Mechanical finger and mechanical equipment

Abstract

The invention discloses a mechanical finger and mechanical equipment, the mechanical finger comprises a finger base, the finger base comprises a movable seat and a fixed seat, and the movable seat is rotatably connected to the fixed seat around a first axis; the finger main body is rotationally connected to the movable seat around a second axis; the swing assembly is used for driving the movable base so as to drive the finger body to swing around the first axis, the pitching assembly is used for driving the finger body to rotate around the second axis in a pitching mode, and the first axis intersects with the second axis. According to the mechanical finger, the finger body of the mechanical finger can flexibly swing, bend and stretch, the action of the human body finger can be more accurately simulated, the mechanical finger can execute operation closer to the human body finger, then the use requirements in different scenes are met, and the flexibility of the mechanical finger is improved.

Description

Technical Field

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

[0002] With the gradual development and progress of mechanical technology, more and more different types of mechanical equipment are applied in the mechanical field. Among them, robots are relatively common mechanical equipment, which can be used to replace human work and behavior to reduce people's physical labor. However, the finger joints of robots currently used are generally inflexible and cannot perform relatively complex movements. The applicability is limited and there is room for improvement. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides a mechanical finger, which has a simple structure, flexible use and strong adaptability.

[0004] According to an embodiment of the present invention, the mechanical finger includes: a finger base, the finger base includes a movable seat and a fixed seat, the movable seat is rotatably connected to the fixed seat around a first axis; a finger body, the finger body is rotatably connected to the movable seat around a second axis; a swing component and a pitch component, the swing component is used to drive the movable seat to drive the finger body to swing around the first axis, and the pitch component is used to drive the finger body to pitch and rotate around the second axis, and the first axis intersects with the second axis.

[0005] According to the robotic finger of the embodiment of the present invention, the finger body of the robotic finger can swing, bend and stretch flexibly, more accurately simulating the movements of human fingers, which is conducive to the robotic finger performing operations that are closer to human fingers, thereby meeting the usage requirements in different scenarios and improving the flexibility of the robotic finger.

[0006] According to some embodiments of the mechanical finger of the present invention, the pitch assembly includes a pitch driving member, a swinging member and a movable rod, the swinging member includes a connected mounting portion and a connecting portion, the mounting portion is fixedly mounted on the output shaft of the pitch driving member, and the swinging member is driven to rotate when the output shaft rotates, the two ends of the movable rod are respectively rotatably connected to the connecting portion of the swinging member and the finger body, and the pitch driving member drives the finger body to pitch and rotate around the second axis through the swinging member and the movable rod in turn.

[0007] According to some embodiments of the present invention, the movable rod comprises a first rod portion and a second rod portion which are connected by bending, the connecting portion is rotatably connected to the first rod portion, and the second rod portion is rotatably connected to the finger body.

[0008] According to some embodiments of the present invention, the angle between the mounting portion and the connecting portion is greater than or equal to 90° and less than or equal to 180°.

[0009] And / or, the angle between the first rod portion and the second rod portion is greater than 90° and less than 180°.

[0010] According to some embodiments of the robotic finger of the present invention, the movable seat includes a rotating shaft portion and a connecting support, the rotating shaft portion is rotatably installed on the fixed seat around a first axis, the connecting support is provided with a movable opening, and the finger body is provided with a connecting matching portion, the connecting matching portion extends into the movable opening and is rotatably connected to the connecting support around a second axis.

[0011] According to some embodiments of the robotic finger of the present invention, the connecting support includes a middle plate and two connecting support plates, the two connecting support plates are respectively connected to the two ends of the middle plate, the rotating shaft portion is connected to the middle of the middle plate, and the two connecting support plates are spaced apart and relatively distributed and are respectively rotatably connected to the finger body.

[0012] According to some embodiments of the robotic finger of the present invention, the swing assembly includes a swing driving member and a transmission gear, the transmission gear is arranged on the movable seat, the output shaft of the swing driving member is provided with a driving worm, and the driving worm is meshed with the transmission gear to drive the movable seat to swing around the first axis.

[0013] According to some embodiments of the mechanical finger of the present invention, the finger body includes a first finger joint, a second finger joint and a third finger joint, the first finger joint, the second finger joint and the third finger joint are movably connected in sequence, and the first finger joint is rotatably connected to the movable seat around the second axis.

