Mechanical finger and robot hand

Abstract

The application provides a mechanical finger, comprising a finger root and a finger tip which are hingedly connected to each other, and further comprising a telescopic driver, a supporting seat, a swing lever and a connecting rod, the supporting seat is connected to the telescopic driver, the proximal end of the connecting rod is hingedly connected to the telescopic output end of the telescopic driver, the distal end of the connecting rod is hingedly connected to the proximal end of the finger root, the proximal end of the swing lever and the proximal end of the finger root are both hingedly connected to the supporting seat, and the distal end of the finger root and the distal end of the swing lever are both hingedly connected to the finger tip. The application further provides a mechanical hand. The mechanical finger and the mechanical hand provided by the application have simple overall structures and take up small spaces.

Description

Technical Field

[0001] This invention relates to the field of robotic hand technology, and in particular to a robotic finger and robotic hand. Background Technology

[0002] As the most complex structure in humanoid robots, the robotic hand needs to simultaneously meet various conditions such as gripping force, gripping accuracy, self-adaptation, and degrees of freedom in order to more closely resemble a real human hand. Currently, the four-finger structure of robotic hands is complex and takes up a lot of space, which is not conducive to grasping objects and is also prone to damage.

[0003] Therefore, it is necessary to provide a mechanical finger assembly to solve the above-mentioned technical problems. Summary of the Invention

[0004] This invention provides a mechanical finger and a mechanical hand to solve the technical problem of complex mechanical finger structures in the prior art.

[0005] In a first aspect, this application provides a mechanical finger, including a finger root and a fingertip hinged together. The mechanical finger further includes: a telescopic actuator, a support base, a swing arm, and a connecting rod. The support base is connected to the telescopic actuator. The proximal end of the connecting rod is hinged to the telescopic output end of the telescopic actuator. The distal end of the connecting rod is hinged to the proximal end of the finger root. The proximal ends of the swing arm and the finger root are both hinged to the support base. The distal ends of the finger root and the swing arm are both hinged to the fingertip. The mechanical finger has an extended state and a bent state. The telescopic output end of the telescopic actuator can move linearly relative to the support base, driving the connecting rod and the swing arm to move, causing the finger root to rotate relative to the support base and the fingertip to rotate relative to the finger root, thereby switching the mechanical finger between the extended state and the bent state.

[0006] In conjunction with the first aspect, in one possible implementation, the mechanical finger further includes an elastic connector, the proximal end of which is hinged to the distal end of the link, and the distal end of which is connected to the middle section of the swing arm.

[0007] In conjunction with the first aspect, in one possible implementation, the finger root is a hollow structure, and the swing arm, connecting rod, and elastic connector are disposed within the finger root.

[0008] In conjunction with the first aspect, in one possible implementation, the support base is fixedly connected to the housing of the telescopic actuator. The end of the support base away from the housing of the telescopic actuator is provided with a first hinge structure and a second hinge structure. Relative to the second hinge structure, the first hinge hole hinge structure is closer to the inner side of the mechanical finger. The proximal end of the swing arm is hinged to the support base through the first hinge structure, and the proximal end of the finger root is hinged to the support base through the second hinge structure.

[0009] In conjunction with the first aspect, in one possible implementation, the axial direction of the rotation of the swing arm relative to the first hinge structure and the axial direction of the rotation of the finger root relative to the second hinge structure are both perpendicular to the telescopic movement direction of the telescopic output end of the telescopic actuator.

[0010] In conjunction with the first aspect, in one possible implementation, the swing arm is two, with the proximal ends of the two swing arms connected to the first hinge structure, and the distal ends of the two swing arms hinged to the proximal end of the fingertip.

[0011] In conjunction with the first aspect, in one possible implementation, the proximal end of the fingertip is provided with a third hinge structure and a fourth hinge structure, the third hinge structure being closer to the inner side of the mechanical finger than the fourth hinge structure, the distal end of the finger root being hinged to the third hinge structure, and the distal end of the swing arm being hinged to the fourth hinge structure.

[0012] In conjunction with the first aspect, in one possible implementation, the rocker arm is located near the inner side of the finger root, and the elastic connector is located near the outer side of the finger root.

