Mechanical finger and robot hand
By designing a mechanical finger structure with increased friction and a flexible drive component, the problem of distal joints moving first during bending in a wire-driven mechanical finger was solved, achieving near-synchronous joint movement and stability.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- NORTHEASTERN UNIV CHINA
- Filing Date
- 2023-11-23
- Publication Date
- 2026-06-09
AI Technical Summary
The fingers of wire-driven robotic arms often exhibit problems such as bending the distal joint first, and then pulling the proximal joint after bending to the limit, or bending the proximal joint first and then the distal joint. It is impossible to achieve the simultaneous movement of the two joints of a human finger at approximately the same speed.
Design a mechanical finger comprising at least three sequentially rotating knuckles. By gradually increasing the friction between adjacent knuckles, the first and second knuckles move simultaneously at approximately the same rate, eventually reaching an angle of approximately 90°. Flexible and reset actuators are used to ensure motion stability.
It effectively solves the problem of distal joints leading during bending of the mechanical finger, achieving near-synchronous joint movement, improving motion stability, and avoiding damage to the mechanical finger during state changes.
Smart Images
Figure CN117656107B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of bionic wire-driven robotic hand technology, and more particularly to a robotic finger and robotic hand. Background Technology
[0002] In recent years, various types of robotic arms have emerged, but several fundamental problems remain unresolved. For example, the fingers of wire-driven robotic arms often exhibit a pattern of bending the distal joint first, then pulling the proximal joint only after reaching its limit, or bending the proximal joint first and then the distal joint. Ideally, both joints of the finger should move simultaneously at approximately the same rate, ultimately reaching an angle of approximately 90 degrees simultaneously. Some robotic arms address this issue using linkage structures. However, human fingers can bend only the proximal joint, a movement pattern that linkage structures cannot replicate. Summary of the Invention
[0003] (I) Technical Solution
[0004] To achieve the above objectives, the main technical solutions adopted by the present invention include:
[0005] In a first aspect, embodiments of the present invention provide a mechanical finger.
[0006] An embodiment of the present invention provides a mechanical finger comprising:
[0007] The mechanical finger has at least three knuckles that are rotated and connected in sequence. When the adjacent knuckles are parallel to each other, the mechanical finger is in the first state. When the adjacent knuckles are perpendicular to each other and the two knuckles separated by one knuckle are parallel to each other, the mechanical finger is in the second state.
[0008] In this process, as the mechanical finger moves from the first state to the second state, the frictional force between adjacent phalanges gradually increases simultaneously.
[0009] The middle phalanx is the first phalanx, and the phalanxes on either side of the first phalanx are the second and third phalanxes, respectively.
[0010] Optionally, the mechanical finger also includes:
[0011] When the mechanical finger is in the second state, the first driving component is fixedly connected to the end face of the first phalanx near the third phalanx.
[0012] Optionally, the mechanical finger also includes:
[0013] The second driving component, when the mechanical finger is in the second state, is fixedly connected to the end face of the second phalanx near the first phalanx.
[0014] Optionally, the mechanical finger also includes:
[0015] A reset drive unit is connected to both the first and second phalanges, and is used to move the mechanical finger from the first state to the second state.
[0016] Optionally, the knuckle includes:
[0017] Support rod;
[0018] The connector is fixedly installed at one end of the support rod, and the cross-section of the connector is semi-circular.
[0019] The support rod is rotatably mounted on the adjacent connecting piece, and the center of rotation of the support rod does not coincide with the axis of the fixed cylinder.
[0020] Optionally, the mechanical finger also includes:
[0021] The limiting components are symmetrically and rotatably installed on both sides of the fixed cylinder, and are fixedly connected to the adjacent support rods.
[0022] Optionally, the first driving member slides through the second driving member.
[0023] Optionally, both the first driving element and the second driving element are flexible driving elements.
[0024] Optionally, the reset drive is a flexible drive.
[0025] Secondly, embodiments of the present invention provide a robotic arm.
[0026] The present invention provides a robotic hand that realizes the robotic finger as described in any of the first aspects above.
