A finger mechanism, robot hand

Abstract

This application discloses a finger mechanism and a robotic hand, relating to the field of robotic hand technology. The finger mechanism includes a guide seat, a proximal segment, a middle segment, and a distal segment, which are hinged sequentially. The output end of a first motor is connected to a first worm gear, which engages with a first worm wheel. The first worm wheel is connected to a first driving wheel, which has a first drive rope connected to the proximal segment to drive its swing. The output end of a second motor is connected to a second worm gear, which engages with a second worm wheel. The second worm wheel is connected to a second driving wheel, which has a second drive rope connected to the middle segment to drive its swing. This finger mechanism, through dual-motor drive and a worm gear structure, achieves independent and precise control of the proximal and middle segments of the robotic hand finger, effectively solving the problems of motion trajectory limitations caused by single-motor drive and reliance on complex algorithm adjustments in existing technologies, thus improving the response speed and positioning accuracy of the robotic hand.

Description

Technical Field

[0001] This application relates to the field of robotic arm technology, and in particular to a finger mechanism and a robotic arm. Background Technology

[0002] In the field of modern industrial automation, robotic arms are one of the key components for achieving automated production, and their performance directly affects production efficiency and product quality.

[0003] The main technical problem faced by existing robotic finger mechanisms is the limitation on motion trajectory caused by single-motor drive. Since single-motor driven finger mechanisms can only achieve arc-shaped movements, complex algorithms are needed to adjust and plan the finger's motion trajectory to adapt to different operational requirements. This algorithm-dependent approach not only increases the complexity of the control system but may also lead to slow response speed and low positioning accuracy, affecting the overall performance and operational efficiency of the robotic arm. Summary of the Invention

[0004] The purpose of this application is to provide a finger mechanism that, through dual-motor drive and a worm gear structure, achieves independent and precise control of the proximal and middle segments of a robotic finger. This effectively solves the problems of motion trajectory limitations caused by single-motor drive and reliance on complex algorithm adjustments in existing technologies, thereby improving the response speed and positioning accuracy of the robotic hand. Another purpose of this application is to provide a robotic hand.

[0005] To achieve the above objectives, this application provides a finger mechanism comprising a wire seat, a proximal segment, a middle segment, and a distal segment hinged sequentially. The finger mechanism further includes:

[0006] A first motor, the output end of the first motor is connected to a first worm, the first worm is engaged with a first worm wheel, the first worm wheel is connected to a first driving wheel, the first driving wheel is provided with a first drive rope, the first drive rope is connected to the proximal joint to drive the proximal joint to swing;

[0007] The second motor has its output end connected to a second worm gear, which engages with a second worm wheel. The second worm wheel is connected to a second drive wheel, which has a second drive rope attached to it. The second drive rope is connected to the middle section to drive the middle section to swing.

[0008] In some embodiments, the finger mechanism further includes a fingertip follower cord disposed between the middle segment and the distal segment to drive the distal segment to swing in the same direction as the middle segment.

[0009] In some embodiments, the finger mechanism further includes a motor mount, which is fixedly connected to the wire mount and is located on the side of the wire mount facing away from the proximal segment;

[0010] The first motor and the second motor are arranged side by side, and the first motor and the second motor are located on the side of the motor base facing away from the wire base;

[0011] The first worm and the first worm wheel, as well as the second worm and the second worm wheel, are all located on the side of the motor mount facing the wire mount.

[0012] In some embodiments, the finger mechanism further includes a worm gear shaft, which is fixedly mounted on the motor base, and both ends of the worm gear shaft are fixed by bearing end caps;

[0013] The first worm gear and the second worm gear are mounted on the worm gear shaft. The first driving wheel is located on the side of the first worm gear facing the second worm gear, and the second driving wheel is located on the side of the second worm gear facing the first worm gear.

[0014] In some embodiments, the finger mechanism further includes:

[0015] A first joint cover plate and a second joint cover plate are disposed on both sides of the proximal segment. The first joint cover plate and the second joint cover plate extend toward the wire seat. The first joint cover plate and the second joint cover plate are provided with bearings and are equipped with a first joint pivot. The first joint pivot is fixedly connected to the wire seat.

[0016] The third and fourth joint cover plates are located on both sides of the proximal segment. The third and fourth joint cover plates extend toward the middle segment. The third and fourth joint cover plates are provided with bearings and equipped with a second joint pivot. The second joint pivot is fixedly connected to the middle segment.

[0017] The fifth joint cover plate and the sixth joint cover plate are located on both sides of the middle section. The fifth joint cover plate and the sixth joint cover plate extend toward the distal section. The fifth joint cover plate and the sixth joint cover plate are provided with bearings and have a distal section shaft installed on them. The distal section shaft is fixedly connected to the distal section.

[0018] In some embodiments, the finger mechanism further includes:

[0019] The first driven guide wheel and the second driven guide wheel are fitted onto the first joint shaft;

[0020] The third driven guide wheel and the follower wheel are fitted onto the second joint shaft;

[0021] The fourth driven guide wheel is fitted onto the distal pivot shaft;

[0022] The first drive rope is wound around the first driven guide wheel in the portion connecting the first driving pulley and the proximal section;

[0023] The second drive rope, in the portion connecting the second driving pulley and the middle section, is wound around the second driven guide pulley and the third driven guide pulley;

[0024] The fingertip driven rope is wound between the fourth driven guide wheel and the follower wheel.

[0025] In some embodiments, the finger mechanism further includes:

[0026] A proximal tensioning seat is threadedly connected to the proximal section, and the proximal tensioning seat is connected to the first drive rope;

[0027] The middle section tensioning seat is threadedly connected to the middle section, and the middle section tensioning seat is connected to the second drive rope;

[0028] The distal tensioner is connected to the middle section via a thread, and the distal tensioner is connected to the fingertip driven rope.

