A metamorphic mechanism, a robotic finger, and a dexterous robotic hand

Abstract

The present invention provides a metamorphic mechanism, a robotic finger and a dexterous robotic hand. The metamorphic mechanism includes a connecting rod, a support base and a spring. One end of the connecting rod is provided with a communicating groove for reciprocating displacement of a hinge pin shaft. One end of the connecting rod, one end of the support base and one end of the spring are hinged in the communicating groove. The other end of the support base is fixed on a frame. The other end of the spring is fixed to a hook groove at the other end of the connecting rod. The other end of the connecting rod is provided with a first hinge hole, and the connecting rod is hinged to the fingertip of the robotic finger through the first hinge hole. Through the metamorphic mechanism, the robotic finger and the dexterous robotic hand provided by the embodiments of the present invention, the degree of freedom of the finger is increased by a simple metamorphic method, and the grasping ability of the robotic finger is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and more particularly, to a metamorphic mechanism, a robotic finger, and a dexterous hand. Background Art

[0002] As the most complex structure of a humanoid robot, the operation of a dexterous hand needs to be closer to that of a real human hand, and various conditions such as grasping force, grasping accuracy, adaptability, and degrees of freedom need to be satisfied simultaneously. The robotic finger moves under the drive of a motor with a certain power. In the prior art, a single finger mechanism of a robotic finger often has only one degree of freedom. When grasping an object, limited by the shape and position of the object, only a single motion mode can be achieved. If you want to improve the flexibility or degrees of freedom of the finger, you can increase the number of motors or design a metamorphic mechanism and other solutions.

[0003] In the prior art, a metamorphic mechanism that can achieve multiple degrees of freedom often has difficulties in assembly due to its complex structure, and has a large number of parts, increasing the cost. Summary of the Invention

[0004] To solve the above problems, an object of the embodiments of the present invention is to provide a metamorphic mechanism, a robotic finger, and a dexterous hand.

[0005] In a first aspect, an embodiment of the present invention provides a metamorphic mechanism, including: a connecting rod, a support seat, and a spring. One end of the connecting rod is provided with a communicating groove for reciprocating displacement of a hinge pin. One end of the connecting rod, one end of the support seat, and one end of the spring are hinged in the communicating groove. The other end of the support seat is fixed on the frame. The other end of the spring is fixed to a hook groove at the other end of the connecting rod. The other end of the connecting rod is provided with a first hinge hole, and the connecting rod is hinged to the fingertip to which the robotic finger belongs through this first hinge hole.

[0006] In a second aspect, an embodiment of the present invention further provides a robotic finger, including a metacarpal unit and a phalanx unit, characterized in that the metacarpal unit includes a linear motor and a frame arranged along the metacarpal direction. The linear motor is arranged on the frame. The phalanx unit includes the metamorphic mechanism as described above, and the phalanx unit further includes a phalanx.

[0007] In a third aspect, an embodiment of the present invention further provides a dexterous hand, including the robotic finger as described above.

[0008] In the solution provided in the first aspect of the embodiments of the present invention, a linear motor is adopted, and the two-joint finger is driven to move through the metamorphic mechanism, rotate in a four-bar linkage mode, and realize metamorphosis by changing the position of the connecting rod node, so as to realize the multi-degree-of-freedom motion ability of the two-joint finger.

[0009] In the solutions provided in the second and third aspects of the embodiments of the present invention, the degrees of freedom of the fingers are increased by a simple metamorphic method, and the grasping ability of the robotic fingers is improved; through the metamorphic mechanism, multi-degree-of-freedom motion of the robotic fingers and the robotic dexterous hand is achieved without changing the number of driving motors.

[0010] To make the above objects, features, and advantages of the present invention more obvious and understandable, the following specifically enumerates preferred embodiments and, in conjunction with the accompanying drawings, makes the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] To more clearly illustrate the technical solutions in the embodiments of the present invention or in the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0012] Figure 1 Shows a schematic structural diagram of the robotic finger provided by the embodiment of the present invention;

[0013] Figure 2 Shows a schematic structural diagram of the metamorphic mechanism provided by the embodiment of the present invention;

[0014] Figure 3 Shows a schematic structural diagram of the connecting rod in the metamorphic mechanism provided by the embodiment of the present invention;

[0015] Figure 4 Shows a schematic structural diagram of the robotic finger in the extended state in the first scenario provided by the embodiment of the present invention;

[0016] Figure 5 Shows a schematic structural diagram of the robotic finger in the flexed state in the first scenario provided by the embodiment of the present invention;

[0017] Figure 6 Shows a schematic structural diagram of the robotic finger in the extended state in the second scenario provided by the embodiment of the present invention;

[0018] Figure 7 Shows a schematic structural diagram of the robotic finger in the flexed state in the second scenario provided by the embodiment of the present invention.

