post that slides and engages with the guide groove.

[0013] As a further embodiment of the present invention: the follower rotation mechanism includes a second helical groove formed on the outer circumference of the rotating rod, the rotating rod having a movable sleeve that slides axially, and the inner wall of the movable sleeve being provided with a limiting block that slides and engages with the second helical groove.

[0014] As a further embodiment of the present invention: a guide post is provided on the movable disk, a connecting plate fixedly connected to the movable sleeve is slidably mounted on the guide post along its axial direction, a fixing ring is provided on the rotating rod, and a third spring is sleeved on the rotating rod, with the two ends of the third spring abutting against the fixing ring and the connecting plate respectively.

[0015] A method for assembling a modular, interlocking, replaceable robotic finger structure includes the following steps: Step 1: Connect the second knuckle to the connecting transmission mechanism, and insert the third knuckle into the second knuckle; Step 2: Under the action of the third joint, the locking mechanism drives the movable disc to move, thereby controlling the movement of the connecting transmission mechanism through the friction positioning component, so that the second joint completes the connection; Step 3: The third joint will also drive the follow-up rotating mechanism through the locking mechanism, so that the third joint will rotate and store energy during the insertion process; Step 4: When the third finger joint is inserted into the designated position, the follow-up rotation mechanism locks the position of the third finger joint through the locking mechanism.

[0016] Compared with the prior art, the beneficial effects of the present invention are: This invention enables rapid assembly and disassembly of modular robot fingers through the cooperation of a transmission mechanism and a locking mechanism. The transmission connection between the second and first finger joints and the positioning and locking of the third finger joint can be completed simultaneously through a simple plugging action, which greatly improves the efficiency of module replacement. Furthermore, the friction positioning component can automatically correct the angle position of the rotating sleeve during the insertion of the third finger joint, ensuring the precise engagement of the keyway and the follower block.

[0017] By cooperating with the locking mechanism and the follower rotation mechanism, the third phalanx can be smoothly inserted into the second phalanx. During the insertion of the third phalanx, the follower rotation mechanism can store rotational energy until the third phalanx is inserted into the designated position, at which point the stored rotational energy is released, allowing the limiting post to smoothly enter the annular groove, thus completing the positioning and locking action of the third phalanx.

[0018] During the disassembly of the third finger joint, its reverse rotation and pull-out action will release the pressure on the movable plate through the push rod. The second spring will then push the movable plate to reset. During this process, the inclined surface of the triangular block on the baffle will abut against the first limit ring. On the one hand, it will push the rotating sleeve out of the limit hole, and on the other hand, it will use friction to rotate it by a small angle to ensure that the keyway and the follower block are completely misaligned, thereby completing the disassembly of the second finger joint simultaneously and facilitating the subsequent replacement of the corresponding module. Attached Figure Description

[0019] Figure 1A schematic diagram of one embodiment of a modular interlocking assembly of replaceable robotic fingers.

[0020] Figure 2 A schematic diagram of another angle in one embodiment of a modular interlocking assembly of replaceable robotic fingers.

[0021] Figure 3 A cross-sectional view of the second phalanx in one embodiment of a modular interlocking assembly of replaceable robotic fingers.

[0022] Figure 4 for Figure 3 A magnified schematic diagram of the structure at point A in the middle.

[0023] Figure 5 A schematic diagram of the second phalanx in one embodiment of a modular interlocking assembly of replaceable robotic fingers.

[0024] Figure 6 A schematic diagram illustrating the connection relationship between the second and third phalanges in one embodiment of a modular interlocking assembly replaceable robot finger structure.

[0025] Figure 7 This is a schematic diagram illustrating the connection relationship between a portion of the locking mechanism, a portion of the connecting transmission mechanism, and a portion of the follower rotation mechanism in one embodiment of a modular interlocking assembly replaceable robot finger structure.

[0026] Figure 8 for Figure 7 Another structural diagram from another angle.

[0027] Figure 9 An exploded view of part of the connecting transmission mechanism in one embodiment of a modular interlocking assembly of replaceable robot fingers.

[0028] Figure 10 A schematic diagram of the friction positioning component, a partial locking mechanism, and a partial follow-up rotation mechanism in one embodiment of a modular interlocking assembly replaceable robot finger structure.

[0029] Figure 11 An exploded view of some friction positioning components, rotating rods, and movable discs in one embodiment of a modular interlocking assembly of replaceable robot fingers.

