Multi-joint finger and control method thereof, robotic hand and robot

Abstract

The present invention discloses a multi-joint finger and a control method thereof, a manipulator and a robot. The multi-joint finger comprises: at least two knuckles are connected in rotation in sequence, and the first knuckle and the second knuckle of the at least two knuckles are connected in rotation through a first rotating shaft. The multi-joint finger also comprises: a rotating member, which is sleeved on the first rotating shaft; a driving assembly, which is arranged on the first knuckle; the rotating member abuts against the second knuckle; the driving assembly is used to drive the rotating member to rotate, and push the second knuckle to rotate through the rotating member. The rotating member abuts against the second knuckle and is not connected to the second knuckle. The second knuckle is relatively independent from the rotating member. When the second knuckle rotates independently, it can not drive the rotating member to rotate, and will not be restricted by the rotating member. Therefore, the first knuckle and the second knuckle have better independence and flexibility, are closer to real fingers, and have better bionic effects.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to a multi-joint finger and a control method thereof, a robotic arm and a robot. Background Art

[0002] A robot is a machine device that performs work automatically. The robot's task is usually to assist or replace human work, such as in manufacturing, construction, or dangerous work. The importance of robot fingers in complex operations is becoming increasingly prominent, and the flexibility, accuracy, and compactness of the fingers are their key performance indicators. In practical applications, the flexibility of multi-section fingers is particularly important. Multi-section fingers have sufficient flexibility to facilitate the execution of complex operations. In the prior art, a relatively rigid connection method is used between multi-section fingers. For example, a connecting rod transmission is used. Although it has the advantages of strong grasping force and high motion accuracy, the flexibility of multi-section fingers is reduced and the bionic effect of the fingers is poor.

[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 multi-segment finger and its control method, a robotic arm and a robot in view of the above-mentioned defects of the prior art, aiming to solve the problem that the multi-segment fingers in the prior art use a relatively rigid connection method, resulting in low flexibility and poor bionic effect of the multi-segment fingers.

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

[0006] A multi-joint finger, comprising: at least two joints are connected in rotation in sequence, wherein a first joint and a second joint of the at least two joints are connected in rotation via a first rotating shaft, wherein the multi-joint finger further comprises:

[0007] A rotating member, sleeved on the first rotating shaft;

[0008] A driving assembly, disposed on the first finger joint;

[0009] wherein the rotating member abuts against the second finger joint;

[0010] The driving assembly is used to drive the rotating member to rotate, and to push the second finger joint to rotate through the rotating member.

[0011] In the multi-joint finger, the rotating member has a pushing portion, which is located on a side of the rotating member facing the end surface of the second joint and is in close contact with the end surface of the second joint.

[0012] In the multi-joint finger, the rotating member further comprises a avoiding portion, which is connected to the pushing portion and is used to avoid the end surface of the second joint.

[0013] The multi-section finger, wherein the rotating member is a worm wheel, and the worm teeth of the worm wheel are located in the area of ​​the worm wheel except the pushing part and the avoiding part;

[0014] The drive assembly comprises:

[0015] a worm, meshing with the worm teeth of the worm wheel;

[0016] A driver is used for driving the worm to rotate.

[0017] The multi-joint finger, wherein the first joint is further provided with a limiting portion, and the limiting portion faces the surface of the rotating member to limit the rotation of the rotating member.

[0018] In the multi-joint finger, the limiting portion is away from the surface of the rotating member or toward the surface of the second joint to limit the rotation of the second joint.

[0019] The multi-jointed finger, wherein the joints are at least three, and the third joint of the at least three joints is rotatably connected to the second joint; the multi-jointed finger further comprises:

[0020] The connecting rod has two ends which are rotatably connected to the first finger joint and the third finger joint respectively.

[0021] The multi-section finger, wherein the multi-section finger further comprises:

[0022] An elastic member is used for providing elastic force to stretch the second knuckle and the third knuckle.

[0023] The multi-jointed finger, wherein the second joint is rotatably connected to the third joint via a second rotating shaft;

[0024] The elastic member is disposed on the second rotating shaft.

