Belt drive multi-degree of freedom mechanical finger and mechanical hand

Abstract

A kind of belt drive multi-degree-of-freedom mechanical finger and mechanical hand, belong to dexterous hand technical field, finger includes distal phalanx, 0 or multiple intermediate phalanges, root phalanx, the distal phalanx with intermediate phalanges, between intermediate phalanges, between intermediate phalanges and root phalanx are hinged respectively through multi-degree-of-freedom articulated shaft, the root phalanx is equipped with tension adjusting mechanism, distal phalanx is equipped with fixed shaft, the fixed shaft, several multi-degree-of-freedom articulated shaft, tension adjusting mechanism are sequentially connected through transmission belt transmission, the end of the transmission belt away from fixed shaft is connected with driving mechanism, between the back of adjacent distal phalanx and intermediate phalanges, between the back of adjacent intermediate phalanges, between the back of adjacent intermediate phalanges and root phalanx are connected with reset spring.The present application can realize the multi-degree-of-freedom swing of intermediate phalanges and distal phalanx, adjust the clamping force of finger automatically simultaneously, can adapt to the flexible gripping of irregular object in automated production.

Description

Technical Field

[0001] This invention belongs to the field of dexterous hand technology, specifically relating to a belt-driven multi-degree-of-freedom mechanical finger and a mechanical hand. Background Technology

[0002] Traditional hinged robotic arm designs are strictly limited by the axis of motion in finger joint movement, significantly reducing their operational flexibility. They also face challenges in tension control and limited transmission ratios. With the increasing demands for flexibility in complex operations by modern industry, especially in complex working environments, these traditional designs are no longer sufficient to meet high requirements. Modern hinged robotic arms need to handle various complex tasks, such as precisely grasping the envelope of conical objects. Traditional hinge axis structures limit the dynamic range and accuracy of robotic arm operation, making them perform poorly when handling non-standard or irregular workpieces. Furthermore, the inflexibility of traditional transmission systems limits their ability to handle different workloads and motion requirements, failing to meet the high efficiency and precision demands of modern automated production. Additionally, traditional robotic arm transmissions mostly use line drives, which are prone to vibration and even wire tangling during robotic arm movement. Summary of the Invention

[0003] To address the problems of existing technologies, this invention discloses a belt-driven multi-degree-of-freedom robotic finger and manipulator. The transmission method employs belt drive technology, effectively avoiding the jitter and wire entanglement problems that may occur with traditional wire drives. The manipulator's hinge structure allows for offset and curved movements of the distal or intermediate phalanges. Two conical pulleys at the root phalanx adjust the tension of the transmission belt, enhancing the manipulator's flexibility and transmission accuracy, enabling flexible envelopment gripping of irregular workpieces.

[0004] To achieve the above objectives, the technical solution of this invention is as follows:

[0005] A belt-driven multi-degree-of-freedom mechanical finger includes a distal phalanx, one or more intermediate phalanges, and a root phalanx. The distal phalanx and intermediate phalanges, intermediate phalanges, and root phalanges are respectively hinged by multi-degree-of-freedom hinge shafts. The root phalanx is provided with a tension adjustment mechanism, and the distal phalanx is provided with a fixed shaft. The fixed shaft, the multiple multi-degree-of-freedom hinge shafts, and the tension adjustment mechanism are sequentially connected by a transmission belt. The end of the transmission belt away from the fixed shaft is connected to a drive mechanism. Return springs are connected between the back surfaces of adjacent distal phalanges and intermediate phalanges, between the back surfaces of adjacent intermediate phalanges, and between the back surfaces of adjacent intermediate phalanges and root phalanges.

[0006] Preferably, the multi-degree-of-freedom robotic finger includes a distal phalanx and a root phalanx, both of which are hollow structures. A fixed shaft is fixedly provided in the upper part of the distal phalanx along the transverse direction. The upper end of the transmission belt is fixedly connected to the fixed shaft. The lower end of the root phalanx is open, and the lower end of the transmission belt passes through the open and is connected to a drive mechanism located in the palm of the robotic hand.