[0013] In conjunction with the first aspect, in one possible implementation, the connecting rod is hinged to the outside of the finger root, and the support seat is hinged to the inside of the finger root.

[0014] Secondly, this application provides a robotic hand, including a palm base and at least one of the aforementioned robotic fingers, wherein the telescopic actuator is mounted on the palm base.

[0015] The robotic finger and robotic hand provided in this application, through the setting of a telescopic actuator, a support base, a swing arm, a connecting rod, and a hinge structure between the finger root and the fingertip, can easily realize the movement of the robotic finger through the telescopic actuator. The overall structure is simple and occupies little space. Furthermore, by embedding the support base, swing arm, and connecting rod inside the finger root, too many components can be avoided from being exposed, making operation convenient during actual work. Attached Figure Description

[0016] Figure 1 This is a three-dimensional schematic diagram of the mechanical finger in the unfolded state provided in an embodiment of the present invention.

[0017] Figure 2 yes Figure 1 A schematic cross-sectional view of the mechanical finger along line II-II.

[0018] Figure 3 yes Figure 1 The diagram shown is a three-dimensional representation of the mechanical finger in its extended state from another angle.

[0019] Figure 4A This is a schematic diagram of the connection relationship of each component when the mechanical finger is in the unfolded state in an embodiment of this application.

[0020] Figure 4B This is a schematic diagram of the connection relationship of each component when the mechanical finger is in a bent state in an embodiment of this application.

[0021] Figure 5 This is a cross-sectional schematic diagram of the mechanical finger provided in the embodiment of this application when it is in a bent state.

[0022] Key component symbols: Mechanical finger - 100; Finger root - 110; Inner side plate - 111; Outer side plate - 112; Finger tip - 120; Connecting part - 121; Working part - 122; Third hinge structure - 123; Fourth hinge structure - 124; Telescopic actuator - 130; Motor housing - 131; Telescopic output end - 132; Support base - 140; First hinge structure - 141; Second hinge structure - 142; Swing rod - 150; Connecting rod - 160; Elastic connector - 170. Detailed Implementation

[0023] The following description of various embodiments of the present invention is based on the accompanying drawings.

[0024] In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the term "connection" should be interpreted broadly. For example, "connection" can be a detachable connection or a non-detachable connection; it can be a direct connection or an indirect connection through an intermediate medium. "Fixed connection" means that the components are connected to each other and their relative positional relationship remains unchanged after connection. "Rotary connection" means that the components are connected to each other and can rotate relative to each other after connection. The term "integral molding" means that during the formation of one of a plurality of components, that component is connected to the other components without requiring further processing (such as bonding, welding, snap-fit ​​connection, screw connection) to connect the two components together. The directional terms mentioned in the embodiments of the present invention, such as "top," "bottom," "inner," "outer," and "side," are only for reference to the directions in the accompanying drawings. Therefore, the directional terms used are for better and clearer explanation and understanding of the embodiments of the present invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of the present invention.

[0025] Please see Figures 1 to 3 , Figure 1 and Figure 3 This is a three-dimensional schematic diagram of the mechanical finger provided in the embodiments of this application. Figure 2 This is a cross-sectional schematic diagram of the mechanical finger provided in an embodiment of this application. In this embodiment, the mechanical finger 100 includes a finger root 110, a fingertip 120, a telescopic actuator 130, a support base 140, a swing arm 150, and a connecting rod 160. The support base 140 is connected to the telescopic actuator 130. The proximal end of the connecting rod 160 is hinged to the telescopic output end of the telescopic actuator 130, and the distal end of the connecting rod 160 is hinged to the proximal end of the finger root 110. The proximal ends of the swing arm 150 and the finger root 110 are both hinged to the support base 140, and the distal ends of the finger root 110 and the distal ends of the swing arm 150 are both hinged to the fingertip 120.

[0026] The mechanical finger 100 may also include an elastic connector 170, the proximal end of which is hinged to the distal end of the link 160, and the distal end of which is connected to the middle section of the swing arm 150.

