Finger structure and robot
The finger structure with a linear drive component and flexible cord addresses the inflexibility of current dexterous hands, enabling self-adaptive gripping and high load-bearing capacity for diverse objects.
Patent Information
- Authority / Receiving Office
- FR · FR
- Patent Type
- Utility models
- Current Assignee / Owner
- KEPLER ROBOT CO LTD
- Filing Date
- 2025-07-31
- Publication Date
- 2026-07-10
AI Technical Summary
Current dexterous hands in the robotics industry lack flexibility and have a limited range of motion due to their mechanized four-rod coupling mechanism, preventing them from achieving a fully adaptive grip and resulting in poor user experiences.
A finger structure comprising a linear drive component with an electric motor, worm gear, and worm wheel, connected sequentially with a flexible cord, allowing for bending and extension of finger joints through sequential transmission, enhancing flexibility and self-adaptive gripping capabilities.
The design enables flexible, self-adaptive gripping of objects of varying shapes and sizes with high load-bearing capacity, thanks to the flexibility of the flexible cord and the self-locking feature of the worm gear and screw.
Smart Images
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Abstract
Description
Title of the invention: Finger structure and robot technical field
[0001] The present invention relates to the field of robots, in particular a finger structure and a robot. Context technology
[0002] In recent years, the robotics industry has developed rapidly. As an important branch of the robotics technology industry, the design, research, and development of dexterous hands aim to enhance the flexibility and dexterity of human hands. However, most dexterous hands currently on the market primarily use a four-rod coupling mechanism for drive. This drive structure is overly mechanized, resulting in a lack of flexibility and a limited range of finger movement. Consequently, these dexterous hands cannot achieve a fully adaptive grip, and user experiences are relatively poor. Contents of the invention
[0003] In order to overcome at least one defect in the existing technologies mentioned above, the present invention provides a finger structure and a robot to solve the problems in existing technologies, such as the lack of flexibility in the movements of the fingers of dexter hands, the limited range of motion, the impossibility of perfectly self-adaptive grasping.
[0004] The technical program adopted by the present invention to solve these problems is as follows: In a first aspect, the present invention relates to a finger structure; it comprises a linear drive component, a proximal finger joint, an intermediate finger joint, a distal finger joint, and a flexible cord. The linear drive component comprises an electric motor, a worm gear, and a worm wheel connected in sequence. The proximal finger joint, the intermediate finger joint, and the distal finger joint are rotationally connected in sequence. One end of the flexible cord is wound around the worm wheel, and its other end is connected to the distal finger joint. The electric motor,The worm screw and the worm wheel perform a sequential transmission to drive the flexible rope, causing it to extend or relax, in order to drive the distal finger joint and the intermediate finger joint to achieve bending or extension.
[0005] As an optional embodiment, in the embodiments of the first aspect of the present invention, the linear drive device drive component further comprises a fixed support, the electric motor is fixed on the fixed support, and the worm gear and worm wheel are rotatably arranged on the fixed support.
[0006] As an optional embodiment, in the embodiments of the first aspect of the present invention, the fixed support comprises a first frame and a second frame, the electric motor is installed 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 installed on the first frame and the other end is installed on the second frame, a first connecting eyelet is disposed below the first frame, the worm gear is connected to the first connecting eyelet via a first rotating shaft.
[0007] As an optional embodiment, in the embodiments of the first aspect of the present invention, the linear drive device drive component also includes a first bearing and a second bearing, the other end of the worm is installed on the second frame via the first bearing, a first installation hole is disposed on the first connecting eyelet, the second bearing is wrapped outside the first rotating shaft, and in the first installation hole.
[0008] As an optional embodiment, in embodiments of the first aspect of the present invention, a winding disc is disposed on one side of the worm wheel, and the flexible rope is wound on the winding disc.
[0009] As an optional embodiment, in embodiments of the first aspect of the present invention, a second connecting eyelet is disposed on the proximal finger joint, a third connecting eyelet and a fourth connecting eyelet are disposed on the intermediate finger joint, a fifth connecting eyelet is disposed on the distal finger joint, the second connecting eyelet is connected to the third connecting eyelet via a second rotating shaft, the fourth connecting eyelet is connected to the fifth connecting eyelet via a third rotating shaft.
