Mechanical finger and mechanical dexterous hand

Abstract

The present invention provides a mechanical finger and a mechanical dexterous hand, the mechanical finger comprises: a frame, a finger joint unit hinged to the frame, and a fingertip unit hinged to the finger joint unit, the frame comprises a first telescopic rod and a second telescopic rod, a first linear motor and a second linear motor arranged on the frame, one end of the first linear motor is connected to one end of the first telescopic rod, one end of the second linear motor is connected to one end of the second telescopic rod, the finger joint unit comprises a driving rod, a swing rod and a connecting rod, the other end of the first telescopic rod is hinged to one end of the driving rod, the other end of the driving rod is hinged to one end of the connecting rod, the other end of the connecting rod is hinged to the fingertip unit, the other end of the second telescopic rod is hinged to one end of the swing rod, and the other end of the swing rod is hinged to the finger joint unit. The mechanical finger and the mechanical dexterous hand provided by the embodiments of the present invention have a simple structure, are easy to implement, have an adaptive function, and can adapt to the grasping of more object shapes.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, and in particular to a mechanical finger and a mechanical dexterous hand. Background Art

[0002] As the most complex structure of a humanoid robot, the operation of the mechanical dexterous hand must meet various conditions such as gripping force, gripping accuracy, adaptability, and degrees of freedom in order to be closer to the real human hand.

[0003] The robot finger moves under the power of a motor of a certain power. Generally speaking, a single finger mechanism of a robot has only one degree of freedom. When grasping an object, it is limited by the shape and position of the object and can only achieve a single operation mode. If you want to improve the flexibility or degree of freedom of the robot finger, you can increase the number of motors or design it as a metamorphosis mechanism.

[0004] In the prior art, multiple motors are used to drive finger joints, and a motor series scheme is often adopted, that is, one motor controls the proximal joint of the finger, and the other motor is arranged inside the proximal joint or the distal joint to control the rotation of the distal joint of the finger. The problem caused by this is that the internal structure of the joint is too complicated. Summary of the invention

[0005] To solve the above problems, an object of the embodiments of the present invention is to provide a mechanical finger and a mechanical dexterous hand.

[0006] In the first aspect, an embodiment of the present invention provides a mechanical finger, comprising: a frame, a finger joint unit hinged to the frame, and a fingertip unit hinged to the finger joint unit, the frame comprising a first telescopic rod and a second telescopic rod, a first linear motor and a second linear motor arranged on the frame, one end of the first linear motor is connected to one end of the first telescopic rod, and one end of the second linear motor is connected to one end of the second telescopic rod, the finger joint unit comprises a driving rod, a rocker rod and a connecting rod, the other end of the first telescopic rod is hinged to one end of the driving rod, the other end of the driving rod is hinged to one end of the connecting rod, the other end of the connecting rod is hinged to the fingertip unit, the other end of the second telescopic rod is hinged to one end of the rocker rod, and the other end of the rocker rod is hinged to the finger joint unit, the first linear motor drives the fingertip unit to rotate through the first telescopic rod, the driving rod, the rocker rod and the connecting rod, and the second linear motor drives the knuckles in the finger joint unit to rotate through the second telescopic rod and the rocker rod.

[0007] In a second aspect, an embodiment of the present invention provides a dexterous mechanical hand, which includes the above-mentioned mechanical finger.

[0008] The mechanical fingers and mechanical dexterous hand in the solution provided by the embodiment of the present invention are provided with at least two driving motors, each driving the finger movement of the two joints of the knuckle and the fingertip, and each driving motor controls a telescopic rod to realize the two-degree-of-freedom movement ability of the two-joint fingers, increase the degree of freedom of the mechanical fingers, and improve the grasping ability of the mechanical fingers. The mechanical fingers and mechanical dexterous hand in the embodiment of the present invention have a simple structure, are easy to implement, have adaptive functions, and can adapt to the grasping of more object shapes; at the same time, compared with the driving scheme of the motors in series, the parallel driving scheme of the embodiment of the present invention can effectively reduce the complexity of design and assembly.

