Mechanical finger and mechanical hand

Abstract

The present invention provides a mechanical finger and a mechanical arm, and relates to the technical field of mechanical fingers. The mechanical finger includes a fingertip, a proximal knuckle, a metamorphic mechanism, and a finger base. A motor is mounted on the finger base and is driven and connected to one end of a lead screw through a double universal joint. The lead screw is mounted on the proximal knuckle, is located on the outside of the proximal knuckle and is arranged along the axial direction of the proximal knuckle, and can rotate around its own axis relative to the proximal knuckle. The lead screw is threadedly connected to a nut block, which is slidably connected to the proximal knuckle along the axial direction of the proximal knuckle. A spring is mounted between the nut block and the proximal knuckle. One end of a steel rope is connected to the fingertip, and the other end is slidably connected to the nut block. The motor occupies space on the finger base, and the lead screw, nut block, etc. occupy space on the proximal knuckle, which can realize the bending of the finger, so that the metamorphic mechanism can reasonably utilize the installation space on the finger base and the proximal knuckle, thereby solving the problem that the overall size of the finger base is too large due to the concentrated assembly of the metamorphic mechanism on the finger base.

Description

Technical Field

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

[0002] At present, the metamorphic mechanism on a robotic finger generally includes a drive motor and corresponding drive components. During normal use, the drive motor and drive components of the metamorphic mechanism are centrally assembled on the palm seat of the robotic finger. This makes the overall size of the palm seat of the robotic finger relatively large after the metamorphic mechanism is assembled. Summary of the Invention

[0003] The problem solved by the present invention is how to reduce the overall size of the palm seat of a mechanical finger.

[0004] In order to solve the above problems, the present invention provides a mechanical finger, comprising a fingertip, a proximal knuckle, a metamorphosis mechanism and a finger base, wherein the fingertip is rotatably connected to one end of the proximal knuckle via a rotating shaft, and the end of the proximal knuckle away from the fingertip is rotatably connected to the finger base, the metamorphosis mechanism comprises a motor, a lead screw, a nut block, a spring and a steel rope, the motor is mounted on the finger base and is drive-connected to one end of the lead screw via a double universal joint, the lead screw is mounted on the proximal knuckle, the lead screw is located on the outside of the proximal knuckle and is arranged along the axial direction of the proximal knuckle, and can rotate around its own axis relative to the proximal knuckle, the lead screw The lever is threadedly connected to the nut block, and the nut block is slidingly connected to the proximal knuckle along the axial direction of the proximal knuckle. The spring is installed between the nut block and the proximal knuckle, one end of the steel rope is connected to the fingertip, and the other end is slidingly connected to the nut block. The elastic force of the spring is used to prevent the nut block from sliding toward the direction close to the fingertip so that the proximal knuckle rotates relative to the finger base, and when the proximal knuckle is hindered to stop rotating, the nut block is also used to overcome the elastic force of the spring to slide toward the direction close to the fingertip, so as to drive the fingertip to rotate relative to the proximal knuckle through the steel rope.

[0005] Optionally, the mechanical finger further includes a torsion spring, which is sleeved on the rotating shaft, and one connecting foot of the torsion spring is engaged with the fingertip, and the other connecting foot is engaged with the proximal knuckle, and the torsion spring is used to prevent the fingertip from rotating relative to the proximal knuckle.

[0006] Optionally, a cavity is provided inside the proximal knuckle, the cavity extends along the axial direction of the proximal knuckle and penetrates the proximal knuckle along the rotation direction of the proximal knuckle, one end of the nut block is located in the cavity, and the other end extends from the cavity to be threadedly connected to the lead screw, the spring is located in the cavity, one end of the spring is connected to one end of the cavity close to the fingertip, and the other end is connected to the nut block, and the nut block is pressed against one end of the cavity close to the finger base in a compressed state.

[0007] Optionally, the robotic finger further includes a guide rod, which is located in the cavity and is respectively connected to both ends of the cavity in the axial direction, the spring is sleeved on the guide rod, and the nut block is sleeved on the guide rod and is slidably connected to the guide rod.

[0008] Optionally, two guide rods are provided in parallel, the two guide rods are respectively provided with the spring, and the nut block is respectively slidably connected to the two guide rods.