[0029] In some embodiments, the conductor seat is provided with a first conductor hole and a second conductor hole, the proximal segment is provided with a first proximal segment hole, a second proximal segment hole, a third proximal segment hole and a fourth proximal segment hole, the proximal segment tensioning seat includes a first proximal segment tensioning seat and a second proximal segment tensioning seat, and the middle segment tensioning seat includes a first middle segment tensioning seat and a second middle segment tensioning seat;

[0030] The first drive rope is fixed to the first driving wheel. The upper end of the first drive rope goes counterclockwise around the first driving wheel for half a turn and then passes through the second wire hole. After going counterclockwise around the first driven guide wheel once, it is locked onto the second proximal tensioning seat. The lower end of the first drive rope goes clockwise around the first driving wheel and then passes through the first wire hole. After going clockwise around the first driven guide wheel once, it is locked onto the first proximal tensioning seat.

[0031] The second drive rope is fixed to the second driving pulley. The upper end of the second drive rope winds clockwise around the second driving pulley for half a turn, passes through the second guide wire hole, winds clockwise around the second driven guide wheel for one turn, passes through the second proximal joint hole and the fourth proximal joint hole in sequence, winds clockwise around the third driven guide wheel for one turn, and is then secured to the second middle section tensioning seat. The lower end of the second drive rope winds counterclockwise around the second driving pulley for half a turn, passes through the first guide wire hole, winds counterclockwise around the second driven guide wheel for one turn, passes through the first proximal joint hole and the third proximal joint hole in sequence, winds counterclockwise around the third driven guide wheel for one turn, and is then secured to the first middle section tensioning seat.

[0032] In some embodiments, the middle section is provided with a first middle section hole and a second middle section hole, and the distal section tensioning seat includes a first distal section tensioning seat and a second distal section tensioning seat;

[0033] The fingertip driven rope is fixed to the fourth driven guide wheel. The upper end of the fingertip driven rope circles the fourth driven guide wheel clockwise by half a turn, then passes through the first middle section hole and the second middle section hole in sequence, and then circles the follower wheel counterclockwise by one turn before being secured to the first distal tensioning seat. The lower end of the fingertip driven rope circles the fourth driven guide wheel counterclockwise by half a turn, then passes through the first middle section hole and the second middle section hole in sequence, and then circles the follower wheel clockwise by one turn before being secured to the second distal tensioning seat.

[0034] This application also provides a robotic hand, including the aforementioned finger mechanism.

[0035] Compared to the aforementioned background technology, the finger mechanism provided in this application mainly includes a wire seat, a proximal segment, a middle segment, and a distal segment that are hinged in sequence. The finger mechanism also includes a first motor and a second motor. The output end of the first motor is connected to a first worm gear, which cooperates with a first worm wheel. The first worm wheel is connected to a first driving wheel, which is provided with a first drive rope. The first drive rope is connected to the proximal segment to drive the proximal segment to swing. The output end of the second motor is connected to a second worm gear, which cooperates with a second worm wheel. The second worm wheel is connected to a second driving wheel, which is provided with a second drive rope. The second drive rope is connected to the middle segment to drive the middle segment to swing.

[0036] This technical solution improves upon the shortcomings of existing robotic hand finger mechanisms by introducing a dual-motor drive system and a worm gear structure. In existing technologies, single-motor driven finger mechanisms can only achieve arc-shaped movements, which limits the finger's flexibility and precision, and requires complex algorithms to adjust the finger's motion trajectory to adapt to different operational needs. This algorithm-dependent approach not only increases the complexity of the control system but may also lead to slow response speed and low positioning accuracy.

[0037] To address this issue, the finger mechanism in this technical solution uses two independent motors to control the oscillation of the proximal and middle phalanges respectively. The first motor, through the cooperation of a first worm gear and a first worm wheel, drives a first drive wheel, directly controlling the oscillation of the proximal phalanx via a first drive rope. Similarly, the second motor, through the cooperation of a second worm gear and a second worm wheel, drives a second drive wheel, directly controlling the oscillation of the middle phalanx via a second drive rope. This design allows for independent movement of the proximal and middle phalanges, thus enabling more precise control of every finger movement. Therefore, linear movement of the distal phalanx, acting as the fingertip, can be achieved through the control of the first and second motors.

[0038] The use of a worm gear structure provides a highly efficient power transmission method. It not only delivers stable power output but also prevents reverse transmission, ensuring that the load-bearing capacity of the finger mechanism in a static state is limited by structural strength rather than the motor's output torque. This design improves the stability and load-bearing capacity of the finger mechanism while also reducing the risks associated with potential motor reversal.

[0039] Therefore, through this dual-motor drive and worm gear structure design, the finger mechanism can achieve more precise control, no longer limited to the arc-shaped motion trajectory of a single-motor drive, thus reducing reliance on complex algorithms. This directly improves the robot's response speed, as finger movement can be directly controlled by the motors without the need for complex algorithm processing time. Simultaneously, positioning accuracy is also improved, because the movement of each joint can be controlled independently and precisely, without the need for algorithmic compensation for trajectory deviations. Furthermore, the cable-driven approach effectively reduces transmitted noise.

[0040] Based on the above structural and process descriptions, it can be seen that the finger mechanism has at least the following beneficial effects: the finger mechanism, through dual-motor drive and worm gear structure, achieves independent and precise control of the proximal and middle segments of the robotic hand fingers, effectively solving the problems of motion trajectory limitations caused by single-motor drive and reliance on complex algorithm adjustments in the prior art, and improving the response speed and positioning accuracy of the robotic hand. Attached Figure Description

[0041] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0042] Figure 1 An exploded view of the finger mechanism provided in an embodiment of this application;

[0043] Figure 2 A schematic diagram of the first part of the finger mechanism provided in an embodiment of this application;

[0044] Figure 3 A schematic diagram of the second part of the finger mechanism provided in an embodiment of this application;

[0045] Figure 4 This is a schematic diagram of the third part of the finger mechanism provided in an embodiment of this application.

