Fingers, robotic arms and robots

Abstract

The present invention discloses a finger, a manipulator and a robot. The finger includes: a first limb; a rotating body, which is rotatably arranged on the first limb; a first driving structure, which is arranged on the first limb and is used to drive the rotating body to rotate; a second limb, which is rotatably arranged on the first limb; a contact part and a non-contact part are arranged on the rotating body, the contact part is used to contact the second limb, and the non-contact part does not contact the second limb; after the rotating body rotates and the contact part contacts the second limb, the second limb is pushed to rotate. The rotating body is arranged on the first limb, and the rotating body forms a contact part and a non-contact part. When the contact part contacts the second limb, the second limb can be pushed to rotate. When the second limb is subjected to an external force, the second limb rotates and disengages from the contact part, so that the second limb rotates to the non-contact part. The rotation of the second limb will not drive the rotating body to rotate. The first limb and the second limb are subjected to an external force to form a curled state, and will not affect or damage the rotating body and the first driving structure.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to a finger, a robotic hand and a robot. Background Art

[0002] With the development of robot technology, robots are widely used, and the application environment of robots is becoming more and more complex. For example, robots and their limbs are prone to accidentally bump into other objects during use. In the prior art, robots and their limbs cannot prevent collisions with other objects and are easily damaged by collisions with other objects. For example, in the patent document with publication number CN116985167A, two gears are meshed to realize the rotation of fingers. When the finger is accidentally bumped and rotated, it is difficult to drive the two gears and the worm to rotate together, and the finger or the gear is easily damaged.

[0003] Therefore, the prior art still needs to be improved and developed. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a finger, a robotic arm and a robot in view of the above-mentioned defects of the prior art, aiming to solve the problem that the fingers in the prior art cannot prevent collision with other objects and are easily damaged by collision with other objects.

[0005] The technical solution adopted by the present invention to solve the technical problem is as follows:

[0006] A finger, comprising:

[0007] first limb;

[0008] a rotating body, rotatably disposed on the first limb;

[0009] A first driving structure, disposed on the first limb and used to drive the rotating body to rotate;

[0010] a second limb, rotatably disposed on the first limb;

[0011] Wherein, the rotating body is provided with a contact portion and a non-contact portion, the contact portion is used to contact with the second limb, and the non-contact portion does not contact with the second limb;

[0012] After the rotating body rotates and the contact portion contacts the second limb, the second limb is pushed to rotate.

[0013] The finger, wherein the finger further comprises:

[0014] a torque sensor, used to detect the torque of the rotating body or the first driving structure;

[0015] A controller is electrically connected to the torque sensor and the first driving structure respectively.

[0016] The finger, wherein the finger further comprises:

[0017] a base, movably connected to the first limb;

[0018] A driving mechanism group, wherein the driving mechanism group is arranged on the base;

[0019] Wherein, the driving mechanism group is movably connected to the first limb and is used to drive the first limb to move relative to the base;

[0020] The driving mechanism group is electrically connected to the controller.

[0021] The finger, wherein the drive mechanism group includes: at least one second drive mechanism, the second drive mechanism includes:

[0022] A sliding body, slidably disposed on the base;

[0023] A clutch body, separated from or combined with the sliding body;

[0024] A second elastic member, two ends of which are respectively connected to the sliding body and the base;

[0025] A second driving structure, disposed on the base and used to drive the clutch body to move;

[0026] Wherein, the sliding body is movably connected to the first limb;

[0027] The second elastic member is used to provide elastic force for combining the sliding body and the clutch body.

[0028] The finger, wherein a receiving groove is formed on the sliding body for receiving the clutch body.

[0029] The finger, wherein the clutch body is provided with a screw hole; the bottom of the receiving groove is provided with a through hole;

[0030] The second driving structure comprises:

[0031] A screw rod, connected to the screw hole by threading;

[0032] A second driver, used for driving the screw to rotate;

[0033] Wherein, the through hole is for the screw to pass through.