[0009] Optionally, a first guide wheel is provided on the fingertip, and a second guide wheel is provided on the proximal knuckle. One end of the steel rope passes around the guide groove on the first guide wheel and is connected to the fingertip, and the other end of the steel rope passes around the guide groove on the second guide wheel and is slidably connected to the nut block.

[0010] Optionally, a slide groove is provided on the nut block, and the extension direction of the slide groove is consistent with the axial direction of the screw. A steel ball is provided at the rope end of the steel rope, and the steel ball is slidably connected to the slide groove. When the nut block slides to a set position toward the fingertip, the steel ball and the end of the slide groove close to the finger base are abutted.

[0011] Optionally, the proximal knuckle includes two parallel connecting plates and two connecting blocks located between the two connecting plates, the two connecting blocks are respectively connected to the axial ends of the two connecting plates, and are respectively rotatably connected to the fingertips and the finger bases, the space enclosed by the two connecting blocks and the two connecting plates is the cavity, and weight-reducing holes are provided on the connecting plates, and the weight-reducing holes are connected to the cavity.

[0012] Optionally, the fingertip includes a gripping end for contacting an object, and an anti-slip pad is provided on the gripping end.

[0013] Compared with the prior art, the mechanical finger of the present invention utilizes a motor installed on the finger base, and is driven and connected to one end of a lead screw through a double universal joint. The lead screw is installed on the proximal finger joint, is located on the outside of the proximal finger joint and is arranged along the axial direction of the proximal finger joint, and can rotate around its own axis relative to the proximal finger joint. The power output by the motor can be converted into the rotation of the lead screw on the proximal finger joint, and is threadedly connected to the nut block through the lead screw. The nut block is slidingly connected to the proximal finger joint along the axial direction of the proximal finger joint. A spring is installed between the nut block and the proximal finger joint. The elastic force of the spring is used to prevent the nut block from sliding toward the direction close to the fingertip. The rotation of the lead screw can be converted into a force exerted on the nut block toward the fingertip through the threaded connection with the nut block, and the proximal finger joint is realized under the action of this force and the elastic force of the spring. The finger joint rotates relative to the finger base, and is then connected to the fingertip through one end of the steel rope, and the other end is slidably connected to the nut block. When the proximal finger joint is obstructed and stops rotating, the nut block can overcome the elastic force of the spring to slide in the direction close to the fingertip, so as to drive the fingertip to rotate relative to the proximal finger joint through the steel rope, thereby realizing the synchronous rotation of the fingertip and the proximal finger joint relative to the finger base, and realizing the continued rotation of the fingertip after the proximal finger joint stops rotating. In this way, the motor occupies the space on the finger base, and the screw and nut block occupy the space on the proximal finger joint, which can realize the bending of the finger, so that the cell mechanism can reasonably utilize the installation space on the finger base and the proximal finger joint, so as to solve the problem of the overall size of the finger base being too large due to the concentrated assembly of the cell mechanism on the finger base.

[0014] On the other hand, the present invention also provides a robot arm comprising the aforementioned robot finger.

[0015] This manipulator has all the beneficial effects of the manipulator finger, which will not be described in detail here. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 An exploded view of a robotic finger in an embodiment of the present invention;

[0017] Figure 2 Schematic diagram of the structure of the mechanical finger in an embodiment of the present invention when it is bent by external force;

[0018] Figure 3 Schematic diagram of the structure of the robotic finger in an embodiment of the present invention when it is in an unexcited metamorphic state;

[0019] Figure 4 Schematic diagram of the structure of the robotic finger in an embodiment of the present invention when it is in a fully excited metamorphic state;

[0020] Figure 5 Schematic diagram of the structure of the mechanical finger in the initial state in an embodiment of the present invention.