[0025] A method for controlling a multi-jointed finger as described in any one of the above, comprising the steps of:

[0026] The driving assembly drives the rotating member to rotate so as to rotate the second finger joint.

[0027] A robotic arm, comprising: a multi-section finger as described in any one of the above items.

[0028] A robot, comprising: a multi-segment finger as described in any one of the above, or a robotic hand as described above.

[0029] Beneficial effect: The rotating member contacts the second finger joint and is not connected to the second finger joint. The second finger joint is relatively independent from the rotating member. When the second finger joint rotates independently, it does not drive the rotating member to rotate, and is not restricted by the rotating member. Therefore, the first finger joint and the second finger joint have better independence and flexibility, are closer to real fingers, and have better bionic effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 Schematic diagram of the structure of a multi-section finger in an embodiment of the present invention.

[0031] Figure 2 is a cross-sectional view of a multi-section finger in an embodiment of the present invention.

[0032] Figure 3 Schematic diagram of the structure of the rotating part in the embodiment of the present invention.

[0033] Figure 4 is a cross-sectional view of a multi-section finger in an embodiment of the present invention.

[0034] Figure 5 Schematic diagram of the structure of the first finger joint in an embodiment of the present invention.

[0035] Description of reference numerals:

[0036] 10. First finger joint; 11. Limiting part; 20. Second finger joint; 21. End face; 22. Notch; 30. Rotating member; 31. Pushing part; 32. Avoiding part; 33. Worm gear; 34. Limiting face; 40. Driving assembly; 41. Worm; 42. Driver; 51. First rotating shaft; 52. Second rotating shaft; 60. Third finger joint; 71. Connecting rod; 72. Elastic member. DETAILED DESCRIPTION

[0037] 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.

[0038] Please also see Figure 1-Figure 5 , the present invention provides some embodiments of a multi-section finger.

[0039] like Figure 1-Figure 2 As shown, the multi-section finger of the present invention comprises:

[0040] At least two finger joints are connected in rotation in sequence, wherein a first finger joint 10 and a second finger joint 20 of the at least two finger joints are connected in rotation via a first rotating shaft 51;

[0041] The rotating member 30 is sleeved on the first rotating shaft 51;

[0042] A driving assembly 40, disposed on the first finger joint 10;

[0043] The rotating member 30 abuts against the second finger joint 20 ; the driving assembly 40 is used to drive the rotating member 30 to rotate, and push the second finger joint 20 to rotate through the rotating member 30 .

[0044] Specifically, a multi-joint finger refers to a finger with at least two joints. Two adjacent joints in a multi-joint finger are connected by rotation to achieve curling and extension of the two adjacent joints. The joints in the multi-joint finger are respectively recorded as the first joint 10, the second joint 20, the third joint 60, etc. The first joint 10 and the second joint 20 are connected by rotation through the first shaft 51. The first joint 10 is provided with a first shaft hole, and the second joint 20 is provided with a second shaft hole. The first shaft 51 is located in the first shaft hole and the second shaft hole. There can be two first shaft holes and two second shaft holes. The first end of the first shaft 51 is penetrated through a first shaft hole and a second shaft hole, and the second end of the first shaft 51 is penetrated through another first shaft hole and another second shaft hole.

[0045] The rotating member 30 is a rotatable component, which is sleeved on the first rotating shaft 51 and rotates relative to the first rotating shaft 51. The driving assembly 40 is an assembly that drives the rotating member 30 to rotate.

[0046] When the driving assembly 40 drives the rotating member 30 to rotate, the rotating member 30 can push the second knuckle 20 to rotate. The rotating member 30 abuts against the second knuckle 20 and is not connected to the second knuckle 20. The second knuckle 20 is relatively independent of the rotating member 30. When the second knuckle 20 rotates independently, it does not drive the rotating member 30 to rotate, and is not restricted by the rotating member 30. Therefore, the first knuckle 10 and the second knuckle 20 have better independence and flexibility, are closer to real fingers, and have better bionic effects. In addition, the multi-section finger of the present invention can cope with different scenarios and perform different complex operation tasks.

