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. The finger comprises: a bracket; a retractable finger, rotatably connected to the bracket; a rotating finger, rotatably connected to the retractable finger; and a first driver, used to drive the retractable finger to retract and retract, so that the retractable finger rotates relative to the bracket, and drives the rotating finger to rotate relative to the retractable finger. The first driver drives the retractable finger to retract and retract, and jointly drives the retractable finger to rotate relative to the bracket, and the rotating finger to rotate relative to the retractable finger. The rotation of two knuckles is achieved by a first driver. When the first driver drives the retractable finger to retract and retract, a rotational torque of the retractable finger, a rotational torque of the rotating finger, and a retracting torque of the retractable finger can be formed, thereby forming a more reliable grip, making it easier to grasp objects.

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 the robot hand mainly realize the rotation of the knuckles through the driving structure. For example, the driving structure drives one knuckle to rotate, and can also drive another knuckle to rotate. The main torque is formed, but the gripping force of the fingers is insufficient.

[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 a control method thereof, 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 fingers of the robotic arm mainly form a rotational torque while the gripping force of the fingers is insufficient.

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

[0007] A finger, comprising:

[0008] Bracket;

[0009] a telescopic finger, rotatably connected to the bracket;

[0010] A rotating finger, rotatably connected to the telescopic finger;

[0011] The first driver is used to drive the telescopic finger to extend and retract, so that the telescopic finger rotates relative to the bracket and drives the rotating finger to rotate relative to the telescopic finger.

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

[0013] A housing, rotatably mounted on the bracket;

[0014] An inner shell, rotatably disposed on the bracket;

[0015] A connecting member, rotatably disposed on the inner shell;

[0016] Wherein, the housing is rotationally connected to the rotating finger;

[0017] The connecting member is rotationally connected to the rotating finger.

[0018] The finger, wherein the housing is connected to the rotating finger via a rotating shaft;

[0019] The first driver is a telescopic driver, and the telescopic driver is connected to the rotating shaft.

[0020] The finger, wherein the telescopic actuator comprises:

[0021] A driving member, disposed on the inner shell;

[0022] A screw rod, arranged on the output shaft of the driving member;

[0023] A threaded barrel, connected to the screw rod by threads;

[0024] Wherein, the threaded barrel is connected to the rotating shaft.

[0025] The finger, wherein the central axis of the screw intersects with the central axis of the rotating shaft.

[0026] The finger, wherein the bottom of the housing is rotatably connected to the bracket;

[0027] The side portion of the inner shell is rotatably connected to the bracket.

[0028] The finger, wherein the finger further comprises:

[0029] A base, rotatably connected to the bracket;

[0030] A second driver is disposed on the base;

[0031] Wherein, the second driver is used to drive the bracket to rotate.

[0032] The finger, wherein the rotation direction of the base relative to the bracket is perpendicular to the rotation direction of the telescopic finger relative to the bracket.

[0033] A finger control method as described in any one of the above, comprising the steps of:

[0034] The first driver is controlled to drive the telescopic finger to extend and retract, so that the telescopic finger rotates relative to the bracket, and drives the rotating finger to rotate relative to the telescopic finger.

[0035] The finger control method, wherein the control method further comprises:

[0036] The second driver is controlled to drive the bracket to rotate relative to the base.

[0037] A robotic hand, comprising a finger as described in any one of the above items.

[0038] A robot, comprising a finger as described in any one of the above, or a robotic hand as described above.

[0039] Beneficial effect: The first driver drives the telescopic finger to extend and retract, and jointly drives the telescopic finger to rotate relative to the bracket, and the rotating finger to rotate relative to the telescopic finger. The rotation of two finger joints is achieved through one first driver. When the first driver drives the telescopic finger to extend and retract, a rotational torque of the telescopic finger, a rotational torque of the rotating finger, and a telescopic torque of the telescopic finger can be formed, thereby forming a more reliable grip and making it easier to grasp objects. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 Schematic diagram of the structure of the finger in the embodiment of the present invention.

[0041] Figure 2 It is a schematic diagram of the structure of the finger after the outer shell is removed in an embodiment of the present invention.

[0042] Figure 3 is a cross-sectional view of a finger in an embodiment of the present invention.