[0030] Figure 12 An exploded view of the follower rotation mechanism in one embodiment of a modular interlocking assembly of replaceable robot fingers.

[0031] In the diagram: 1. Robotic arm body; 2. First finger joint; 3. Fixing plate; 4. Transmission rod; 401. Transmission key; 5. Rotating sleeve; 501. Keyway; 6. First limiting ring; 7. Second limiting ring; 8. First spring; 9. Second finger joint; 901. Slide groove; 902. Limiting hole; 903. Vertical groove; 904. First spiral groove; 905. Annular groove; 10. Follower block; 11. Support plate; 12. Rotary... Moving rod; 1201, second spiral groove; 1202, rotating key; 13, second spring; 14, movable disc; 15, baffle; 1501, triangular block; 1502, inclined guide plate; 16, fixed ring; 17, movable sleeve; 1701, limiting block; 18, connecting plate; 19, guide post; 20, third spring; 21, third finger joint; 2101, limiting post; 22, push rod; 23, insertion sleeve. Detailed Implementation

[0032] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] Furthermore, elements in this invention are referred to as being "fixed to" or "set on" another element, which may be directly on the other element or may also include an intervening element. When an element is considered to be "connected" to another element, it may be directly connected to the other element or may also include an intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementations.

[0034] Please see Figures 1 to 12 As shown in this embodiment of the invention, a modular interlocking assembly replaceable robot finger structure includes: The robotic arm body 1, and the first finger joint 2 hinged to the robotic arm body 1, with a fixing plate 3 provided on the first finger joint 2; Also includes: A connecting transmission mechanism is mounted on the fixed plate 3, and a second finger joint 9 is connected to the connecting transmission mechanism. A support plate 11 is provided inside the second finger joint 9. The movable disc 14 is slidably installed in the second finger joint 9. The movable disc 14 is provided with a friction positioning component connected to the connecting transmission mechanism. The second finger joint 9 is also slidably installed with a third finger joint 21. A locking mechanism is disposed within the second phalanx 9 and connected to the third phalanx 21. A follow-up rotation mechanism is provided on the support plate 11. The locking mechanism can be activated when the third phalanx 21 is inserted into the second phalanx 9, and the position of the third phalanx 21 is locked by the follow-up rotation mechanism.

[0035] Specifically, when connecting the robot's finger module, to increase the functionality of the robot's fingers, the third phalanx 21, which has built-in sensors, needs to be replaced. During assembly, the second phalanx 9 can be connected to the first phalanx 2 via a connecting transmission mechanism. Then, the third phalanx 21 is inserted into the second phalanx 9. The third phalanx 21 will drive the movable disc 14 through a locking mechanism, thereby driving the friction positioning component to move. Under the action of the friction positioning component, the connecting transmission mechanism is controlled to move, allowing the second phalanx 9 to complete the connection with the first phalanx 2. Simultaneously, the locking mechanism will also drive the follow-up rotation mechanism, keeping the third phalanx 21 in a rotational energy storage state during insertion. When the third phalanx 21 is inserted to a specified depth within the second phalanx 9, the follow-up rotation mechanism activates and locks the position of the third phalanx 21 within the second phalanx 9 through the locking mechanism. In this way, the installation and disassembly of the second phalanx 9 and the third phalanx 21 can be completed quickly.

[0036] The third phalanx 21 is equipped with a standardized module interface. Sensors embedded in the fingertip of the third phalanx 21 can be assembled according to actual needs, such as non-contact temperature sensors (near to far distance), infrared thermal imaging sensors, distance sensors (such as ToF laser ranging and ultrasonic sensors and ultrasonic material identification sensors), electrochemical (ambient gas) sensors, image sensors, etc.

[0037] Please see Figure 3 , Figure 4 , Figures 6 to 9 The connecting transmission mechanism includes a sliding groove 901 and a limiting hole 902 formed on the inner wall of the second finger joint 9. A follower block 10 is provided in the second finger joint 9 and placed in the limiting hole 902. The connecting transmission mechanism also includes a transmission rod 4 rotatably mounted on the fixed plate 3. A rotating sleeve 5 slides axially on the transmission rod 4. A first spring 8 is sleeved on the transmission rod 4. The two ends of the first spring 8 abut against the rotating sleeve 5 and the fixed plate 3, respectively. A keyway 501 is formed on the inner wall of the rotating sleeve 5. A transmission key 401 is provided on the outer circumference of the transmission rod 4 and slides into the keyway 501.

