Finger structure and robot

Abstract

The utility model discloses a finger structure and robot, finger structure includes linear drive assembly, near-end knuckle, middle knuckle, far-end knuckle and flexible rope, linear drive assembly includes motor, worm and worm gear that connect in proper order, near-end knuckle, middle knuckle and far-end knuckle are rotatingly connected in proper order, and the flexible rope is connected in proper order to drive the near-end knuckle, middle knuckle and far-end knuckle. One end of the flexible rope is wound on the worm gear, the other end of the flexible rope is connected to the far-end knuckles, and the motor, the worm and the worm gear sequentially drive the flexible rope to be stretched or loosened so as to drive the far-end knuckles and the middle knuckles to be bent or straightened. By the adoption of the design mode, due to the flexibility characteristic of the flexible rope, the state of the fingers can be adjusted in a self-adaptive mode in the buckling and stretching process, and therefore the flexible self-adaptive grabbing function is achieved, and objects of different shapes and sizes can be flexibly coped with. In addition, due to the fact that the worm gear and the worm have the self-locking characteristic, the finger has the large load capacity.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to a finger structure and a robot. Background Technology

[0002] In recent years, with the rapid development of the robotics industry, dexterous hands, as an important branch of robotics technology, are designed and developed to simulate the dexterity and fine motor skills of human hands. However, most dexterous hands on the market currently use a four-bar linkage for drive. This type of drive is too mechanical, resulting in a lack of flexibility in the movement trajectory of the fingers and a limited range of motion. Consequently, dexterous hands cannot effectively achieve adaptive grasping, leading to a poor user experience. Utility Model Content

[0003] In order to overcome at least one of the defects described in the prior art, the present invention provides a finger structure and robot to solve the problem that the finger movements of the dexterous hand in the prior art lack flexibility and have a limited range of motion, and cannot adapt well to grasping.

[0004] The present invention provides a technical solution to address the problem. In a first aspect, an embodiment of the present invention discloses a finger structure, including a wire-driven assembly, a proximal phalanx, an intermediate phalanx, a distal phalanx, and a flexible cord. The wire-driven assembly includes a motor, a worm gear, and a worm wheel connected in sequence. The proximal phalanx, the intermediate phalanx, and the distal phalanx are rotatably connected in sequence. One end of the flexible cord is wound around the worm wheel, and the other end is connected to the distal phalanx. The motor, the worm gear, and the worm wheel sequentially drive the flexible cord to stretch or relax, thereby causing the distal phalanx and the intermediate phalanx to bend or straighten.

[0005] As an optional implementation, in an embodiment of the first aspect of this utility model, the wire drive assembly further includes a fixed bracket, the motor is fixed on the fixed bracket, and the worm and the worm wheel are rotatably mounted on the fixed bracket.

[0006] As an optional implementation, in an embodiment of the first aspect of this utility model, the fixed bracket includes a first frame and a second frame, the motor is mounted on one side of the first frame, the second frame is fixed to the other side of the first frame, one end of the worm gear is mounted on the first frame and the other end is mounted on the second frame, a first connecting lug is provided below the first frame, and the worm wheel is connected to the first connecting lug through a first rotating shaft.

[0007] As an optional implementation, in an embodiment of the first aspect of this utility model, the wire drive assembly further includes a first bearing and a second bearing, the other end of the worm gear is mounted on the second frame via the first bearing, the first connecting lug is provided with a first mounting hole, and the second bearing is sleeved on the first rotating shaft and located within the first mounting hole.

[0008] As an optional implementation, in an embodiment of the first aspect of this utility model, a winding reel is provided on one side of the worm gear, and the flexible rope is wound on the winding reel.

[0009] As an optional implementation, in an embodiment of the first aspect of this utility model, the proximal phalanx is provided with a second connecting ear, the intermediate phalanx is provided with a third connecting ear and a fourth connecting ear, and the distal phalanx is provided with a fifth connecting ear. The second connecting ear and the third connecting ear are connected by a second rotating shaft, and the fourth connecting ear and the fifth connecting ear are connected by a third rotating shaft.