[0010] As an optional embodiment, in the embodiments of the first aspect of the present invention, the finger structure also includes a third bearing and a fourth bearing, a second mounting hole is disposed on the second connecting eyelet, a sleeve of the third bearing is disposed on the second rotating shaft and is located in the second mounting hole, a third mounting hole is disposed on the fifth connecting eyelet, the fourth bearing is wrapped outside the third rotating shaft and is located in the third installation hole.
[0011] As an optional embodiment, in embodiments of the first aspect of the present invention, the finger structure also includes a first torsion spring and a second torsion spring, the first torsion spring is wrapped outside the second rotating shaft in order to cause the intermediate finger joint to return to an extended state relative to the distal finger joint when the flexible cord is released, a sleeve of the second torsion spring is disposed on the third rotating shaft in order to cause the distal finger joint to return to an extended state relative to the intermediate finger joint when the flexible cord is released.
[0012] As an optional embodiment, in embodiments of the first aspect of the present invention, a first cable passage is disposed on the proximal finger joint, a second cable passage is disposed on the intermediate finger joint, a third cable passage is disposed on the distal finger joint, the other end of the flexible cord passes through the first cable passage, the second cable passage, the third cable passage to connect to the distal finger joint.
[0013] In a second aspect, the present invention relates to a robot comprising the aforementioned finger structure.
[0014] The implementation of an embodiment of the present invention will produce the following useful effects:
[0015] The present invention defines a finger structure comprising a linear drive component, a proximal finger joint, an intermediate finger joint, a distal finger joint, and a flexible cord. The linear drive component comprises an electric motor, a worm gear, and a worm wheel that are connected sequentially. The proximal finger joint, the intermediate finger joint, and the distal finger joint are connected sequentially in a rotational manner. One end of the flexible cord is wound around the worm wheel, and its other end is connected to the distal finger joint. The electric motor, the worm gear, and the worm wheel perform a sequential transmission to drive the flexible cord to achieve extension or release.in order to train the distal finger joint and the intermediate finger joint to achieve bending or extension. By adopting such a design method, the flexible cord can be stretched or released using the worm screw and the worm wheel; when the flexible cord is stretched, the intermediate finger joint and the distal finger joint bend accordingly, in order to achieve the flexion action of the Fingers; when the flexible cord is released, the middle and distal finger joints stretch accordingly, enabling the fingers to extend. Thanks to the flexible cord's inherent flexibility, the fingers can self-adjust during flexion and extension, thus providing a flexible, self-adaptive gripping function to accommodate objects of varying shapes and sizes. Furthermore, the self-locking feature of the worm gear and screw gives the fingers a very high load-bearing capacity. Description of the attached figures
[0016] In order to set forth more clearly the embodiments of the present invention or the technical programs in existing technologies, the attached figures to be used in the descriptions of the embodiment or of existing technologies will be briefly described below; obviously, the attached figures in the descriptions below only present certain embodiments of the present invention; for ordinary technicians in this field, they can obtain other figures according to these attached figures without performing any creative work.
[0017] [Fig-1] is a diagram of the structure of the palm indicated in the embodiment of the present invention;
[0018] [Fig.2] is a structural diagram of the finger structure shown in the mode of realization of the present invention;
[0019] [Fig.3] is a structural decomposition diagram of a part of the structure of finger indicated in the embodiment of the present invention;
[0020] [Fig.4] is a structural decomposition diagram of the drive component of linear drive device of the finger structure indicated in the embodiment of the present invention;
[0021] In which, the meanings of the symbols in the attached figures are as follows:
[0022] 1-Linear drive device component; 11-Electric motor; 12-Worm screw; 13-Worm wheel; 131-Winding disc; 14-Fixed support; 141-First frame; 1411-First connecting eyelet; 1412-First installation hole; 142-Second frame; 15-First rotating shaft; 16-First bearing; 17-Second bearing; 2-Proximal finger joint; 21-Second connecting eyelet; 22-Second installation hole; 3-Intermediate finger joint; 31-Third connecting eyelet; 32-Fourth connecting eyelet; 4-Distal finger joint; 41-Fifth connecting eyelet; 411-Third mounting hole; 5-Flexible rope; 6-Second rotating shaft; 7-Third rotating shaft; 8-Third bearing; 9-Fourth bearing; 10-First torsion spring; 20-Second torsion spring. Specific implementation method
[0023] The technical programs in the embodiment of the present invention are clearly and fully described in conjunction with the accompanying figures in the embodiment of the present invention below. Obviously, the embodiments described are only a part of the embodiments of the present invention and do not represent all of them. Based on the embodiments of the present invention, all other embodiments that ordinary technicians in this field can obtain without performing any creative work are within the scope of the present invention.