[0021] Description of reference numerals:

[0022] 1-fingertip; 2-proximal knuckle; 21-cavity; 22-connecting plate; 23-connecting block; 3-torsion spring; 4-finger base; 5-motor; 6-screw; 7-nut block; 71-slide; 8-spring; 9-steel rope; 91-steel ball; 10-guide rod; 11-first guide wheel; 12-second guide wheel. DETAILED DESCRIPTION

[0023] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0024] In the accompanying drawings, the Z-axis represents a vertical position, and the positive direction of the Z-axis (that is, the direction of the arrow on the Z-axis) represents the upper side, and the negative direction of the Z-axis (that is, the direction opposite to the positive direction of the Z-axis) represents the lower side; in the accompanying drawings, the X-axis represents a horizontal position, and the positive direction of the X-axis (that is, the direction of the arrow on the X-axis) represents the right side, and the negative direction of the X-axis (that is, the direction opposite to the positive direction of the X-axis) represents the left side; in the accompanying drawings, the Y-axis represents a front-to-back position, and the positive direction of the Y-axis (that is, the direction of the arrow on the Y-axis) represents the front side, and the negative direction of the Y-axis (that is, the direction opposite to the positive direction of the Y-axis) represents the rear side. It should also be noted that the aforementioned Z-axis, Y-axis, and X-axis are merely for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be understood as limiting the present invention.

[0025] It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, such that the embodiments of the present invention described herein can be practiced in an order other than that illustrated or described herein.

[0026] Combine Figures 1 to 5As shown, the present invention provides a mechanical finger, including a fingertip 1, a proximal knuckle 2, a metamorphic mechanism and a finger base 4. The fingertip 1 is rotatably connected to one end of the proximal knuckle 2 through a rotating shaft, and the end of the proximal knuckle 2 away from the fingertip 1 is rotatably connected to the finger base 4. The metamorphic mechanism includes a motor 5, a lead screw 6, a nut block 7, a spring 8 and a steel rope 9. The motor 5 is installed on the finger base 4 and is driven and connected to one end of the lead screw 6 through a double universal joint. The lead screw 6 is installed on the proximal knuckle 2. The lead screw 6 is located on the outside of the proximal knuckle 2 and is arranged along the axial direction of the proximal knuckle 2, and can rotate around its own axis relative to the proximal knuckle 2. The screw 6 is threadedly connected to the nut block 7, and the nut block 7 is slidingly connected to the proximal knuckle 2 along the axial direction of the proximal knuckle 2. The spring 8 is installed between the nut block 7 and the proximal knuckle 2. One end of the steel rope 9 is connected to the fingertip 1, and the other end is slidingly connected to the nut block 7. The elastic force of the spring 8 is used to prevent the nut block 7 from sliding toward the direction close to the fingertip 1, so that the proximal knuckle 2 rotates relative to the finger base 4, and when the proximal knuckle 2 is hindered to stop rotating, the nut block 7 is also used to overcome the elastic force of the spring 8 to slide toward the direction close to the fingertip 1, so as to drive the fingertip 1 to rotate relative to the proximal knuckle 2 through the steel rope 9.