[0007] Preferably, the multi-degree-of-freedom hinge shaft includes a shaft body, the two ends of which are rotatably connected to the two side walls of the top of the root phalanx. A housing is fixedly provided in the lower part of the distal phalanx. The left and right ends of the housing are provided with through holes. The shaft body passes through the through holes. The part of the shaft body located inside the housing is integrally formed with a spherical structure. The spherical structure is constrained within the housing and rotates freely within the housing. The inner diameter of the through hole is larger than the outer diameter of the shaft body to allow the housing to swing freely within the range jointly defined by the through hole and the shaft body.

[0008] Preferably, the tension adjustment mechanism includes two conical pulleys with their large diameter ends facing each other and coaxially arranged. The middle of the opposite ends of the conical pulleys are connected by a connecting rod. The small diameter ends of the conical pulleys are axially connected to a rotating shaft. The two rotating shafts are rotatably connected to the side wall of the root phalanx, respectively.

[0009] Preferably, the transmission belt includes a belt body with a rectangular groove. The left and right sides of the rectangular groove are respectively wrapped around two conical pulleys. The shafts on the left and right sides of the housing face the back of the fingers. As the distal phalanx swings left and right, the left and right sides of the rectangular groove slide along the corresponding conical pulley surfaces to adjust the tension of the transmission belt.

[0010] Preferably, a first connecting block is provided at the base of the back of the distal phalanx, and a second connecting block is provided at the top of the back of the base phalanx. The upper and lower ends of the return spring are respectively connected to the first connecting block and the second connecting block.

[0011] Preferably, the fixed shaft is located at the center of the upper part of the distal phalanx, the housing is located at the center of the lower part of the distal phalanx, the rotating shaft is located on the side of the upper part of the root phalanx near the finger's ventral surface, and a guide shaft is also provided on the side of the lower part of the root phalanx facing the back of the finger.

[0012] A robotic hand includes a palm and multiple fingers connected to the palm, wherein the fingers are belt-driven multi-degree-of-freedom robotic fingers, and the palm is provided with a drive mechanism for driving the extension and bending of each finger.

[0013] Preferably, the driving mechanism is a motor, an electric telescopic rod, an electric cylinder, a pneumatic cylinder, or a hydraulic cylinder connected to the bottom end of the transmission belt.

[0014] The beneficial effects of the belt-driven multi-degree-of-freedom mechanical finger and manipulator of the present invention are as follows:

[0015] The distal and intermediate phalanges of this invention not only achieve axially constrained extension and bending movements along the hinge axis, but also oscillate within a certain range to the left and right, thus realizing a multi-degree-of-freedom dexterous hand. When grasping irregular objects, the distal and intermediate phalanges oscillate to one side due to force, while the transmission belt slides on the conical pulley, thereby increasing the tension of the transmission belt on the side of the force direction of the finger and improving the gripping ability of the finger, thus significantly enhancing the flexibility and adaptability of the robotic hand. The robotic hand designed based on the belt-driven multi-degree-of-freedom robotic fingers of this invention can grasp various irregular objects, meeting the flexibility requirements of modern industry for robotic hands in complex operations.

[0016] Instruction manual illustrations

[0017] Figure 1 : A front view schematic diagram of the belt-driven multi-degree-of-freedom mechanical finger of the present invention;

[0018] Figure 2 A side view of the belt-driven multi-degree-of-freedom mechanical finger of the present invention;

[0019] Figure 3 A schematic diagram of the structure of the end joint of the belt-driven multi-degree-of-freedom mechanical finger of the present invention, showing that it swings to the left (left side in the direction of visual view) under force;

[0020] Figure 4 A schematic diagram of the structure of the end phalanx of the belt-driven multi-degree-of-freedom mechanical finger of the present invention, showing that it swings to the right (right side in the visual direction) under force;

[0021] In the diagram: 1: distal phalanx, 2: fixed shaft, 3: shaft body, 4: rotating shaft, 5: transmission belt, 6: housing, 7: spherical structure, 8: conical pulley, 9: root phalanx, 10: return spring, 11: rectangular groove, 12: side, 13: guide shaft. Detailed Implementation

[0022] The following description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

[0023] The following embodiments can be understood as illustrating a part of the structure or method of the present invention individually, or as combining the embodiments to explain the broader structure or method of the present invention.