[0027] The mechanical finger 100 has the following characteristics: Figures 1-4A The unfolded state shown and as Figure 4B and Figure 5 In the bent state shown, the output end of the telescopic actuator 130 can move linearly relative to the support base 140, driving the connecting rod 160 and the swing rod 150 to move, causing the finger root 110 to rotate relative to the support base 140 and the fingertip 120 to rotate relative to the finger root 110, thereby causing the mechanical finger 100 to move as shown. Figure 1 -4 shows the unfolded state and as shown in Figure 4. Figure 4B and Figure 5Switching between the bending states shown.

[0028] It is understood that in this embodiment, the proximal end refers to the end closer to the palm base of the robotic hand, and the distal end refers to the end farther from the palm base. Alternatively, the proximal end is the end farther from the fingertip 120, and the distal end is the end closer to the fingertip 120. In this embodiment, the inner side refers to the side in the direction the robotic finger bends, that is, the palm side of the robotic hand. The outer side refers to the opposite side, that is, the back side of the robotic hand.

[0029] The telescopic actuator 130 is used to drive the movement of the finger base 110 and fingertip 120. The telescopic actuator 130 can be a linear motor, which directly converts electrical energy into linear motion mechanical energy without requiring any intermediate conversion mechanism. In this embodiment, the telescopic actuator 130 includes a motor housing 131 and a telescopic output end 132. The motor housing 131 can drive the telescopic output end 132 to extend and retract, thereby driving the movement of components connected to it. In this embodiment, the telescopic output end 132 of the telescopic actuator 130 is provided with a hinge structure for hinged connection to the connecting rod 160.

[0030] The support base 140 is connected to the telescopic actuator 130. In this embodiment, the support base 140 is fixedly connected to the motor housing 131. It extends from the motor housing 131 toward the distal end of the mechanical finger 100. A first hinge structure 141 and a second hinge structure 142 are provided at the housing end of the support base 140 away from the telescopic actuator 130. Compared to the second hinge structure 142, the first hinge structure 141 is located on the inner side of the mechanical finger 100. That is, the first hinge structure 141 is closer to the inner side of the mechanical finger 100 than the second hinge structure 142. In some embodiments, the axis of rotation of the rocker arm 150 relative to the first hinge structure 141 and the axis of rotation of the finger root 110 relative to the second hinge structure 142 are both perpendicular to the telescopic movement direction of the telescopic output end 132 of the telescopic actuator 130.

[0031] It is understood that each hinge structure in this embodiment can be a pivot connection structure. In this case, the two hinged elements can be connected by a hole and a protrusion; or both hinged elements can have hinge holes and be connected by a pin; or the two hinged elements can be connected by a cylindrical structure; or other methods can be used to achieve hinge between elements. In this embodiment, the form of the hinge structure is not limited and can be selected and designed according to actual needs or ease of installation and operation.

[0032] Link 160 connects the telescopic output end 132 of telescopic actuator 130 and the finger root 110, and is connected to one end of elastic connector 170. The proximal end of link 160 is hinged to the telescopic output end 132 of telescopic actuator 130 to generate movement during the telescopic movement of the telescopic output end 132 of telescopic actuator 130, and transmits the movement to the finger root 110 and elastic connector 170. In this embodiment, the axis of rotation of the proximal end of link 160 relative to the telescopic output end 132 is parallel to the axis of rotation of the rocker arm 150 relative to the first hinge structure 141, and also parallel to the axis of rotation of the finger root 110 relative to the second hinge structure 142. The distal end of link 160 is provided with a hinge structure for hinged to the proximal end of finger root 110. A connection point 161 is provided at the distal end of the link 160. The connection point 161 is used to connect with the elastic connector 170. Compared with the hinged structure at the distal end of the link 160, the connection point 161 is closer to the inner side of the mechanical finger 100 and further away from the telescopic output end 132 of the telescopic actuator 130. Specifically, the connection between the elastic connector 170 and the link 160 can also be hinged. The link 160 is hinged to the outer side of the finger root 110, and the support base 140 is hinged to the inner side of the finger root 110.