[0047] In a preferred implementation of the embodiment of the present invention, Figure 2-Figure 3 As shown, the rotating member 30 has a pushing portion 31 , and the pushing portion 31 is located on a side of the rotating member 30 facing the end surface 21 of the second finger joint 20 , and is in close contact with the end surface 21 of the second finger joint 20 .

[0048] Specifically, the rotating member 30 can be sleeved on the first rotating shaft 51, and the rotating member 30 can rotate relative to the first knuckle 10 or the second knuckle 20, so the rotating member 30 is not fixed to the first knuckle 10 or the second knuckle 20. The first rotating shaft 51 can be fixedly connected to one of the first knuckle 10, the second knuckle 20 and the rotating member 30, or the first rotating shaft 51 can be rotatably connected to all of the first knuckle 10, the second knuckle 20 and the rotating member 30. The rotating member 30 is formed with a pushing portion 31, which refers to a portion of the rotating member 30 used to push the second knuckle 20. The pushing portion 31 is not connected to the second knuckle 20, and can be in contact with the second knuckle 20 or separated from the second knuckle 20. It can be seen that the states of the push portion 31 and the second knuckle 20 are divided into: a contact state and a separation state. When the push portion 31 and the second knuckle 20 are in the contact state, the driving assembly 40 drives the rotating member 30 to rotate, and the second knuckle 20 may be pushed to rotate by the rotating member 30, or the rotating member 30 may be separated from the second knuckle 20; when the push portion 31 and the second knuckle 20 are in the separation state, the driving assembly 40 drives the rotating member 30 to rotate, and the rotating member 30 may be kept separated from the second knuckle 20, or the rotating member 30 may contact the second knuckle 20 and push the second knuckle 20 to rotate by the rotating member 30. The push portion 31 is located on the side of the first rotating shaft 51 and faces the end face 21 of the second knuckle 20. The push portion 31 may contact the end face 21 of the second knuckle 20. The central axis of the push portion 31 deviates from the central axis of the first rotating shaft 51, and the two central axes do not coincide, which is conducive to the push portion 31 pushing the end face 21 of the second knuckle 20.

[0049] In a preferred implementation of the embodiment of the present invention, Figure 2-Figure 3 As shown, the rotating member 30 further has a avoiding portion 32 , which is connected to the pushing portion 31 and is used to avoid the end surface 21 of the second finger joint 20 .

[0050] Specifically, the rotating member 30 also has an avoidance portion 32, which is used to avoid the end face 21 of the second finger joint 20, so as to achieve the separation of the rotating member 30 and the second finger joint 20, and the avoidance portion 32 is connected to the pushing portion 31. When the end face 21 of the second finger joint 20 is located at the corresponding position of the pushing portion 31, the end face 21 of the second finger joint 20 is in contact with the pushing portion 31. At this time, the rotating member 30 rotates from the pushing portion 31 to the avoidance portion 32, and the pushing portion 31 pushes the end face 21 of the second finger joint 20 to achieve the rotation of the second finger joint 20; the rotating member 30 rotates from the avoidance portion 32 to the pushing portion 31, and the pushing portion 31 is separated from the end face 21 of the second finger joint 20, and the end face 21 of the second finger joint 20 corresponds to the avoidance portion 32. When the end face 21 of the second knuckle 20 is located at the position corresponding to the avoidance portion 32, there is a gap between the avoidance portion 32 and the end face 21 of the second knuckle 20, and the rotating member 30 and the end face 21 of the second knuckle 20 are in a separated state. At this time, the rotating member 30 rotates from the pushing portion 31 to the avoidance portion 32, and the pushing portion 31 contacts the end face 21 of the second knuckle 20 and pushes the end face 21 of the second knuckle 20 to rotate; the rotating member 30 rotates from the avoidance portion 32 to the pushing portion 31, and the end face 21 of the second knuckle 20 still corresponds to the avoidance portion 32, so the separation state of the rotating member 30 and the end face 21 of the second knuckle 20 is maintained. The central angle corresponding to the avoidance portion 32 is the angular range of separation between the second knuckle 20 and the rotating member 30. The larger the central angle, the larger the angular range of separation between the second knuckle 20 and the rotating member 30.