[0019] Reference numerals: 1 - ball bearing; 2 - linear motor; 3 - frame; 4 - telescopic rod; 5 - support seat; 6 - connecting rod; 7 - phalanx; 8 - spring; 9 - fingertip. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0020] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0021] In addition, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, the meaning of "a plurality of" is two or more unless otherwise specifically defined.

[0022] In the present invention, unless otherwise clearly specified and defined, the terms "mounted", "connected", "coupled", "fixed", etc. shall be construed in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0023] For the clear and concise description of the embodiments of the present invention, a brief introduction to relevant concepts or technologies is given first:

[0024] Variable cell mechanism: A mechanism that can instantaneously cause some components to merge / separate, or exhibit geometric singularities, and change the number of effective components or degrees of freedom of the mechanism, thereby generating a new configuration is called a variable cell mechanism.

[0025] Embodiment 1:

[0026] As Figure 1-3 shown, the embodiment of the present invention discloses a variable cell mechanism, including: a connecting rod 6, a support seat 5, and a spring 8. One end of the connecting rod 6 is provided with a communicating groove, and the communicating groove allows the hinge pin to reciprocally shift from point B to point G. The other end of the connecting rod 6 is provided with a first hinge hole E, and the connecting rod 6 is hinged to the fingertip 9 of the mechanical finger through the first hinge hole E. One end of the support seat 5 is fixed to the frame 3, and the other end and one end of the spring 8 are jointly hinged in the communicating groove of the connecting rod 6, and the other end of the spring 8 is fixed to the hook groove D at the other end of the connecting rod 6.

[0027] Specifically, the phalanx 7 to which the mechanical finger belongs encloses a phalanx cavity, and the connecting rod 6 and the spring 8 are arranged in the phalanx cavity. The other end of the spring 8 is fixed to the hook groove D at the other end of the connecting rod 6.

[0028] The connecting rod 6 is further provided with a second hinge hole A, which is located adjacent to the communication groove. The connecting rod 6 and the telescopic rod 4 to which the mechanical finger belongs are hinged through the second hinge hole A.

[0029] Embodiment 2:

[0030] The embodiment of the present invention also discloses a mechanical finger, which includes a metacarpal unit and a phalanx unit. The metacarpal unit includes a linear motor 2 and a frame 3 arranged along the metacarpal direction. The linear motor 2 is arranged on the frame 3. The phalanx unit includes the metamorphic mechanism described in Embodiment 1 above, and the phalanx unit further includes a phalanx 7.

[0031] Specifically, the phalanx unit includes a telescopic rod 4. One end of the telescopic rod 4 is connected to the front end of the linear motor 2, and the other end of the telescopic rod 4 is hinged to the connecting rod 6 through the second hinge hole A of Embodiment 1.

[0032] The phalanx unit further includes a fingertip 9. The connecting rod 6 is hinged to the fingertip 9 through a first hinge hole E.

[0033] The metacarpal unit further includes a ball bearing 1. The ball bearing 1 is fixed to the rear end of the frame 3, and the rear end of the linear motor 2 is hinged to the ball bearing 1.

[0034] The embodiment of the present invention also discloses a mechanical dexterous hand, which includes the mechanical finger described in Embodiment 2.

[0035] Embodiment 3:

[0036] Figure 4 and Figure 5 are respectively schematic structural diagrams of the straightening or bending states of the mechanical finger in the normal state where the shape or position of the grasped object does not activate the adaptive mechanism.

[0037] As Figure 1 and Figure 4 shown, the linear motor 2 is hinged to the ball bearing 1, and the ball bearing 1 is fixed on the frame 3. Both ends of the spring 8 are respectively hung on the groove at point D and the pin shaft at point B. Under the pulling force of the spring 8, the connecting rod 6 and the support seat 5 are normally hinged at point B through the pin shaft.

[0038] As Figure 1 and Figure 5As shown, the linear motor 2 pushes the telescopic rod 4, the telescopic rod 4 and the connecting rod 6 are hinged at point A, and the telescopic rod 4 drives the connecting rod 6 to rotate around point B. The connecting rod 6 and the finger tip 9 are hinged at point E, the knuckle 7 and the support seat 5 are hinged at point C, and the knuckle 7 and the finger tip 9 are hinged at point F. The rotation of the connecting rod 6 drives the knuckle 7 and the finger tip 9 to move together, and finally realizes the flexion of the finger. When the linear motor drives the telescopic rod 4 to retract, it drives the mechanical finger back to the straight state.