[0009] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0011] Figure 1 A top view of the overall structure of a mechanical finger provided by an embodiment of the present invention is shown;

[0012] Figure 2 A bottom view of the overall structure of the mechanical finger provided by an embodiment of the present invention is shown;

[0013] Figure 3 A schematic diagram showing the structure of the second linear motor driving the mechanical finger provided by an embodiment of the present invention is shown;

[0014] Figure 4 A schematic diagram showing the structure of a first linear motor driving a mechanical finger provided by an embodiment of the present invention is shown;

[0015] Figure 5 A schematic diagram showing the structure of a mechanical finger driving rod provided by an embodiment of the present invention is shown;

[0016] Figure 6 A schematic diagram of the structure of a mechanical finger swing arm provided by an embodiment of the present invention is shown;

[0017] Figure 7 A schematic diagram of the A state of the flexion and extension movement of the mechanical finger provided by the embodiment of the present invention is shown;

[0018] Figure 8 A schematic diagram of the B state of the flexion and extension movement of the mechanical finger provided by the embodiment of the present invention is shown;

[0019] Fig. 9 A schematic diagram of the C state of the flexion and extension movement of the mechanical finger provided by an embodiment of the present invention is shown;

[0020] Fig.10 A schematic diagram of the D state of the flexion and extension movement of the mechanical finger provided by an embodiment of the present invention is shown;

[0021] Fig.11 A schematic diagram of the E state of the flexion and extension movement of the mechanical finger provided by an embodiment of the present invention is shown;

[0022] Fig.12 A schematic diagram of the F state of the flexion and extension movement of the mechanical finger provided by an embodiment of the present invention is shown.

[0023] Figure markings: 1-frame; 2-first ball bearing; 3-second ball bearing; 4-first linear motor; 5-second linear motor; 6-first telescopic rod; 7-second telescopic rod; 8-first support seat; 9-second support seat; 10-driving rod; 11-rocker rod; 12-connecting rod; 13-spring; 14-knuckle; 15-fingertip unit. DETAILED DESCRIPTION

[0024] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0025] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0026] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0027] like Figure 1-4 As shown, the mechanical finger provided by the embodiment of the present invention includes: a frame 1, a finger joint unit and a fingertip unit 15, a total of three parts, the frame 1 and the finger joint unit, the finger joint unit and the fingertip unit 15 are hinged respectively, wherein the finger joint 14 in the finger joint unit is hinged to the fingertip unit 15 at G.

[0028] The frame 1 includes at least two telescopic rods and at least two linear motors arranged on the frame 1. The frame 1 is also provided with a first support seat 8 and a second support seat 9. The outer end of the first support seat 8 is provided with a hinge hole A, and the second support seat 9 is provided with a hinge hole C.

[0029] One end of the first linear motor 4 is connected to one end of the first telescopic rod 6, and the other end of the first linear motor 4 is fixed to the frame 1 through the first ball bearing 2. One end of the second linear motor 5 is connected to one end of the second telescopic rod 7, and the other end of the second linear motor 5 is fixed to the frame 1 through the second ball bearing 3. The finger joint unit includes a driving rod 10, a rocker arm 11 and a connecting rod 12. The other end of the first telescopic rod 6 is hinged to one end of the driving rod 10 at B, the other end of the driving rod 10 is hinged to one end of the connecting rod 12 at H, the other end of the connecting rod 12 is hinged to the finger tip unit 15 at F, the other end of the second telescopic rod 7 is hinged to one end of the rocker arm 11 at D, and the other end of the rocker arm 11 is hinged to the finger joint unit at C. The first linear motor 4 drives the finger tip unit 15 to rotate through the first telescopic rod 6, the driving rod 10 and the connecting rod 12, and the second linear motor 5 drives the finger joint 14 in the finger joint unit to rotate through the second telescopic rod 7 and the rocker arm 11.

