Finger and control method thereof, robotic hand and robot

Abstract

The present invention discloses a finger and a control method thereof, a manipulator and a robot, wherein the finger comprises: a mounting frame; a finger sleeve rotatably mounted on the mounting frame; a finger portion rotatably mounted on the mounting frame, located in the finger sleeve and sliding in the finger sleeve; and a driving component for driving the finger portion to slide relative to the finger sleeve so that the finger sleeve and the finger portion rotate relative to the mounting frame. The driving component drives the finger portion to slide relative to the finger sleeve so that the finger sleeve and the finger portion rotate relative to the mounting frame, thereby realizing the rotation of the knuckle formed by the finger sleeve and the finger portion. The driving component can be mounted on the finger portion or the finger sleeve and does not need to be mounted on the mounting frame, so that the structure of the entire finger is more centralized and does not occupy the space of other structures.

Description

Technical Field

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

[0002] A robotic hand is usually modeled after a human hand. The fingers of the robotic hand have multiple knuckles, which are connected and rotated in sequence to achieve bending and extension of the fingers.

[0003] In the prior art, the fingers of a robotic arm mainly rotate their knuckles through a driving structure. The driving structure is usually mounted on the palm of the robotic arm. The driving structure of the fingers occupies space in the palm, resulting in uneven structural distribution.

[0004] Therefore, the prior art still needs to be improved and developed. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a 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 in the prior art that the driving structure of the finger occupies the space of the palm, resulting in uneven structural distribution.

[0006] The technical solution adopted by the present invention to solve the technical problem is as follows:

[0007] A finger, comprising:

[0008] Mounting frame;

[0009] A finger sleeve, rotatably mounted on the mounting frame;

[0010] A finger portion is rotatably mounted on the mounting frame, is located in the finger sleeve, and slides in the finger sleeve;

[0011] The driving assembly is used for driving the finger to slide relative to the finger sleeve so as to make the finger sleeve and the finger rotate relative to the mounting frame.

[0012] The finger, wherein the finger further comprises:

[0013] A base, rotatably connected to the mounting frame;

[0014] A first driving member, disposed on the base;

[0015] Wherein, the first driving member is used to drive the mounting frame to rotate.

[0016] The finger, wherein the rotation direction of the base relative to the mounting frame is perpendicular to the rotation direction of the finger sleeve relative to the mounting frame.

[0017] The finger, wherein a resistance adjustment structure is provided on the base, and the resistance adjustment structure is used to adjust the resistance of the mounting frame to rotate relative to the base.

[0018] The finger, wherein the first driving member is a folding motor.

[0019] The finger, wherein the driving component comprises:

[0020] a second driving member, disposed on the finger portion;

[0021] A connecting piece connected to the finger sleeve;

[0022] Wherein, the second driving member drives the connecting member to move relative to the finger portion.

[0023] The finger, wherein the output shaft of the second driving member is provided with a screw;

[0024] The connecting piece is provided with a screw hole, and the screw hole is connected to the screw rod by threaded connection.

[0025] The finger, wherein the finger further comprises:

[0026] The extension finger is rotatably connected to the finger sleeve and the finger part respectively.

[0027] A finger control method as described in any one of the above, comprising the steps of:

[0028] The control driving assembly drives the finger to slide relative to the finger sleeve, so that the finger sleeve and the finger rotate relative to the mounting frame.

[0029] The finger control method further comprises the steps of:

[0030] The first driving member is controlled to drive the mounting bracket to rotate relative to the base.

[0031] A robotic hand, comprising a finger as described in any one of the above items.

[0032] A robot, comprising the finger as described in any one of the above items, or the robotic hand as described above.

[0033] Beneficial effect: The driving assembly drives the finger to slide relative to the finger sleeve, so that the finger sleeve and the finger rotate relative to the mounting frame, thereby realizing the rotation of the finger joint formed by the finger sleeve and the finger. The driving assembly can be installed on the finger or the finger sleeve, and does not need to be installed on the mounting frame, so that the structure of the entire finger is more centralized and does not occupy the space of other structures. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1Schematic diagram of the structure of the finger in the embodiment of the present invention.

[0035] Figure 2 It is a schematic diagram of the structure of a finger after the finger sleeve is removed in an embodiment of the present invention.

[0036] Figure 3 is a cross-sectional view of a finger in an embodiment of the present invention.

[0037] Figure 4 Schematic diagram of the structure of the finger part in the embodiment of the present invention.