[0033] A rocker arm 150 is connected between the support base 140 and the fingertip 120, and the middle section of the rocker arm 150 is connected to the distal end of the elastic connector 170. In this embodiment, there are two rocker arms 150, which are disposed on opposite sides of the support base 140. The proximal end of each rocker arm 150 is connected to one side of the support base 140, and the distal end of each rocker arm 150 is hinged to the proximal end of the fingertip 120. Each rocker arm 150 is inclined relative to the telescopic output end 132 of the telescopic actuator 130 in the telescopic direction, that is, the proximal end of the rocker arm 150 is closer to the inner side of the mechanical finger 100 than the distal end of the rocker arm 150.

[0034] The finger root 110 connects between the telescopic actuator 130 and the fingertip 120, and serves to house the support base 140, the swing arm 150, the connecting rod 160, and the elastic connector 170. Specifically, the finger root 110 has a contoured design and is a hollow, roughly cylindrical structure, with its proximal outer diameter larger than its distal outer diameter. The proximal end of the finger root 110 is hinged to the support base 140 and the distal end of the connecting rod 160. In this embodiment, the finger root 110 includes an inner plate 111 located inside the mechanical finger 100 and an outer plate 112 located outside the mechanical finger 100. The inner plate 111 is hinged to the second hinge structure 142 of the support base 140. The outer plate 112 is hinged to the distal end of the connecting rod 160.

[0035] In one specific embodiment, the inner plate 111 of the finger root 110 is provided with two hinge holes for corresponding engagement with the second hinge structure 142 of the support base 140, thereby hinged the finger root 110 to the support base 140 via a pivot. The inner surface of the outer plate 112 of the finger root 110 is provided with hinge holes for hinged engagement with the distal end of the connecting rod 160, thereby hinged the distal end of the connecting rod 160 to the finger root 110 via a pivot. An elastic connector 170 is located within the finger root 110, with its proximal end connected to the connection point 161 of the connecting rod 160 and its distal end connected to the middle section of the swing rod 150. Inside the finger root 110, compared to the elastic connector 170, the swing rod 150 is closer to the outer side of the finger root 110, and the elastic connector 170 is also closer to the outer side of the finger root 110. Specifically, the elastic connector 170 is located on the outer side plate 112 near the finger root 110, and the rocker arm 150 is located on the inner side plate 111 near the finger root 110.

[0036] The outer surface of the fingertip 120 is smoothly connected to the base of the finger 110. The outer shape of the fingertip 120 is also contoured. It is understood that the outer shape or material of the fingertip can be designed according to actual needs. In this embodiment, the fingertip 120 includes a connecting part 121 and a working part 122 that are connected to each other. The working part 122 is fixedly connected to the connecting part 121 and is located inside the mechanical finger 100. In this embodiment, the proximal end of the connecting part 121 is provided with a third hinge structure 123 and a fourth hinge structure 124. The third hinge structure 123 is closer to the inner side of the mechanical finger 100 than the fourth hinge structure 124. The distal end of the base of the finger 110 is hinged to the fingertip 120 through the third hinge structure 123, and the distal end of the lever 150 is hinged to the fingertip 120 through the fourth hinge structure 124.

[0037] In a preferred embodiment, the axes of relative rotation between the two components of all the hinged structures are parallel to each other.

[0038] Please refer to the following: Figure 1-5 The mechanical finger 100 provided in this application embodiment is implemented by, as follows: Figure 1-4A The unfolded state shown has been switched to the following: Figure 4B and Figure 5 The bending process shown is explained as follows: The telescopic output end 132 of the telescopic actuator 130 extends, that is... Figure 4A As the link moves upward, the portion connecting the proximal end of the link 160 and the telescopic output end 132 moves distally along with the telescopic output end 132. Figure 4A (Moves upwards), the part connecting the link 160 and the finger root 110 swings inwards toward the mechanical finger 100. Figure 4A (Swinging from center to left), causing the finger root 110 to pivot relative to the support base 140 towards the inside of the mechanical finger 100. Figure 4A(pivoting to the left), the root of the finger 110 drives the inner side of a portion of the mechanical finger 100 at the fingertip 120 to swing ( Figure 4A (Swinging from center to left), the other part of the fingertip 120 drives the lever 150 to pivot relative to the support 140 towards the inside of the mechanical finger 100. Figure 4A (pivoting to the left), the fingertip 120 pivots towards the inner side of the mechanical finger 100 relative to the finger root 110. Figure 4A (pivoting to the left from the center), the elastic connector 170 is tightened by its elastic force to maintain the relative relationship between the components.