[0038] Please see Figure 3 , Figure 4 , Figure 7 , Figure 8 , Figure 10 , Figure 11The friction positioning assembly includes a first limiting ring 6 and a second limiting ring 7 fixed on the rotating sleeve 5. The movable disk 14 is provided with symmetrically arranged baffles 15. The baffles 15 are provided with a triangular block 1501 and an inclined guide plate 1502. The triangular block 1501 abuts against the first limiting ring 6, and the inclined guide plate 1502 abuts against the second limiting ring 7.

[0039] Please see Figure 6 In detail, the end of the second finger joint 9 facing the first finger joint 2 is arranged in an arc shape, one end of the slide groove 901 is connected to the limiting hole 902, and a micro motor is integrated in the first finger joint 2 to drive the transmission rod 4 to rotate. Friction blocks are formed on the baffle 15 and the rotating sleeve 5 are also formed on the rotating sleeve 5. When the baffle 15 and the rotating sleeve 5 are in contact, the rotating sleeve 5 can be driven to rotate through friction. In the initial state, the rotating sleeve 5 is located at the end of its stroke on the side away from the fixed plate 3, that is, the distance between the rotating sleeve 5 and the fixed plate 3 is the largest. The elongation of the first spring 8 in its natural state is greater than the maximum distance between the rotating sleeve 5 and the fixed plate 3. Therefore, the first spring 8 is in a pre-compressed state and always provides the rotating sleeve 5 with a thrust in the direction away from the fixed plate 3. Under the action of the transmission key 401 and the keyway 501, the rotating sleeve 5 will not disengage from the transmission rod 4. At this time, the distance between the two rotating sleeves 5 at the ends away from each other is greater than the outer diameter of the second finger joint 9 and is equivalent to the distance between the two limiting holes 902. Under the action of the locking mechanism, the movable disc 14 is located at the end of its stroke on the side away from the support plate 11, so that the baffle 15 is located above the support plate 11. When the second finger joint 9 is connected to the first finger joint 2, the second finger joint 9 can be sleeved on the two rotating sleeves 5. The two rotating sleeves 5 will abut against the arc surface at the end of the second finger joint 9, so that the two rotating sleeves 5 move toward each other and compress the first spring 8. The second phalanx 9 continues to move, causing the rotating sleeve 5 to enter the slide groove 901. When the rotating sleeve 5 enters the position where the slide groove 901 and the limiting hole 902 are connected, the baffle 15 and the rotating sleeve 5 are separated. If the keyway 501 formed on the rotating sleeve 5 is just located at the position that matches the follower block 10, the first spring 8 is released elastically and pushes the rotating sleeve 5 toward the limiting hole 902, so that the keyway 501 and the follower block 10 slide and engage, so that the rotating sleeve 5, the transmission rod 4, and the follower block 10 rotate coaxially. Under the action of the micro motor, the second phalanx 9 can be controlled to perform a bending action. If the keyway 501 formed on the rotating sleeve 5 is misaligned with the follower block 10, the end face of the rotating sleeve 5 will abut against the follower block 10, causing the rotating sleeve 5 to be unable to enter the limiting hole 902. At this time, the third finger joint 21 can be inserted. The third finger joint 21 will push the movable disk 14 toward the direction close to the support plate 11 through the locking mechanism, and drive the baffle 15 to move. When the baffle 15 drives the triangular block 1501 to the position of engaging with the first limiting ring 6, since the rotating sleeve 5 has not entered the limiting hole 902, the triangular block 1501 and the first limiting ring 6 are misaligned, and the position of the rotating sleeve 5 in the axial direction of the transmission rod 4 will not change. When the triangular block 1501 passes the first limiting ring 6, the baffle 15 controls the rotating sleeve 5 to rotate through friction. In this state, the first spring 8 always provides the rotating sleeve 5 with a thrust toward the limiting hole 902. Therefore, when the rotating sleeve 5 controls the keyway 501 to rotate to the position of engaging with the follower block 10, the first spring 8 is released elastically and pushes the rotating sleeve 5 into the limiting hole 902, so that the keyway 501 and the follower block 10 are engaged with each other. When the baffle 15 moves in the future, the friction will no longer drive the rotating sleeve 5 to rotate. Please see Figure 3 At this time, the second limiting ring 7 just moves to the end of its stroke away from the fixed plate 3. When the baffle 15 drives the inclined guide plate 1502 to the position where it abuts against the second limiting ring 7, the second limiting ring 7 locks the position of the rotating sleeve 5 in the axial direction of the transmission rod 4, thereby ensuring that when the bending angle of the second finger joint 9 is adjusted later, the rotating sleeve 5 will not be dislodged from the limiting hole 902 due to vibration.