[0027] (II) Beneficial Effects
[0028] The beneficial effects of the present invention are as follows: The mechanical finger of the present invention includes at least three phalanges that are rotatably connected in sequence, wherein the phalange located in the middle is the first phalange, and the phalanges located on both sides of the first phalange are the second phalange and the third phalange, respectively. For example, the third phalange is the proximal phalange, and the first phalange is the distal phalange. When the first phalange, the second phalange and the third phalange are parallel to each other, the mechanical finger is in a first state. When the first phalange, the second phalange and the third phalange are perpendicular to each other in sequence, and the first phalange and the third phalange are parallel to each other, the mechanical finger is in a second state. When the first phalange and the second phalange are parallel to each other, and the third phalange and the second phalange are perpendicular to each other, the mechanical finger is in a third state. When the mechanical finger moves from the first state to the second state, the frictional force between adjacent phalanges gradually increases simultaneously. When the robotic finger moves from an extended state to a fully bent state, an inward bending force is first applied to the first phalanx. During the bending movement of the first phalanx, the friction between the first and second phalanxes gradually increases. As the friction increases, the first phalanx leads the second phalanx to bend and move together. During the bending movement of the second phalanx, the friction between the second and third phalanxes gradually increases. At this point, the first and second phalanxes move simultaneously at approximately the same speed, finally reaching an angle of approximately 90°, thus changing the robotic finger from the first state to the second state. This effectively solves the problem of the robotic finger bending the distal joint first and then pulling the proximal joint after bending to the limit. Attached Figure Description
[0029] Figure 1 This is a schematic diagram of the front view of the mechanical finger of the present invention;
[0030] Figure 2 This is a schematic diagram of the first state of the mechanical finger of the present invention;
[0031] Figure 3 This is a schematic diagram of the second state of the mechanical finger of the present invention;
[0032] Figure 4 This is a schematic diagram of the third state of the mechanical finger of the present invention.
[0033] [Explanation of Labels in the Attached Image]
[0034] 100 - knuckle, 200 - first driving component, 300 - second driving component, 400 - reset driving component, 500 - limit component;
[0035] 110 - Support rod, 120 - Connector. Detailed Implementation
[0036] To better understand the above technical solutions, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that the present invention can be understood more clearly and thoroughly, and that the scope of the present invention can be fully conveyed to those skilled in the art.
[0037] like Figures 1 to 4 As shown, a mechanical finger is provided according to a first aspect of the present application, comprising: at least three phalanges 100 rotatably connected in sequence; the mechanical finger is in a first state when adjacent phalanges 100 are parallel to each other; the mechanical finger is in a second state when adjacent phalanges 100 are perpendicular to each other and two phalanges 100 separated by one phalange 100 are parallel to each other; wherein, when the mechanical finger moves from the first state to the second state, the frictional force between adjacent phalanges 100 gradually increases simultaneously; the phalange 100 located in the middle is the first phalange, and the phalanges 100 located on both sides of the first phalange are the second phalange and the third phalange, respectively.
[0038] The mechanical finger provided in this application embodiment includes at least three phalanges 100 that are rotatably connected in sequence. The phalange 100 located in the middle is the first phalange, and the phalanges located on both sides of the first phalange are the second phalange and the third phalange, respectively. For example, the third phalange is the proximal phalange, and the first phalange is the distal phalange. When the first phalange, the second phalange, and the third phalange are parallel to each other, the mechanical finger is in a first state. When the first phalange, the second phalange, and the third phalange are perpendicular to each other, and the first phalange and the third phalange are parallel to each other, the mechanical finger is in a second state. When the first phalange and the second phalange are parallel to each other, and the third phalange and the second phalange are perpendicular to each other, the mechanical finger is in a third state. When the mechanical finger moves from the first state to the second state, the friction between adjacent phalanges 100 gradually increases simultaneously.
[0039] As can be seen from the above, in the first state, the mechanical finger is in an extended state; in the second state, it is in a fully bent state; and in the third state, it is in a partially bent state. When the mechanical finger moves from the first state to the second state, the friction between adjacent phalanges 100 gradually increases simultaneously. Specifically, when the mechanical finger moves from an extended state to a fully bent state, an inward bending force is first applied to the first phalanx. During the bending movement of the first phalanx, the friction between the first and second phalanges gradually increases. As the friction increases, the first phalanx pulls the second phalanx to bend and move together. During the bending movement of the second phalanx, the friction between the second and third phalanges gradually increases. At this point, the first and second phalanges move simultaneously at approximately the same speed, finally reaching an angle of approximately 90°, thus transforming the mechanical finger from the first state to the second state. This effectively solves the problem of the mechanical finger bending the distal joint first and then pulling the proximal joint after bending to its limit.
[0040] like Figures 1 to 4 As shown, in some examples, the mechanical finger also includes a first drive member 200, which is fixedly connected to the end face of the first phalanx near the third phalanx when the mechanical finger is in the second state.