[0027] Specifically, the fingertip 1 is rotatably connected to the upper end of the proximal phalanx 2 via a rotating shaft, and the end of the proximal phalanx 2 away from the fingertip 1, i.e., the lower end of the proximal phalanx 2, is rotatably connected to the finger base 4. The connection method is the same as the rotational connection method between the fingertip 1 and the proximal phalanx 2, and will not be described in detail here. The motor 5 is mounted on the finger base 4 by means of a snap-on or threaded connection, and the output shaft of the motor 5 is drive-connected to the lower end of the lead screw 6 via a double universal joint, so that the lead screw 6 can rotate around its own axis under the drive of the motor, and can also deflect relative to the output shaft of the motor 5, thereby driving the proximal phalanx 2 to deflect relative to the finger base 4; the lead screw 6 is mounted on the proximal phalanx 2 via a bearing seat and can rotate around its own axis. The lead screw 6 extends axially along the proximal phalanx 2, and a threaded structure is provided on the nut block 7. The lead screw 6 is threadedly connected to the nut block 7, and the nut block 7 is slidably connected to the proximal phalanx 2 along the axial direction of the proximal phalanx 2, thereby, the lead screw 6 is positioned at the finger base 4. On the outside of the proximal knuckle 2, that is, the side away from the palm, therefore, when the nut block 7 is stationary, the rotation of the screw 6 can be converted into the rotation of the proximal knuckle 2 through the threaded connection between the screw 6 and the nut block 7, the upper end of the spring 8 is connected to the upper end of the proximal knuckle 2, and the lower end of the spring 8 is connected to the nut block 7, and the spring 8 presses the nut block 7 against the lower end of the proximal knuckle 2 in a compressed state, that is, under the elastic force of the spring 8, the nut block 7 is "fixed" at the lower end of the proximal knuckle 2, one end of the steel rope 9 is fixedly connected to the lower end of the fingertip 1, and the other end of the steel rope 9 is slidably connected to the nut block 7. The specific transformation process is as follows: Initially (the finger does not grasp an object), as Figure 5As shown, the fingertip 1 and the proximal knuckle 2 are located in the same straight line, and the elastic force of the spring 8 presses the nut block 7 to the lower end of the proximal knuckle 2; when it is necessary to grasp an object, taking the forward rotation of the motor 5 as an example, the motor 5 is started, and the motor 5 drives the screw 6 to rotate through the double universal joint, and the screw 6 has a tendency to drive the nut block 7 to slide toward the fingertip 1, but because the screw 6 is located at the end of the proximal knuckle 2 facing the back of the hand, the proximal knuckle 2 is rotationally connected to the finger base 4, and the elastic force of the spring 8 is hindered. In the circumferential direction of the nut block 7, the elastic force of the spring 8 is opposite to the force of the screw 6 on the nut block 7, so that the nut block 7 has a tendency to rotate toward the palm, and the nut block 7 only slides along the axial direction of the proximal knuckle 2 on the proximal knuckle 2. Therefore, the tendency of the nut block 7 to rotate toward the palm is converted into the rotation of the proximal knuckle 2 toward the palm, that is, the rotation of the proximal knuckle 2 relative to the finger base 4 is realized, so that the proximal knuckle 2 and the screw 6 rotate toward the palm at the same time, as shown Figure 3 When the proximal knuckle 2 contacts an object, as shown in Figure 4 As shown, due to the obstruction of the object, the proximal knuckle 2 will not continue to rotate, while the motor 5 still maintains power output. At this time, the nut block 7 will overcome the elastic force of the spring 8 and slide on the proximal knuckle 2 toward the fingertip 1. Due to the relative movement, the rope end of the steel cable 9 slidingly connected to the nut block 7 slides toward the lower end of the proximal knuckle 2. When the rope end slides downward until it engages with the nut block 7 to form an integral connection, the movement of the nut block 7 toward the fingertip 1 will pull the steel cable 9 through the rope end. The steel cable 9 applies a circumferential force toward the center of the palm to the fingertip 1, thereby achieving deflection of the fingertip 1 toward the center of the palm. The spring 8 can be replaced by a tension spring.

[0028] Therefore, in this embodiment, the motor 5 is installed on the finger base 4 and is driven and connected to one end of the screw 6 through a double universal joint. The screw 6 is installed on the proximal joint 2. The screw 6 is located on the outside of the proximal joint 2 and is arranged along the axial direction of the proximal joint 2, and can rotate around its own axis relative to the proximal joint 2. The power output by the motor 5 can be converted into the rotation of the screw 6 on the proximal joint 2, and is threadedly connected to the nut block 7 through the screw 6. The nut block 7 is slidingly connected to the proximal joint 2 along the axial direction of the proximal joint 2. The spring 8 is installed between the nut block 7 and the proximal joint 2. The elastic force of the spring 8 is used to prevent the nut block 7 from sliding toward the direction close to the fingertip 1. The rotation of the screw 6 can be converted into a force applied to the nut block 7 toward the fingertip 1 through the threaded connection with the nut block 7. Under the action of this force and the elastic force of the spring 8, the proximal joint 2 is able to move relative to the fingertip 1. The finger base 4 rotates and is then connected to the fingertip 1 through one end of the steel rope 9, and the other end is slidably connected to the nut block 7. When the proximal knuckle 2 is obstructed and stops rotating, the nut block 7 can overcome the elastic force of the spring 8 to slide in the direction close to the fingertip 1, so as to drive the fingertip 1 to rotate relative to the proximal knuckle 2 through the steel rope 9, thereby realizing the synchronous rotation of the fingertip 1 and the proximal knuckle 2 relative to the finger base 4, and realizing the continued rotation of the fingertip 1 after the proximal knuckle 2 stops rotating. In this way, the motor 5 occupies the space on the finger base 4, and the screw 6 and the nut block 7 occupy the space on the proximal knuckle 2, which can realize the bending of the finger, so that the cell-changing mechanism can reasonably utilize the installation space on the finger base 4 and the proximal knuckle 2, so as to solve the problem of the overall size of the finger base 4 being too large due to the concentrated assembly of the cell-changing mechanism on the finger base 4.