[0010] As an optional implementation, in an embodiment of the first aspect of this utility model, the finger structure further includes a third bearing and a fourth bearing, the second connecting ear is provided with a second mounting hole, the third bearing is sleeved on the second rotating shaft and located in the second mounting hole, the fifth connecting ear is provided with a third mounting hole, and the fourth bearing is sleeved on the third rotating shaft and located in the third mounting hole.

[0011] As an optional implementation, in an embodiment of the first aspect of this utility model, the finger structure further includes a first torsion spring and a second torsion spring. The first torsion spring is sleeved on the second rotating shaft and is used to drive the intermediate phalanx to return to its straight position relative to the proximal phalanx when the flexible rope is relaxed. The second torsion spring is sleeved on the third rotating shaft and is used to drive the distal phalanx to return to its straight position relative to the intermediate phalanx when the flexible rope is relaxed.

[0012] As an optional implementation, in an embodiment of the first aspect of this utility model, the proximal phalanx is provided with a first thread passage, the intermediate phalanx is provided with a second thread passage, and the distal phalanx is provided with a third thread passage. The other end of the flexible rope passes through the first thread passage, the second thread passage, and the third thread passage to connect to the distal phalanx.

[0013] Secondly, this utility model discloses a robot including the finger structure described above.

[0014] Implementing the embodiments of this utility model will have the following beneficial effects:

[0015] This invention features a finger structure comprising a wire-driven assembly, a proximal phalanx, a middle phalanx, a distal phalanx, and a flexible cord. The wire-driven assembly includes a motor, a worm gear, and a worm wheel connected in sequence. The proximal, middle, and distal phalanxes are rotatably connected in sequence. One end of the flexible cord is wound around the worm wheel, and the other end is connected to the distal phalanx. The motor, worm gear, and worm wheel sequentially drive the flexible cord to stretch or relax, thereby causing the distal and middle phalanxes to bend or straighten. This design uses the worm gear and worm wheel to stretch or relax the flexible cord. When the flexible cord is stretched, the middle and distal phalanxes bend, achieving finger flexion. When the flexible cord is relaxed, the middle and distal phalanxes straighten, achieving finger extension. Due to the flexibility of the cord, the finger can adaptively adjust its state during flexion and extension, thus achieving a flexible adaptive grasping function and flexibly handling objects of different shapes and sizes. Furthermore, the worm gear and worm gear have self-locking properties, giving the finger a high load-bearing capacity. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this utility model 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 some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the hand structure in an embodiment of the present utility model;

[0018] Figure 2 This is a schematic diagram of the finger structure in an embodiment of the present utility model;

[0019] Figure 3 This is a partial structural exploded view of the finger structure in an embodiment of the present utility model;

[0020] Figure 4 This is an exploded view of the wire-driven component of the finger structure in an embodiment of this utility model.

[0021] The meanings of the reference numerals in the attached figures are as follows:

[0022] 1-Wire drive assembly; 11-Motor; 12-Worm gear; 13-Worm wheel; 131-Roller; 14-Fixed bracket; 141-First frame; 1411-First connecting ear; 1412-First mounting hole; 142-Second frame; 15-First shaft; 16-First bearing; 17-Second bearing; 2-Proximal phalanx; 21-Second connecting ear; 22-Second mounting hole; 3-Intermediate phalanx; 31-Third connecting ear; 32-Fourth connecting ear; 4-Distal phalanx; 41-Fifth connecting ear; 411-Third mounting hole; 5-Flexible rope; 6-Second shaft; 7-Third shaft; 8-Third bearing; 9-Fourth bearing; 10-First torsion spring; 20-Second torsion spring. Detailed Implementation

[0023] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0024] In this invention, the terms "upper," "lower," "left," "right," "front," "rear," "top," "bottom," "inner," "outer," "middle," "vertical," "horizontal," "lateral," and "longitudinal" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for the purpose of better describing this invention and its embodiments, and are not intended to limit the indicated device, element, or component to having a specific orientation, or to be constructed and operated in a specific orientation.