[0041] In this technical solution, the mechanical finger also includes a first driving member 200 fixedly connected to the first phalanx. The first driving member 200 is installed in the following position: when the mechanical finger is in the second state, the first driving member 200 is fixedly connected to the end face of the first phalanx near the third phalanx. When the mechanical finger moves, when the mechanical finger is in the first state, by applying a force to the first driving member 200, the first driving member 200 applies a pulling force to the first phalanx. Under the action of the pulling force, the mechanical finger begins to bend towards the second state. During the bending movement of the first phalanx, the frictional force generated between the first and second phalanxes gradually increases. As the frictional force gradually increases, the first phalanx drives the second phalanx to bend and move together. During the bending movement of the second phalanx, the frictional force generated between the second and third phalanxes gradually increases. At this time, the first and second phalanxes move simultaneously at approximately the same speed, and finally reach an angle of approximately 90°, so that the mechanical finger changes from the first state to the second state.
[0042] like Figures 1 to 4 As shown, in some examples, the mechanical finger further includes a second drive member 300, which is fixedly connected to the end face of the second phalanx near the first phalanx when the mechanical finger is in the second state.
[0043] In this technical solution, the mechanical finger also includes a second driving member 300 fixedly connected to the second phalanx. The second driving member 300 is installed in the following position: when the mechanical finger is in the second state, the second driving member 300 is fixedly connected to the end face of the second phalanx near the first phalanx. For example, when the mechanical finger is in the second state, the second driving member 300 and the first driving member 200 are installed on the same side of the mechanical finger, and the second driving member 300 is fixedly installed on the surface of the second phalanx where the second phalanx is bent. When the mechanical finger is in the first state, by applying a force to the second driving member 300, the second driving member 300 applies a pulling force to the second phalanx. Under the action of the pulling force, the mechanical finger begins to bend towards the third state. During the bending movement of the second phalanx, the second phalanx simultaneously drives the first phalanx to rotate together until the first and second phalanxes are simultaneously perpendicular to the third state, so that the mechanical finger changes from the first state to the third state.
[0044] like Figure 1 As shown, in some examples, both the first driving member 200 and the second driving member 300 are flexible driving members.
[0045] In this technical solution, when the first driving member 200 and the second driving member 300 are flexible driving members, it can be ensured that they can deform together with the mechanical finger during the bending movement of the mechanical finger, so as to avoid the first driving member 200 and the second driving member 300 affecting the movement of the mechanical finger during the state change process, thus ensuring the stability of the mechanical finger movement and avoiding damage to the mechanical finger during the movement.
[0046] For example, each phalanx 100 is provided with a limiting shell, and a through hole is formed between the limiting shell and the phalanx 100. The first driving member 200 and the second driving member 300 can be disposed in the through hole. During the process of the first driving member 200 and the second driving member 300 driving the mechanical finger to change state, the first driving member 200 and the second driving member 300 are always in the through hole and move together with the mechanical finger, so as to avoid the first driving member 200 and the second driving member 300 from getting entangled on the mechanical finger during the movement of the mechanical finger, thus ensuring the stability of the movement of the mechanical finger.
[0047] like Figure 1 As shown, in some examples, the first drive member 200 slides through the second drive member 300.
[0048] In this technical solution, during the process of driving the mechanical finger to move through the driving component, the first driving component 200 and the second driving component 300 are slidably connected together. When the first driving component 200 and the second driving component 300 do not respond to each other, the first driving component 200 and the second driving component 300 can make close contact, avoiding the first driving component 200 and the second driving component 300 from getting entangled with each other, thereby avoiding affecting the normal movement of the mechanical finger and improving the stability of the mechanical finger during movement.
[0049] like Figures 1 to 4 As shown, in some examples, the mechanical finger further includes a reset drive 400, which is connected to both the first phalanx and the second phalanx, for moving the mechanical finger from the second state to the first state.
[0050] In this technical solution, the mechanical finger also includes a reset drive 400 that is fixedly connected to both the first and second phalanges. For example, the reset drive 400 is mounted on the end face of the mechanical finger away from the first drive 200 and the second drive 300. During operation, the reset drive 400 can control the mechanical finger to move from the second or third state to the first state of the mechanical finger, while applying force to the first and second phalanges until the first, second, and third phalanges are parallel to each other, presenting the first state of the mechanical finger.
[0051] For example, the first drive member 200 and the second drive member 300 may be made of PLA or TPU material, but are not limited to.
[0052] like Figure 1 As shown, in some examples, the reset drive 400 described above is a flexible drive.
[0053] In this technical solution, for example, when the reset drive 400 is a flexible drive, it can be ensured that it can deform along with the mechanical finger during the straightening movement of the mechanical finger, so as to avoid the reset drive 400 affecting the movement of the mechanical finger during the state change of the mechanical finger, thus ensuring the stability of the mechanical finger movement and avoiding damage to the mechanical finger during the movement.