[0051] The direction of the push part 31 toward the avoidance part 32 is the curling direction (specifically, it can be the curling direction of the knuckle), and the direction of the avoidance part 32 toward the push part 31 is the stretching direction (specifically, it can be the stretching direction of the knuckle). The rotation direction of the rotating member 30 is the curling direction, and the push part 31 of the rotating member 30 forms a driving force on the end face 21 of the second knuckle 20 to drive the second knuckle 20 to rotate and achieve curling; the rotation direction of the rotating member 30 is the stretching direction, and the push part 31 of the rotating member 30 does not form a driving force on the end face 21 of the second knuckle 20. A stretching structure can be provided on the first knuckle 10 or the second knuckle 20, and the stretching of the first knuckle 10 and the second knuckle 20 can be achieved through the stretching structure. For example, an elastic stretching structure is used to provide an elastic force for stretching for the first knuckle 10 and the second knuckle 20. When the push part 31 does not form a driving force on the end face 21 of the second knuckle 20, the first knuckle 10 and the second knuckle 20 stretch out under the elastic force of the elastic stretching structure. When the pushing portion 31 forms a pushing force on the end surface 21 of the second finger joint 20 and pushes the second finger joint 20 to rotate, the elastic force of the elastic stretching structure needs to be overcome.

[0052] In a preferred implementation of the embodiment of the present invention, Figure 2-Figure 3As shown, the rotating member 30 is a worm wheel, and the worm teeth 33 of the worm wheel are located in an area of ​​the worm wheel except the pushing portion 31 and the avoiding portion 32 .

[0053] Specifically, the rotating member 30 can be a gear, and a tooth portion is formed on the gear, and the tooth portion is located in the area outside the pushing portion 31 and the avoiding portion 32. The gear can be a bevel gear, and the bevel gear is meshed with the driving gear. The driving assembly 40 drives the driving gear to rotate, and drives the bevel gear to rotate. The gear can also be a worm gear, and the tooth portion can be a worm gear 33, and the worm gear 33 is located in the area outside the pushing portion 31 and the avoiding portion 32.

[0054] In a preferred implementation of the embodiment of the present invention, Figure 2-Figure 4 As shown, the driving assembly 40 includes:

[0055] A worm 41 meshing with the worm teeth 33 of the worm wheel;

[0056] The driver 42 is used to drive the worm 41 to rotate.

[0057] Specifically, the driver 42 drives the worm 41 to rotate, thereby driving the worm wheel to rotate. The driver 42 can drive the worm 41 to rotate in two directions, that is, in a forward direction and a reverse direction respectively.

[0058] In a preferred implementation of the embodiment of the present invention, Figure 1 , Figure 2 as well as Figure 5 As shown, a limiting portion 11 is further provided on the first finger joint 10 , and the limiting portion 11 faces the surface of the rotating member 30 to limit the rotation of the rotating member 30 .

[0059] Specifically, a limiting portion 11 is provided on the first finger joint 10, and the rotation of the rotating member 30 is limited by the limiting portion 11. A limiting surface 34 is formed on the rotating member 30, and the limiting surface 34 can abut against the limiting portion 11 (the limiting surface 34 contacts the inner surface of the limiting portion 11), thereby limiting the rotation of the rotating member 30. The limiting surface 34 is located on the side of the avoiding portion 32 away from the pushing portion 31. The limiting portion 11 can also limit the pushing portion 31, and the limiting portion 11 does not affect the avoiding portion 32. When the limiting portion 11 is located at the corresponding position of the avoiding portion 32, the rotating member 30 can rotate freely without being limited.

[0060] In a preferred implementation of the embodiment of the present invention, Figure 1 , Figure 2 as well as Figure 5 As shown, the limiting portion 11 is away from the surface of the rotating member 30 or toward the surface of the second finger joint 20 to limit the rotation of the second finger joint 20 .