[0034] The finger, wherein the base is provided with a guide rail, the guide rail is provided with a slider, and the slider is connected to the sliding body; and / or

[0035] The sliding body is movably connected to the first limb via a ball-end pull rod; and / or

[0036] A rotating frame is rotatably arranged on the base, and the rotating frame is rotatably connected to the first limb.

[0037] The finger, wherein the rotating body is provided with a worm gear portion, and the worm gear portion is provided with a plurality of worm teeth; the first driving structure comprises:

[0038] a worm gear meshing with the worm gear;

[0039] A first driver, used for driving the worm to rotate; and / or

[0040] The finger also includes:

[0041] a third limb, rotatably disposed on the second limb;

[0042] A connecting rod, two ends of which are respectively connected to the first limb and the third limb;

[0043] A first elastic member, disposed on the third limb;

[0044] Wherein, the first elastic member is used to provide elastic force for stretching the second limb and the third limb.

[0045] A robotic arm, comprising: a finger as described in any one of the above items.

[0046] A robot, comprising: a finger as described in any one of the above, or a robotic hand as described above.

[0047] Beneficial effect: The rotating body is arranged on the first limb, and the rotating body forms a contact part and a non-contact part. When the contact part contacts the second limb, the second limb can be driven to rotate. When the second limb is subjected to external force, the second limb rotates and disengages from the contact part, so that the second limb rotates to the non-contact part. The rotation of the second limb will not drive the rotating body to rotate. The first limb and the second limb are subjected to external force to be in a curled state, and will not affect or damage the rotating body and the first driving structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 Schematic diagram of the structure of the finger in the embodiment of the present invention.

[0049] Figure 2 It is a cross-sectional view of the first limb, the second limb and the third limb in an embodiment of the present invention.

[0050] Figure 3 Schematic diagram of the structure of the second driving mechanism in an embodiment of the present invention.

[0051] Figure 44 is a side view of the second driving mechanism in the embodiment of the present invention.

[0052] Figure 5 is a cross-sectional view of the second driving mechanism in an embodiment of the present invention.

[0053] Figure 6 It is an exploded view of the sliding body, the clutch body and the second driving structure in the embodiment of the present invention.

[0054] Figure 7 It is a cross-sectional view of the first limb, the second limb and the third limb in a curled state in an embodiment of the present invention.

[0055] Figure 8 1 is a side view of a finger curled in an embodiment of the present invention.

[0056] Fig. 9 It is a side view of a finger being accidentally touched in an embodiment of the present invention.

[0057] Fig.10 It is a side view of a finger rotating in an embodiment of the present invention.

[0058] Description of reference numerals:

[0059] 10. first limb; 20. rotating body; 21. contact portion; 22. non-contact portion; 23. worm gear portion; 30. first driving structure; 31. worm; 32. first driver; 40. second limb; 50. base; 51. guide rail; 52. slider; 60. second driving mechanism; 61. sliding body; 611. receiving groove; 62. clutch body; 621. screw hole; 63. second elastic member; 64. second driving structure; 641. screw; 642. second driver; 71. ball head pull rod; 72. rotating frame; 80. third limb; 91. first elastic member; 92. connecting rod. DETAILED DESCRIPTION

[0060] In order to make the purpose, technical solution and advantages of the present invention clearer and more specific, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0061] Please also see Figure 1-Figure 10 , the present invention provides some embodiments of a finger.

[0062] like Figure 1-Figure 2 As shown, the finger of the present invention comprises:

[0063] First limb 10;

[0064] A rotating body 20, rotatably disposed on the first limb 10;

[0065] A first driving structure 30 is disposed on the first limb 10 and is used to drive the rotating body 20 to rotate;

[0066] A second limb 40, rotatably disposed on the first limb 10;

[0067] Among them, the rotating body 20 is provided with a contact part 21 and a non-contact part 22, the contact part 21 is used to contact the second limb 40, and the non-contact part 22 does not contact the second limb 40; after the rotating body 20 rotates and the contact part 21 contacts the second limb 40, it pushes the second limb 40 to rotate.