[0040] It should be noted that a non-contact infrared temperature sensor module can also be installed at the knuckle joint; in detail, the non-contact infrared temperature sensor module integrates an infrared thermopile sensor and a low-noise instrumentation amplifier to achieve high-precision temperature measurement, and is mainly used for high-precision non-contact remote temperature measurement.

[0041] Please see Figure 3 , Figure 5 , Figure 7 , Figure 8 , Figures 10 to 12The locking mechanism includes a rotating rod 12 rotatably mounted on the support plate 11 and passing through the movable disk 14. A second spring 13 is sleeved on the rotating rod 12, and the two ends of the second spring 13 abut against the movable disk 14 and the support plate 11, respectively. It also includes a driven component and a guiding component disposed on the rotating rod 12 and connected to the third finger joint 21. The driven component includes a push rod 22 fixed to the end of the third finger joint 21 and a plug sleeve 23. The push rod 22 abuts against the movable disk 14. The plug sleeve 23 is slidably connected to the rotating rod 12. A groove is formed on the inner wall of the plug sleeve 23. A rotating key 1202 is provided on the outer circumference of the rotating rod 12 and slidably engages with the groove. The guiding component includes a guide groove formed on the inner circumference of the second finger joint 9. A limiting post 2101 is provided on the outer circumference of the third finger joint 21 and slidably engages with the guide groove.

[0042] Please see Figure 3 , Figure 5 , Figure 7 , Figure 8 , Figures 10 to 12 The follower rotation mechanism includes a second spiral groove 1201 formed on the outer circumference of the rotating rod 12. A movable sleeve 17 slides axially on the rotating rod 12. A limiting block 1701 is provided on the inner wall of the movable sleeve 17 and slides into the second spiral groove 1201. A guide post 19 is provided on the movable disk 14. A connecting plate 18 is fixedly connected to the movable sleeve 17 and slides axially on the guide post 19. A fixing ring 16 is provided on the rotating rod 12. A third spring 20 is sleeved on the rotating rod 12. The two ends of the third spring 20 abut against the fixing ring 16 and the connecting plate 18, respectively.