[0046] in:

[0047] 1. Motor base; 2. First driving wheel; 3. First worm gear; 4. Deep groove ball bearing; 5. Positioning screw; 6. First worm; 7. First joint cover plate; 8. Joint end cover; 9. First driven guide wheel; 10. First proximal tension seat; 11. Third joint cover plate; 12. Proximal section; 13. Follower wheel; 14. Second screw; 15. Fifth joint cover plate; 16. Middle section; 17. Distal section; 18. Finger tip driven rope; 19. First middle section tension seat; 20. Fourth driven guide wheel; 21. Sixth joint cover plate; 22. Distal section shaft; 23. Third driven... 24. Moving guide wheel; 25. Fourth joint cover plate; 26. First distal tensioning seat; 27. First joint shaft; 28. Second joint cover plate; 29. ​​Second driven guide wheel; 30. Guide wire seat; 31. Bearing end cover; 32. Second drive rope; 33. Worm gear shaft; 34. Second worm; 35. Second worm wheel; 36. Second driving wheel; 37. First drive rope; 38. First motor; 39. Second motor; 40. Set screw; 41. Second proximal tensioning seat; 42. Second distal tensioning seat; 43. Second middle tensioning seat; 44. Second joint shaft.

[0048] First wheel hole 201, first proximal section hole 1301, second proximal section hole 1302, third proximal section hole 1303, fourth proximal section hole 1304, first middle section hole 1701, second middle section hole 1702, fourth guide wheel hole 2101, first guide wire hole 3001, second guide wire hole 3001, second wheel hole 3601. Detailed Implementation

[0049] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0050] To enable those skilled in the art to better understand the present application, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0051] Please refer to Figure 1 , Figure 1 An exploded view of the finger mechanism provided in an embodiment of this application.

[0052] In a first specific embodiment, the finger mechanism provided by the present application mainly includes a wire seat 30, a proximal segment 13, a middle segment 17 and a distal segment 18 that are hinged in sequence. This means that the proximal segment 13 can rotate relative to the wire seat 30, the middle segment 17 can rotate relative to the proximal segment 13, and the distal segment 18 can rotate relative to the middle segment 17.

[0053] The distance rules for the near section 13, middle section 17, and far section 18 are based on their distance from the conductor seat 30. For example, the near section 13 is directly connected to the conductor seat 30, and the distance between the near section 13 and the conductor seat 30 is the shortest; while the far section 18 is indirectly connected to the conductor seat 30 through the middle section 17 and the near section 13, and the distance between the far section 18 and the conductor seat 30 is the farthest.

[0054] The hinge point between the conductor seat 30 and the proximal segment 13 can be regarded as the first joint, the hinge point between the proximal segment 13 and the middle segment 17 can be regarded as the second joint, and the hinge point between the middle segment 17 and the distal segment 18 can be regarded as the third joint. The finger mechanism with these three joints is a rope-driven three-joint dexterous finger structure.

[0055] Specifically, the finger mechanism also includes a first motor 38 and a second motor 39.

[0056] The output end of the first motor 38 is connected to the first worm 6. The first worm 6 is engaged with the first worm wheel 3. The first worm wheel 3 is connected to the first driving wheel 2. The first driving wheel 2 is provided with a first driving rope 37. The first driving rope 37 is connected to the proximal section 13 to drive the proximal section 13 to swing.

[0057] The output end of the second motor 39 is connected to the second worm 34. The second worm 34 cooperates with the second worm wheel 35. The second worm wheel 35 is connected to the second drive wheel 36. The second drive wheel 36 is provided with a second drive rope 32. The second drive rope 32 is connected to the middle section 17 to drive the middle section 17 to swing.

[0058] This technical solution improves upon the shortcomings of existing robotic hand finger mechanisms by introducing a dual-motor drive system and a worm gear structure. In existing technologies, single-motor driven finger mechanisms can only achieve arc-shaped movements, which limits the finger's flexibility and precision, and requires complex algorithms to adjust the finger's motion trajectory to adapt to different operational needs. This algorithm-dependent approach not only increases the complexity of the control system but may also lead to slow response speed and low positioning accuracy.

[0059] To address this issue, the finger mechanism in this technical solution uses two independent motors to control the swinging of the proximal segment 13 and the middle segment 17 respectively. The first motor 38, through the cooperation of the first worm gear 6 and the first worm wheel 3, drives the first drive wheel 2, directly controlling the swinging of the proximal segment 13 via the first drive rope 37. Similarly, the second motor 39, through the cooperation of the second worm gear 34 and the second worm wheel 35, drives the second drive wheel 36, directly controlling the swinging of the middle segment 17 via the second drive rope 32. This design allows the proximal segment 13 and the middle segment 17 to move independently, thus enabling more precise control of every finger movement. Therefore, the linear movement of the distal segment 18, acting as the fingertip, can be achieved through the control of the first motor 38 and the second motor 39.

[0060] The use of a worm gear structure provides a highly efficient power transmission method. It not only delivers stable power output but also prevents reverse transmission, ensuring that the load-bearing capacity of the finger mechanism in a static state is limited by structural strength rather than the motor's output torque. This design improves the stability and load-bearing capacity of the finger mechanism while also reducing the risks associated with potential motor reversal.

[0061] Therefore, through this dual-motor drive and worm gear structure design, the finger mechanism can achieve more precise control, no longer limited to the arc-shaped motion trajectory of a single-motor drive, thus reducing reliance on complex algorithms. This directly improves the robot's response speed, as finger movement can be directly controlled by the motors without the need for complex algorithm processing time. Simultaneously, positioning accuracy is also improved, because the movement of each joint can be controlled independently and precisely, without the need for algorithmic compensation for trajectory deviations. Furthermore, the cable-driven approach effectively reduces transmitted noise.

