Modular finger structure and robot

Abstract

The application provides a modularized finger structure and a robot, and the finger structure comprises: a first phalanx, which is provided with a force sensor; a second phalanx, which is rotationally connected with the first phalanx and is linked with the first phalanx; a third phalanx, which is rotationally connected with the second phalanx, and a first joint between the third phalanx and the second phalanx is provided with a first angle sensor; a driving mechanism, which is rotationally connected with the third phalanx, and a second joint between the driving mechanism and the third phalanx is provided with a second angle sensor; the driving mechanism comprises a first driving motor and a second driving motor, the first driving motor drives the second phalanx to rotate through a tendon rope one, and the second driving motor drives the third phalanx to rotate through a tendon rope two. The finger structure has high flexibility and universality, solves the common problem of multiple fingers of the robot, simplifies the finger structure design, and is convenient for installation and maintenance.

Description

Technical Field

[0001] The present invention relates to the technical field of finger robots, and in particular to a modular finger structure and a robot. Background Art

[0002] A dexterous hand is an end-effector whose knuckles can fully control the movement of an object. It features high degrees of freedom, a high level of intelligence, easy maintenance, and strong versatility. Currently, it features five fingers, multiple degrees of freedom, and multiple sensing capabilities (position, force / torque), enabling it to perform some of the same grasping operations performed by the human hand. As a highly intelligent robotic end-effector, the dexterous hand has broad application prospects in a variety of fields, including humanoid robotics, medical rehabilitation, manufacturing, and aerospace.

[0003] The fingers of finger robots possess high flexibility and functionality, capable of performing a variety of movements, such as bending, extending, grasping, and releasing, mimicking the complex motions of human fingers. Current robotic fingers are often designed for specific functions, with varying lengths and parts. This specialized finger structure increases design complexity, inflexible overall hand design, and high maintenance costs. Summary of the Invention

[0004] In view of the defects in the prior art, the present invention aims to provide a modular finger structure and a robot.

[0005] The present invention is achieved through the following technical solutions:

[0006] According to one aspect of the present invention, a modular finger structure is provided, comprising:

[0007] a first finger joint, wherein a force sensor is provided on the first finger joint;

[0008] a second knuckle, which is rotatably connected to the first knuckle and moves in conjunction with the first knuckle;

[0009] a third phalanx, which is rotatably connected to the second phalanx, wherein a first angle sensor is provided at a first joint between the third phalanx and the second phalanx, and the first angle sensor is used to detect a rotation angle of the second phalanx;

[0010] a driving mechanism, which is rotatably connected to the third phalanx, wherein a second angle sensor is provided at a second joint between the driving mechanism and the third phalanx, and the second angle sensor is used to detect a rotation angle of the third phalanx;

[0011] The driving mechanism includes a first driving motor and a second driving motor. One end of tendon rope 1 is connected to the first driving motor, and the other end is connected to the second finger joint. The first driving motor drives the second finger joint to rotate through tendon rope 1; one end of tendon rope 2 is connected to the second driving motor, and the other end is connected to the third finger joint. The second driving motor drives the third finger joint to rotate through tendon rope 2.

[0012] Furthermore, by different installation positions of the modular finger structure on the palm, the simulated fingers are of different lengths.

[0013] Furthermore, a first gear set is provided at the axis of the second finger joint, the third finger joint is connected to the output end of the first gear set via a second rotating shaft, the first angle sensor is provided on the second rotating shaft, the first angle sensor is offset from the axis of the second finger joint, and the first gear set is used to amplify the angle detected by the first angle sensor through a multi-stage gear transmission method;

[0014] A second gear set is provided at the axis of the third finger joint, and the driving mechanism is connected to the output end of the second gear set through a third rotating shaft. The second angle sensor is provided on the third rotating shaft, and the second angle sensor deviates from the axis of the third finger joint. The second gear set is used to amplify the angle detected by the second angle sensor through a multi-stage gear transmission.

[0015] Furthermore, the second finger joint is linked with the first finger joint through a connecting rod mechanism.