[0043] Please see Figure 5 Furthermore, the guide groove can be divided into three sections: a vertical groove 903, a first spiral groove 904, and an annular groove 905. The two ends of the first spiral groove 904 are connected to one end of the vertical groove 903 and the annular groove 905, respectively. The other ends of the vertical groove 903 and the annular groove 905 are located on the same axis. In the initial state, the movable disk 14 is located at the end of its stroke away from the support plate 11 and is in contact with the fixed ring 16, that is, the distance between the movable disk 14 and the support plate 11 is the largest. The extension of the second spring 13 in its natural state is greater than the maximum distance between the movable disk 14 and the support plate 11. Therefore, the second spring 13 is in a pre-compressed state and always provides the movable disk 14 with a thrust in the direction away from the support plate 11. The connecting plate 18 is located at the end of the stroke away from the fixed ring 16, that is, the distance between the connecting plate 18 and the fixed ring 16 is the largest. The elongation of the third spring 20 in its natural state is greater than the maximum distance between the connecting plate 18 and the fixed ring 16. Therefore, the third spring 20 is in a pre-compressed state and always provides the connecting plate 18 with a thrust away from the fixed ring 16. Under the action of the connecting plate 18, the movable sleeve 17 controls the limiting block 1701 to be located at the end of the stroke on the side of the second spiral groove 1201 away from the fixed ring 16. When the second finger joint 9 is connected to the rotating sleeve 5, that is, when the rotating sleeve 5 enters the position where the slide groove 901 and the limiting hole 902 are connected, the third finger joint 21 can be inserted. At this time, the third finger joint 21 can be held and inserted into the second finger joint 9. The third finger joint 21 will drive the limiting post 2101 into the vertical groove 903, and push the movable disk 14 to move through the push rod 22, thereby driving the rotating sleeve 5 to rotate through the friction positioning component, so that the keyway 501 and the follower block 10 are engaged. The third finger joint 21 will also drive the insertion sleeve 23 to move. When the insert sleeve 23 is inserted into the rotating rod 12, the slot will slide into the rotating key 1202. At this time, the limiting post 2101 moves to the position where the vertical groove 903 and the first spiral groove 904 are connected. The third finger joint 21 continues to move, so that the limiting post 2101 slides along the first spiral groove 904. Since the second finger joint 9 does not rotate, the third finger joint 21 rotates itself, thereby driving the insert sleeve 23 to rotate. Under the action of the slot and the rotating key 1202, the rotating rod 12 rotates synchronously. The rotating rod 12 will drive the second spiral groove 1201 to move. Under the action of the second spiral groove 1201 and the limiting block 1701, the movable sleeve 17 slides along the axial direction of the rotating rod 12, so that the connecting plate 18 slides along the axial direction of the guide post 19 and moves toward the direction close to the fixed ring 16, and compresses the third spring 20. Please see Figure 7 , Figure 8 When the limiting post 2101 moves to the position where the first spiral groove 904 and the annular groove 905 are connected, the third spring 20 is released quickly and pushes the connecting plate 18 and the movable sleeve 17 toward the initial position. Under the action of the limiting block 1701 and the second spiral groove 1201, the rotating rod 12 rotates toward the initial angle, so as to drive the insertion sleeve 23 to reverse through the slot and the rotating key 1202, thereby driving the third finger joint 21 to reverse, so that the limiting post 2101 slides along the annular groove 905. When the connecting plate 18 is reset, the limiting post 2101 moves to the end of the stroke of the annular groove 905 away from the first spiral groove 904. Under the action of the limiting post 2101 and the annular groove 905, the insertion position of the third finger joint 21 in the second finger joint 9 is locked. In this way, the synchronous assembly of the second finger joint 9 and the third finger joint 21 can be completed.

[0044] The third phalanx 21 integrates a sensor at its end. To replace the sensor, simply rotate the third phalanx 21, causing the limiting post 2101 to rotate along the annular groove 905 into the first spiral groove 904, allowing it to be pulled out. During the removal of the third phalanx 21, the push rod 22 moves away from the support plate 11, causing the second spring 13 to release elastically and push the movable disc 14 towards its initial position. The movable disc 14 then moves the baffle 15, and the triangular block 15... When the inclined surface of 01 abuts against the first limiting ring 6, the control sleeve 5 moves away from the follower block 10, so that the keyway 501 separates from the follower block 10. At the same time, when the friction force provided by the baffle 15 rotates, the control sleeve 501 and the follower block 10 are misaligned. In this way, it can be ensured that the rotating sleeve 5 disengages from the limiting hole 902, and when the triangular block 1501 separates from the first limiting ring 6, the keyway 501 will not re-enter the limiting hole 902, so that the second finger joint 9 can also be replaced, thereby meeting the needs of maintenance or other operations.

[0045] In addition, the ultrasonic material identification sensor mentioned above utilizes the difference in echo caused by the different absorption capacity of different materials to ultrasonic waves. Based on the TOF measurement principle, it uses echo matching layers for different materials and echo detection technology to distinguish different materials, thereby accurately identifying the material of the object that the dexterous hand is about to pick up and judging the output torque of the finger.

[0046] A method for assembling a modular, interlocking, replaceable robotic finger structure includes the following steps: Step 1: Connect the second finger joint 9 to the connecting transmission mechanism, and insert the third finger joint 21 into the second finger joint 9; Step 2: Under the action of the third finger joint 21, the locking mechanism drives the movable disc 14 to move, thereby controlling the movement of the connecting transmission mechanism through the friction positioning component, so that the second finger joint 9 completes the connection; Step 3: The third phalanx 21 will also drive the follow-up rotation mechanism to move through the locking mechanism, so that the third phalanx 21 will rotate and store energy during the insertion process; Step 4: When the third finger joint 21 is inserted into the designated position, the follow-up rotation mechanism locks the position of the third finger joint 21 through the locking mechanism.