[0062] Based on the above structural and process descriptions, it can be seen that the finger mechanism has at least the following beneficial effects: the finger mechanism achieves independent and precise control of the proximal segment 13 and middle segment 17 of the robotic hand finger through dual-motor drive and worm gear structure, effectively solving the problems of motion trajectory limitation caused by single-motor drive and reliance on complex algorithm adjustment in the prior art, and improving the response speed and positioning accuracy of the robotic hand.

[0063] Please refer to Figures 2 to 4 ,in, Figure 2 This is a schematic diagram of the first part of the finger mechanism provided in an embodiment of this application. Figure 3 This is a schematic diagram of the second part of the finger mechanism provided in an embodiment of this application. Figure 4 This is a schematic diagram of the third part of the finger mechanism provided in an embodiment of this application.

[0064] In some embodiments, the finger mechanism further includes a fingertip follower cord 19 disposed between the middle segment 17 and the distal segment 18 to drive the distal segment 18 to swing in the same direction as the middle segment 17.

[0065] In this embodiment, the design of the finger mechanism is further extended to the motion control of the distal segment 18, which is achieved by adding a fingertip follower cord 19. The fingertip follower cord 19 is located between the middle segment 17 and the distal segment 18. This arrangement allows the distal segment 18 to move in the same direction as the middle segment 17, enhancing the overall coordination and flexibility of the finger mechanism.

[0066] Specifically, the introduction of the fingertip follower cord 19 allows every movement of the middle segment 17 to be directly transmitted to the distal segment 18, ensuring that the distal segment 18 can accurately follow the movement of the middle segment 17. This design not only improves the motion accuracy of the finger mechanism, but also enables the distal segment 18 to better simulate the natural movement of the human finger, especially in applications requiring fine manipulation, such as grasping and placing.

[0067] Furthermore, the design of the fingertip driven cord 19 helps simplify the control logic of the finger mechanism. Since the movement of the distal segment 18 is directly driven by the middle segment 17, no additional motor or complex control algorithm is needed to independently control the distal segment 18, thereby reducing the complexity and cost of the system.

[0068] In some cases, the first drive rope 37, the second drive rope 32, and the fingertip driven rope 19 are made of steel wire rope.

[0069] In some embodiments, the finger mechanism further includes a motor base 1, which is fixedly connected to the wire seat 30, and the motor base 1 is located on the side of the wire seat 30 facing away from the proximal segment 13;

[0070] The first motor 38 and the second motor 39 are arranged side by side, and the first motor 38 and the second motor 39 are located on the side of the motor base 1 that is away from the wire seat 30.

[0071] The first worm 6 and the first worm wheel 3, as well as the second worm 34 and the second worm wheel 35, are all located on the side of the motor base 1 facing the wire seat 30.

[0072] In this embodiment, the finger mechanism design further includes a motor mount 1, which is used to fix and support the first motor 38 and the second motor 39 to ensure their stable operation. The motor mount 1 is fixedly connected to the wire seat 30. This layout allows the motor mount 1 to be located on the side of the wire seat 30 facing away from the proximal segment 13. This design helps to optimize the spatial layout, reduce the overall volume of the finger mechanism, and improve the compactness and stability of the structure.

[0073] The first motor 38 and the second motor 39 are arranged side-by-side on the motor base 1, on the side of the motor base 1 facing away from the wire seat 30. This side-by-side layout simplifies motor installation and maintenance, reduces mutual interference between motors, and ensures the independence and reliability of motor operation. Furthermore, this layout also facilitates a symmetrical motor design, thereby balancing the weight distribution of the finger mechanism and improving its operational smoothness.

[0074] The first worm 6 and the first worm wheel 3, as well as the second worm 34 and the second worm wheel 35, are all located on the side of the motor base 1 facing the wire seat 30. This arrangement allows the worm gear mechanism to be directly connected to the output shaft of the motor, optimizing the power transmission path and improving transmission efficiency. At the same time, this design also helps protect the worm gear mechanism, reducing the impact of external factors and extending its service life.

[0075] The meticulously designed motor mount 1 and motor layout not only improve the structural stability and operational efficiency of the finger mechanism but also facilitate more precise and flexible finger movement control. This design is of great significance for enhancing the overall performance and adaptability of the robotic hand.

[0076] In some cases, the first motor 38 and the second motor 39 are fixed to the motor base 1 by set screws 40.

[0077] In some embodiments, the finger mechanism further includes a worm gear shaft 33, which is fixedly mounted on the motor base 1, and both ends of the worm gear shaft 33 are fixed by bearing end caps 31.

[0078] The first worm gear 3 and the second worm gear 35 are mounted on the worm gear shaft 33. The first driving wheel 2 is located on the side of the first worm gear 3 facing the second worm gear 35, and the second driving wheel 36 is located on the side of the second worm gear 35 facing the first worm gear 3.

[0079] In this embodiment, the design of the finger mechanism further includes a key component, the worm gear shaft 33, which is fixedly mounted on the motor base 1. The worm gear shaft 33 is fixed at both ends by bearing end caps 31. This structural design ensures the stability and rigidity of the worm gear shaft 33, while also facilitating precise positioning and installation.

[0080] A first worm gear 3 and a second worm gear 35 are mounted on the worm gear shaft 33, allowing the first worm gear 3 and the second worm gear 35 to be mounted on the motor base 1 via the worm gear shaft 33. This design allows the first worm 6 and the second worm 34 to transmit power through meshing with their respective worm gears. A first driving wheel 2 is mounted on the first worm gear 3, and a second driving wheel 36 is mounted on the second worm gear 35. The first driving wheel 2 is located on the side of the first worm gear 3 facing the second worm gear 35, while the second driving wheel 36 is located on the side of the second worm gear 35 facing the first worm gear 3. This means the driving wheel is located inside the worm gears. This layout makes power transmission more direct and efficient while maintaining structural compactness.

[0081] The first driving pulley 2 and the second driving pulley 36 should have an appropriate distance between them along the axial direction of the worm gear shaft 33, separating the first drive rope 37 and the second drive rope 32. This also makes the path more direct, reducing rope bending and twisting, thereby lowering friction and wear during transmission. Furthermore, this arrangement facilitates independent control of the two motors, allowing the proximal section 13 and the middle section 17 to move independently, improving the movement flexibility and control precision of the finger mechanism.