[0016] Furthermore, a tendon routing device is provided on the third finger joint, and the tendon routing device includes:

[0017] A first rotating shaft is located on the base, and a first pulley is provided on the first rotating shaft, and the first pulley is capable of rotating relative to the first rotating shaft;

[0018] The second rotating shaft is located on the base and is arranged parallel to the first rotating shaft. The second rotating shaft is provided with a second pulley, and the second pulley can rotate relative to the second rotating shaft; a full circular area is formed between the first pulley and the second pulley, and the first tendon rope passes through the full circular area.

[0019] Optionally, a tendon routing device is provided on the third phalanx, and the tendon routing device includes:

[0020] A bracket is fixed on the base, the bracket can rotate relative to the base, and the bracket is a frame structure;

[0021] A first rotating shaft, located inside the frame structure and having two ends connected to two opposite side walls of the bracket, wherein a first pulley is provided on the first rotating shaft and can rotate relative to the first rotating shaft;

[0022] The second rotating shaft is located inside the frame structure and its two ends are respectively connected to the two opposite side walls of the bracket. The second rotating shaft is arranged parallel to the first rotating shaft. The second rotating shaft is provided with a second pulley, and the second pulley can rotate relative to the second rotating shaft; a full circular area is formed between the first pulley and the second pulley, and the tendon rope passes through the full circular area.

[0023] Furthermore, each knuckle is made of self-lubricating plastic material, and mounting holes are provided on both sides of the connecting part of the knuckle. Connecting shaft 1 passes through the mounting hole on one side, and connecting shaft 2 passes through the mounting hole on the other side. There is no through-connection between connecting shaft 1 and connecting shaft 2, thereby forming a hollow area at the rotating connection between adjacent knuckles.

[0024] Furthermore, the first drive motor is connected to a first worm gear mechanism, the first worm gear mechanism and the first capstan form an integrated structure, and one end of the first tendon rope is fixed to the first capstan;

[0025] The second drive motor is connected to the second worm gear mechanism, the second worm gear mechanism and the second winch form an integrated structure, and one end of the second tendon rope is fixed to the second winch.

[0026] Furthermore, the first and second knuckles are provided with first tension springs on their backs close to each other, and the second and third knuckles are provided with second tension springs on their backs close to each other. The first tension spring and the second tension spring are used to provide tension for returning the knuckles.

[0027] According to another aspect of the present invention, a robot is provided, comprising the above-mentioned modular finger structure.

[0028] Compared with the prior art, the present invention has at least one of the following beneficial effects:

[0029] 1. The finger structure provided by the present invention has multiple degrees of freedom through the mutual cooperation between each knuckle and angle sensor, fingertip force sensor, drive mechanism, etc. It can move independently or cooperate with multiple fingers to move. Through the flexible combination of multiple modular finger structures, it can adapt to different tasks and environments and has high flexibility and versatility.

[0030] 2. The finger structure provided by this invention adopts a modular design. By installing the finger structure in different positions on the palm, it simulates the varying lengths of real human hands, thus solving the problem of multi-fingered robots. While maintaining the same function, the finger design of this invention is simplified, and the modular structure of the fingers is easier to install and maintain, thus optimizing the cost of finger robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Other features, objects and advantages of the present invention will become more apparent upon reading the detailed description of non-limiting embodiments with reference to the following drawings:

[0032] Figure 1 A schematic diagram of a modular finger structure according to an embodiment of the present invention Figure 1 ;

[0033] Figure 2 A schematic diagram of a modular finger structure according to an embodiment of the present invention Figure 2 ;

[0034] Figure 3 A schematic diagram of multiple degrees of freedom of a modular finger structure according to an embodiment of the present invention;

[0035] Figure 4 This is a schematic diagram of the structure of the third finger joint rotating in one embodiment of the present invention;

[0036] Figure 5 This is a schematic structural diagram of the side swing of the third knuckle in one embodiment of the present invention;

[0037] Figure 6 A schematic diagram illustrating simulating different lengths of human fingers by different installation positions of a modular finger structure on a palm in one embodiment of the present invention;

[0038] Figure 7 This is a schematic structural diagram of a first angle sensor installed on a first gear set in one embodiment of the present invention;

[0039] Figure 8 Schematic diagram of the structure of a tendon rope routing device with a bracket according to one embodiment of the present invention;

[0040] Figure 9 This is a schematic structural diagram of the connection between the first finger joint and the second finger joint in one embodiment of the present invention.