[0029] Optionally, combined Figures 1 to 3 As shown, the mechanical finger also includes a torsion spring 3, which is mounted on the rotating shaft, and one connecting foot of the torsion spring 3 is clamped with the fingertip 1, and the other connecting foot is clamped with the proximal joint 2. The torsion spring 3 is used to prevent the fingertip 1 from rotating relative to the proximal joint 2.

[0030] Specifically, the lower end of the fingertip 1 and the upper end of the proximal phalanx 2 are respectively provided with connecting holes, and a rotating shaft is installed in the connecting hole. The two ends of the rotating shaft are connected to the upper end of the proximal phalanx 2 through bearings, so that the fingertip 1 can rotate relative to the proximal phalanx 2, and the lower end of the fingertip 1 is provided with a first mounting groove, and the upper end of the proximal phalanx 2 is provided with a second mounting groove. The torsion spring 3 is sleeved on the rotating shaft, and one connecting leg of the torsion spring 3 is engaged with the first mounting groove, and the other connecting leg of the torsion spring 3 is engaged with the second mounting groove to achieve the fixation of the torsion spring 3. When the fingertip 1 is subjected to external force, such as Figure 4As shown, under the action of an external force, the fingertip 1 rotates relative to the proximal phalanx 2. During the rotation of the fingertip 1, the elastic torque of the torsion spring 3 increases. When the external force is removed, the fingertip 1 can return to its original position under the action of the torsion spring 3. In addition, when the fingertip 1 needs to return after grasping an object, the motor 5 reverses, the nut block 7 slides downward, and the torsion spring 3 on the fingertip 1 drives the fingertip 1 to return. The torsion spring 3 keeps the steel rope 9 straight. When the fingertip 1 returns to its original position, the elastic force of the spring 8 once again makes the nut block 7 and the proximal phalanx 2 form a whole, thereby realizing the recovery of the proximal phalanx 2 and completing the metamorphosis process of the robotic finger.

[0031] In this way, the torsion spring 3 is sleeved on the rotating shaft, and one connecting leg of the torsion spring 3 is clamped with the fingertip 1, and the other connecting leg is clamped with the proximal joint 2. The torsion spring 3 is used to prevent the fingertip 1 from rotating relative to the proximal joint 2, so that the rotation of the fingertip 1 relative to the proximal joint 2 can be converted into an increase in the elastic torque of the torsion spring 3. In this way, when the fingertip 1 is subjected to an external collision, it can be passively bent, and after the collision disappears, the fingertip 1 can automatically reset, thereby realizing the protection function.

[0032] Optionally, combined Figure 1 As shown, a cavity 21 is provided inside the proximal phalanx 2, the cavity 21 extends along the axial direction of the proximal phalanx 2 and penetrates the proximal phalanx 2 along the rotation direction of the proximal phalanx 2, one end of the nut block 7 is located in the cavity 21, and the other end extends from the cavity 21 to be connected to the lead screw 6 through a thread, the spring 8 is located in the cavity 21, one end of the spring 8 is connected to the end of the cavity 21 close to the fingertip 1, and the other end is connected to the nut block 7, and the nut block 7 is pressed against the end of the cavity 21 close to the finger base 4 in a compressed state.

[0033] Specifically, the cavity 21 extends along the axial direction of the proximal phalanx 2 (which can be understood as the Z-axis direction) and penetrates the proximal phalanx 2 along the rotational direction of the proximal phalanx 2 (which can be understood as the Y-axis direction). The cavity 21 includes an upper end near the fingertip 1 and a lower end near the finger base 4. The nut block 7 and the spring 8 are both located between the upper and lower ends of the cavity 21, and the spring 8 is located between the nut block 7 and the upper end and is connected to the nut block 7 and the upper end of the cavity 21 in a pre-compressed state, respectively, to press the nut block 7 against the lower end of the cavity 21. The nut block 7 is provided with an extension portion, which extends from the cavity 21 to be threadedly connected to the lead screw 6.