[0061] Specifically, a notch 22 is formed on the second knuckle 20. The limiting portion 11 also limits the second knuckle 20. When the pushing portion 31 pushes the end surface 21 of the second knuckle 20 toward the limiting portion 11, the limiting portion 11 is inserted into the notch 22 of the second knuckle 20, thereby limiting the second knuckle 20 and preventing the second knuckle 20 from rotating. At this time, the limiting portion 11 also limits the pushing portion 31 and prevents the rotating member 30 from rotating.

[0062] In a preferred implementation of the embodiment of the present invention, Figure 1 , Figure 2 as well as Figure 4 As shown, there are at least three knuckles, and the third knuckle 60 among the at least three knuckles is rotatably connected to the second knuckle 20 .

[0063] Specifically, the third knuckle 60 is rotatably connected to the second knuckle 20 , and the third knuckle 60 is located on a side of the second knuckle 20 away from the first knuckle 10 .

[0064] In a preferred implementation of the embodiment of the present invention, Figure 1 , Figure 2 as well as Figure 4 As shown, the multi-section finger also includes:

[0065] The connecting rod 71 has two ends which are rotatably connected to the first finger joint 10 and the third finger joint 60 respectively.

[0066] Specifically, the two ends of the connecting rod 71 are rotatably connected to the first knuckle 10 and the third knuckle 60 respectively. When the second knuckle 20 rotates relative to the first knuckle 10, it will not only drive the third knuckle 60 to rotate along with the second knuckle 20, but also drive the third knuckle 60 to rotate relative to the second knuckle 20 through the connecting rod 71, so that the second knuckle 20 and the third knuckle 60 are more curled.

[0067] In a preferred implementation of the embodiment of the present invention, Figure 2 As shown, the multi-section finger also includes:

[0068] The elastic member 72 is used for providing elastic force to stretch the second finger joint 20 and the third finger joint 60 .

[0069] Specifically, a stretching structure may be provided on the third knuckle 60. Since there is linkage between the first knuckle 10, the second knuckle 20, and the third knuckle 60, a stretching structure may be provided on one of the first knuckle 10, the second knuckle 20, and the third knuckle 60 to achieve stretching of the first knuckle 10, the second knuckle 20, and the third knuckle 60. The stretching structure may be an elastic stretching structure, for example, an elastic member 72, and the elastic member 72 may be a torsion spring or the like.

[0070] In a preferred implementation of the embodiment of the present invention, Figure 1 , Figure 2 as well as Figure 4 As shown, the second finger joint 20 and the third finger joint 60 are rotationally connected via a second rotating shaft 52 .

[0071] Specifically, the second knuckle 20 and the third knuckle 60 are rotatably connected via the second rotating shaft 52. A third shaft hole is provided on the second knuckle 20, a fourth shaft hole is provided on the third knuckle 60, and the second rotating shaft 52 is located in the third shaft hole and the fourth shaft hole. There may be two third shaft holes, and there may also be two fourth shaft holes. The first end of the second rotating shaft 52 is passed through one third shaft hole and one fourth shaft hole, and the second end of the second rotating shaft 52 is passed through another third shaft hole and another fourth shaft hole.

[0072] In a preferred implementation of the embodiment of the present invention, Figure 2 As shown, the elastic member 72 is disposed on the second rotating shaft 52 .

[0073] Specifically, the elastic member 72 can be arranged on the second rotating shaft 52. For example, the elastic member 72 is a torsion spring, which includes: a cylindrical body and two extensions. The cylindrical body is sleeved on the second rotating shaft 52, and the extensions are respectively against the second finger joint 20 and the third finger joint 60. When the driving assembly 40 drives the rotating member 30 to rotate in the curling direction, the second finger joint 20 and the third finger joint 60 curl, the angle between the extensions changes, and the torsion spring is deformed. When the driving assembly 40 drives the rotating member 30 to rotate in the extension direction, the torsion spring recovers the deformation, and the second finger joint 20 and the third finger joint 60 extend.

[0074] Based on the multi-section finger described in any of the above embodiments, the present invention also provides a preferred embodiment of a multi-section finger control method:

[0075] The method for controlling a multi-joint finger according to an embodiment of the present invention comprises the following steps:

[0076] Step S100: driving the rotating member to rotate by the driving assembly to rotate the second finger joint.