[0041] The corresponding figures are: 1 is the first knuckle, 2 is the second knuckle, 3 is the third knuckle, 4 is the driving mechanism, 5 is the first joint, 6 is the second joint, 7 is the first driving motor, 8 is the second driving motor, 9 is tendon rope 1, 10 is tendon rope 2, 11 is the connecting rod mechanism, 12 is the rotating shaft 1, 13 is the rotating shaft 2, 14 is pulley 1, 15 is pulley 2, 16 is the first turbine-worm gear mechanism, 17 is the second turbine-worm gear mechanism, 18 is the first tension spring, 19 is the second tension spring, 20 is the hollow area, 21 is the driving gear, 22 is the driven gear, 23 is the bracket, 24 is the connecting shaft 1, 25 is the connecting shaft 2, 26-connecting bracket, 27-gripping rotation axis, 28-side swing rotation axis. DETAILED DESCRIPTION

[0042] The present invention will be described in detail below with reference to specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those skilled in the art, several variations and improvements can be made without departing from the scope of the present invention. These all fall within the scope of protection of the present invention.

[0043] It should be noted that the terms "first", "second", etc. 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. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. Moreover, the terms "first", "second", etc. are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchangeable where appropriate so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0044] Reference Figure 1 and Figure 2One embodiment of the present invention provides a modular finger structure. The modular finger structure includes a first knuckle 1, a second knuckle 2, a third knuckle 3, and a drive mechanism 4, wherein: a force sensor is provided on the first knuckle 1. For example, the force sensor is attached to the first knuckle 1 and is used to control the force applied by the finger to an object; the second knuckle 2 is rotatably connected to the first knuckle 1, and the second knuckle 2 is linked to the first knuckle 1; the third knuckle 3 is rotatably connected to the second knuckle 2, and a first angle sensor is provided at the first joint 5 between the third knuckle 3 and the second knuckle 2. The first angle sensor is used to detect the rotation angle of the second knuckle 2 and to control the bending angle of the first knuckle 1 and the second knuckle 2; the drive mechanism 4 It is rotationally connected to the third phalanx 3, and the second joint 6 between the driving mechanism 4 and the third phalanx 3 is provided with a second angle sensor, which is used to detect the rotation angle of the third phalanx 3 and to control the bending angle of the third phalanx 3; the driving mechanism 4 includes a first driving motor 7 and a second driving motor 8, one end of the tendon rope 9 is connected to the first driving motor 7, and the other end is connected to the second phalanx 2, and the first driving motor 7 drives the second phalanx 2 to rotate through the tendon rope 9; one end of the tendon rope 2 10 is connected to the second driving motor 8, and the other end is connected to the third phalanx 3, and the second driving motor 8 drives the third phalanx 3 to rotate through the tendon rope 2 10.

[0045] The finger structure provided by the embodiment of the present invention has multiple degrees of freedom through the mutual cooperation between each finger joint and the angle sensor, the fingertip force sensor, the drive mechanism, etc., and can move independently or cooperate with multiple fingers to move. Through the flexible combination of multiple modular finger structures, it can adapt to different tasks and environments and has high flexibility and versatility. Because a modular finger structure is adopted, there is no need for specific finger design, and the design can be simplified while the function remains unchanged. The parts of the modular finger structure are universal, and the fingers can be assembled and replaced in the form of independent modules, which facilitates installation and maintenance.