[0082] Through the worm gear shaft 33 and its fixing method, as well as the layout of the worm gear and drive wheel, a compact, efficient, and precisely controlled power transmission system is provided for the finger mechanism. This design not only enhances the performance of the finger mechanism but also simplifies its assembly and maintenance.

[0083] In some embodiments, the finger mechanism further includes:

[0084] The first joint cover plate 7 and the second joint cover plate 28 are located on both sides of the proximal segment 13. The first joint cover plate 7 and the second joint cover plate 28 extend toward the wire seat 30. The first joint cover plate 7 and the second joint cover plate 28 are provided with bearings and the first joint shaft 27 is installed. The first joint shaft 27 is fixedly connected to the wire seat 30.

[0085] The third joint cover plate 12 and the fourth joint cover plate 25 are located on both sides of the proximal segment 13. The third joint cover plate 12 and the fourth joint cover plate 25 extend toward the middle segment 17. The third joint cover plate 12 and the fourth joint cover plate 25 are provided with bearings and are equipped with a second joint shaft 44. The second joint shaft 44 is fixedly connected to the middle segment 17.

[0086] The fifth joint cover plate 16 and the sixth joint cover plate 22 are located on both sides of the middle section 17. The fifth joint cover plate 16 and the sixth joint cover plate 22 extend toward the distal section 18. The fifth joint cover plate 16 and the sixth joint cover plate 22 are provided with bearings and have a distal section shaft 23 installed on them. The distal section shaft 23 is fixedly connected to the distal section 18.

[0087] In this embodiment, the design of the finger mechanism further refines the structure of the joint portion, ensuring stable connection and smooth movement between segments by adding specific joint cover plates and pivots. Specifically, the first joint cover plate 7 and the second joint cover plate 28 are disposed on both sides of the proximal segment 13, extending toward the guide seat 30. Bearings are provided on these cover plates, and the first joint pivot 27 is mounted thereon. This pivot is fixedly connected to the guide seat 30, forming the first joint of the finger mechanism.

[0088] Similarly, the third joint cover plate 12 and the fourth joint cover plate 25 are disposed on both sides of the proximal segment 13, extending toward the middle segment 17. Bearings are provided on these cover plates, and a second joint pivot 44 is mounted thereon. This pivot is fixedly connected to the middle segment 17, forming the second joint of the finger mechanism. This design not only enhances the stability of the joint portion but also reduces friction through the bearing arrangement, allowing the proximal segment 13 to rotate more flexibly relative to the middle segment 17.

[0089] The fifth joint cover plate 16 and the sixth joint cover plate 22 are located on both sides of the middle joint 17, extending towards the distal joint 18. Bearings are provided on these cover plates, and a distal joint pivot 23 is mounted thereon, which is fixedly connected to the distal joint 18, forming the third joint of the finger mechanism. This arrangement ensures that the connection between the middle joint 17 and the distal joint 18 is both strong and flexible, allowing the distal joint 18 to move precisely relative to the middle joint 17.

[0090] It should be noted that this embodiment only limits the hinge method of the conductor seat 30, proximal section 13, middle section 17 and distal section 18, and does not limit the connection position of the rope. For example, the first drive rope 37 used to drive the proximal section 13 to swing can be connected to an appropriate position on the proximal section 13, the second drive rope 32 used to drive the middle section 17 to swing can be connected to an appropriate position on the middle section 17, and so on. Therefore, the connection position of the rope should not be limited by the hinge method and should all be within the scope of this embodiment.

[0091] In some embodiments, the finger mechanism further includes:

[0092] The first driven guide wheel 9 and the second driven guide wheel 29 are fitted onto the first joint pivot 27;

[0093] The third driven guide wheel 24 and the follower wheel 14 are fitted onto the second joint shaft 44;

[0094] The fourth driven guide wheel 21 is fitted onto the distal pivot shaft 23;

[0095] Among them, the first drive rope 37 is wound around the first driven guide wheel 9 in the part connecting the first driving wheel 2 and the proximal section 13;

[0096] The second drive rope 32 is wound around the second driven guide wheel 29 and the third driven guide wheel 24 in the part connecting the second driving wheel 36 and the middle section 17;

[0097] The fingertip driven rope 19 is wound between the fourth driven guide wheel 21 and the follower wheel 14.

[0098] In this embodiment, the finger mechanism further includes multiple driven guide pulleys and follower pulleys. The arrangement of these components is crucial for guiding and tensioning the drive rope. Specifically, the first driven guide pulley 9 and the second driven guide pulley 29 are mounted on the first joint shaft 27. They are used to guide and change the direction of the first drive rope 37, ensuring that the drive rope can correctly transmit power and maintain tension in the section connecting the first drive pulley 2 and the proximal section 13.

[0099] The third driven guide pulley 24 and follower pulley 14 are mounted on the second joint shaft 44. These guide pulleys are crucial to the path of the second drive rope 32. They not only guide the second drive rope 32 in the section connecting the second drive pulley 36 and the middle section 17, but also ensure the correct tension of the rope and reduce friction, thereby effectively transmitting power.

[0100] The fourth driven guide wheel 21 is fitted onto the distal joint shaft 23. This guide wheel is crucial for guiding and tensioning the fingertip driven rope 19. The fingertip driven rope 19 is wound between the fourth driven guide wheel 21 and the follower wheel 14. This arrangement allows the distal joint 18 to swing precisely with the movement of the middle joint 17, improving the overall coordination and control precision of the finger mechanism.

[0101] Through a carefully designed layout of driven guide wheels and follower wheels, the finger mechanism ensures efficient transmission and precise control of the drive rope, which is crucial for achieving precise movement and operation of each finger segment. This arrangement of guide wheels and wheels not only improves the flexibility and responsiveness of the finger mechanism but also enhances its stability and reliability when performing complex tasks.