[0068] Specifically, the finger can be bent after being subjected to an external force, so that the finger has a flexible structure, which is conducive to preventing the finger from being accidentally touched and avoiding finger injuries. The finger of the present application forms a flexible structure, which has an anti-accidental touch function and can reduce finger injuries. Specifically, the rotating body 20 is arranged on the first limb 10, and the rotating body 20 forms a contact portion 21 and a non-contact portion 22. When the contact portion 21 contacts the second limb 40, it can push the second limb 40 to rotate. When the second limb 40 is subjected to an external force, the second limb 40 rotates and disengages from the contact portion 21, so that the second limb 40 rotates to the non-contact portion 22. The rotation of the second limb 40 will not drive the rotating body 20 to rotate. The first limb 10 and the second limb 40 are subjected to external force to form a curled state, and will not affect or damage the rotating body 20 and the first driving structure 30.

[0069] The first limb 10 and the second limb 40 can be in a curled state or an extended state. The first limb 10 and the second limb 40 are connected by rotation, and the rotation direction of the second limb 40 is divided into a curling direction and an extended direction. In the extended state, when the second limb 40 rotates in the curling direction, the first limb 10 and the second limb 40 change from the extended state to the curled state; in the curled state, when the second limb 40 rotates in the extended direction, the first limb 10 and the second limb 40 change from the curled state to the extended state. In the extended state, the contact part 21 of the rotating body 20 contacts the second limb 40. When the first driving structure 30 drives the rotating body 20 to rotate in the curling direction and pushes the second limb 40 to rotate in the curling direction, the curling of the first limb 10 and the second limb 40 is realized. In the extended state, the second limb 40 rotates in the curling direction under the external force, the second limb 40 and the rotating body 20 are out of contact, and the second limb 40 rotates to the corresponding position of the non-contact part 22 (there is a gap between the second limb 40 and the non-contact part 22, and the two are not in contact), and the first limb 10 and the second limb 40 become curled. After the external force disappears, the second limb 40 can rotate along the extension direction and contact the contact portion 21 again, so that the first driving structure 30 can drive the rotating body 20 to rotate again and drive the second limb 40 to rotate.

[0070] In a preferred implementation of the embodiment of the present invention, the finger further includes:

[0071] A torque sensor, used to detect the torque of the rotating body 20 or the first driving structure 30;

[0072] The controller is electrically connected to the torque sensor and the first driving structure 30 respectively.

[0073] Specifically, the torque sensor can be provided on the output shaft of the rotating body 20 or the first driving structure 30, and the controller is used to obtain the torque collected by the torque sensor and control the first driving structure 30. When the contact portion 21 of the rotating body 20 contacts the second limb 40, the torque collected by the torque sensor is relatively large; when the contact portion 21 of the rotating body 20 does not contact the second limb 40, the torque collected by the torque sensor is relatively small. The contact state between the contact portion 21 of the rotating body 20 and the second limb 40 is determined by the magnitude of the torque collected by the torque sensor, and thus whether the limb is subjected to external force and accidental collision occurs.

[0074] In a preferred implementation of the embodiment of the present invention, Figure 1 and Figure 3 As shown, the finger also includes:

[0075] A base 50 movably connected to the first limb 10;

[0076] A driving mechanism group, wherein the driving mechanism group is disposed on the base 50;

[0077] The driving mechanism group is movably connected to the first limb 10 and is used to drive the first limb 10 to move relative to the base 50; the driving mechanism group is electrically connected to the controller.

[0078] Specifically, the base 50 is located on a side of the first limb 10 away from the second limb 40, the base 50 is movably connected to the first limb 10, and the driving mechanism group is used to drive the first limb 10 to move relative to the base 50, so that the first limb 10 and the second limb 40 move together. The controller controls the driving mechanism group.