[0014] The mechanical finger according to some embodiments of the present invention further comprises a finger driving member and a driving connecting rod, one end of the driving connecting rod being rotatably connected to the first finger joint and the other end of the driving connecting rod being rotatably connected to the third finger joint;

[0015] The second finger joint includes a connecting rod portion, one end of which is rotatably connected to the first finger joint and the other end of which is rotatably connected to the third finger joint. The connecting rod portion and the driving connecting rod are cross-distributed, and the finger driving member is used to drive the connecting rod portion to rotate relative to the first finger joint.

[0016] The invention also provides a mechanical device.

[0017] A mechanical device according to an embodiment of the present invention includes the mechanical finger described in any one of the above embodiments.

[0018] The advantages of the mechanical device and the above-mentioned mechanical finger over the prior art are the same and will not be described in detail here.

[0019] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0021] Figure 1 is a side view of a mechanical finger according to an embodiment of the present invention;

[0022] Figure 2 is a schematic structural diagram of a mechanical finger according to an embodiment of the present invention;

[0023] Figure 3 is an enlarged view of the first finger joint according to an embodiment of the present invention (the finger is vertically extended);

[0024] Figure 4 is an enlarged view of the first finger joint from another perspective according to an embodiment of the present invention;

[0025] Figure 5 is an enlarged view of the joints of the finger body according to an embodiment of the present invention;

[0026] Figure 6 is an internal diagram of the joints of a finger body according to an embodiment of the present invention;

[0027] Figure 7 It is an enlarged view of the first finger joint according to an embodiment of the present invention (the finger is bent at 45°).

[0028] Reference numerals:

[0029] Mechanical finger 100,

[0030] Finger body 1, first finger joint 11, rotation matching part 111, connection matching part 112, second finger joint 12, connecting rod part 121, third finger joint 13, finger driving member 14, active worm 141, driving connecting rod 15, first rotating shaft 161, second rotating shaft 162, third rotating shaft 163, fourth rotating shaft 164, matching gear 17,

[0031] Finger base 2, movable seat 21, shaft portion 211, connecting support 212, middle plate 2121, connecting support plate 2122, movable opening 2123, fixed seat 22,

[0032] The pitch assembly 3, the pitch driving member 31, the swing member 32, the mounting portion 321, the connecting portion 322, the movable rod 33, the first rod portion 331, the second rod portion 332,

[0033] Swing assembly 4, swing drive member 41, drive worm 411, transmission gear 42,

[0034] The first axis 51 and the second axis 52. DETAILED DESCRIPTION

[0035] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0036] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0037] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0038] Reference below Figure 1-Figure 7 A robotic finger 100 according to an embodiment of the present invention is described. The robotic finger 100 can realize flexible swinging and flexible pitching movements, thereby facilitating the execution of different mechanical operations, thereby meeting usage requirements in different scenarios and improving the adaptability of the robotic finger 100.

[0039] like Figure 1-Figure 7As shown, a mechanical finger 100 according to an embodiment of the present invention includes a finger base 2, a finger body 1, a swing component 4 and a pitch component 3.

[0040] The finger base 2 includes a movable seat 21 and a fixed seat 22, wherein the fixed seat 22 is the main structural support of the mechanical finger 100, that is, the fixed seat 22 can be relatively fixed with other structural parts, so that the mechanical finger 100 can be installed on the structural part as a whole. It should be noted that the mechanical finger 100 in the present invention can be installed on the palm of the mechanical arm, that is, the fixed seat 22 can be relatively fixed with the palm of the mechanical arm, so that the mechanical arm can hold or grasp through the mechanical finger 100. During the specific installation, the fixed seat 22 can be detachably connected to the palm of the mechanical arm, so as to facilitate the replacement or repair of the mechanical finger 100 when the mechanical finger 100 is structurally damaged or fails in function.

[0041] The movable seat 21 is movably connected to the fixed seat 22 , so that the movable seat 21 can cooperate with the finger body 1 to perform different types of actions, thereby enriching the functionality of the mechanical finger 100 .