[0038] Figure 5 It is a schematic diagram of the structure of the finger sleeve in an embodiment of the present invention.

[0039] Figure 6 It is a schematic diagram of the structure of the finger after removing the extended finger in an embodiment of the present invention.

[0040] Figure 7 Schematic diagram of the resistance adjustment structure in an embodiment of the present invention.

[0041] Figure 8 4 is a flow chart of a finger control method in an embodiment of the present invention.

[0042] Description of reference numerals:

[0043] 10. Mounting frame; 20. Finger sleeve; 30. Finger; 40. Driving assembly; 41. Second driving member; 411. Screw rod; 42. Connecting member; 421. Screw hole; 50. Base; 60. First driving member; 70. Resistance adjustment structure; 80. Extension finger. DETAILED DESCRIPTION

[0044] 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.

[0045] Please also see Figure 1-Figure 7 , the present invention provides some embodiments of a finger.

[0046] like Figure 1-Figure 2 As shown, the finger of the present invention comprises:

[0047] Mounting frame 10;

[0048] The finger sleeve 20 is rotatably mounted on the mounting frame 10;

[0049] The finger portion 30 is rotatably mounted on the mounting frame 10, is located in the finger sleeve 20, and slides in the finger sleeve 20;

[0050] The driving assembly 40 is used to drive the finger portion 30 to slide relative to the finger sleeve 20 so that the finger sleeve 20 and the finger portion 30 rotate relative to the mounting frame 10 .

[0051] Specifically, the mounting frame 10 mounts the finger on other structures, for example, the mounting frame 10 is mounted on the base 50. The finger sleeve 20 and the finger portion 30 form a finger joint, and the finger sleeve 20 and the finger portion 30 are both rotatably connected to the mounting frame 10, and the finger portion 30 is located in the finger sleeve 20 and slides in the finger sleeve 20 (such as Figure 3 , Figure 4 as well as Figure 5 ). When the finger sleeve 20 and the finger part 30 both rotate relative to the mounting frame 10, the finger part 30 slides relative to the finger sleeve 20; conversely, when the finger part 30 slides relative to the finger sleeve 20, the finger sleeve 20 and the finger part 30 both rotate relative to the mounting frame 10. The driving assembly 40 drives the finger part 30 to slide relative to the finger sleeve 20 to realize the rotation of the finger sleeve 20 and the finger part 30 relative to the mounting frame 10, thereby realizing the rotation of the finger joint formed by the finger sleeve 20 and the finger part 30. The driving assembly 40 can be installed on the finger part 30 or the finger sleeve 20, and does not need to be installed on the mounting frame 10, so that the structure of the entire finger is more centralized and does not occupy the space of other structures.

[0052] The driving assembly 40 is used to drive the finger 30 to slide relative to the finger sleeve 20, but does not directly drive the finger sleeve 20 or the finger 30 to rotate relative to the mounting frame 10. The driving assembly 40 drives the finger 30 to slide relative to the finger sleeve 20, thereby indirectly driving the finger sleeve 20 and the finger 30 to rotate relative to the mounting frame 10, which is conducive to using driving assemblies 40 of different structures to realize the rotation of the finger, and the structural layout is more diversified.

[0053] In a preferred implementation of the embodiment of the present invention, Figure 1-Figure 3 As shown, the finger also includes:

[0054] A base 50 is rotatably connected to the mounting frame 10;

[0055] A first driving member 60, disposed on the base 50;

[0056] The first driving member 60 is used to drive the mounting frame 10 to rotate.

[0057] Specifically, the mounting frame 10 is assembled on the base 50, and the mounting frame 10 rotates relative to the base 50. The first driving member 60 is provided on the base 50 and connected to the mounting frame 10, and is used to drive the mounting frame 10 to rotate relative to the base 50. The driving assembly 40 can be installed on the knuckle, and the first driving member 60 is installed on the base 50. The driving assembly 40 and the first driving member 60 are installed at different positions to disperse the driving structure, which is further conducive to the structural layout.

[0058] In a preferred implementation of the embodiment of the present invention, Figure 1-Figure 2 As shown, the rotation direction of the base 50 relative to the mounting frame 10 is perpendicular to the rotation direction of the finger sleeve 20 relative to the mounting frame 10 .