[0047] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0048] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A modular interlocking assembled replaceable robot finger structure, comprising: a robot body and a first phalanx hingedly connected to the robot body, the first phalanx being provided with a fixed plate; characterized in that it further comprises: a connecting transmission mechanism provided on the fixed plate, the connecting transmission mechanism being connected with a second phalanx, the second phalanx being provided with a support plate; a movable disc slidingly installed in the second phalanx, the movable disc being provided with a friction positioning assembly connected with the connecting transmission mechanism, the second phalanx further being slidingly installed with a third phalanx; a locking mechanism provided in the second phalanx and connected with the third phalanx, the support plate being provided with a follow-up rotating mechanism, the locking mechanism being capable of acting when the third phalanx is inserted into the second phalanx and locking the position of the third phalanx through the follow-up rotating mechanism.

2. A modular interlocking assembly replaceable robot finger structure according to claim 1, characterized in that, The connecting transmission mechanism comprises a sliding groove and a limiting hole formed in the inner wall of the second phalanx, and the second phalanx is provided with a follow-up block placed in the limiting hole.

3. A modular interlocking assembly replaceable robot finger structure according to claim 2, wherein, The connecting transmission mechanism further comprises a transmission rod rotatably installed on the fixed plate, the transmission rod being axially slidingly provided with a rotating sleeve, the transmission rod being provided with a first spring, both ends of the first spring being respectively abutted with the rotating sleeve and the fixed plate, the inner wall of the rotating sleeve being formed with a key groove, and the circumferential outer wall of the transmission rod being provided with a transmission key slidingly fitted in the key groove.

4. A modular interlocking assembly replaceable robot finger structure according to claim 3, wherein, The friction positioning assembly comprises a first limiting ring and a second limiting ring fixed on the rotating sleeve, the movable disc being provided with symmetrically arranged baffles, the baffles being provided with triangular blocks and inclined guide plates, the triangular blocks being abutted with the first limiting ring, and the inclined guide plates being abutted with the second limiting ring.

5. A modular interlocking assembly replaceable robot finger structure according to claim 1, wherein, The locking mechanism comprises a rotating rod rotatably installed on the support plate and penetrating through the movable disc, the rotating rod being provided with a second spring, both ends of the second spring being respectively abutted with the movable disc and the support plate. The locking mechanism further comprises a driven assembly and a guide assembly provided on the rotating rod and connected with the third phalanx.

6. A modular interlocking assembly replaceable robot finger structure according to claim 5, wherein, The driven assembly comprises a push rod and an insertion sleeve fixed on the end of the third phalanx, the push rod being abutted with the movable disc, the insertion sleeve being slidingly connected with the rotating rod, the inner wall of the insertion sleeve being formed with a clamping groove, and the circumferential outer wall of the rotating rod being provided with a rotating key slidingly fitted in the clamping groove.

7. A modular interlocking assembly replaceable robot finger structure according to claim 6, wherein, The guide assembly comprises a guide groove formed in the circumferential inner wall of the second phalanx, and the circumferential outer wall of the third phalanx being provided with a limiting column slidingly fitted in the guide groove.

8. A modular interlocking assembly replaceable robot finger structure according to claim 5, wherein, The follow-up rotating mechanism comprises a second spiral groove formed in the circumferential outer wall of the rotating rod, the rotating rod being axially slidingly provided with a movable sleeve, the inner wall of the movable sleeve being provided with a limiting block slidingly fitted in the second spiral groove.

9. A modular interlocking assembly replaceable robot finger structure according to claim 8, wherein, The movable disc is provided with a guide column, the guide column being axially slidingly provided with a connecting plate fixedly connected with the movable sleeve, the rotating rod being provided with a fixed ring, the rotating rod being provided with a third spring, both ends of the third spring being respectively abutted with the fixed ring and the connecting plate.

10. A method of assembling a modular interlocking assembly replaceable robotic finger structure using the modular interlocking assembly replaceable robotic finger structure of any one of claims 1-9, wherein, The method comprises the following steps: Step one: connect the second knuckle with the connecting transmission mechanism, and insert the third knuckle into the second knuckle; Step two: under the action of the third knuckle, the movable disc is driven to move through the locking mechanism, so that the movement of the connecting transmission mechanism is controlled through the friction positioning assembly, and the second knuckle is connected; Step three: the third knuckle will also drive the follow-up rotating mechanism to move through the locking mechanism, so that the third knuckle rotates and stores energy during the insertion process; Step four: when the third knuckle is inserted to the specified position, the follow-up rotating mechanism locks the position of the third knuckle through the locking mechanism.

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