[0024] In the present invention, the orientation or position relationships indicated by terms such as "upper," "lower," "left," "right," "front," "rear," "top," "bottom," "inside," "outside," "middle," "vertical," "horizontal," "transverse," "longitudinal," etc., are the orientation or position relationships based on the accompanying figures. These terms are intended to better describe the present invention and its embodiments and are not used to limit the indicated device, element, or component to having a specific orientation or to being constructed and operated in a specific orientation.
[0025] Furthermore, some of the above terms can also be used to express other meanings besides indicating orientation or positional relationships; for example, the term "on" can also be used in certain cases to indicate a certain relationship of dependence or connection. Ordinary technicians in this field can understand the specific meanings of these terms in the present invention depending on the specific situations.
[0026] Furthermore, the terms “install,” “establish,” “arrange,” “connect,” and “link” should be understood in a broad sense. For example, these terms may refer to a fixed connection, a removable connection, an integral structure; or a mechanical or electrical connection, a direct or indirect connection, or an internal connection between two devices, elements, or components. Ordinary technicians in this field may understand the specific meanings of the above terms in the present invention according to specific situations.
[0027] Furthermore, the terms "first," "second," etc., are used primarily to distinguish the different devices, elements, or components (the specific types and structures may be identical or different), and are not used to express or indicate the relative importance and quantity of the devices, elements, or components indicated. Unless otherwise specified, the term "several" means two or more units.
[0028] Next, the technical program of the present invention will be described in more detail by combining it with the embodiments and the attached figures.
[0029] Please refer to [Fig. 1] to 4 for an embodiment of the present invention relates to a robot comprising a finger structure disposed on the palm; the finger structure of the present invention comprises a linear drive component 1, a proximal finger joint 2, an intermediate finger joint 3, a distal finger joint 4, and a flexible cord 5; the linear drive component 1 comprises an electric motor 11, a worm gear 12, and a worm wheel 13 connected in sequence; the proximal finger joint 2, the intermediate finger joint 3, and the distal finger joint 4 are rotationally connected in sequence; one end of the flexible cord 5 is wound around the worm wheel 13, and its other end is connected to the distal finger joint 4; the electric motor 11,The worm screw 12 and the worm wheel 13 transmit in sequence to drive the flexible cord 5 to achieve extension or release, in order to drive the distal finger joint 4 and the intermediate finger joint 3 to achieve bending or extension. By adopting such a design mode, the flexible cord 5 can be stretched or released by means of the worm screw 12 and the worm wheel 13; when the flexible cord 5 is stretched, the intermediate finger joint 3 and the distal finger joint 4 bend accordingly, in order to achieve the finger flexion action; When the flexible cord 5 is released, the intermediate finger joint 3 and the distal finger joint 4 stretch accordingly, in order to achieve the finger stretching action; thanks to the particular flexibility of the flexible cord 5, the state of the fingers can be adjusted in a self-adaptive manner during their flexion and stretching.Thus, the flexible, self-adapting gripping function is designed to accommodate objects of different shapes and sizes. Furthermore, thanks to the self-locking feature of the worm gear 13 and the worm screw 12, the fingers exhibit a very high load capacity.
[0030] Preferably, in order that the worm wheel 13 can better wind the flexible rope 5, a winding disc 131 is disposed on the side of the worm wheel 13, and the flexible rope 5 is wound on the winding disc 131, that is to say, the winding and unwinding of the flexible rope 5 are carried out with the help of the winding disc 131.
[0031] In some embodiments, the drive component of the linear drive device 1 also includes a fixed support 14, the electric motor 11 is fixed on the fixed support 14, the worm gear 12 and the worm wheel 13 are arranged in a rotatable manner on the fixed support 14, in order to achieve the installation of the electric motor 11, the worm gear 12 and the worm wheel 13.
[0032] Furthermore, the fixed support 14 comprises the first frame 141 and the second frame 142, the electric motor 11 is installed alongside the first frame 141, the second frame 142 is fixed to 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 eyelet 1411 is disposed below the first frame 141, the worm gear 13 is connected to the first connecting eyelet 1411 via the first rotating shaft 15. By adopting such a design method, the structure of the entire drive component of the linear drive device 1 will be more compact.
[0033] In addition, the linear drive device drive component 1 also includes a first bearing 16 and a second bearing 17, the other end of the worm gear 12 is installed on the second frame 142 via the first bearing 16, a first installation hole 1412 is disposed on the first connecting eyelet 1411, the sleeve of the second bearing 17 is disposed on the first rotating shaft 15, and in the first installation hole 1412.