[0059] Specifically, the rotation direction of the mounting frame 10 relative to the base 50 is a first direction, and the rotation direction of the finger sleeve 20 or the finger portion 30 relative to the mounting frame 10 is a second direction. The first direction and the second direction are different directions, for example, the first direction is perpendicular to the second direction.

[0060] In a preferred implementation of the embodiment of the present invention, Figure 6-Figure 7 As shown, a resistance adjustment structure 70 is disposed on the base 50 , and the resistance adjustment structure 70 is used to adjust the resistance of the mounting frame 10 to rotate relative to the base 50 .

[0061] Specifically, a resistance adjustment structure 70 is provided on the base 50, and the resistance of the mounting frame 10 to rotate relative to the base 50 is adjusted by the resistance adjustment structure 70, thereby adjusting the difficulty of the mounting frame 10 to rotate relative to the base 50, and the rotation of the mounting frame 10 relative to the base 50 is more stable and reliable.

[0062] In a preferred implementation of the embodiment of the present invention, Figure 1-Figure 3 As shown, the first driving member 60 is a folding motor.

[0063] Specifically, according to the layout of the motor, the motor can be divided into linear, folding and vertical types. In a linear motor, the main structure and the output shaft are located on the same axis. A folding motor (also known as a folding motor) or a vertical motor includes: a main structure and a transmission structure, and an output shaft is arranged on the transmission structure. In a folding motor, the main structure is parallel to the output shaft, and in a vertical motor, the main structure is perpendicular to the output shaft. The first driving member 60 can adopt a folding motor, which occupies less space and is more conducive to structural layout.

[0064] In a preferred implementation of the embodiment of the present invention, Figure 1-Figure 3 As shown, the driving assembly 40 includes:

[0065] A second driving member 41 , disposed on the finger portion 30 ;

[0066] A connecting member 42 connected to the finger sleeve 20;

[0067] The second driving member 41 drives the connecting member 42 to move relative to the finger portion 30 .

[0068] Specifically, the connecting member 42 is disposed on the finger sleeve 20 , and the second driving member 41 is disposed on the finger portion 30 . The second driving member 41 is used to drive the connecting member 42 to move relative to the finger portion 30 , thereby driving the finger sleeve 20 to move relative to the finger portion 30 , so that the finger portion 30 slides in the finger sleeve 20 .

[0069] The second driving member 41 can be a telescopic driving member, such as a telescopic electric cylinder, etc. The output shaft of the telescopic driving member can be telescopic, and the output shaft of the telescopic driving member is connected to the connecting member 42 to change the distance between the connecting member 42 and the finger 30, so as to realize the sliding of the finger 30 in the finger sleeve 20.

[0070] In a preferred implementation of the embodiment of the present invention, Figure 2 , Figure 3 as well as Figure 6 As shown, the output shaft of the second driving member 41 is provided with a screw rod 411 ; the connecting member 42 is provided with a screw hole 421 , and the screw hole 421 is connected to the screw rod 411 by threading.

[0071] Specifically, the second driving member 41 drives the screw rod 411 to rotate. Since the connecting member 42 is fixed relative to the finger sleeve 20, when the screw rod 411 rotates, the position of the connecting member 42 on the screw rod 411 moves, thereby changing the distance between the second driving member 41 and the connecting member 42, so that the finger portion 30 slides relative to the finger sleeve 20. The screw rod 411 and the connecting member 42 convert the rotation of the output shaft of the second driving member 41 into the relative movement of the connecting member 42 and the second driving member 41.

[0072] In a preferred implementation of the embodiment of the present invention, Figure 1-Figure 3 As shown, the finger also includes:

[0073] The expansion finger 80 is rotatably connected to the finger sleeve 20 and the finger portion 30 respectively.

[0074] Specifically, the extended finger 80 is a knuckle extended from the knuckle formed by the finger sleeve 20 and the finger part 30. The extended finger 80 is rotatably connected to the finger sleeve 20 and the finger part 30 respectively. When the finger sleeve 20 and the finger part 30 slide relative to each other, the extended finger 80 rotates relative to the finger sleeve 20 (or the finger part 30), and the finger sleeve 20 (or the finger part 30) is driven to rotate relative to the mounting frame 10 through the driving component 40, and the extended finger 80 is driven to rotate relative to the finger sleeve 20 (or the finger part 30), and the finger is in a curled state.