[0079] In a preferred implementation of the embodiment of the present invention, Figure 1-Figure 3 As shown, the driving mechanism group includes: at least one second driving mechanism 60, and the second driving mechanism 60 includes:

[0080] A sliding body 61 is slidably disposed on the base 50;

[0081] The clutch body 62 is separated from or combined with the sliding body 61;

[0082] A second driving structure 64 is disposed on the base 50 and is used to drive the clutch body 62 to move;

[0083] The sliding body 61 is movably connected to the first limb 10 .

[0084] Specifically, the second limb 40 has an anti-accidental collision function relative to the first limb 10, which is achieved by the contact portion 21 of the rotating body 20 and the second limb 40. The first limb 10 also has an anti-accidental collision function relative to the base 50, which is achieved by the sliding body 61 and the clutch body 62. The sliding body 61 slides relative to the base 50, and the clutch body 62 can be separated or combined with the sliding body 61. The clutch body 62 is connected to the second driving structure 64, and the second driving structure 64 drives the movement of the clutch body 62, and the movement of the clutch body 62 is controlled by the second driving structure 64. Fig. 9 As shown, since the sliding body 61 and the clutch body 62 can be separated, the sliding of the sliding body 61 is not completely controlled by the second driving structure 64. When the sliding body 61 and the clutch body 62 are separated, the sliding body 61 slides freely and does not affect the second driving structure 64; Figure 8 As shown, when the sliding body 61 and the clutch body 62 are combined, the second driving structure 64 can drive the clutch body 62 and the sliding body 61 to move together.

[0085] When the first limb 10 is rotated in the curling direction by an external force, the first limb 10 pushes the sliding body 61 to slide, and the sliding body 61 is separated from the clutch body 62. The sliding of the sliding body 61 does not affect or damage the clutch body 62 and the second driving structure 64. The first limb 10 and the base 50 are in a curled state.

[0086] The second driving structure 64 is used to drive the clutch body 62 to move. When the sliding body 61 and the clutch body 62 are combined, the second driving structure 64 drives the clutch body 62 to move, and the sliding body 61 slides together, and drives the first limb 10 to move. The first limb 10 can specifically rotate in the curling direction or in the stretching direction. When more than two second driving mechanisms 60 are used, the first limb 10 can also rotate left and right.

[0087] In a preferred implementation of the embodiment of the present invention, Figure 3 , Figure 4 as well as Figure 5 As shown, the second driving mechanism 60 includes:

[0088] The second elastic member 63 has two ends connected to the sliding body 61 and the base 50 respectively;

[0089] The second elastic member 63 is used to provide elastic force for combining the sliding body 61 and the clutch body 62 .

[0090] Specifically, when the first limb 10 is subjected to an external force and rotates in the curling direction, the second elastic member 63 is deformed. After the external force disappears, under the action of the second elastic member 63, the first limb 10 rotates in the stretching direction, and the first limb 10 and the base 50 are in an extended state.

[0091] In a preferred implementation of the embodiment of the present invention, Figure 5-Figure 6 As shown, a receiving groove 611 is formed on the sliding body 61 for receiving the clutch body 62 .

[0092] Specifically, a receiving groove 611 is formed on the sliding body 61, and the receiving groove 611 is used to receive the clutch body 62. The clutch body 62 is located in the receiving groove 611, and the sliding body 61 is combined with the clutch body 62. When the second driving structure 64 drives the clutch body 62 to move, it will drive the sliding body 61 to slide; the clutch body 62 is not located in the receiving groove 611, and the sliding body 61 is separated from the clutch body 62. After the second driving structure 64 is started, it will not drive the sliding body 61 to slide. The clutch body 62 cannot rotate in the receiving groove 611. For example, the receiving groove 611 can be non-cylindrical or non-conical. When the clutch body 62 moves, the sliding body 61 slides with it.