[0024] Example 1

[0025] A belt-driven multi-degree-of-freedom mechanical finger, such as Figure 1-4 As shown, it includes a distal phalanx 1, 0 or more intermediate phalanges, and a root phalanx 9. The distal phalanx 1 is hinged to the intermediate phalanges, the intermediate phalanges are hinged to each other, and the intermediate phalanges are hinged to the root phalanx 9 via multi-degree-of-freedom hinge shafts. The root phalanx 9 is provided with a tension adjustment mechanism, and the distal phalanx 1 is provided with a fixed shaft 2. The fixed shaft 2, the multi-degree-of-freedom hinge shafts, and the tension adjustment mechanism are sequentially connected by a transmission belt 5. The end of the transmission belt 5 away from the fixed shaft 2 is connected to a drive mechanism. A return spring 10 is connected between the back of adjacent distal phalanges 1 and intermediate phalanges, between the back of adjacent intermediate phalanges, and between the back of adjacent intermediate phalanges and root phalanx 9.

[0026] In this embodiment, the connection method between the middle phalanx, the distal phalanx, and the root phalanx can be referred to... Figure 1 As shown, whether or not an intermediate finger joint is included depends on the working needs of the robotic arm. This new invention achieves multi-degree-of-freedom swing of the intermediate and distal finger joints by setting a multi-degree-of-freedom hinge axis, which can adaptively grasp irregular objects. While adapting, the tension of the transmission belt is automatically adjusted by a tension adjustment mechanism, thereby improving the clamping force of the intermediate or distal finger joint on the object.

[0027] Example 2

[0028] like Figure 1-4 As shown, the multi-degree-of-freedom robotic finger includes a distal phalanx 1 and a root phalanx 9. Both the distal phalanx 1 and the root phalanx 9 are hollow structures. A fixed shaft 2 is fixedly installed in the upper part of the distal phalanx 1 along the transverse direction. The upper end of the transmission belt 5 is fixedly connected to the fixed shaft 2. The lower end of the root phalanx 9 is open, and the lower end of the transmission belt 5 passes through the open and is connected to the drive mechanism located in the palm of the robotic hand.

[0029] This embodiment provides a preferred structure for the belt-driven multi-degree-of-freedom mechanical finger of the present invention. As a common configuration, the fingers need to be connected to the palm to form a dexterous hand. The drive mechanism of the present invention is located inside the palm to control the extension and bending movements of each finger, thereby enabling the mechanical hand to perform complex hand movements.

[0030] Example 3

[0031] like Figure 1-4As shown, the multi-degree-of-freedom hinge shaft includes a shaft body 3. The two ends of the shaft body 3 are rotatably connected to the two side walls of the top of the root phalanx 9. A housing 6 is fixedly provided in the lower part of the distal phalanx 1. The left and right ends of the housing 6 are provided with through holes. The shaft body 3 passes through the through holes. The part of the shaft body 3 located inside the housing 6 is integrally formed with a spherical structure 7. The spherical structure 7 is constrained within the housing 6 and rotates freely within the housing 6. The inner diameter of the through hole is larger than the outer diameter of the shaft body 3 to allow the housing 6 to swing freely within the range jointly defined by the through hole and the shaft body 3.