[0042] The movable seat 21 is rotatably connected to the fixed seat 22 around the first axis 51, and the finger body 1 is rotatably connected to the movable seat 21 around the second axis 52. The swing component 4 is used to drive the movable seat 21 to drive the finger body 1 to swing around the first axis 51. The pitch component 3 is used to drive the finger body 1 to pitch and rotate around the second axis 52. The first axis 51 intersects with the second axis 52.

[0043] That is, during actual installation, the finger body 1 is installed on the movable seat 21, and the movable seat 21 is installed on the fixed seat 22, so that when the movable seat 21 moves relative to the fixed seat 22, the finger body 1 moves with the movable seat 21 relative to the fixed seat 22, and when the finger body 1 moves independently relative to the movable seat 21, the finger body 1 also moves relative to the fixed seat 22. In other words, the movable seat 21 can drive the finger body 1 to rotate relative to the fixed seat 22 around the first axis 51, and at the same time, the finger body 1 can rotate independently relative to the movable seat 21 around the second axis 52, so that the finger body 1 can rotate in two directions relative to the fixed seat 22.

[0044] In actual construction, the first axis 51 can be constructed to extend along the front-to-back direction of the mechanical finger 100, and the front-to-back direction is the inside-outside direction of the palm, that is, the direction from the palm to the back of the palm. Therefore, the movable seat 21 is set to rotate around the first axis 51 relative to the fixed seat 22, so that the finger body 1 can swing relative to the fixed seat 22 together with the movable seat 21, that is, the finger body 1 can swing left and right relative to the palm. Therefore, the mechanical finger 100 in the present invention can simulate the left and right swinging of human fingers, which is beneficial to improve the flexibility of the mechanical finger 100.

[0045] Furthermore, the second axis 52 can be constructed to extend along the left-right direction of the mechanical finger 100, and the left-right direction is the width direction of the palm, that is, the direction from the little finger to the thumb. Therefore, the finger body 1 is set to rotate around the second axis 52 relative to the movable seat 21, so that the finger body 1 can be pitched relative to the fixed seat 22, that is, the finger body 1 can move toward the palm or away from the palm relative to the palm. Therefore, the mechanical finger 100 of the present invention can simulate the bending and extension of human fingers, which is conducive to improving the flexibility of the mechanical finger 100. Figure 3 As shown, the finger body 1 rotates around the second axis 52 to extend vertically, and as shown Figure 7 As shown, the finger body 1 rotates around the second axis 52 to form an angle of 45° with the vertical direction, thereby enabling flexible adjustment of the finger body 1.

[0046] The movable seat 21 is driven by the swing assembly 4, and the finger body 1 is driven by the pitch assembly 3, so that the left and right swing and pitch bending of the finger body 1 can be actively realized. The swing assembly 4 and the pitch assembly 3 may include a drive motor, a drive cylinder or other drive forms, with a simple structure, and can flexibly and actively realize the movement operation of the mechanical finger 100.

[0047] Specifically, the swing assembly 4 and the pitch assembly 3 can be fixed relative to the fixing seat 22, such as being fixedly connected to the palm of the robot arm. Figure 1 and Figure 2 As shown, the finger body 1 is connected to the top of the finger base 2, and the movable seat 21 is connected to the lower end of the finger body 1. The swing component 4 and the pitch component 3 are both connected to the bottom of the fixed seat 22 and can be integrated into the palm of the robotic arm.

[0048] According to the robotic finger 100 of the embodiment of the present invention, the finger body 1 of the robotic finger 100 can flexibly swing left and right and bend and stretch, more accurately simulating the movements of human fingers, which is conducive to the robotic finger 100 performing operations that are closer to human fingers, thereby meeting the usage requirements in different scenarios and improving the flexibility of the robotic finger 100.

[0049] In some embodiments, Figure 3 As shown, the pitch assembly 3 includes a pitch driving member 31, a swing member 32 and a movable rod 33. Figure 3 As shown, the swing member 32 includes a mounting portion 321 and a connecting portion 322 connected to each other. The mounting portion 321 is fixedly mounted on the output shaft of the pitch driving member 31. When the output shaft rotates, the swing member 32 is driven to rotate. The mounting portion 321 and the connecting portion 322 can be integrally formed to make the connection between the two more stable.