[0102] In some cases, when installing the first joint shaft 27, bearings are first installed on the first joint cover plate 7 and the second joint cover plate 28. The first joint shaft 27 passes through the bearing on the second joint cover plate 28, through the wire seat 30, through the first driven guide wheel 9, and through the bearing on the first joint cover plate 7. It is then fixed by the joint end cover 8. The first joint shaft 27 and the wire seat 30 are locked together by the structure and will not rotate. The first driven guide wheel 9 and the first joint shaft 27 can rotate relative to each other. The first joint cover plate 7 and the second joint cover plate 28 are installed on both sides of the lower end of the proximal section 13.

[0103] When installing the second joint shaft 44, first install bearings on the third joint cover plate 12 and the fourth joint cover plate 25. The second joint shaft 44 passes through the bearing on the fourth joint cover plate 25, through the middle section 17, through the third driven guide wheel 24, through the follower wheel 14, and through the bearing on the third joint cover plate 12. It is fixed by the joint end cover 8. Here, the second joint shaft 44 and the middle section 17 are locked together by the structure and will not rotate. The third driven guide wheel 24 and the follower wheel 14 can rotate relative to the second joint shaft 44. The third joint cover plate 12 and the fourth joint cover plate 25 are installed on both sides of the upper end of the proximal section 13.

[0104] When installing the distal joint shaft 23, first install bearings on the fifth joint cover plate 16 and the sixth joint cover plate 22. The distal joint shaft 23 passes through the bearing on the sixth joint cover plate 22, through the distal joint 18, through the fourth driven guide wheel 21, and through the bearing on the fifth joint cover plate 16. It is then fixed by the joint end cover 8. The distal joint shaft 23 and the distal joint 18 are locked together by the structure and will not rotate. At the same time, the distal joint shaft 23 and the fourth driven guide wheel 21 are also locked together by the structure and will not rotate. The fifth joint cover plate 16 and the sixth joint cover plate 22 are installed on both sides of the upper end of the middle joint 17.

[0105] In some embodiments, the finger mechanism further includes:

[0106] The near-section tensioning seat 11 is connected to the near-section 13 by a thread, and the near-section tensioning seat 11 is connected to the first drive rope 37.

[0107] The middle section tensioning seat 20 is connected to the middle section 17 by a thread, and the middle section tensioning seat 20 is connected to the second drive rope 32.

[0108] The distal tensioning seat 26 is connected to the middle section 17 by a thread, and the distal tensioning seat 26 is connected to the fingertip driven rope 19.

[0109] In this embodiment, the finger mechanism is designed with rope tension adjustment in mind, achieved by introducing a proximal tensioner 11, a middle tensioner 20, and a distal tensioner 26. These tensioners are threadedly connected to the proximal section 13, middle section 17, and distal section 18, respectively, allowing for precise adjustment of the tension in the drive and driven ropes. Furthermore, the tensioners also define the connection positions of the ropes.

[0110] The proximal tensioner 11 is connected to the proximal section 13 and to the first drive rope 37. By adjusting the position of the proximal tensioner 11, the tension of the first drive rope 37 can be changed, ensuring smooth movement of the proximal section 13 and avoiding inaccurate movement due to rope slack. This threaded connection provides a simple and effective way to fine-tune the rope tension to adapt to different operating conditions and requirements.

[0111] The middle section tensioner 20 is connected to the middle section 17 and also to the second drive rope 32. By adjusting the middle section tensioner 20, the tension of the second drive rope 32 can be controlled, thereby precisely controlling the movement of the middle section 17. This design not only helps maintain the stability of the movement of the middle section 17 but also helps improve the synchronization and coordination of the entire finger mechanism.

[0112] The distal joint tensioner 26 is connected to the middle joint 17 and the fingertip follower cord 19. By adjusting the distal joint tensioner 26, the tension of the fingertip follower cord 19 can be adjusted, allowing the distal joint 18 to precisely follow the movement of the middle joint 17. This threaded tensioner design makes the movement of the distal joint 18 more flexible and controllable, which is crucial for improving the fine motor skills of the finger mechanism.

[0113] By introducing these tensioners, the finger mechanism not only achieves precise control over the movement of each segment but also allows for rapid adjustment of rope tension as needed to adapt to different operating environments and task requirements. This design enhances the adaptability and reliability of the finger mechanism, enabling it to maintain efficient and accurate performance in a variety of applications.

[0114] In some embodiments, the lead frame 30 is provided with a first lead wire hole 3001 and a second lead wire hole 3001, the proximal segment 13 is provided with a first proximal segment hole 1301, a second proximal segment hole 1302, a third proximal segment hole 1303 and a fourth proximal segment hole 1304, the proximal segment tensioning seat 11 includes a first proximal segment tensioning seat 11 and a second proximal segment tensioning seat 41, and the middle segment tensioning seat 20 includes a first middle segment tensioning seat 20 and a second middle segment tensioning seat 43;

[0115] The first drive rope 37 is fixed to the first driving wheel 2. The upper end of the first drive rope 37 winds counterclockwise around the first driving wheel 2 for half a turn, passes through the second wire hole 3001, winds counterclockwise around the first driven guide wheel 9 for one turn, and is then locked onto the second proximal tensioning seat 41. The lower end of the first drive rope 37 winds clockwise around the first driving wheel 2, passes through the first wire hole 3001, winds clockwise around the first driven guide wheel 9 for one turn, and is then locked onto the first proximal tensioning seat 11.