[0032] In this embodiment, the multi-degree-of-freedom oscillation of the shell is actually the multi-degree-of-freedom oscillation of the distal phalanx, because the shell and the distal phalanx are fixedly connected. The specific number of "multi-degrees of freedom" depends on the specific structure of this embodiment, but it includes at least the left-right oscillation of the distal phalanx (e.g., the lateral oscillation of the distal phalanx). Figure 3 , 4 (As shown). This embodiment overcomes the limitation that traditional dexterous hand fingers can only extend or bend under the constraint of the hinge axis, and can achieve better grasping function in the face of complex automated production.

[0033] Example 4

[0034] like Figure 1-4 As shown, the tension adjustment mechanism includes two conical pulleys 8 with their large diameter ends facing each other and coaxially arranged. The middle of the opposite ends of the conical pulleys 8 are connected by a connecting rod. The small diameter ends of the conical pulleys 8 are axially connected to a rotating shaft 4. The two rotating shafts 4 are respectively rotatably connected to the side wall of the root finger joint 9.

[0035] In this embodiment, the transmission belt 5 covers the conical pulley 8. When the transmission belt slides on the conical pulley due to the left and right swinging of the distal phalanx, the tension of the transmission belt can be adjusted by increasing or decreasing the outer diameter of the conical pulley. This tension further increases the clamping ability of the distal phalanx on the object. That is to say, while the distal phalanx adapts to the shape of irregular objects, the clamping force is also improved. It should be noted that the transmission belt of the present invention is preferably made of rubber material, whose elasticity can adapt to the deformation of the distal phalanx swinging left and right.

[0036] Example 5

[0037] like Figure 1 As shown, the transmission belt 5 includes a belt body with a rectangular groove 11. The left and right sides 12 of the rectangular groove 11 are respectively wrapped around two conical pulleys 8 and the shafts 3 on the left and right sides of the housing 6 facing the back of the fingers. As the distal phalanx 1 swings left and right, the left and right sides 12 of the rectangular groove 11 slide along the surface of the corresponding conical pulley 8 to adjust the tension of the transmission belt 5.

[0038] In this embodiment, it should be noted that, as Figure 3 , 4 As shown, when the distal phalanx swings to the left or right in the direction of visual observation, the side 12 on the side of the distal phalanx that is subjected to force slides in the direction of the larger diameter of the conical pulley. The tension on this side increases, which is then transmitted to the distal phalanx, giving the distal phalanx a greater clamping force in the opposite direction of the swing, thus achieving a better clamping effect on the object.

[0039] Example 6

[0040] like Figure 2 As shown, a first connecting block is provided at the base of the back of the distal phalanx 1, and a second connecting block is provided at the top of the back of the root phalanx 9. The upper and lower ends of the return spring 10 are respectively connected to the first connecting block and the second connecting block.

[0041] like Figure 2 As shown, the fixed shaft 2 is located at the center of the upper part of the distal phalanx 1, the housing 6 is located at the center of the lower part of the distal phalanx 1, the rotating shaft 4 is located on the side of the upper part of the root phalanx 9 near the finger's ventral surface, and the guide shaft 13 is also provided on the side of the lower part of the root phalanx 9 facing the back of the finger.

[0042] Example 7

[0043] like Figure 1-4 As shown, the present invention also discloses:

[0044] A robotic hand includes a palm and multiple fingers connected to the palm, wherein the fingers are belt-driven multi-degree-of-freedom robotic fingers, and the palm is provided with a drive mechanism for driving the extension and bending of each finger.

[0045] Based on existing technology, it is understood that the base of the phalanx is fixedly connected to the palm or unidirectionally hinged, meaning the base of the phalanx only bends towards the palm. Furthermore, it is understood that the drive mechanism is a motor, electric telescopic rod, electric cylinder, pneumatic cylinder, or hydraulic cylinder connected to the bottom of the transmission belt. The extension and flexion of the fingers are achieved through the coordinated action of the drive mechanism's pull and the return spring; multi-degree-of-freedom hinge shafts and the transmission belt enable multi-degree-of-freedom finger oscillation; and tension adjustment is achieved through a tension adjustment mechanism, thereby enhancing the fingers' gripping ability.