[0034] In this way, the cavity 21 is utilized to extend along the axial direction of the proximal joint 2 and penetrate the proximal joint 2 along the rotation direction of the proximal joint 2. One end of the nut block 7 is located in the cavity 21, and the other end extends from the cavity 21 to be connected to the screw 6 through a thread. The spring 8 is located in the cavity 21, and one end of the spring 8 is connected to the end of the cavity 21 close to the fingertip 1, and the other end is connected to the nut block 7, and the nut block 7 is pressed against the end of the cavity 21 close to the finger base 4 in a compressed state. In this way, the spring 8 and the nut block 7 can make full use of the space inside the proximal joint 2, thereby reducing the occupation of the external space of the proximal joint 2, so as to avoid the size of the proximal joint 2 from increasing, so as to reduce the size of the proximal joint 2.

[0035] Optionally, combined Figure 1 As shown, the robotic finger also includes a guide rod 10, which is located in the cavity 21 and is respectively connected to the two ends of the cavity 21 in the axial direction. The spring 8 is sleeved on the guide rod 10, and the nut block 7 is sleeved on the guide rod 10 and is slidably connected to the guide rod 10.

[0036] Specifically, in combination with the above, the guide rod 10 extends axially along the proximal knuckle 2 and is connected to the upper and lower ends of the cavity 21 respectively. The spring 8 and the nut block 7 are both sleeved on the guide rod 10 , and the nut block 7 slides along the guide rod 10 in the cavity 21 .

[0037] In this way, by locating the guide rod 10 in the cavity 21 and connecting it to the two ends of the cavity 21 in the axial direction, the spring 8 is sleeved on the guide rod 10, and the nut block 7 is sleeved on the guide rod 10 and slidably connected to the guide rod 10. In this way, the guide rod 10 can simultaneously guide the extension and contraction of the spring 8 and the sliding of the nut block 7, thereby improving the movement stability of the nut block 7 and the spring 8.

[0038] Optionally, combined Figure 1 As shown, two guide rods 10 are provided in parallel, a spring 8 is provided on each of the two guide rods 10 , and the nut blocks 7 are slidably connected to the two guide rods 10 .

[0039] Specifically, two guide rods 10 are arranged side by side, each equipped with a spring 8. Both springs 8 press the nut block 7 against the lower end of the cavity 21 in a pre-compressed state. Thus, by having two parallel guide rods 10, each equipped with a spring 8, and the nut block 7 slidingly connected to each of the two guide rods 10, the two springs 8 can be compressed or extended simultaneously, thereby relatively increasing the stiffness of the spring 8, exponentially expanding the range of spring 8 stiffness options and increasing the application range of the metamorphic mechanism. The guide rods 10 can be replaced with a structure that can achieve linear motion, such as a linear slide.

[0040] Optionally, combined Figure 1As shown, a first guide wheel 11 is provided on the fingertip 1, and a second guide wheel 12 is provided on the proximal knuckle 2. One end of the steel rope 9 passes through the guide groove on the first guide wheel 11 and is connected to the fingertip 1, and the other end of the steel rope 9 passes through the guide groove on the second guide wheel 12 and is slidably connected to the nut block 7.

[0041] Specifically, the first guide wheel 11 and the second guide wheel 12 are respectively installed on the fingertip 1 and the proximal knuckle 2 by screws. The first guide wheel 11 can rotate synchronously with the fingertip 1, and the second guide wheel 12 can rotate synchronously with the proximal knuckle 2. The upper end of the steel rope 9 passes through the guide groove on the first guide wheel 11 and is connected to the fingertip 1, and the lower end of the steel rope 9 passes through the guide groove on the second guide wheel 12 and is slidably connected to the nut block 7.

[0042] In this way, one end of the steel rope 9 passes around the guide groove on the first guide wheel 11 and is connected to the fingertip 1, and the other end of the steel rope 9 passes around the guide groove on the second guide wheel 12 and is slidably connected to the nut block 7. The first guide wheel 11 is connected to the fingertip 1, and the second guide wheel 12 is connected to the proximal finger joint 2. In this way, during the movement of the steel rope 9, the first guide wheel 11 and the second guide wheel 12 can ensure the movement accuracy of the steel rope 9 to ensure the movement stability of the steel rope 9 to avoid jamming of the steel rope 9.