[0077] Specifically, the driving assembly can drive the rotating member to rotate, so that the second finger joint rotates, and drives the third finger joint to rotate, thereby realizing the curling and extension of multiple fingers.

[0078] Step S100 specifically includes:

[0079] Step S110, driving the rotating member to rotate along the curling direction by the driving assembly to rotate the second finger joint;

[0080] Step S120: driving the rotating member to rotate along the extension direction by the driving assembly to rotate the second finger joint.

[0081] Specifically, the driving component drives the rotating member to rotate in the curling direction or the stretching direction. When the driving component drives the rotating member to rotate in the curling direction, the pushing part applies a pushing force to the end surface of the second finger joint, pushing the second finger joint to rotate in the curling direction, so that the second finger joint curls; when the driving component drives the rotating member to rotate in the stretching direction, the pushing part does not form a pushing force on the end surface of the second finger joint. On the basis of setting the stretching structure, when the driving component drives the rotating member to rotate in the stretching direction, the stretching structure causes the second finger joint to rotate in the stretching direction, so that the second finger joint stretches.

[0082] Based on the finger described in any of the above embodiments, the present invention also provides a preferred embodiment of a robot hand:

[0083] The robot hand according to the embodiment of the present invention includes: the finger as described above.

[0084] 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:

[0085] The robot according to the embodiment of the present invention includes: the finger as described above or the robotic hand as described above.

[0086] 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 multi-jointed finger, comprising: At least two finger joints are connected in rotation in sequence, and a first finger joint and a second finger joint of the at least two finger joints are connected in rotation via a first rotating shaft, wherein the multi-joint finger further comprises: The rotating member is sleeved on the first rotating shaft; the first finger joint is provided with two first shaft holes, the second finger joint is provided with two second shaft holes, the first end of the first rotating shaft is passed through a first shaft hole and a second shaft hole, and the second end of the first rotating shaft is passed through another first shaft hole and another second shaft hole; A driving assembly, disposed on the first finger joint; wherein the rotating member abuts against the second finger joint; The driving assembly is used to drive the rotating member to rotate, and to drive the second finger joint to rotate through the rotating member; The rotating member has a pushing portion, which is located on one side of the end surface of the rotating member facing the second finger joint and is in close contact with the end surface of the second finger joint; the central axis of the pushing portion deviates from the central axis of the first rotating shaft; The rotating member also has a position avoiding portion, which is connected to the pushing portion and is used to avoid the end surface of the second finger joint; The rotating member is a worm wheel, and the worm teeth of the worm wheel are located in the area of ​​the worm wheel except the pushing part and the avoiding part; The drive assembly comprises: a worm, meshing with the worm teeth of the worm wheel; A driver, used for driving the worm to rotate; A limiting portion is also provided on the first finger joint, and the limiting portion faces the surface of the rotating member to limit the rotation of the rotating member; a limiting surface is formed on the rotating member, and the limiting surface is located on a side of the avoiding portion away from the pushing portion, and the limiting portion faces the surface of the rotating member to limit the limiting surface and the pushing portion; The limiting portion is away from the surface of the rotating member or toward the surface of the second finger joint to limit the rotation of the second finger joint; A notch is formed on the second knuckle, and when the limiting part is inserted into the notch, the second knuckle is limited; The finger has at least three knuckles, and the third knuckle of the at least three knuckles is rotatably connected to the second knuckle; the multi-knuckle finger also includes: A connecting rod, both ends of which are rotatably connected to the first finger joint and the third finger joint respectively; The multi-section finger also includes: an elastic member, the elastic member being used for providing an elastic force for stretching the second knuckle and the third knuckle; The second finger joint is rotatably connected to the third finger joint via a second rotating shaft; The elastic member is disposed on the second rotating shaft.

2. A method for controlling a multi-joint finger as claimed in claim 1, characterized in that: Includes steps: The driving assembly drives the rotating member to rotate so as to rotate the second finger joint.

3. A robot arm, characterized in that: include: The multi-jointed finger of claim 1.

4. A robot, characterized in that: include: The multi-segment finger of claim 1, or the robotic hand of claim 3.

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