[0030] like Figure 5 As shown, the driving rod 10 is arranged in an L shape, and hinge holes B and H are respectively provided at both ends of the L-shaped structure. A waist hinge hole A is also provided at the waist of the driving rod 10, and the driving rod 10 is hinged to the frame 1 through the waist hinge hole A.

[0031] like Figure 6 As shown, the rocker arm 11 includes three hinge holes C, D and E, and the knuckle unit also includes a spring 13 for keeping the rocker arm in close contact with the knuckle. One end of the spring 13 is connected to the connecting rod 12, and the other end is hinged to the rocker arm 11 at E.

[0032] like Figure 7-12As shown, three situations of the mechanical finger of the embodiment of the present invention are shown:

[0033] (1) The second linear motor 5 moves, and the first linear motor 4 remains stationary. The second linear motor 5 pushes the second telescopic rod 7, and the second telescopic rod 7 and the rocker arm 11 are hinged at D. The second telescopic rod 7 pushes the rocker arm 11 to rotate. The rocker arm 11 and the knuckle 14 are hinged at the hinge hole C of the second support seat 9. When the mechanical finger is not subjected to external force from the back of the hand (the back of the knuckle), the rocker arm 11 and the knuckle 14 can remain in contact with each other under the action of the spring 13, and the rocker arm 11 and the knuckle 14 rotate together. The connecting rod 12 and the driving rod 10 are hinged at H. When the second linear motor 5 is stationary, the position of H remains fixed. The knuckle 14 and the fingertip 15 are hinged at G. Driven by the rotation of the knuckle 14, the connecting rod 12 and the fingertip 15 rotate in linkage. As shown Figure 7 and Figure 8 As shown, the knuckle flexion and extension states of the robotic finger are respectively.

[0034] (2) The second linear motor 5 is stationary, and the first linear motor 4 is moving. Fig. 9 As shown, the first linear motor 4 pushes the first telescopic rod 6. The first telescopic rod 6 and the driving rod 10 are hinged at B, and the driving rod 10 and the first support seat 8 are hinged at A. When the second linear motor 5 is stationary, the finger joint 14 remains in position under the tension of the spring 13. The driving rod 10 and the connecting rod 12 are hinged at H, and the rotation of the driving rod 10 drives the movement of the connecting rod 12. The finger joint 14 and the fingertip 15 are hinged at G. When the second linear motor 5 is stationary, the G position remains stationary. The connecting rod 12 and the fingertip 15 are hinged at point F, and the connecting rod 12 drives the fingertip 15 to rotate around point F. As shown Figure 7 and Fig. 9 As shown, the fingertips of the robotic finger are flexed and extended.

[0035] (3) The second linear motor 5 moves, and the first linear motor 4 also moves. The mechanism movement is a combination of the above situation (1) and situation (2). This situation is particularly suitable for the movement of the robot finger to adapt to the shape of the object. Figure 10-12 As shown, the robotic finger is in a flexed state from being extended to having both the fingertips and knuckles touching the object.

[0036] An embodiment of the present invention further provides a mechanical dexterous hand, which includes the mechanical fingers described above.

[0037] The mechanical fingers and mechanical dexterous hands of the embodiments of the present invention are provided with at least two driving motors, each of which drives the movement of the fingers at the two joints of the knuckles and the fingertips. The driving motors each control a telescopic rod to achieve two-degree-of-freedom movement capability of the two-joint fingers, thereby increasing the degrees of freedom of the mechanical fingers and improving the gripping ability of the mechanical fingers.

[0038] The mechanical fingers and mechanical dexterous hands of the embodiments of the present invention have a simple structure, are easy to implement, have adaptive functions, and can adapt to the grasping of more object shapes; at the same time, compared with the series drive scheme of the motors, the parallel drive scheme of the embodiments of the present invention can effectively reduce the complexity of design and assembly.