[0046] The modular finger structure in the embodiment of the present invention is a multi-degree-of-freedom finger, such as Figure 3 As shown, the joint between the first and second knuckles and the joint between the second and third knuckles can rotate, and the third knuckle can rotate and swing sideways. Specifically, as shown in FIG. Figure 4 As shown, the third phalanx 3 is connected to the base via a connecting bracket 26. The base is located at the rotation axis of the third phalanx 3. A gripping rotation shaft 27 is provided at the root of the third phalanx 3 along the width direction of the finger. The gripping rotation shaft 27 is located at the front end of the connecting bracket 26 (close to one end of the third phalanx 3). The rotation of the gripping rotation shaft 27 drives the third phalanx 3 to rotate, thereby achieving the clenching or loosening of the finger. Figure 5As shown, a side-swing rotation axis 28 is provided at the rear end of the connecting bracket 26 along the thickness direction of the finger. When the side-swing rotation axis 28 on the connecting bracket 26 rotates, the first, second and third knuckles are driven to side-swing simultaneously. Figure 5 A, B, and C in the middle represent side swings to three different positions, thus realizing a bionic four-degree-of-freedom finger design.

[0047] In the embodiment of the present invention, the structure and size of the modular finger structure are the same, and there are different finger module installation spaces on the palm. For a bionic hand, it is required that the finger positions are staggered. By different installation positions of the fingers on the palm, that is, the installation spaces are staggered, the simulated fingers of different lengths are simulated, such as Figure 6 As shown, the four universal modular finger structures are installed at different positions on the palm, and the simulated human fingers are of different lengths. In other embodiments, the four fingers can be flexibly increased or decreased as needed to adapt to different tasks and environments.

[0048] It should be noted that for the robot arm, if the fingers need to be flush, the installation spaces can be set flush.

[0049] The modular finger design in the embodiment of the present invention is universal, making the design of the entire hand more flexible. The number of fingers can be increased or decreased according to needs, and the two-finger, three-finger, four-finger, and five-finger dexterous hands can be freely transformed. It has strong scalability, and the spare parts of the fingers are universal. When a finger fails, it can be quickly replaced without replacing the entire hand structure. The modular design can make maintenance and replacement easier.

[0050] In some embodiments, a first gear set is provided at the axis of the second finger joint, the third finger joint is connected to the output end of the first gear set through a second rotating shaft, the first angle sensor is provided on the second rotating shaft, the first angle sensor deviates from the axis of the second finger joint, and the first gear set is used to amplify the angle detected by the first angle sensor through a multi-stage gear transmission.

[0051] In some embodiments, a second gear set is provided at the axis of the third finger joint, the driving mechanism is connected to the output end of the second gear set through a third rotating shaft, the second angle sensor is provided on the third rotating shaft, the second angle sensor deviates from the axis of the third finger joint, and the second gear set is used to realize the amplification of the detection angle of the second angle sensor through a multi-stage gear transmission method.

[0052] Specifically, the first gear set and the second gear set each include a driving gear and a driven gear meshing with the driving gear, the number of teeth of the driving gear is greater than the number of teeth of the driven gear; or, the radius of the driving gear is greater than the radius of the driven gear, such as Figure 7As shown, between the first knuckle 1 and the second knuckle 2, a first angle sensor is mounted on a first gear set. This first gear set includes a driving gear 21 and a driven gear 22 meshing with the driving gear 21. The driving gear 21 has 22 teeth, and the driven gear 22 has 12 teeth. Therefore, one rotation of the driving gear 21 drives multiple rotations of the driven gear 22, thereby amplifying the knuckle rotation angle.

[0053] In the above embodiment, the angle sensor is offset from the rotation axis of the finger joint, and the rotation angle of the finger joint is amplified by a gear set to facilitate the detection of small angle changes of the finger joint, which can improve the detection accuracy of the angle sensor and thus improve the control accuracy of the robot finger.

[0054] In some embodiments, the second knuckle 2 is connected to the first knuckle 1 via a first rotating shaft, and the second knuckle 2 is linked to the first knuckle 1 via a connecting rod mechanism 11. The structure is simple, easy to manufacture, and has high transmission efficiency and reliability.