[0025] Furthermore, in addition to indicating direction or positional relationship, some of the aforementioned terms may also have other meanings. For example, the term "above" may also be used in some cases to indicate a certain dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this utility model according to the specific circumstances.

[0026] Furthermore, the terms "installation," "setup," "equipped with," "connection," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral structure; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium, or an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of these terms in this utility model based on the specific circumstances.

[0027] Furthermore, the terms "first," "second," etc., are primarily used to distinguish different devices, elements, or components (which may be the same or different in specific type and construction), and are not intended to indicate or imply the relative importance or quantity of the indicated devices, elements, or components. Unless otherwise stated, "a plurality of" means two or more.

[0028] The technical solution of this utility model will be further described below with reference to the embodiments and accompanying drawings.

[0029] Please refer to the following: Figures 1 to 4 This utility model discloses a robot including a finger structure located on the palm. The finger structure includes a wire-driven drive assembly 1, a proximal phalanx 2, an intermediate phalanx 3, a distal phalanx 4, and a flexible rope 5. The wire-driven drive assembly 1 includes a motor 11, a worm gear 12, and a worm wheel 13 connected in sequence. The proximal phalanx 2, the intermediate phalanx 3, and the distal phalanx 4 are rotatably connected in sequence. One end of the flexible rope 5 is wound around the worm wheel 13, and the other end is connected to the distal phalanx 4. The motor 11, the worm gear 12, and the worm wheel 13 drive the flexible rope 5 to stretch or relax in sequence, thereby causing the distal phalanx 4 and the intermediate phalanx 3 to bend or straighten. This design utilizes the worm gear 12 and worm wheel 13 to stretch or relax the flexible rope 5. When the flexible rope 5 is stretched, the middle phalanx 3 and distal phalanx 4 bend accordingly, achieving finger flexion. When the flexible rope 5 is relaxed, the middle phalanx 3 and distal phalanx 4 straighten accordingly, achieving finger extension. Due to the flexibility of the flexible rope 5, the fingers can adaptively adjust their state during flexion and extension, thus achieving a flexible adaptive grasping function and flexibly handling objects of different shapes and sizes. Furthermore, the self-locking characteristics of the worm wheel 13 and worm gear 12 give the fingers a high load-bearing capacity.

[0030] Preferably, in order for the worm gear 13 to better wind the flexible rope 5, a winding reel 131 is provided on one side of the worm gear 13, and the flexible rope 5 is wound on the winding reel 131, that is, the winding and release of the flexible rope 5 is achieved through the winding reel 131.

[0031] In some embodiments, in order to install the motor 11, worm 12 and worm wheel 13, the wire drive assembly 1 further includes a fixed bracket 14, on which the motor 11 is fixed, and the worm 12 and worm wheel 13 are rotatably mounted on the fixed bracket 14.

[0032] Furthermore, the fixed bracket 14 includes a first frame 141 and a second frame 142. The motor 11 is mounted on one side of the first frame 141, and the second frame 142 is fixed to the other side of the first frame 141. One end of the worm gear 12 is mounted on the first frame 141, and the other end is mounted on the second frame 142. A first connecting ear 1411 is provided below the first frame 141, and the worm wheel 13 is connected to the first connecting ear 1411 through a first rotating shaft 15. This design makes the entire wire-driven drive assembly 1 more compact.

[0033] Furthermore, the wire drive assembly 1 also includes a first bearing 16 and a second bearing 17. The other end of the worm gear 12 is mounted on the second frame 142 via the first bearing 16. The first connecting lug 1411 is provided with a first mounting hole 1412. The second bearing 17 is sleeved on the first rotating shaft 15 and located in the first mounting hole 1412.

[0034] In some embodiments, in order to achieve the rotational connection between the intermediate phalanx 3 and the proximal phalanx 2 and the rotational connection between the distal phalanx 4 and the intermediate phalanx 3, the proximal phalanx 2 is provided with a second connecting ear 21, the intermediate phalanx 3 is provided with a third connecting ear 31 and a fourth connecting ear 32, and the distal phalanx 4 is provided with a fifth connecting ear 41. The second connecting ear 21 and the third connecting ear 31 are connected by a second rotating shaft 6, and the fourth connecting ear 32 and the fifth connecting ear 41 are connected by a third rotating shaft 7.