[0039] Please refer to the following: Figure 1-5 The mechanical finger 100 provided in this application embodiment is implemented by, as follows: Figure 4B and Figure 5 The bending state shown has been switched to the state shown. Figures 1-4A The process of the unfolded state shown is explained as follows: the telescopic output end 132 of the telescopic driver 130 retracts, that is... Figure 4B As the link moves downwards, the portion connecting the proximal end of the link 160 and the telescopic output end 132 moves towards the proximal end along with the telescopic output end 132. Figure 4B (Moves downwards), the part connecting the link 160 and the finger root 110 swings outwards towards the mechanical finger 100. Figure 4B (Swinging from center to right), causing the finger root 110 to pivot relative to the support base 140 towards the outer side of the mechanical finger 100. Figure 4B (Pivot to the right), the root of the finger 110 drives a portion of the fingertip 120 to swing outwards towards the mechanical finger 100. Figure 4B (Swinging to the right), the other part of the fingertip 120 drives the lever 150 to pivot relative to the support 140 towards the outside of the mechanical finger 100. Figure 4B (pivoting to the right), the fingertip 120 pivots outward from the relative finger root 110 towards the mechanical finger 100. Figure 4B (Pivot to the right) The elastic connector 170 is tightened by its elastic force to maintain the relative relationship between the components.

[0040] like Figure 4A As shown, when the mechanical finger 100 is in the extended state, the first hinge structure 141 is closer to the inner side of the mechanical finger 100 than the second hinge structure 142, and the third hinge structure 123 is closer to the inner side of the mechanical finger 100 than the fourth hinge structure 124. This causes the swing arm 150 and the finger root 110 to intersect each other, reducing the space occupied by the swing arm 150 and the finger root 110, thereby making the mechanical finger 100 structure provided in this embodiment of the application more compact and reasonable. Preferably, when the mechanical finger 100 is in the extended state, the fourth hinge structure 124 is closer to the support base 140 than the third hinge structure 123, to ensure that the bending angle of the fingertip 120 relative to the finger root 110 is large enough, thereby ensuring a stable grip when the mechanical finger 100 is in the bent state.

[0041] like Figure 4A As shown, when the mechanical finger 100 is in the extended state, the connection point 161 between the link 160 and the elastic connector 160 is closer to the inner side of the mechanical finger 100 than the hinge point between the link 160 and the finger root 110 (i.e., as shown). Figure 2 and Figure 4A (Left side), to ensure that the part connecting the linkage 160 and the telescopic output end 132 moves to the distal end with the telescopic output end 132 ( Figure 4A During the upward movement, the connecting rod 160 pivots relative to the telescopic output end 132 toward the inside of the mechanical finger 100 to further pull the elastic connector 170, ensuring the tensioning effect of the elastic connector 170 on the relative relationship between the components during the bending process.

[0042] like Figure 4A As shown, when the mechanical finger 100 is in the extended state, the connection point 161 between the link 160 and the elastic connector 170 is closer to the distal end of the mechanical finger 110 than the hinge point between the link 160 and the finger root 110 (i.e., as shown). Figure 2 and Figure 4A (upper end) to further ensure that the portion connecting the link 160 and the telescopic output end 132 moves to the distal end with the telescopic output end 132. Figure 4A When moving upwards, the connecting rod 160 pivots relative to the telescopic output end 132 toward the inside of the mechanical finger 100, further ensuring the pulling action on the elastic connector 170, thereby further ensuring the tensioning effect of the relative relationship between the components.

[0043] like Figure 4A As shown, when the mechanical finger 100 is in the extended state, the hinge point between the link 160 and the telescopic output end 132 is closer to the proximal end of the mechanical finger 100 than the hinge point between the link 160 and the finger root 110 (i.e., as shown). Figure 2 and Figure 4A The lower end of the link 160 is closer to the outer side of the mechanical finger 100 than the hinge point of the link 160 and the finger root 110, ensuring that the part connected to the link 160 and the telescopic output end 132 moves to the distal end with the telescopic output end 132. Figure 4A During the upward movement, the link 160 drives the finger root 110 to pivot relative to the support seat 140 toward the inside of the mechanical finger 100, ensuring that the pivot angle of the finger root 110 is large enough.