[0093] In a preferred implementation of the embodiment of the present invention, Figure 5-Figure 6 As shown, the clutch body 62 is provided with a screw hole 621; the bottom of the receiving groove 611 is provided with a through hole; the second driving structure 64 includes:

[0094] The screw rod 641 is threadedly connected to the screw hole 621;

[0095] A second driver 642, used for driving the screw rod 641 to rotate;

[0096] The through hole is used for the screw rod 641 to pass through.

[0097] Specifically, the clutch body 62 is provided with a screw hole 621, and is threadedly connected with the screw rod 641, and the second driver 642 is used to drive the screw rod 641 to rotate. When the clutch body 62 is located in the receiving groove 611, the second driver 642 drives the screw rod 641 to rotate, and the clutch body 62 and the sliding body 61 do not rotate with the screw rod 641, but the clutch body 62 and the sliding body 61 slide (or move) together, thereby driving the first limb 10 to move.

[0098] In a preferred implementation of the embodiment of the present invention, Figure 4-Figure 5 As shown, a guide rail 51 is disposed on the base 50 , a slider 52 is disposed on the guide rail 51 , and the slider 52 is connected to the sliding body 61 .

[0099] Specifically, in order to limit the sliding trajectory of the sliding body 61, a guide rail 51 and a slider 52 are provided on the base 50. The guide rail 51 guides the sliding of the slider 52. The sliding body 61 is connected to the slider 52. The guide rail 51 and the slider 52 limit the sliding of the sliding body 61 along the straight line where the guide rail 51 is located.

[0100] In a preferred implementation of the embodiment of the present invention, Figure 3 and Fig.10 As shown, the sliding body 61 is movably connected to the first limb 10 via a ball head pull rod 71 ; a rotating frame 72 is rotatably provided on the base 50 , and the rotating frame 72 is rotatably connected to the first limb 10 .

[0101] Specifically, two ends of the ball-end tie rod 71 are respectively connected to the sliding body 61 and the first limb 10 . The ball-end tie rod 71 has a high degree of freedom of movement, thereby realizing a movable connection between the sliding body 61 and the first limb 10 .

[0102] In a preferred implementation of the embodiment of the present invention, Figure 2 and Figure 7 As shown, the rotating body 20 is provided with a worm gear portion 23, and the worm gear portion 23 is provided with a plurality of worm teeth; the first driving structure 30 includes:

[0103] a worm 31, meshing with the worm gear;

[0104] The first driver 32 is used to drive the worm 31 to rotate.

[0105] Specifically, a worm gear portion 23 is formed on the rotating member, and the worm gear portion 23 is located in an area outside the contact portion 21 and the non-contact portion 22 on the rotating member. The worm gear portion 23 has a plurality of worm teeth, and the worm 31 is meshed with the worm teeth. The first driver 32 is used to drive the worm 31 to rotate, and when the worm 31 rotates, the rotating member is driven to rotate. The rotation direction of the worm 31 is perpendicular to the rotation direction of the rotating member.

[0106] In a preferred implementation of the embodiment of the present invention, Figure 2 and Figure 7 As shown, the finger also includes:

[0107] A third limb 80, rotatably disposed on the second limb 40;

[0108] A connecting rod 92, two ends of which are respectively connected to the first limb 10 and the third limb 80;

[0109] A first elastic member 91, disposed on the third limb 80;

[0110] The first elastic member 91 is used to provide elastic force for the second limb 40 and the third limb 80 to stretch.

[0111] Specifically, the third limb 80 is rotatably connected to the second limb 40, and the two ends of the connecting rod 92 are rotatably connected to the first limb 10 and the third limb 80 respectively, and the third limb 80 is located on the side of the second limb 40 away from the first limb 10. When the first driving structure 30 drives the rotating body 20 to rotate and pushes the second limb 40 to rotate relative to the first limb 10, under the action of the connecting rod 92, the third limb 80 also rotates relative to the second limb 40, so that the entire limb is bent. The first elastic member 91 provides elastic force for stretching for the second limb 40 and the third limb 80. When the first driving structure 30 drives the rotating body 20 to rotate from the initial position to achieve limb bending, the first elastic member 91 is deformed. When the first driving structure 30 reversely drives the rotating member to return to the initial position, under the action of the first elastic member 91, the second limb 40 and the third limb 80 rotate along the stretching direction, so that the entire finger is stretched.