[0035] Furthermore, the finger structure also includes a third bearing 8 and a fourth bearing 9. The second connecting ear 21 has a second mounting hole 22. The third bearing 8 is fitted onto the second rotating shaft 6 and located within the second mounting hole 22. The fifth connecting ear 41 has a third mounting hole 411. The fourth bearing 9 is fitted onto the third rotating shaft 7 and located within the third mounting hole 411. This design, with bearings added to the rotating shafts corresponding to the fingers, makes finger movement smoother and increases the finger's load-bearing capacity.

[0036] Furthermore, the finger structure also includes a first torsion spring 10 and a second torsion spring 20. The first torsion spring 10 is sleeved on the second pivot 6 and is used to return the middle phalanx 3 to its straight position relative to the proximal phalanx 2 when the flexible rope 5 is relaxed. The second torsion spring 20 is sleeved on the third pivot 7 and is used to return the distal phalanx 4 to its straight position relative to the middle phalanx 3 when the flexible rope 5 is relaxed. With this design, when the flexible rope 5 is released, the phalanx is springed open by elasticity, which promotes natural extension of the fingers and enhances the flexibility and responsiveness of finger movements.

[0037] Furthermore, the proximal phalanx 2 has a first thread-passing channel, the intermediate phalanx 3 has a second thread-passing channel, and the distal phalanx 4 has a third thread-passing channel. The other end of the flexible rope 5 passes through the first, second, and third thread-passing channels to connect to the distal phalanx 4. This design allows the flexible rope 5 to be partially concealed within the proximal phalanx 2, intermediate phalanx 3, and distal phalanx 4, enabling positioning and protection of the flexible rope 5.

[0038] In some embodiments, the flexible rope 5 is a steel wire rope, tungsten wire rope, or polymer fiber material rope. In actual design, the appropriate material can be selected based on the specific circumstances, and this is not limited here. Preferably, the flexible rope 5 is a steel wire rope. This design is advantageous because steel wire ropes possess characteristics such as wear resistance, tensile strength, good flexibility, ability to withstand impact loads, warning signs of wire breakage before fracture, long service life, and safety.

[0039] The robot provided by this utility model has a finger structure including a wire-driven drive assembly 1, a proximal phalanx 2, an intermediate phalanx 3, a distal phalanx 4, and a flexible rope 5. The wire-driven drive assembly 1 includes a motor 11, a worm gear 12, and a worm wheel 13 connected in sequence. The proximal phalanx 2, the intermediate phalanx 3, and the distal phalanx 4 are rotatably connected in sequence. One end of the flexible rope 5 is wound around the worm wheel 13 and the other end is connected to the distal phalanx 4. The motor 11, the worm gear 12, and the worm wheel 13 drive the flexible rope 5 to stretch or relax in sequence, so as to cause the distal phalanx 4 and the intermediate phalanx 3 to bend or straighten. This design utilizes the worm gear 12 and worm wheel 13 to stretch or relax the flexible rope 5. When the flexible rope 5 is stretched, the middle phalanx 3 and distal phalanx 4 bend accordingly, achieving finger flexion. When the flexible rope 5 is relaxed, the middle phalanx 3 and distal phalanx 4 straighten accordingly, achieving finger extension. Due to the flexibility of the flexible rope 5, the fingers can adaptively adjust their state during flexion and extension, thus achieving a flexible adaptive grasping function and flexibly handling objects of different shapes and sizes. Furthermore, the self-locking characteristics of the worm wheel 13 and worm gear 12 give the fingers a high load-bearing capacity.

[0040] The foregoing has provided a detailed description of a finger structure and robot disclosed in this utility model. This article uses specific examples to illustrate the principles and implementation methods of this utility model. The description of the above embodiments is only for the purpose of helping to understand the finger structure and robot of this utility model and its core ideas. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this utility model. Therefore, the content of this specification should not be construed as a limitation of this utility model.