[0034] In certain embodiments, in order to achieve the rotational connection between the intermediate finger joint 3 and the proximal finger joint 2 and the rotational connection between the distal finger joint 4 and the intermediate finger joint 3, a second connecting eyelet 21 is disposed on the proximal finger joint 2, a third connecting eyelet 31 and a fourth connecting eyelet 32 are disposed on the intermediate finger joint 3, a fifth connecting eyelet 41 is disposed on the distal finger joint 4, the second connecting eyelet 21 is connected to the third connecting eyelet 31 via a second rotating shaft 6, the fourth connecting eyelet 32 is connected to the fifth connecting eyelet 41 via a third rotating shaft 7.
[0035] In addition, the finger structure also includes a third bearing 8 and a fourth bearing 9, a second mounting hole 22 is disposed on the second connecting eyelet 21, the sleeve of the third bearing 8 is disposed on the second rotating shaft 6 and is located in the second mounting hole 22, a third mounting hole 411 is disposed on the fifth connecting eyelet 41, the sleeve of the fourth bearing 9 is disposed on the third rotating shaft 7 and is located in the third mounting hole 411. By adopting such a design method, the operation of the fingers will be smoother and the load-bearing capacity of the fingers will be greater due to the injection of a bearing between the corresponding rotating shafts of the fingers.
[0036] Furthermore, the finger structure also includes a first torsion spring 10 and a second torsion spring 20. The sleeve of the first torsion spring 10 is disposed on the second rotating shaft 6 in order to cause the intermediate finger joint 3 to return to an extended state relative to the distal finger joint 2 when the flexible cord 5 is released. The sleeve of the second torsion spring Part 20 is positioned on the third rotating shaft 7 to cause the distal finger joint 4 to return to an extended position relative to the intermediate finger joint 3 when the flexible cord 5 is released. By adopting this design, when the flexible cord 5 is released, the finger joint will rebound due to its elasticity, thus the fingers will extend naturally, improving the flexibility and responsiveness of finger movements.
[0037] In addition, a first cable passage is disposed on the proximal finger joint 2, a second cable passage is disposed on the intermediate finger joint 3, a third cable passage is disposed on the distal finger joint 4, the other end of the flexible cord 5 passes through the first cable passage, the second cable passage, the third cable passage to connect to the distal finger joint 4. By adopting such a design mode, the flexible cord 5 can be partially hidden in the proximal finger joint 2, the intermediate finger joint 3 and the distal finger joint 4, thus, the flexible cord 5 can be positioned and protected.
[0038] In some embodiments, the flexible rope 5 can be a wire rope, a tungsten filament rope, or a polymer fiber rope. In actual designs, the type of flexible rope can be selected according to the actual situation, and there are no limitations here. A wire rope is preferably selected as the flexible rope 5. This design is adopted because of several characteristics of wire rope, such as good wear resistance, good tensile strength, good flexibility, good impact resistance, the ability to anticipate wire breakage before snapping, long service life, good safety, etc.
[0039] The present invention provides a robot by defining a finger structure comprising a linear drive device component 1, a proximal finger joint 2, an intermediate finger joint 3, a distal finger joint 4 and a flexible rope 5. The linear drive device component 1 comprises an electric motor 11, a worm gear 12 and a worm wheel 13 which are connected sequentially. The proximal finger joint 2, the intermediate finger joint 3 and the distal finger joint 4 are connected sequentially in a rotational manner. One end of the flexible rope 5 is wound on the worm wheel 13 and its other end is connected to the distal finger joint 4. The electric motor 11, the worm gear 12 and the worm wheel 13 transmit sequentially to drive the flexible rope 5 to achieve extension or release.in order to train the distal finger joint 4 and the intermediate finger joint 3 to achieve bending or extension. By adopting such a design mode, the flexible cord 5 can be stretched or released to , With the aid of the worm gear 12 and the worm wheel 13, when the flexible cord 5 is stretched, the intermediate finger joint 3 and the distal finger joint 4 bend accordingly, thus performing the finger flexion action; when the flexible cord 5 is released, the intermediate finger joint 3 and the distal finger joint 4 extend accordingly, thus performing the finger extension action. Thanks to the inherent flexibility of the flexible cord 5, the position of the fingers can be self-adaptively adjusted during flexion and extension, thereby enabling a flexible, self-adaptive gripping function to accommodate objects of different shapes and sizes. Furthermore, thanks to the self-locking feature of the worm wheel 13 and the worm gear 12, the fingers exhibit a very high load-bearing capacity.