[0116] The second drive rope 32 is fixed to the second driving wheel 36. The upper end of the second drive rope 32 winds clockwise around the second driving wheel 36 for half a turn, passes through the second guide hole 3001, winds clockwise around the second driven guide wheel 29 for one turn, passes through the second proximal hole 1302 and the fourth proximal hole 1304 in sequence, winds clockwise around the third driven guide wheel 24 for one turn, and is then secured to the second middle section tensioning seat 43. The lower end of the second drive rope 32 winds counterclockwise around the second driving wheel 36 for half a turn, passes through the first guide hole 3001, winds counterclockwise around the second driven guide wheel 29 for one turn, passes through the first proximal hole 1301 and the third proximal hole 1303 in sequence, winds counterclockwise around the third driven guide wheel 24 for one turn, and is then secured to the first middle section tensioning seat 20.

[0117] In this embodiment, the finger mechanism design achieves precise control over the drive rope path through the accurate configuration of the guide holes and proximal joint holes, as well as the setting of the tensioning seat. This design ensures the accuracy and reliability of the drive rope in transmitting power, thereby improving the motion precision of the finger mechanism. By setting the first guide hole 3001 and the second guide hole 3001 on the guide seat 30, and the first to fourth proximal joint holes on the proximal joint 13, in conjunction with the setting of the proximal joint tensioning seat 11 and the middle joint tensioning seat 20, the tension of the first drive rope 37 and the second drive rope 32 can be effectively adjusted. This configuration not only enhances the adaptability of the mechanism but also reduces rope wear and extends service life.

[0118] It should be noted that the first drive rope 37 can bypass the first driven guide pulley 9 and be directly engaged with the first near-section tensioning seat 11 and the second near-section tensioning seat 41, while still fulfilling the corresponding function. Similarly, the second drive rope 32 can bypass the third driven guide pulley 24 and the second driven guide pulley 29 and be directly engaged with the first middle section tensioning seat 20 and the second middle section tensioning seat 43, while still fulfilling the corresponding function.

[0119] In some cases, for fixing the first drive rope 37 to the first drive wheel 2, the first drive rope 37 can be passed through the first wheel hole 201 on the first drive wheel 2, and the positioning screw 5 can be used to fix the first drive rope 37. For fixing the second drive rope 32 to the second drive wheel 36, the second drive rope 32 can be passed through the second wheel hole 3601 on the second drive wheel 36, and the positioning screw 5 can be used to fix the second drive rope 32 to the second drive wheel 36.

[0120] In some embodiments, the middle section 17 is provided with a first middle section hole 1701 and a second middle section hole 1702, and the distal section tensioning seat 26 includes a first distal section tensioning seat 26 and a second distal section tensioning seat 42.

[0121] The fingertip driven rope 19 is fixed to the fourth driven guide wheel 21. The upper end of the fingertip driven rope 19 is wound clockwise around the fourth driven guide wheel 21 for half a turn, then passes through the first middle section hole 1701 and the second middle section hole 1702 in sequence, and then wound counterclockwise around the follower wheel 14 for one turn before being locked onto the first distal tensioning seat 26. The lower end of the fingertip driven rope 19 is wound counterclockwise around the fourth driven guide wheel 21 for half a turn, then passes through the first middle section hole 1701 and the second middle section hole 1702 in sequence, and then wound clockwise around the follower wheel 14 for one turn before being locked onto the second distal tensioning seat 42.

[0122] In this embodiment, the arrangement of the first middle section hole 1701 and the second middle section hole 1702 on the middle section 17, as well as the distal section tensioning seat 26, further refines the path and tension adjustment of the fingertip follower rope 19. This path design and tensioning seat configuration allow the distal section 18 to accurately follow the movement of the middle section 17, improving the coordination and flexibility of the finger mechanism. Overall, this design demonstrates significant advantages in improving operational accuracy, enhancing adaptability, extending service life, and reducing noise, thereby improving the overall performance and work efficiency of the robotic arm.

[0123] It should be noted that the fingertip driven rope 19 can fulfill the same function without passing through the follower wheel 14. The reverse winding of the steel wire rope around the fingertip joint enables the fingertip and middle joint to move in tandem. By adjusting the diameter ratio of the follower wheel 14 to the fourth driven guide wheel 21, different swing angles of the distal joint 18 can be achieved.

[0124] In some cases, for fixing the fingertip driven cord 19 to the fourth driven guide wheel 21, the fingertip driven cord 19 can be passed through the fourth guide wheel hole 2101 on the fourth driven guide wheel 21, and the positioning screw 5 can fix the fingertip driven cord 19 to the fourth driven guide wheel 21.

[0125] This application also provides a robotic hand, including the aforementioned finger mechanism.

[0126] The robotic arm should possess all the beneficial technical effects of the aforementioned finger mechanism: the rope-driven mechanism effectively reduces transmission noise; the worm gear transmission effectively avoids reverse force transmission, ensuring that the static load-bearing capacity of the finger is limited by the structural strength rather than the output torque of the drive; tensioning via the first proximal tensioner 11, the first middle tensioner 20, the first distal tensioner 26, the second proximal tensioner 41, the second distal tensioner 42, and the second middle tensioner 43 effectively prevents deformation of the rope drive during use; the first driven guide wheel 9, the follower wheel 14, the fourth driven guide wheel 21, the third driven guide wheel 24, the second driven guide wheel 29, and the second driving wheel 36 effectively prevent the rope from causing wear and tear on surrounding parts during force transmission, thus reducing their lifespan; and the fingertip can move in a straight line under the control of the first motor 38 and the second motor 39.

[0127] It should be noted that many of the components mentioned in this application are general standard parts or components known to those skilled in the art, and their structure and principle can be learned by those skilled in the art through technical manuals or through conventional experimental methods.

[0128] It should be noted that in this specification, relational terms such as first and second are used only to distinguish one entity from several other entities, and do not necessarily require or imply any such actual relationship or order between these entities.

[0129] The finger mechanism and robotic arm provided in this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the embodiments above are merely for the purpose of helping to understand the method and core ideas of this application. It should be noted that those skilled in the art can make various improvements and modifications to this application without departing from its principles, and these improvements and modifications also fall within the protection scope of the claims of this application.