[0112] Based on the finger described in any of the above embodiments, the present invention also provides a preferred embodiment of a robot hand:

[0113] The robot hand according to the embodiment of the present invention includes: the finger as described above.

[0114] Based on the finger or robot hand described in any of the above embodiments, the present invention also provides a preferred embodiment of a robot:

[0115] The robot according to the embodiment of the present invention includes: the finger as described above or the robotic hand as described above.

[0116] It should be understood that the application of the present invention is not limited to the above examples. For ordinary technicians in this field, improvements or changes can be made based on the above description. All these improvements and changes should fall within the scope of protection of the claims attached to the present invention.

Claims

1. A finger, characterized in that: include: first limb; a rotating body, rotatably disposed on the first limb; A first driving structure, disposed on the first limb and used to drive the rotating body to rotate; a second limb, rotatably disposed on the first limb; Wherein, the rotating body is provided with a contact portion and a non-contact portion, the contact portion is used to contact with the second limb, and the non-contact portion does not contact with the second limb; After the rotating body rotates and the contact portion contacts the second limb, the second limb is pushed to rotate; The finger also includes: a torque sensor, used to detect the torque of the rotating body or the first driving structure; A controller is electrically connected to the torque sensor and the first driving structure respectively; and determines the contact state between the contact portion of the rotating body and the second limb according to the torque value collected by the torque sensor; The finger also includes: a base, movably connected to the first limb; A driving mechanism group, wherein the driving mechanism group is arranged on the base; Wherein, the driving mechanism group is movably connected to the first limb and is used to drive the first limb to move relative to the base; The driving mechanism group is electrically connected to the controller; The driving mechanism group includes: at least one second driving mechanism, and the second driving mechanism includes: A sliding body, slidably disposed on the base; A clutch body, separated from or combined with the sliding body; A second elastic member, two ends of which are respectively connected to the sliding body and the base; A second driving structure, disposed on the base and used to drive the clutch body to move; Wherein, the sliding body is movably connected to the first limb; The second elastic member is used to provide elastic force for the combination of the sliding body and the clutch body; An accommodating groove is formed on the sliding body for accommodating the clutch body.

2. The finger according to claim 1, characterized in that: The clutch body is provided with a screw hole; the bottom of the receiving groove is provided with a through hole; The second driving structure comprises: A screw rod, connected to the screw hole by threading; A second driver, used for driving the screw to rotate; Wherein, the through hole is for the screw to pass through.

3. The finger according to claim 1, characterized in that: The base is provided with a guide rail, the guide rail is provided with a slider, and the slider is connected to the sliding body; and / or The sliding body is movably connected to the first limb via a ball-end pull rod; and / or A rotating frame is rotatably arranged on the base, and the rotating frame is rotatably connected to the first limb.

4. The finger according to any one of claims 1 to 3, characterized in that: The rotating body is provided with a worm gear part, and the worm gear part is provided with a plurality of worm teeth; the first driving structure comprises: a worm gear meshing with the worm gear; A first driver, used for driving the worm to rotate; and / or The finger also includes: a third limb, rotatably disposed on the second limb; A connecting rod, two ends of which are respectively connected to the first limb and the third limb; A first elastic member, disposed on the third limb; Wherein, the first elastic member is used to provide elastic force for stretching the second limb and the third limb.

5. A robot arm, characterized in that: include: A finger as described in any one of claims 1 to 4.

6. A robot, characterized in that: include: A finger as claimed in any one of claims 1 to 4, or a robotic hand as claimed in claim 5.

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