[0075] Based on the finger described in any of the above embodiments, the present invention also provides a preferred embodiment of a finger control method:

[0076] like Figure 8 As shown, the finger control method of the present invention comprises the following steps:

[0077] Step S100: Control the driving assembly to drive the finger to slide relative to the finger sleeve, so that the finger sleeve and the finger rotate relative to the mounting frame.

[0078] Specifically, by controlling the driving assembly to slide the finger relative to the finger sleeve, the finger sleeve and the finger rotate relative to the mounting frame, thereby rotating the finger and presenting a curled state or an extended state. When the extended finger is set, the finger curls more.

[0079] Step S100 specifically includes:

[0080] Step S110: receiving a curling instruction and controlling the second driving member to rotate in a forward direction so that the connecting member and the second driving member are brought closer to each other.

[0081] Step S120: receiving the extension instruction, and controlling the second driving member to rotate in the opposite direction so that the connecting member is separated from the second driving member.

[0082] Specifically, when the finger needs to be curled, a curling instruction is issued. According to the curling instruction, the second driving member is controlled to rotate forward, so that the connecting member and the second driving member are close to each other, the finger sleeve and the finger part are both rotated forward relative to the mounting frame, and the finger is curled. When the finger needs to be extended, an extension instruction is issued. According to the extension instruction, the second driving member is controlled to rotate reversely, so that the connecting member and the second driving member are separated from each other, the finger sleeve and the finger part are both rotated reversely relative to the mounting frame, and the finger is extended.

[0083] Finger control methods also include:

[0084] Step S200: controlling the first driving member to drive the mounting frame to rotate relative to the base.

[0085] Specifically, the orientation of the finger is changed by controlling the first driving member to drive the mounting frame to rotate relative to the base. Step S100 and step S200 can be performed separately or simultaneously. With the cooperation of the two, the finger can form a variety of different postures.

[0086] Based on the finger described in any of the above embodiments, the present invention further provides an embodiment of a robot hand:

[0087] The robot hand of the present invention comprises the finger as described in any one of the above embodiments.

[0088] Based on the finger or robot hand described in any of the above embodiments, the present invention further provides an embodiment of a robot:

[0089] The robot of the present invention comprises the finger as described in any one of the above embodiments, or the robot hand as described in any one of the above embodiments.

[0090] 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: Mounting frame; A finger sleeve, rotatably mounted on the mounting frame; The finger portion is rotatably disposed on the mounting frame, is located in the finger sleeve, and slides in the finger sleeve; the rotational connection position of the finger sleeve and the mounting frame is different from the rotational connection position of the finger portion and the mounting frame; A driving assembly, for driving the finger to slide relative to the finger sleeve, so that the finger sleeve and the finger rotate relative to the mounting frame; Wherein, the driving assembly comprises: a second driving member and a connecting member; the second driving member is arranged on the finger portion, and the connecting member is connected to the finger sleeve; the second driving member drives the connecting member to move relative to the finger portion.

2. The finger according to claim 1, characterized in that: The finger also includes: A base, rotatably connected to the mounting frame; A first driving member, disposed on the base; Wherein, the first driving member is used to drive the mounting frame to rotate.

3. The finger according to claim 2, characterized in that: The rotation direction of the base relative to the mounting bracket is perpendicular to the rotation direction of the finger sleeve relative to the mounting bracket.

4. The finger according to claim 2, characterized in that: The base is provided with a resistance adjustment structure, and the resistance adjustment structure is used to adjust the resistance of the mounting frame to rotate relative to the base.

5. The finger according to claim 2, characterized in that: The first driving member is a folding motor.

6. The finger according to any one of claims 1 to 5, characterized in that: The output shaft of the second driving member is provided with a screw; The connecting piece is provided with a screw hole, and the screw hole is connected to the screw rod by threaded connection.

7. The finger according to any one of claims 1 to 5, characterized in that: The finger also includes: The extension finger is rotatably connected to the finger sleeve and the finger part respectively.

8. A finger control method according to any one of claims 1 to 7, characterized in that: Includes steps: The control driving assembly drives the finger to slide relative to the finger sleeve, so that the finger sleeve and the finger rotate relative to the mounting frame.

9. The finger control method according to claim 8, characterized in that: The control method further comprises the steps of: The first driving member is controlled to drive the mounting bracket to rotate relative to the base.

10. A robot arm, characterized in that: Comprising the finger as claimed in any one of claims 1-7.

11. A robot, characterized in that: The method comprises the finger according to any one of claims 1 to 7, or the robotic hand according to claim 10.

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