[0050] like Figure 3As shown, the mounting portion 321 can be configured as an annular shape, that is, a mounting hole is formed in the center of the mounting portion 321, and the pitch driving member 31 can be configured as a driving motor, and the motor shaft of the driving motor is inserted into the mounting hole, and the motor shaft and the inner wall of the mounting hole can be circumferentially fixed, so that the motor shaft can be relatively fixed to the mounting portion 321, and then the motor shaft can drive the swing member 32 to rotate around the axis of the motor shaft. The connecting portion 322 is connected to the outer peripheral wall of the mounting portion 321, and the connecting portion 322 is extended relative to the mounting portion 321 in a direction away from the driving motor.

[0051] Furthermore, both ends of the movable rod 33 are rotatably connected to the connecting portion 322 of the swing member 32 and the finger body 1 , respectively, and the pitch driving member 31 drives the finger body 1 to pitch and rotate around the second axis 52 through the swing member 32 and the movable rod 33 in turn.

[0052] Therefore, the pitch component 3 can not only drive the finger body 1 to pitch, but also support the rotation of the finger body 1, thereby making the movement of the finger body 1 more stable and accurate.

[0053] The pitch driving member 31 can be configured as a driving motor, which can drive the finger body 1 to pitch and rotate through the swing member 32 and the movable rod 33 when turned on, so that the finger body 1 can perform bending and stretching operations. During the specific action, the motor shaft of the driving motor rotates, and the swing member 32 is fixed to the motor shaft. The motor shaft can drive the swing member 32 to rotate around the axis of the motor shaft, so that the swing member 32 swings to different angles. At the same time, the swing member 32 drives one end of the movable rod 33 to move relative to the other end, and the movable rod 33 rotates relative to the swing member 32 and the finger body 1 during the movement, thereby enabling the finger body 1 to perform pitch motion relative to the movable seat 21.

[0054] It should be noted that after the finger body 1 is connected to the fixed seat 22 through the movable seat 21, it can be rotated in two directions. By setting the pitch assembly 3 to realize the power transmission between the pitch driving member 31 and the finger body 1 through the cooperation of the swing member 32 and the movable rod 33, the finger body 1 will not cause structural interference with the rotation structure of the movable seat 21 relative to the fixed seat 22 when performing the pitch movement. Therefore, structural interference between the two rotation steps of the finger body 1 can be avoided, ensuring that the two rotations of the finger body 1 can be executed separately or simultaneously, thereby improving the flexibility of the finger body 1 and ensuring the structural feasibility of the movement of the finger body 1.

[0055] Also, it should be noted that the movable rod 33 is used to transmit the driving force of the pitch driving member 31. The movable rod 33 is rotatably connected to the swinging member 32 and the finger body 1. The movable rod 33 not only rotates when the pitch driving member 31 drives the finger body 1 to pitch, but also can rotate relative to the finger body 1 and the swinging member 32 when the finger body 1 and the movable seat 21 swing relative to the fixed seat 22. Thus, the finger body 1 can be rotated in two degrees of freedom.

[0056] In some embodiments, Figure 3 and Figure 7 As shown, the movable rod 33 includes a first rod portion 331 and a second rod portion 332 that are bent and connected, the connecting portion 322 is rotatably connected to the first rod portion 331, and the second rod portion 332 is rotatably connected to the finger body 1. That is, the connecting portion 322 is provided with a first rotation hole, and one end of the first rod portion 331 away from the second rod portion 332 extends into the first rotation hole and can rotate relative to the connecting portion 322. At the same time, a rotation matching portion 111 is provided in the finger body 1, and the rotation matching portion 111 is provided with a second rotation hole, and one end of the second rod portion 332 away from the first rod portion 331 extends into the second rotation hole to rotate relative to the rotation matching portion 111.

[0057] Therefore, when the pitch driving member 31 is driven, the swinging member 32 rotates with the motor shaft, and the swinging member 32 drives the first rod portion 331 and the second rod portion 332 to drive the finger body 1 to rotate. The rotation coordination between the first rod portion 331 and the swinging member 32 and the rotation coordination between the second rod portion 332 and the finger body 1 can make the rotation of the finger body 1 smoother and more stable, and avoid structural interference between the pitch and left and right swinging of the finger body 1, so as to realize the reasonable feasibility of the finger body 1 taking into account the swinging and bending.