[0055] In some embodiments, a tendon cable routing device is provided on the third phalanx. The tendon cable routing device includes a rotating shaft 12, a rotating shaft 13, a pulley 14, and a pulley 15. Rotating shaft 12 is located on the base and is provided with pulley 14, which is rotatable relative to rotating shaft 12. Rotating shaft 13 is located on the base and is arranged parallel to rotating shaft 12. Pulley 15 is provided on rotating shaft 13 and is rotatable relative to rotating shaft 13. A full circle is formed between pulleys 14 and 15, through which tendon cable 9 passes. Tendon cable 9 passes through the second phalanx, the third phalanx, the bracket, the base, and finally reaches a winch at the rear of the base. Tendon cable 9 passes through the rotation axis of the third phalanx. When tendon cable 9 is tightened to drive the second phalanx, since it passes through the rotation axis of the third phalanx, no torque is generated on the third phalanx. The tendon routing device adopts a tendon anti-falling design, which can save space and cost compared with the pre-tightening device used in the existing technology; since the tendon passes through the rotation axis of the subsequent joint, it will not generate torque on the subsequent joint, and thus will not drive the subsequent joint by mistake.

[0056] In some preferred embodiments, a tendon routing device is provided on the second and third knuckles, referring to Figure 8The difference between the tendon rope routing device and the above embodiment is that it also includes a bracket 23, which specifically includes a bracket 23, a rotating shaft 12, a rotating shaft 2 13, a pulley 14 and a pulley 2 15. The bracket 23 is fixed on the base. The bracket 23 can rotate relative to the base. The bracket 23 is a frame structure. For example, a rotating shaft is provided on both sides of the bracket frame, and a corresponding mounting hole is provided on the base. The rotating shaft of the bracket frame is installed in the mounting hole to realize the rotation of the bracket 23 relative to the base; the rotating shaft 12 is located in the frame structure. Inside, and with both ends connected to opposite side walls of bracket 23, shaft 12 is provided with pulley 14, which is rotatable relative to shaft 12. Shaft 2 is located within the frame structure and with both ends connected to opposite side walls of bracket 23. Shaft 2 is parallel to shaft 12 and provided with pulley 2, which is rotatable relative to shaft 2. A full circle is formed between pulleys 14 and 15, through which tendon 1 passes. When the second phalanx is driven, the tendon, through the adaptive rotation of bracket 23, can completely pass through the axis of the third phalanx at any angle. Therefore, when driving the second phalanx, no matter how much force is applied, no torque is generated on the third phalanx, preventing it from being accidentally driven. In this embodiment, a tendon anti-drop design eliminates the need for a preload device, saving space and cost. Passing through the rotation axis of the subsequent joint, the tendon does not generate torque on the subsequent joint, preventing it from being accidentally driven. Moreover, the pulley assembly with the bracket can rotate freely and adapt to various positions and states of the tendon rope, which can reduce the bending of the tendon rope and improve the transmission efficiency.

[0057] In some other embodiments, the above-mentioned tendon routing device can be set at any place where the routing requires turning, so as to save space and cost, avoid generating torque on subsequent joints, and improve transmission efficiency.

[0058] In some embodiments, each knuckle is made of self-lubricating plastic material; the knuckles are provided with mounting holes on both sides of the connecting part; connecting shaft one passes through the mounting hole on one side, and connecting shaft two passes through the mounting hole on the other side, and connecting shaft one and connecting shaft two are not connected, thereby forming a hollow area at the rotating connection between adjacent knuckles. Specifically, the hollow area is located between the first and second knuckles, between the second and third knuckles, between the third knuckle and the bracket, and between the bracket and the base, so that connecting rods, tendons, pulleys, sensors and other parts can be arranged in the hollow area. Some signal lines of the fingertip force sensor are also inside the hollow area. The various parts do not need to avoid the axis of the rotating shaft, and the structure is compact and efficient.

[0059] Take the connection between the first phalanx 1 and the second phalanx 2 as an example. Figure 9As shown, the first finger joint 1 and the second finger joint 2 are made of self-lubricating plastic material. The first finger joint 1 is provided with two protruding first connecting parts at the connecting end with the second finger joint 2, and the end of the second finger joint 2 is provided with two protruding second connecting parts, and the first connecting parts are located on both sides of the second connecting parts; a mounting hole 1 is provided on the first connecting part, and a mounting hole 2 is provided on the second connecting part, and the position of the mounting hole 2 corresponds to the position of the mounting hole 1; the connecting shaft 1 24 passes through the mounting hole 1 and the mounting hole 2 on one side in sequence; the connecting shaft 2 25 passes through the mounting hole 1 and the mounting hole 2 on the other side in sequence, and a hollow area 20 is formed between the connecting shaft 1 24 and the connecting shaft 2 25.