[0043] Optionally, combined Figure 1 As shown, a slide groove 71 is provided on the nut block 7, and the extension direction of the slide groove 71 is consistent with the axial direction of the screw 6. A steel ball 91 is provided at the rope end of the steel rope 9, and the steel ball 91 is slidably connected to the slide groove 71. When the nut block 7 slides to the set position toward the direction close to the fingertip 1, the steel ball 91 and the end of the slide groove 71 close to the finger base 4 are abutted.

[0044] Specifically, in combination with the above, the nut block 7 is provided with a chute 71, which extends in the vertical direction. The set position refers to the position of the nut block 7 when the lower end of the chute 71 can abut against the steel rope 9, the steel ball 91 is located in the chute 71, and the steel rope 9 passes through the lower end of the chute 71 and connects with the steel ball 91.

[0045] In this way, a steel ball 91 is provided at the rope end of the steel rope 9, and the steel ball 91 is slidably connected to the slide groove 71. The extension direction of the slide groove 71 is consistent with the axial direction of the screw 6. When the nut block 7 slides to the set position toward the fingertip 1, the steel ball 91 and the end of the slide groove 71 close to the finger base 4 are abutted. In this way, the steel ball 91 can replace the steel rope 9 and slide directly in the slide groove 71, thereby improving the movement efficiency of the steel rope 9.

[0046] Optionally, combined Figure 1As shown, the proximal phalanx 2 includes two parallel connecting plates 22 and two connecting blocks 23 located between the two connecting plates 22. The two connecting blocks 23 are respectively connected to the axial ends of the two connecting plates 22, and are respectively rotatably connected to the fingertip 1 and the finger base 4. The space enclosed by the two connecting blocks 23 and the two connecting plates 22 is a cavity 21. The connecting plate 22 is provided with a weight-reducing hole, which is connected to the cavity 21.

[0047] Specifically, the two connecting plates 22 are parallel, and the two connecting blocks 23 are located between the two connecting plates 22 and are respectively connected to the two connecting plates 22 by screws. The space enclosed by the two connecting blocks 23 and the two connecting plates 22 forms a cavity 21. The two connecting blocks 23 are respectively rotatably connected to the fingertip 1 and the finger base 4. The two connecting plates 23 are respectively provided with weight-reducing holes, which are connected to the cavity 21 to facilitate observation of the expansion and contraction of the spring 8. In this way, by connecting the two connecting blocks 23 to the axial ends of the two connecting plates 22, respectively, and being rotatably connected to the fingertip 1 and the finger base 4, the space enclosed by the two connecting blocks 23 and the two connecting plates 22 forms a cavity 21, and the connecting plates 22 are provided with weight-reducing holes, which are connected to the cavity 21, not only can the proximal phalanx 2 be simplified, but the expansion and contraction of the spring 8 can also be judged through the weight-reducing holes, so that the spring 8 can be repaired or replaced in a timely manner, thereby improving the convenience of use of the proximal phalanx 2.

[0048] Optionally, the fingertip 1 includes a gripping end for contacting an object, and a non-slip pad is provided on the gripping end of the fingertip 1. In this way, the gripping stability of the fingertip 1 can be improved by providing the non-slip pad on the gripping end of the fingertip 1.

[0049] On the other hand, the present invention also provides a robot arm comprising the aforementioned robot finger.

[0050] This manipulator has all the beneficial effects of the manipulator finger, which will not be described in detail here.