Claims

1. A finger mechanism, characterized in that, The finger mechanism includes a wire seat, proximal segment, middle segment, and distal segment that are hinged in sequence. A first motor, the output end of the first motor is connected to a first worm, the first worm is engaged with a first worm wheel, the first worm wheel is connected to a first driving wheel, the first driving wheel is provided with a first drive rope, the first drive rope is connected to the proximal joint to drive the proximal joint to swing; The second motor has its output end connected to a second worm gear, which engages with a second worm wheel. The second worm wheel is connected to a second drive wheel, which has a second drive rope attached to it. The second drive rope is connected to the middle section to drive the middle section to swing.

2. The finger mechanism according to claim 1, characterized in that, It also includes a fingertip follower cord, which is located between the middle section and the distal section to drive the distal section to swing in the same direction as the middle section.

3. The finger mechanism according to claim 1, characterized in that, It also includes a motor mount, which is fixedly connected to the wire mount, and the motor mount is located on the side of the wire mount facing away from the proximal segment; The first motor and the second motor are arranged side by side, and the first motor and the second motor are located on the side of the motor base facing away from the wire base; The first worm and the first worm wheel, as well as the second worm and the second worm wheel, are all located on the side of the motor mount facing the wire mount.

4. The finger mechanism according to claim 3, characterized in that, It also includes a worm gear shaft, which is fixedly mounted on the motor base, and both ends of the worm gear shaft are fixed by bearing end caps; The first worm gear and the second worm gear are mounted on the worm gear shaft. The first driving wheel is located on the side of the first worm gear facing the second worm gear, and the second driving wheel is located on the side of the second worm gear facing the first worm gear.

5. The finger mechanism according to claim 2, characterized in that, Also includes: A first joint cover plate and a second joint cover plate are disposed on both sides of the proximal segment. The first joint cover plate and the second joint cover plate extend toward the wire seat. The first joint cover plate and the second joint cover plate are provided with bearings and are equipped with a first joint pivot. The first joint pivot is fixedly connected to the wire seat. The third and fourth joint cover plates are located on both sides of the proximal segment. The third and fourth joint cover plates extend toward the middle segment. The third and fourth joint cover plates are provided with bearings and equipped with a second joint pivot. The second joint pivot is fixedly connected to the middle segment. The fifth joint cover plate and the sixth joint cover plate are located on both sides of the middle section. The fifth joint cover plate and the sixth joint cover plate extend toward the distal section. The fifth joint cover plate and the sixth joint cover plate are provided with bearings and have a distal section shaft installed on them. The distal section shaft is fixedly connected to the distal section.

6. The finger mechanism according to claim 5, characterized in that, Also includes: The first driven guide wheel and the second driven guide wheel are fitted onto the first joint shaft; The third driven guide wheel and the follower wheel are fitted onto the second joint shaft; The fourth driven guide wheel is fitted onto the distal pivot shaft; The first drive rope is wound around the first driven guide wheel in the portion connecting the first driving pulley and the proximal section; The second drive rope, in the portion connecting the second driving pulley and the middle section, is wound around the second driven guide pulley and the third driven guide pulley; The fingertip driven rope is wound between the fourth driven guide wheel and the follower wheel.

7. The finger mechanism according to claim 6, characterized in that, Also includes: A proximal tensioning seat is threadedly connected to the proximal section, and the proximal tensioning seat is connected to the first drive rope; The middle section tensioning seat is threadedly connected to the middle section, and the middle section tensioning seat is connected to the second drive rope; The distal tensioner is connected to the middle section via a thread, and the distal tensioner is connected to the fingertip driven rope.

8. The finger mechanism according to claim 7, characterized in that, The conductor seat is provided with a first conductor hole and a second conductor hole, the proximal section is provided with a first proximal section hole, a second proximal section hole, a third proximal section hole and a fourth proximal section hole, the proximal section tensioning seat includes a first proximal section tensioning seat and a second proximal section tensioning seat, and the middle section tensioning seat includes a first middle section tensioning seat and a second middle section tensioning seat; The first drive rope is fixed to the first driving wheel. The upper end of the first drive rope goes counterclockwise around the first driving wheel for half a turn and then passes through the second wire hole. After going counterclockwise around the first driven guide wheel once, it is locked onto the second proximal tensioning seat. The lower end of the first drive rope goes clockwise around the first driving wheel and then passes through the first wire hole. After going clockwise around the first driven guide wheel once, it is locked onto the first proximal tensioning seat. The second drive rope is fixed to the second driving pulley. The upper end of the second drive rope winds clockwise around the second driving pulley for half a turn, passes through the second guide wire hole, winds clockwise around the second driven guide wheel for one turn, passes through the second proximal joint hole and the fourth proximal joint hole in sequence, winds clockwise around the third driven guide wheel for one turn, and is then secured to the second middle section tensioning seat. The lower end of the second drive rope winds counterclockwise around the second driving pulley for half a turn, passes through the first guide wire hole, winds counterclockwise around the second driven guide wheel for one turn, passes through the first proximal joint hole and the third proximal joint hole in sequence, winds counterclockwise around the third driven guide wheel for one turn, and is then secured to the first middle section tensioning seat.

9. The finger mechanism according to claim 7, characterized in that, The middle section is provided with a first middle section hole and a second middle section hole, and the distal section tensioning seat includes a first distal section tensioning seat and a second distal section tensioning seat; The fingertip driven rope is fixed to the fourth driven guide wheel. The upper end of the fingertip driven rope circles the fourth driven guide wheel clockwise by half a turn, then passes through the first middle section hole and the second middle section hole in sequence, and then circles the follower wheel counterclockwise by one turn before being secured to the first distal tensioning seat. The lower end of the fingertip driven rope circles the fourth driven guide wheel counterclockwise by half a turn, then passes through the first middle section hole and the second middle section hole in sequence, and then circles the follower wheel clockwise by one turn before being secured to the second distal tensioning seat.

10. A robotic arm, characterized in that, Includes the finger mechanism as described in any one of claims 1 to 9.

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