[0039] Embodiment 4:

[0040] Figure 6 and Figure 7 They are schematic diagrams of the structural changes of the mechanical finger in the straight or flexed state when the knuckles are blocked by the shape of an object and cannot rotate mechanically in an unconventional state. Figure 6 and Figure 7 The support seat in the figure is a cross-sectional structure, which can show the position of the connecting rod 6 in the connecting groove at point B or point G. Figure 6 The hinge point between the connecting rod 6 and the spring 8 is at point B. Figure 7 The hinge point between the connecting rod 6 and the spring 8 is located at point G.

[0041] The linear motor 2 starts to drive the mechanical finger to flex. When the knuckle 7 is blocked by the shape of the object and cannot continue to rotate, the hinge point F between the knuckle 7 and the fingertip 9 remains stationary. The telescopic rod 4 overcomes the tension of the spring 8 and pushes the connecting rod 6 to slide from point B to point G along the connecting groove BG. The connecting rod 6 and the fingertip 9 are hinged at point E, and the connecting rod 6 drives the fingertip 9 to rotate around the hinge point F. Finally, the fingertip 9 is fully in contact with the object to meet the grasping requirements.

[0042] The above content can be obtained by Figure 1 Combined with Figures 6 to 7 The state changes are shown in FIG. 1 and will not be described in detail here.

[0043] When the linear motor 2 makes a return motion, the telescopic rod 4 drives the connecting rod 6 to slide back from point G to point B along the connecting groove BG. Relying on the tension of the spring 8, the connecting rod 6 and the support seat 5 become hingedly connected at point B. Figure 4 and Figure 5 The embodiments are similar and will not be described again here.

[0044] It should be noted that, when grasping a variable object or an object whose position can be moved, the mechanism of the first embodiment and the mechanism of the second embodiment can also work together, which will not be described in detail here.

[0045] The metamorphosis mechanism of the embodiment of the present invention adopts a linear motor to drive the movement of the fingers of the two joints through the metamorphosis mechanism, rotate in a four-bar linkage mode, and realize metamorphosis by changing the position of the link node, thereby realizing the multi-degree-of-freedom movement ability of the two-joint fingers.

[0046] The mechanical finger and mechanical dexterous hand according to the embodiments of the present invention rely on a simple metamorphic method to increase the degrees of freedom of the finger and improve the grasping ability of the mechanical finger.

[0047] The mechanical finger and mechanical dexterous hand according to the embodiments of the present invention achieve multi-degree-of-freedom motion of the mechanical finger and mechanical dexterous hand through a metamorphic mechanism without changing the number of driving motors.

[0048] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of technical solutions of changes or substitutions, which should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A metamorphic mechanism, characterized in that, Comprising: A connecting rod, a support seat and a spring. One end of the connecting rod is provided with a communicating groove for the reciprocating displacement of a hinge pin shaft. One end of the connecting rod, one end of the support seat and one end of the spring are hinged in the communicating groove. The other end of the support seat is fixed on the frame. The other end of the spring is fixed to a hook groove at the other end of the connecting rod. The other end of the connecting rod is provided with a first hinge hole, and the connecting rod is hinged to the fingertip of the robotic finger through this first hinge hole; The connecting rod is further provided with a second hinge hole at a position adjacent to the communicating groove, and the connecting rod is hinged to the telescopic rod of the robotic finger through this second hinge hole; The connecting rod and the spring are arranged in a knuckle cavity surrounded by the knuckles of the robotic finger.

2. A mechanical finger, comprising a metacarpal unit and a phalanx unit, characterized in that, The metacarpal unit includes a linear motor and a frame arranged along the metacarpal direction. The linear motor is arranged on the frame. The knuckle unit includes the metamorphic mechanism as described in claim 1, and the knuckle unit further includes knuckles.

3. The mechanical finger according to claim 2, characterized in that, The knuckle unit includes a telescopic rod. One end of the telescopic rod is connected to the front end of the linear motor, and the other end of the telescopic rod is hinged to the connecting rod through the second hinge hole.

4. The mechanical finger according to claim 2, characterized in that, The knuckle unit further includes a fingertip, and the connecting rod is hinged to the fingertip through the first hinge hole.

5. The mechanical finger according to claim 2, characterized in that, The metacarpal unit further includes a ball bearing. The ball bearing is fixed at the rear end of the frame, and the rear end of the linear motor is hinged to the ball bearing.

6. A mechanical dexterous hand, characterized in that, Comprising the robotic finger as described in any one of claims 2-5.

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