[0058] In some embodiments, the angle between the mounting portion 321 and the connecting portion 322 is greater than or equal to 90° and less than or equal to 180°. Figure 3 As shown, the mounting portion 321 extends in a horizontal direction, and the connecting portion 322 extends obliquely relative to the mounting portion 321, that is, the angle between the two can be set to 113°, 115°, 116°, 118°, 123°, 125°, 127°, 128°, 131°, 133°, 136°, 138°, 143°, 155°, 162°, 171°, or can also be set to other angle values ​​within the range of 90° to 180°.

[0059] And / or, the angle between the first rod portion 331 and the second rod portion 332 is greater than 90° and less than 180°, such as Figure 3As shown, the first rod portion 331 and the second rod portion 332 are both inclined relative to the horizontal direction and the vertical direction, that is, the angle between the two can be set to 113°, 115°, 116°, 118°, 123°, 125°, 127°, 128°, 131°, 133°, 136°, 138°, 143°, 155°, 162°, 171°, or can also be set to other angle values ​​within the range of 90° to 180°.

[0060] Therefore, by setting the structural angle of the swing member 32 and the structural angle of the movable rod 33 within the above range, the pitch driving member 31 can drive the finger body 1 to perform pitch motion through the movable rod 33 when driving the swing member 32 to rotate. The structure is simple and easy to install.

[0061] In some embodiments, the movable seat 21 includes a rotating shaft portion 211 and a connecting support 212. The movable seat 21 is connected to the fixed seat 22 through the rotating shaft portion 211, and is connected to the finger body 1 through the connecting support 212. The rotating shaft portion 211 and the connecting support 212 can be integrally formed. Therefore, when the movable seat 21 is movably cooperated with the fixed seat 22 and the finger body 1 respectively, the rotating shaft portion 211 and the connecting support 212 maintain a stable connection state.

[0062] The rotating shaft portion 211 is rotatably installed on the fixed seat 22 around the first axis 51, that is, a rotating installation hole is provided on the fixed seat 22, and the rotating shaft portion 211 is inserted into the rotating installation hole. The rotating shaft portion 211 can rotate relative to the fixed seat 22 in the rotating installation hole, so that the rotating shaft portion 211 can drive the connecting support 212 to rotate around the first axis 51 together.

[0063] In addition, the connecting support 212 is provided with a movable opening 2123, and the finger body 1 is provided with a connecting matching portion 112, the connecting matching portion 112 extends into the movable opening 2123 and is rotatably connected to the connecting support 212 around the second axis 52. During actual installation, the movable opening 2123 passes through the connecting support 212 in the up and down directions, and the lower end of the finger body 1 can extend into the movable opening 2123 and be rotatably matched with the connecting support 212 through a rotating shaft. Thus, the connection between the finger body 1 and the movable seat 21 can be realized, and the two can be compactly connected at the movable opening 2123, which is beneficial to improving the overall compactness of the mechanical finger 100.

[0064] In some embodiments, Figure 4As shown, the connecting support 212 includes an intermediate plate 2121 and two connecting support plates 2122. The two connecting support plates 2122 are respectively connected to the two ends of the intermediate plate 2121. The two connecting support plates 2122 are spaced apart and relatively distributed and are respectively rotatably connected to the finger body 1, that is, the intermediate plate 2121 and the two connecting support plates 2122 jointly define a movable opening 2123, and the finger body 1 can extend between the two connecting support plates 2122 to be rotatably connected to the two connecting support plates 2122 respectively.

[0065] Therefore, the finger body 1 can be rotatably connected to the connecting support plate 2122 at two positions, so that the finger body 1 has two rotation support points, thereby ensuring that the rotation process of the finger body 1 is more stable, avoiding the problem of rotational fracture when the finger body 1 rotates relative to the movable seat 21, and improving the structural safety.

[0066] Among them, the shaft part 211 is connected to the middle part of the middle plate 2121, and the rotation axis of the shaft part 211 can be perpendicular to the middle plate 2121, so that the two connecting support plates 2122 are symmetrically distributed relative to the rotation axis of the rotation shaft, so that when the finger body 1 swings left and right, the supporting force of the two connecting support plates 2122 on the finger body 1 is relatively balanced, avoiding excessive force on one side.