[0054] For example, as can be seen from the above, each phalanx 100 is provided with a limiting shell, and a through hole is formed between the limiting shell and the phalanx 100. The limiting shell is provided on both sides of the mechanical finger, and the reset drive 400 can be provided in the through hole on the side away from the first drive 200 and the second drive 300. During the process of the reset drive 400 driving the mechanical finger to change state, the reset drive 400 is always in the through hole and moves with the mechanical finger, so as to avoid the reset drive 400 from getting wrapped around the mechanical finger during the movement of the mechanical finger and to ensure the stability of the movement of the mechanical finger.
[0055] For example, the reset drive 400 may be made of PLA or TPU material, but is not limited to.
[0056] like Figures 1 to 4 As shown, in some examples, the aforementioned knuckle 100 includes: a support rod 110; a connector 120, wherein the connector 120 is fixedly installed at one end of the support rod 110, and the cross-section of the connector 120 is semi-circular; wherein the support rod 110 is rotatably installed on the adjacent connector 120, and the rotation center of the support rod 110 does not coincide with the axis of the fixed cylinder 120.
[0057] In this technical solution, the knuckle 100 includes a support rod 110 and a connector 120. The connector has a semi-circular cross-section. The support rod 110 is rotatably mounted on the adjacent connector 120. The rotation center of the support rod 110 does not coincide with the axis of the fixed cylinder 120, so that when the mechanical finger moves from the first state to the second state, the friction between the adjacent support rod 110 and the connector 120 gradually increases simultaneously.
[0058] like Figures 1 to 4 As shown, in some examples, the mechanical finger also includes a limiting member 500, which is symmetrically and rotatably mounted on both sides of the fixed cylinder 120, and the limiting member 500 is fixedly connected to the adjacent support rod 110.
[0059] According to a second aspect of the embodiments of this application, a robotic hand is proposed to realize the robotic finger as described in any of the above technical solutions.
[0060] Since the robotic hand provided in this application includes the robotic finger as described in any of the first aspects above, it possesses all the beneficial effects of the robotic finger, which will not be repeated here.
[0061] In the description of this invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.
[0062] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; 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; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.
[0063] In the description of this specification, the terms "one embodiment," "some embodiments," "embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.
[0064] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make modifications, alterations, substitutions and variations to the above embodiments within the scope of the present invention.
Claims
1. A mechanical finger, characterized in that, include: The mechanical finger is in a first state when the adjacent phalanges (100) are parallel to each other, and in a second state when the adjacent phalanges (100) are perpendicular to each other and two phalanges (100) separated by one phalange (100) are parallel to each other. When the mechanical finger moves from the first state to the second state, the friction between adjacent phalanges (100) gradually increases simultaneously. The at least three sequentially rotating knuckles (100) include a first knuckle located in the middle, and a second and a third knuckle located on either side of the first knuckle; Each of the finger joints (100) includes a support rod (110) and a connector (120). The connector (120) is fixedly installed at one end of the support rod (110), and the cross-section of the connector (120) is semi-circular. The support rod (110) is rotatably installed on the adjacent connector (120), and the center of rotation of the support rod (110) does not coincide with the axis of the connector (120).
2. The mechanical finger as described in claim 1, characterized in that, Also includes: The first drive member (200) is fixedly connected to the end face of the first phalanx near the third phalanx when the mechanical finger is in the second state.
3. The mechanical finger as described in claim 2, characterized in that, Also includes: The second drive member (300) is fixedly connected to the end face of the second phalanx near the first phalanx when the mechanical finger is in the second state.
4. The mechanical finger as described in claim 1, characterized in that, Also includes: A reset drive (400) is connected to both the first knuckle and the second knuckle, and is used to move the mechanical finger from the second state to the first state.
5. The mechanical finger as described in claim 1, characterized in that, Also includes: A limiting member (500) is symmetrically and rotatably installed on both sides of the connector (120), and the limiting member (500) is fixedly connected to the adjacent support rod (110).
6. The mechanical finger as described in claim 3, characterized in that, The first driving member (200) slides through the second driving member (300).
7. The mechanical finger as described in claim 3, characterized in that, Both the first driving element (200) and the second driving element (300) are flexible driving elements.
8. The mechanical finger as described in claim 4, characterized in that, The reset drive (400) is a flexible drive.
9. A robotic arm, characterized in that, Including the mechanical finger as described in any one of claims 1 to 8.