[0044] Another embodiment of this application provides a robotic hand, which includes a palm base and the aforementioned robotic finger 100. A telescopic actuator 130 of the robotic finger 100 is mounted on the palm base.

[0045] The robotic finger and robotic hand provided in this application, through the hinge structure between the telescopic actuator 130, support base 140, swing arm 150, connecting rod 160, elastic connector 170, finger root 110, and fingertip 120, allow for convenient movement of the robotic finger 100 via the telescopic actuator 130. The overall structure is simple and occupies little space. Furthermore, by embedding the support base 140, swing arm 150, connecting rod 160, and elastic connector 170 inside the finger root 110, excessive components are avoided from being exposed, facilitating operation during actual work.

[0046] The telescopic actuator 130 may also include a rotary motor, a reducer, a lead screw, and a nut. The rotary motor drives the lead screw to rotate via the reducer. The rotating lead screw drives the nut to move linearly along the axial direction of the lead screw. The nut is the telescopic output end 132 of the telescopic actuator 130, enabling the telescopic output end 132 of the telescopic actuator 130 to perform telescopic movement. Of course, depending on the actual situation, the telescopic actuator 130 can also be other linear drive structures, so it is not limited to this. Of course, the reducer can be a planetary gear reducer, but it is not limited to this.

[0047] The above description is merely a specific implementation of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A mechanical finger, comprising a finger base and a fingertip hinged together, characterized in that, The mechanical finger further includes: a telescopic actuator, a support base, a swing arm, and a connecting rod. The support base is connected to the telescopic actuator. The proximal end of the connecting rod is hinged to the telescopic output end of the telescopic actuator. The distal end of the connecting rod is hinged to the proximal end of the finger root. The proximal ends of the swing arm and the finger root are both hinged to the support base. The distal ends of the finger root and the swing arm are both hinged to the fingertip. The mechanical finger has an extended state and a bent state. The telescopic output end of the telescopic actuator can move linearly relative to the support base, driving the connecting rod and the swing arm to move, causing the finger root to rotate relative to the support base and the fingertip to rotate relative to the finger root, thereby switching the mechanical finger between the extended state and the bent state. The mechanical finger also includes an elastic connector, the proximal end of which is hinged to the distal end of the connecting rod, and the distal end of which is connected to the middle section of the swing arm. The support base is fixedly connected to the housing of the telescopic actuator. The end of the support base away from the housing of the telescopic actuator is provided with a first hinge structure and a second hinge structure. Compared with the second hinge structure, the first hinge structure is closer to the inner side of the mechanical finger. The proximal end of the swing arm is hinged to the support base through the first hinge structure, and the proximal end of the finger root is hinged to the support base through the second hinge structure. The proximal end of the fingertip is provided with a third hinge structure and a fourth hinge structure. The third hinge structure is closer to the inner side of the mechanical finger than the fourth hinge structure. The distal end of the finger root is hinged to the third hinge structure, and the distal end of the swing arm is hinged to the fourth hinge structure.

2. The mechanical finger as described in claim 1, characterized in that, The finger root is a hollow structure, and the swing rod, connecting rod, and elastic connector are disposed inside the finger root.

3. The mechanical finger as described in claim 2, characterized in that, The axis of rotation of the swing arm relative to the first hinge structure and the axis of rotation of the finger root relative to the second hinge structure are both perpendicular to the telescopic movement direction of the telescopic output end of the telescopic actuator.

4. The mechanical finger as described in claim 2, characterized in that, The swing arm consists of two arms, with the proximal ends of the two arms connected to the first hinge structure, and the distal ends of the two arms hinged to the proximal end of the fingertip.

5. The mechanical finger as described in claim 2, characterized in that, The swing arm is located on the inner side of the finger root, and the elastic connector is located on the outer side of the finger root.

6. The mechanical finger as described in claim 1, characterized in that, The connecting rod is hinged to the outside of the finger root, and the support seat is hinged to the inside of the finger root.

7. A robotic hand, comprising a palm base and at least one robotic finger as described in any one of claims 1 to 6, wherein the telescopic actuator is mounted on the palm base.

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