Claims

1. A finger structure, characterized in that, The device includes a wire-driven drive assembly (1), a proximal phalanx (2), an intermediate phalanx (3), a distal phalanx (4), and a flexible rope (5). The wire-driven drive assembly (1) includes a motor (11), a worm (12), and a worm wheel (13) connected in sequence. The proximal phalanx (2), the intermediate phalanx (3), and the distal phalanx (4) are rotatably connected in sequence. One end of the flexible rope (5) is wound around the worm wheel (13), and the other end is connected to the distal phalanx (4). The motor (11), the worm (12), and the worm wheel (13) drive the flexible rope (5) to stretch or relax in sequence, so as to cause the distal phalanx (4) and the intermediate phalanx (3) to bend or straighten.

2. The finger structure according to claim 1, characterized in that: The wire drive assembly (1) further includes a fixed bracket (14), the motor (11) is fixed on the fixed bracket (14), and the worm (12) and the worm wheel (13) are rotatably mounted on the fixed bracket (14).

3. The finger structure according to claim 2, characterized in that: The fixed bracket (14) includes a first frame (141) and a second frame (142). The motor (11) is installed on one side of the first frame (141), and the second frame (142) is fixed on the other side of the first frame (141). One end of the worm gear (12) is installed on the first frame (141) and the other end is installed on the second frame (142). A first connecting ear (1411) is provided below the first frame (141), and the worm wheel (13) is connected to the first connecting ear (1411) through a first rotating shaft (15).

4. The finger structure according to claim 3, characterized in that: The wire drive assembly (1) further includes a first bearing (16) and a second bearing (17). The other end of the worm gear (12) is mounted on the second frame (142) through the first bearing (16). The first connecting ear (1411) is provided with a first mounting hole (1412). The second bearing (17) is sleeved on the first rotating shaft (15) and located in the first mounting hole (1412).

5. The finger structure according to claim 1, characterized in that: A winding reel (131) is provided on one side of the worm gear (13), and the flexible rope (5) is wound on the winding reel (131).

6. The finger structure according to claim 1, characterized in that: The proximal phalanx (2) is provided with a second connecting ear (21), the intermediate phalanx (3) is provided with a third connecting ear (31) and a fourth connecting ear (32), and the distal phalanx (4) is provided with a fifth connecting ear (41). The second connecting ear (21) and the third connecting ear (31) are connected by a second rotating shaft (6), and the fourth connecting ear (32) and the fifth connecting ear (41) are connected by a third rotating shaft (7).

7. The finger structure according to claim 6, characterized in that: The finger structure also includes a third bearing (8) and a fourth bearing (9). The second connecting ear (21) is provided with a second mounting hole (22). The third bearing (8) is sleeved on the second rotating shaft (6) and located in the second mounting hole (22). The fifth connecting ear (41) is provided with a third mounting hole (411). The fourth bearing (9) is sleeved on the third rotating shaft (7) and located in the third mounting hole (411).

8. The finger structure according to claim 6, characterized in that: The finger structure also includes a first torsion spring (10) and a second torsion spring (20). The first torsion spring (10) is sleeved on the second rotating shaft (6) and is used to drive the middle phalanx (3) to return to its straight position relative to the proximal phalanx (2) when the flexible rope (5) is relaxed. The second torsion spring (20) is sleeved on the third rotating shaft (7) and is used to drive the distal phalanx (4) to return to its straight position relative to the middle phalanx (3) when the flexible rope (5) is relaxed.

9. The finger structure according to any one of claims 1 to 8, characterized in that: The proximal phalanx (2) is provided with a first thread passage, the intermediate phalanx (3) is provided with a second thread passage, and the distal phalanx (4) is provided with a third thread passage. The other end of the flexible rope (5) passes through the first thread passage, the second thread passage, and the third thread passage to connect to the distal phalanx (4).

10. A robot, characterized in that: Includes the finger structure as described in any one of claims 1 to 9.

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