[0043] Figure 4 It is a schematic diagram of the structure of the fingers after removing the rotating fingers in the embodiment of the present invention.

[0044] Figure 5 Schematic diagram of the structure of the inner shell in the embodiment of the present invention.

[0045] Figure 6 Schematic diagram of the structure of the housing in the embodiment of the present invention.

[0046] Description of reference numerals:

[0047] 10. Bracket; 20. Telescopic finger; 21. Outer shell; 22. Inner shell; 23. Connector; 24. Rotating shaft; 30. Rotating finger; 40. First driver; 41. Driving member; 42. Screw; 43. Threaded barrel; 50. Base; 60. Second driver. DETAILED DESCRIPTION

[0048] 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.

[0049] Please also see Figure 1-Figure 6 , the present invention provides some embodiments of a finger.

[0050] like Figure 1 As shown, the finger of the present invention comprises:

[0051] Bracket 10;

[0052] The telescopic finger 20 is rotatably connected to the bracket 10;

[0053] A rotating finger 30, rotatably connected to the telescopic finger 20;

[0054] The first driver 40 is used for driving the telescopic finger 20 to extend and retract, so that the telescopic finger 20 rotates relative to the bracket 10 , and drives the rotating finger 30 to rotate relative to the telescopic finger 20 .

[0055] Specifically, the telescopic finger 20 and the rotating finger 30 are both knuckles of the finger. The telescopic finger 20 has a telescopic function, and the rotating finger 30 rotates relative to the telescopic finger 20. When the telescopic finger 20 is telescoped, the telescopic finger 20 rotates relative to the bracket 10, and drives the rotating finger 30 to rotate relative to the telescopic finger 20, so as to achieve the overall bending of the finger. The first driver 40 drives the telescopic finger 20 to telescope, and jointly drives the telescopic finger 20 to rotate relative to the bracket 10, and the rotating finger 30 to rotate relative to the telescopic finger 20. The rotation of two knuckles is achieved through one first driver 40. When the first driver 40 drives the telescopic finger to telescope, the rotational torque of the telescopic finger 20, the rotational torque of the rotating finger 30, and the telescopic torque of the telescopic finger 20 can be formed, thereby forming a more reliable grip, making it easier to grasp objects.

[0056] In a preferred implementation of the embodiment of the present invention, Figure 1-Figure 3 , Figure 5 as well as Figure 6 As shown, the telescopic finger 20 includes:

[0057] The housing 21 is rotatably mounted on the bracket 10;

[0058] The inner shell 22 is rotatably mounted on the bracket 10;

[0059] A connecting member 23, rotatably disposed on the inner shell 22;

[0060] The housing 21 is rotatably connected to the rotating finger 30 ; and the connecting member 23 is rotatably connected to the rotating finger 30 .

[0061] Specifically, the outer shell 21 is sleeved outside the inner shell 22, and the inner shell 22 can move inside the outer shell 21. Both the inner shell 22 and the outer shell 21 are rotatably connected to the bracket 10, the outer shell 21 is rotatably connected to the rotating finger 30, and the inner shell 22 is rotatably connected to the rotating finger 30 through the connecting member 23. The connection between the outer shell 21 and the bracket 10 is different from the connection between the inner shell 22 and the bracket 10, so the position of the rotation center axis of the outer shell 21 relative to the bracket 10 is different from the position of the rotation center axis of the inner shell 22 relative to the bracket 10. When the outer shell 21 rotates relative to the bracket 10, the inner shell 22 also rotates relative to the bracket 10, and the inner shell 22 moves relative to the outer shell 21.

[0062] The position of the rotation center axis of the rotating finger 30 relative to the outer shell 21 is different from the position of the rotation center axis of the rotating finger 30 relative to the connecting member 23. When the inner shell 22 moves relative to the outer shell 21, the inner shell 22 pushes the rotating finger 30 to rotate relative to the outer shell 21 through the connecting member 23, and the rotating finger 30 also rotates relative to the connecting member 23. The connection between the outer shell 21 and the bracket 10 and the connection between the outer shell 21 and the rotating finger 30 both correspond to the central axis of the outer shell 21. The connection between the inner shell 22 and the bracket 10 and the connecting member 23 are respectively located on both sides of the central axis of the outer shell 21 (or the inner shell 22).