[0040] The foregoing is a detailed introduction to the finger structure and robot published by the above embodiments of the present invention; this document uses individual examples to describe the principle and implementation of the present invention; the descriptions of the above embodiments may only be used to aid in understanding the finger structure and robot of the present invention; in summary, the contents of this document shall not be construed as limiting the present invention.
Claims
Demands
1. A finger structure, characterized in that it comprises a linear drive device component (1), a proximal finger joint (2), an intermediate finger joint (3), a distal finger joint (4), and a flexible cord (5), wherein the linear drive device component (1) comprises an electric motor (11), a worm gear (12), and a worm wheel (13) which are connected in order, the proximal finger joint (2), the intermediate finger joint (3), and the distal finger joint (4) are rotationally connected in order, one end of the flexible cord (5) is wound around the worm wheel (13), and its other end is connected to the distal finger joint (4), the electric motor (11),The worm screw (12) and the worm wheel (13) perform a transmission in sequence to drive the flexible cord (5) to achieve extension or release, in order to drive the distal finger joint (4) and the intermediate finger joint (3) to achieve bending or extension.
2. Finger structure according to claim 1, characterized in that: the drive component of linear drive device (1) also includes a fixed support (14), the electric motor (11) is fixed on the fixed support (14), the worm screw (12) and the worm wheel (13) are rotatably arranged on the fixed support (14).
3. Finger structure according to claim 2, characterized in that: the fixed support (14) comprises a first frame (141) and a second frame (142), the electric motor (11) is installed on one side of the first frame (141), the second frame (142) is fixed to 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 eyelet (1411) is disposed below the first frame (141), the worm gear (13) is connected to the first connecting eyelet (1411) via a first rotating shaft (15).
4. Finger structure according to claim 3, characterized in that: the linear drive device drive component (1) also comprises a first bearing (16) and a second bearing (17), the other end of the worm screw (12) is installed on the second frame (142) via the first bearing (16), a first installation hole (1412) is disposed on the first connecting eyelet (1411), the second bearing (17) is wrapped outside the first rotating shaft (15), and in the first installation hole (1412).
5. Finger structure according to claim 1, characterized in that: a winding disc (131) is disposed on one side of the worm wheel (13), the flexible rope (5) is wound on the winding disc (131).
6. Finger structure according to claim 1, characterized in that: a second connecting eyelet (21) is disposed on the proximal finger joint (2), a third connecting eyelet (31) and a fourth connecting eyelet (32) are disposed on the intermediate finger joint (3), a fifth connecting eyelet (41) is disposed on the distal finger joint (4), the second connecting eyelet (21) is connected to the third connecting eyelet (31) via a second rotating shaft (6), the fourth connecting eyelet (32) is connected to the fifth connecting eyelet (41) via a third rotating shaft (7).
7. Finger structure according to claim 6, characterized in that: the finger structure also includes a third bearing (8) and a fourth bearing (9), a second installation hole (22) is disposed on the second connecting eyelet (21), a sleeve of the third bearing (8) is disposed on the second rotating shaft (6) and is located in the second installation hole (22), a third installation hole (411) is disposed on the fifth connecting eyelet (41), the fourth bearing (9) is wrapped outside the third rotating shaft (7) and is located in the third installation hole (411).
8. Finger structure according to claim 6, characterized in that: the finger structure also comprises a first torsion spring (10) and a second torsion spring (20), the first torsion spring (10) is wrapped outside the second rotating shaft (6) in order to cause the intermediate finger joint (3) to return to an extended position relative to the distal finger joint (2) when the flexible cord (5) is released, a sleeve of the second torsion spring (20) is disposed on the third rotating shaft (7) in order to cause the distal finger joint (4) to return to a extended relative to the intermediate finger joint (3) when the flexible cord (5) is released.
9. Finger structure according to any one of claims 1 to 8, characterized in that: a first cable passage is disposed on the proximal finger joint (2), a second cable passage is disposed on the intermediate finger joint (3), a third cable passage is disposed on the distal finger joint (4), the other end of the flexible cord (5) passes through the first cable passage, the second cable passage, the third cable passage to connect to the distal finger joint (4).
10. Robot, characterized in that it comprises a finger structure according to any one of claims 1 to 9.