[0060] In some embodiments, the first drive motor 7 is connected to a first worm-turbine mechanism 16, which is integrally formed with capstan 1, with one end of tendon 1 9 fixed to capstan 1. The second drive motor 8 is connected to a second worm-turbine mechanism 17, which is integrally formed with capstan 2, with one end of tendon 2 10 fixed to capstan 2. When the motor rotates, it drives the worm gear mounted on it, which in turn rotates the turbine, which in turn drives the integral capstan. One end of the tendon 10 is fixed to the capstan, allowing the tendon 10 to be wound around the capstan, tightening the tendon and driving the knuckle to rotate.

[0061] Exemplarily, the first drive motor 7 and the second drive motor 8 adopt DC MUJI motors, which control the rotation of the tendon ropes through the worm gear. Tendon rope 1 9 controls the rotation of the first and second finger joints, and tendon rope 2 10 controls the rotation of the third finger joint, thereby driving the movement of the three finger joints. Tendon rope 1 9 and tendon rope 2 10 can be made of steel wire ropes. In the embodiment of the present invention, the use of an angle sensor to control the rotation and stop of the motor can save the motor encoder, thereby reducing the size of the motor. Specifically, the rotation angle of the motor, through transmission, ultimately corresponds to the rotation angle of the finger joints. In the prior art, the rotation angle of the motor is obtained by installing a encoder on the motor; in the embodiment of the present invention, the rotation angle of the finger joints can be directly obtained by installing an angle sensor on the finger joints, thereby eliminating the need for a motor encoder.

[0062] When the motor rotates in the reverse direction, the tendon rope can be loosened, and the knuckles can be returned to their original positions by installing springs on the knuckles. In some embodiments, a first tension spring 18 is provided on the backs of the fingers of the first knuckle 1 and the second knuckle 2, which are close to each other. One end of the first tension spring 18 is fixed to the first knuckle 1, and the other end is fixed to the second knuckle 2. A second tension spring 19 is provided on the backs of the fingers of the second knuckle 2 and the third knuckle 3, which are close to each other. One end of the second tension spring 19 is fixed to the second knuckle 2, and the other end is fixed to the third knuckle 3. The first tension spring 18 and the second tension spring 19 are used to provide tension for returning the knuckles to their original positions. When the tendon rope is tightened and the finger is bent, the tension spring is stretched. When the knuckle needs to be restored, the motor is reversed, the tendon rope is loosened, and the knuckle is restored by the tension spring. This can replace the existing torsion spring design and is easy to install. Moreover, the tension spring has a greater control accuracy than the torsion spring, thereby improving the control accuracy of the finger.

[0063] Based on the same inventive concept, another embodiment of the present invention provides a robot comprising the above-mentioned modular finger structure.

[0064] The finger structure provided by the above embodiment of the present invention has multiple degrees of freedom through the mutual cooperation between each finger joint and angle sensor, finger force sensor, drive mechanism, etc. It can move independently or cooperate with multiple fingers to move. It can adapt to different tasks and environments through the flexible combination of multiple modular finger structures, and has high flexibility and versatility. The finger structure adopts a modular design. By installing the finger structure in different positions on the palm, it simulates the different lengths of real human hands, solving the problem of multiple fingers in dexterous hands. Under the premise of unchanged function, the finger design in the above embodiment of the present invention is more simplified, and the fingers of the modular structure can be assembled and replaced in the form of independent modules, which is more convenient for installation and maintenance, thereby optimizing the cost of the finger robot.

[0065] The above describes specific embodiments of the present invention. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art may make various modifications or variations within the scope of the claims without affecting the essence of the present invention. The above preferred features may be used in any combination as long as they do not conflict with each other.