[0063] In a preferred implementation of the embodiment of the present invention, Figure 1 , Figure 2 as well as Figure 4 As shown, the housing 21 is connected to the rotating finger 30 via a rotating shaft 24 ; the first driver 40 is a telescopic driver, and the telescopic driver is connected to the rotating shaft 24 .

[0064] Specifically, the outer shell 21 is provided with a rotating shaft 24, and the rotating finger 30 is rotatably connected to the rotating shaft 24, and the outer shell 21 and the rotating finger 30 are rotatably connected through the rotating shaft 24. The telescopic driver is rotatably connected to the rotating shaft 24, and the distance between the rotating shaft 24 and the inner shell 22 is changed by the telescopic driver, and the inner shell 22 pushes the rotating finger 30 through the connecting member 23.

[0065] In a preferred implementation of the embodiment of the present invention, Figure 2-Figure 4 As shown, the telescopic drive comprises:

[0066] A driving member 41 is disposed on the inner shell 22;

[0067] A screw rod 42, arranged on the output shaft of the driving member 41;

[0068] The threaded barrel 43 is threadedly connected to the screw rod 42;

[0069] The threaded barrel 43 is connected to the rotating shaft 24 .

[0070] Specifically, the driving member 41 is disposed on the inner shell 22, and the threaded barrel 43 is connected to the outer shell 21 through the rotating shaft 24. The driving member 41 is used to drive the screw 42 to rotate, and the threaded barrel 43 is threadedly connected with the screw 42. The screw 42 and the threaded barrel 43 convert the rotation of the driving member 41 into the relative movement of the threaded barrel 43 and the driving member 41, thereby realizing the relative movement of the inner shell 22 and the outer shell 21.

[0071] In a preferred implementation of the embodiment of the present invention, Figure 2-Figure 3 As shown, the central axis of the screw rod 42 intersects with the central axis of the rotating shaft 24 .

[0072] Specifically, the central axis of the screw 42 is perpendicular to the central axis of the rotating shaft 24. When the screw 42 rotates, the threaded barrel 43 moves along the central axis of the screw 42. The central axis of the screw 42 intersects with the central axis of the rotating shaft 24, and the driving member 41 is located at the central axis of the inner shell 22, and the overall structure is more uniform.

[0073] In a preferred implementation of the embodiment of the present invention, Figure 1-Figure 4 As shown, the bottom of the outer shell 21 is rotatably connected to the bracket 10 ; the side of the inner shell 22 is rotatably connected to the bracket 10 .

[0074] Specifically, the connection between the outer shell 21 and the bracket 10 is located at the bottom of the outer shell 21, and the connection between the inner shell 22 and the bracket 10 is located at the side of the inner shell 22. The positions of the two connections are different, and the rotation conditions relative to the bracket 10 are also different, so the inner shell 22 and the outer shell 21 will move relative to each other.

[0075] In a preferred implementation of the embodiment of the present invention, Figure 1-Figure 4 As shown, the finger also includes:

[0076] A base 50 is rotatably connected to the bracket 10;

[0077] A second driver 60, disposed on the base 50;

[0078] The second driver 60 is used to drive the bracket 10 to rotate.

[0079] Specifically, the bracket 10 is mounted on the base 50 , and the second driver 60 drives the bracket 10 to rotate, thereby driving the retractable finger 20 and the rotating finger 30 to rotate together. The second driver 60 is mounted on the base 50 and connected to the bracket 10 .

[0080] 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 bracket 10 is perpendicular to the rotation direction of the telescopic finger 20 relative to the bracket 10 .

[0081] Specifically, the rotation direction of the base 50 relative to the bracket 10 is a first direction, and the rotation direction of the telescopic finger 20 relative to the bracket 10 is a second direction. The first direction and the second direction are different, for example, the first direction is perpendicular to the second direction.

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

[0083] The finger control method of the present invention comprises the following steps:

[0084] Step S100: Control the first driver to drive the telescopic finger to extend and retract, so that the telescopic finger rotates relative to the bracket, and drives the rotating finger to rotate relative to the telescopic finger.