Claims

1. A belt-driven multi-degree-of-freedom mechanical finger, characterized in that: it includes a distal phalanx, multiple intermediate phalanges, and a root phalanx; the distal phalanx and intermediate phalanges, the intermediate phalanges and the root phalanx are respectively hinged by multi-degree-of-freedom hinge shafts; the root phalanx is provided with a tension adjustment mechanism; the distal phalanx is provided with a fixed shaft; the fixed shaft, the multiple multi-degree-of-freedom hinge shafts, and the tension adjustment mechanism are sequentially connected by a transmission belt; the end of the transmission belt away from the fixed shaft is connected to a drive mechanism; and a return spring is connected between the back surfaces of adjacent distal phalanges and intermediate phalanges, between the back surfaces of adjacent intermediate phalanges, and between the back surfaces of adjacent intermediate phalanges and the root phalanx. The tension adjustment mechanism includes two conical pulleys with their large diameter ends facing each other and coaxially arranged. The middle of the opposite ends of the conical pulleys are connected by a connecting rod. The small diameter ends of the conical pulleys are axially connected to a rotating shaft. The two rotating shafts are rotatably connected to the side wall of the root phalanx, respectively. The transmission belt includes a belt body with a rectangular groove. The left and right sides of the rectangular groove are respectively wrapped around two conical pulleys. The shafts on the left and right sides of the housing face the back of the fingers. As the distal phalanx swings left and right, the left and right sides of the rectangular groove slide along the surface of the corresponding conical pulley to adjust the tension of the transmission belt.

2. The belt-driven multi-degree-of-freedom mechanical finger as described in claim 1, characterized in that: The multi-degree-of-freedom robotic finger includes a distal phalanx and a root phalanx, both of which are hollow structures. A fixed shaft is fixedly installed in the upper part of the distal phalanx along the transverse direction. The upper end of the transmission belt is fixedly connected to the fixed shaft. The lower end of the root phalanx is open, and the lower end of the transmission belt passes through the open and is connected to the drive mechanism located in the palm of the robotic hand.

3. The belt-driven multi-degree-of-freedom mechanical finger as described in claim 2, characterized in that: The multi-degree-of-freedom hinge shaft includes a shaft body, the two ends of which are rotatably connected to the two side walls of the top of the root phalanx. A housing is fixedly provided in the lower part of the distal phalanx. The left and right ends of the housing are provided with through holes. The shaft body passes through the through holes. The part of the shaft body located inside the housing is integrally formed with a spherical structure. The spherical structure is constrained within the housing and rotates freely within the housing. The inner diameter of the through hole is larger than the outer diameter of the shaft body to allow the housing to swing freely within the range jointly defined by the through hole and the shaft body.

4. The belt-driven multi-degree-of-freedom mechanical finger as described in claim 3, characterized in that: The base of the distal phalanx is provided with a first connecting block, and the top of the base of the distal phalanx is provided with a second connecting block. The upper and lower ends of the return spring are respectively connected to the first connecting block and the second connecting block.

5. A belt-driven multi-degree-of-freedom mechanical finger as described in claim 4, characterized in that: The fixed shaft is located at the center of the upper part of the distal phalanx, the housing is located at the center of the lower part of the distal phalanx, the rotating shaft is located on the side of the upper part of the root phalanx near the finger's ventral surface, and a guide shaft is also provided on the side of the lower part of the root phalanx facing the back of the finger.

6. A robotic hand, characterized in that: the robotic hand includes a palm and a plurality of fingers connected to the palm, the fingers being belt-driven multi-degree-of-freedom robotic fingers as described in any one of claims 1-5, and the palm having a drive mechanism for driving the extension and bending of each finger.

7. A robotic arm as described in claim 6, characterized in that: the driving mechanism is a motor, an electric telescopic rod, an electric cylinder, a pneumatic cylinder, or a hydraulic cylinder connected to the bottom end of the transmission belt.

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