Claims

1. A modular finger structure, characterized in that: include: a first finger joint, wherein a force sensor is provided on the first finger joint; a second knuckle, which is rotatably connected to the first knuckle and moves in conjunction with the first knuckle; a third phalanx, which is rotatably connected to the second phalanx, wherein a first angle sensor is provided at a first joint between the third phalanx and the second phalanx, and the first angle sensor is used to detect a rotation angle of the second phalanx; a driving mechanism, which is rotatably connected to the third phalanx, wherein a second angle sensor is provided at a second joint between the driving mechanism and the third phalanx, and the second angle sensor is used to detect a rotation angle of the third phalanx; The driving mechanism includes a first driving motor and a second driving motor, one end of a tendon rope 1 is connected to the first driving motor, and the other end is connected to the second finger joint, and the first driving motor drives the second finger joint to rotate through the tendon rope 1; one end of a tendon rope 2 is connected to the second driving motor, and the other end is connected to the third finger joint, and the second driving motor drives the third finger joint to rotate through the tendon rope 2; A first gear set is provided at the axis of the second finger joint, the third finger joint is connected to the output end of the first gear set via a second rotating shaft, the first angle sensor is provided on the second rotating shaft, the first angle sensor is offset from the axis of the second finger joint, and the first gear set is used to amplify the angle detected by the first angle sensor through a multi-stage gear transmission method; A second gear set is provided at the axis of the third finger joint, and the driving mechanism is connected to the output end of the second gear set through a third rotating shaft. The second angle sensor is provided on the third rotating shaft, and the second angle sensor deviates from the axis of the third finger joint. The second gear set is used to amplify the angle detected by the second angle sensor through a multi-stage gear transmission.

2. The modular finger structure according to claim 1, wherein: By installing the modular finger structure at different positions on the palm, the simulated fingers can be of different lengths.

3. The modular finger structure according to claim 1, wherein: The second finger joint is linked with the first finger joint through a connecting rod mechanism.

4. The modular finger structure according to claim 1, wherein: The third finger joint is provided with a tendon routing device, and the tendon routing device comprises: A first rotating shaft is located on the base, and a first pulley is provided on the first rotating shaft, and the first pulley is capable of rotating relative to the first rotating shaft; The second rotating shaft is located on the base and is arranged parallel to the first rotating shaft. The second rotating shaft is provided with a second pulley, and the second pulley can rotate relative to the second rotating shaft; a full circular area is formed between the first pulley and the second pulley, and the first tendon rope passes through the full circular area.

5. The modular finger structure according to claim 1, wherein: The third finger joint is provided with a tendon routing device, and the tendon routing device comprises: A bracket is fixed on the base, the bracket can rotate relative to the base, and the bracket is a frame structure; A first rotating shaft, located inside the frame structure and having two ends connected to two opposite side walls of the bracket, wherein a first pulley is provided on the first rotating shaft and can rotate relative to the first rotating shaft; The second rotating shaft is located inside the frame structure and its two ends are respectively connected to the two opposite side walls of the bracket. The second rotating shaft is arranged parallel to the first rotating shaft. The second rotating shaft is provided with a second pulley, and the second pulley can rotate relative to the second rotating shaft; a full circular area is formed between the first pulley and the second pulley, and the tendon rope passes through the full circular area.

6. The modular finger structure according to claim 1, wherein: Each knuckle is made of self-lubricating plastic material, and mounting holes are provided on both sides of the connecting part of the knuckle. Connecting shaft 1 passes through the mounting hole on one side, and connecting shaft 2 passes through the mounting hole on the other side. There is no through-connection between connecting shaft 1 and connecting shaft 2, thereby forming a hollow area at the rotating connection between adjacent knuckles.

7. The modular finger structure according to claim 1, wherein: The first drive motor is connected to a first worm gear mechanism, the first worm gear mechanism and the first capstan form an integrated structure, and one end of the first tendon rope is fixed to the first capstan; The second drive motor is connected to the second worm gear mechanism, the second worm gear mechanism and the second winch form an integrated structure, and one end of the second tendon rope is fixed to the second winch.

8. The modular finger structure according to claim 1, wherein: The first and second knuckles are provided with first tension springs on their backs close to each other, and the second and third knuckles are provided with second tension springs on their backs close to each other. The first and second tension springs are used to provide tension for returning the knuckles.

9. A robot, characterized in that: The modular finger structure comprises the modular finger structure according to any one of claims 1 to 8.

Images