[0085] Specifically, the first driver is controlled to drive the telescopic finger to extend and retract, so that the telescopic finger rotates relative to the bracket, and the rotating finger rotates relative to the telescopic finger, and the finger is in a curled state or an extended state. When the finger is curled, the bracket and the rotating finger both rotate toward the telescopic finger with the telescopic finger as a reference. When the finger is extended, the bracket and the rotating finger both rotate away from the telescopic finger with the telescopic finger as a reference.

[0086] Step S100 specifically includes:

[0087] Step S110: receiving a curling instruction and controlling the first driver to rotate forward to shorten the retractable fingers.

[0088] Step S120: receiving an extension instruction, and controlling the first driver to rotate in the opposite direction to extend the retractable finger.

[0089] Specifically, when curling the finger, the first driver is controlled to rotate in the forward direction according to the curling instruction, so that the telescopic finger is shortened, the telescopic finger and the rotating finger are both close to the bracket, and the finger is curled. When extending the finger, the first driver is controlled to rotate in the reverse direction according to the extending instruction, so that the telescopic finger is extended, the telescopic finger and the rotating finger are both away from the bracket, and the finger is extended.

[0090] The control method also includes:

[0091] Step S200: Control the second driver to drive the bracket to rotate relative to the base.

[0092] Specifically, the direction of the finger is changed by controlling the second driver to drive the bracket 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.

[0093] Based on the finger described in any of the above embodiments, the present invention further provides an embodiment of a robot hand:

[0094] The robot hand of the present invention comprises the finger as described in any one of the above embodiments.

[0095] Based on the finger or robot hand described in any of the above embodiments, the present invention further provides an embodiment of a robot:

[0096] 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.

[0097] 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: Bracket; a telescopic finger, rotatably connected to the bracket; A rotating finger, rotatably connected to the telescopic finger; A first driver, used for driving the telescopic finger to extend and retract, so that the telescopic finger rotates relative to the bracket, and drives the rotating finger to rotate relative to the telescopic finger; The telescopic finger comprises: A housing, rotatably mounted on the bracket; An inner shell, rotatably disposed on the bracket; A connecting member, rotatably disposed on the inner shell; Wherein, the housing is rotationally connected to the rotating finger; The connecting member is rotationally connected to the rotating finger; The housing is connected to the rotating finger via a rotating shaft; The first driver is a telescopic driver, the telescopic driver is connected to the rotating shaft, and the distance between the rotating shaft and the inner shell is changed by the telescopic driver being extended and retracted; The position of the outer shell relative to the central axis of rotation of the bracket is different from the position of the inner shell relative to the central axis of rotation of the bracket.

2. The finger according to claim 1, characterized in that: The telescopic drive comprises: A driving member, disposed on the inner shell; A screw rod, arranged on the output shaft of the driving member; A threaded barrel, connected to the screw rod by threads; Wherein, the threaded barrel is connected to the rotating shaft.

3. The finger according to claim 2, characterized in that: The central axis of the screw intersects with the central axis of the rotating shaft.

4. The finger according to claim 1, characterized in that: The bottom of the housing is rotatably connected to the bracket; The side portion of the inner shell is rotatably connected to the bracket.

5. The finger according to any one of claims 1 to 4, characterized in that: The finger also includes: A base, rotatably connected to the bracket; A second driver is disposed on the base; Wherein, the second driver is used to drive the bracket to rotate.

6. The finger according to claim 5, characterized in that: The rotation direction of the base relative to the bracket is perpendicular to the rotation direction of the telescopic finger relative to the bracket.

7. A finger control method according to any one of claims 1 to 6, characterized in that: Includes steps: The first driver is controlled to drive the telescopic finger to extend and retract, so that the telescopic finger rotates relative to the bracket, and drives the rotating finger to rotate relative to the telescopic finger.

8. The finger control method according to claim 7, characterized in that: The control method further comprises: The second driver is controlled to drive the bracket to rotate relative to the base.

9. A robot arm, characterized in that: Comprising a finger as described in any one of claims 1-6.

10. A robot, characterized in that: It comprises a finger as described in any one of claims 1 to 6, or a robotic hand as described in claim 9.

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