[0039] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technical solution that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A mechanical finger, comprising: A frame, a finger joint unit hinged to the frame, and a fingertip unit hinged to the finger joint unit, wherein the frame comprises a first telescopic rod and a second telescopic rod, a first linear motor and a second linear motor arranged on the frame, one end of the first linear motor is connected to one end of the first telescopic rod, one end of the second linear motor is connected to one end of the second telescopic rod, and the finger joint unit comprises a driving rod, a rocker rod, a spring and a connecting rod; The driving rod is arranged in an L shape, and the hinge holes of the driving rod are respectively arranged at both ends of the L-shaped structure in the same direction. The driving rod also includes a waist hinge hole arranged at its waist, and the driving rod is hinged to the frame through the waist hinge hole. The frame is also provided with a first support seat and a second support seat. The outer end of the first support seat is provided with a hinge hole, and the waist hinge hole is hinged to the frame through the hinge hole. The second support seat is provided with a hinge hole, and the knuckle of the knuckle unit is connected to the other end of the swing rod in the hinge hole of the second support seat. Hinged; the swing rod includes a hinge hole C and a hinge hole D, the other end of the first telescopic rod is hinged to one end of the driving rod at the hinge hole B, the other end of the driving rod is hinged to one end of the connecting rod, the other end of the connecting rod is hinged to the fingertip unit at point F, the other end of the second telescopic rod is hinged to one end of the swing rod, the other end of the swing rod is hinged to the finger joint unit, the finger joint unit also includes a spring for keeping the swing rod in close contact with the finger joint, one end of the spring is connected to the connecting rod, and the other end is connected to the swing rod; The first linear motor drives the fingertip unit to rotate through the first telescopic rod, the driving rod, the swing rod and the connecting rod, including: The second linear motor is stationary, and when the first linear motor moves: the first linear motor pushes the first telescopic rod to move, the first telescopic rod and the driving rod are hinged at the hinge hole B, and the driving rod and the first support seat are hinged at the hinge hole A; when the second linear motor is stationary, the finger joints remain in position under the action of the spring tension, the driving rod and the connecting rod are hinged at the hinge hole H, the rotation of the driving rod drives the movement of the connecting rod, the finger joints and the fingertips in the fingertip unit are hinged at the hinge hole G, when the second linear motor is stationary, the hinge hole G remains in position, the connecting rod and the fingertips are hinged at point F, and the connecting rod drives the fingertips to rotate around point F; The second linear motor drives the knuckles in the knuckle unit to rotate through the second telescopic rod and the swing rod, including: When the second linear motor moves and the first linear motor remains stationary: the second linear motor pushes the second telescopic rod to move, the second telescopic rod and the rocker arm are hinged at the hinge hole D, the second telescopic rod pushes the rocker arm to rotate, the rocker arm and the finger knuckle are hinged at the hinge hole C of the second support seat, under the action of external force in the back direction of the finger knuckle unit, the rocker arm and the finger knuckle can keep in contact under the action of the spring, and the rocker arm and the finger knuckle rotate together; the connecting rod and the driving rod are hinged at the hinge hole H, when the second linear motor is stationary, the position of the hinge hole H remains fixed, the finger knuckle and the fingertip are hinged at the hinge hole G, and driven by the rotation of the finger knuckle, the connecting rod and the fingertip rotate in linkage.

2. The mechanical finger according to claim 1, characterized in that: It also includes a first ball bearing, and the other end of the first linear motor is connected to the frame through the first ball bearing.

3. The mechanical finger according to claim 1, characterized in that: It also includes a second ball bearing, and the other end of the second linear motor is connected to the frame through the second ball bearing.

4. A mechanical dexterous hand, characterized in that: Comprising a mechanical finger as described in any one of claims 1-3.

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