[0051] Although the present disclosure is disclosed as above, the protection scope of the present disclosure is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the present disclosure, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. A mechanical finger, characterized in that: The present invention comprises a fingertip (1), a proximal finger joint (2), a cell-changing mechanism and a finger base (4), wherein the fingertip (1) is rotatably connected to one end of the proximal finger joint (2) via a rotating shaft, and the end of the proximal finger joint (2) away from the fingertip (1) is rotatably connected to the finger base (4), and the cell-changing mechanism comprises a motor (5), a lead screw (6), a nut block (7), a spring (8) and a steel rope (9), wherein the motor (5) is mounted on the finger base (4) and is driven and connected to one end of the lead screw (6) via a double universal joint, and the lead screw (6) is mounted on the proximal finger joint (2), and the lead screw (6) is located on the outside of the proximal finger joint (2) and is arranged along the axial direction of the proximal finger joint (2), and can rotate around its own axis relative to the proximal finger joint (2), and the lead screw (6) and the nut block ( 7) is threadedly connected, the nut block (7) is slidably connected to the proximal finger joint (2) along the axial direction of the proximal finger joint (2), the spring (8) is installed between the nut block (7) and the proximal finger joint (2), one end of the steel rope (9) is connected to the finger tip (1), and the other end is slidably connected to the nut block (7), the elastic force of the spring (8) is used to prevent the nut block (7) from sliding in the direction close to the finger tip (1), so that the proximal finger joint (2) rotates relative to the finger base (4), and when the proximal finger joint (2) is hindered to stop rotating, the nut block (7) is also used to overcome the elastic force of the spring (8) to slide in the direction close to the finger tip (1), so as to drive the finger tip (1) to rotate relative to the proximal finger joint (2) through the steel rope (9).

2. The mechanical finger according to claim 1, characterized in that: The invention also includes a torsion spring (3), which is sleeved on the rotating shaft, and one connecting leg of the torsion spring (3) is engaged with the fingertip (1), and the other connecting leg is engaged with the proximal phalanx (2). The torsion spring (3) is used to prevent the fingertip (1) from rotating relative to the proximal phalanx (2).

3. The mechanical finger according to claim 2, characterized in that: A cavity (21) is provided inside the proximal phalanx (2), and the cavity (21) extends along the axial direction of the proximal phalanx (2) and penetrates the proximal phalanx (2) along the rotation direction of the proximal phalanx (2). One end of the nut block (7) is located in the cavity (21), and the other end extends from the cavity (21) to be threadedly connected to the lead screw (6). The spring (8) is located in the cavity (21), and one end of the spring (8) is connected to one end of the cavity (21) close to the fingertip (1), and the other end is connected to the nut block (7), and the nut block (7) is pressed against one end of the cavity (21) close to the finger base (4) in a compressed state.

4. The mechanical finger according to claim 3, characterized in that: The invention also includes a guide rod (10), wherein the guide rod (10) is located in the cavity (21) and is respectively connected to the two ends of the cavity (21) in the axial direction. The spring (8) is sleeved on the guide rod (10), and the nut block (7) is sleeved on the guide rod (10) and is slidably connected to the guide rod (10).

5. The mechanical finger according to claim 4, characterized in that: Two guide rods (10) are arranged in parallel, the springs (8) are respectively arranged on the two guide rods (10), and the nut blocks (7) are respectively slidably connected to the two guide rods (10).

6. The mechanical finger according to claim 2, characterized in that: A first guide wheel (11) is provided on the fingertip (1), and a second guide wheel (12) is provided on the proximal finger joint (2). One end of the steel rope (9) passes through the guide groove on the first guide wheel (11) and is connected to the fingertip (1), and the other end of the steel rope (9) passes through the guide groove on the second guide wheel (12) and is slidably connected to the nut block (7).

7. The robotic finger according to claim 2, characterized in that: The nut block (7) is provided with a slide groove (71), the extension direction of the slide groove (71) is consistent with the axial direction of the lead screw (6), the rope end of the steel rope (9) is provided with a steel ball (91), and the steel ball (91) is slidably connected to the slide groove (71). When the nut block (7) slides to a set position in a direction close to the fingertip (1), the steel ball (91) and the end of the slide groove (71) close to the finger base (4) are abutted.

8. The mechanical finger according to claim 3, characterized in that: The proximal phalanx (2) includes two parallel connecting plates (22) and two connecting blocks (23) located between the two connecting plates (22). The two connecting blocks (23) are respectively connected to the axial ends of the two connecting plates (22) and are respectively rotatably connected to the fingertip (1) and the finger base (4). The space enclosed by the two connecting blocks (23) and the two connecting plates (22) is the cavity (21). A weight-reducing hole is provided on the connecting plate (22), and the weight-reducing hole is communicated with the cavity (21).

9. The mechanical finger according to claim 1, characterized in that: The fingertip (1) comprises a gripping end for contacting an object, and an anti-slip pad is provided on the gripping end.

10. A robot, characterized in that: Comprising the mechanical finger as described in any one of claims 1-9.

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