[0067] In some embodiments, the swing assembly 4 includes a swing driving member 41 and a transmission gear 42. The transmission gear 42 is disposed on the movable seat 21. The output shaft of the swing driving member 41 is provided with a driving worm 411. The driving worm 411 is meshed with the transmission gear 42 to drive the movable seat 21 to swing around the first axis 51. The swing driving member 41 can drive the driving worm 411 and the transmission gear 42 to drive the movable seat 21 to swing relative to the fixed seat 22 in turn, thereby realizing the swing of the finger body 1.

[0068] The swing driving member 41 can be fixedly installed on the fixing seat 22 , and the swing driving member 41 can be constructed as a driving motor, and the motor housing of the driving motor is relatively fixed to the fixing seat 22 , such as being fixed by bolts and other connecting members.

[0069] like Figure 3As shown, the rotating shaft portion 211 of the movable seat 21 is penetrated by the fixed seat 22, the swing driving member 41 is fixedly installed on the fixed seat 22, and the motor shaft of the swing driving member 41 extends upward, and the driving worm 411 is fixedly connected to the outside of the motor shaft, so that the motor shaft drives the driving worm 411 to rotate together, and the transmission gear 42 is sleeved on the outside of the rotating shaft portion 211, and the transmission gear 42 can drive the rotating shaft portion 211 and the connecting support 212 to rotate relative to the fixed seat 22, and the driving worm 411 is meshed with the transmission gear 42. Therefore, when the swing driving member 41 outputs power, the movable seat 21 can be driven to swing relative to the fixed seat 22 through the motor shaft, the driving worm 411, and the transmission gear 42 in sequence, so that the finger body 1 is swung relative to the fixed seat 22. The structure is simple, the installation is convenient, and the swinging process is easy to achieve.

[0070] In some embodiments, the finger body 1 includes a first finger joint 11, a second finger joint 12 and a third finger joint 13, the first finger joint 11, the second finger joint 12 and the third finger joint 13 are movably connected in sequence, and the first finger joint 11 is rotatably connected to the movable seat 21 around the second axis 52, such as Figure 1 and Figure 2 As shown, the first finger joint 11, the second finger joint 12 and the third finger joint 13 are connected in sequence along the length direction of the finger body 1.

[0071] It is understandable that a human finger includes three finger joints, namely, the base joint, the middle joint and the tip joint. The finger body 1 in the present invention includes the first finger joint 11, the second finger joint 12 and the third finger joint 13 to simulate the three finger joints of a human finger, thereby making the mechanical finger 100 closer to a human finger, thereby making the mechanical finger 100 more dexterous.

[0072] Among them, the first finger joint 11 is rotatably connected to the movable seat 21, so that the first finger joint 11 can drive the second finger joint 12 and the third finger joint 13 to adjust the pitch angle relative to the movable seat 21, and can also swing relative to the fixed seat 22 with the movable seat 21 to realize the bending and swinging of the mechanical finger 100.

[0073] In some embodiments, the robotic finger 100 also includes a finger driving member 14 and a driving link 15, one end of the driving link 15 is rotatably connected to the first finger joint 11 and the other end is rotatably connected to the third finger joint 13; the second finger joint 12 includes a connecting rod portion 121, one end of the connecting rod portion 121 is rotatably connected to the first finger joint 11 and the other end is rotatably connected to the third finger joint 13, the connecting rod portion 121 and the driving link 15 are cross-distributed, and the finger driving member 14 is used to drive the connecting rod portion 121 to rotate relative to the first finger joint 11.

[0074] Thus, the first finger joint 11, the second finger joint 12 and the third finger joint 13 are movably connected through the driving connecting rod 15 and the connecting rod portion 121, so that the second finger joint 12 and the third finger joint 13 are both movable relative to the first finger joint 11, and the connecting rod portion 121 is a part of the second finger joint 12, and when the third finger joint 13 moves relative to the connecting rod portion 121, it also moves relative to the second finger joint 12. In other words, the third finger joint 13 can move relative to the first finger joint 11 and the second finger joint 12 at the same time, thereby more accurately simulating the three finger joints of the human finger, achieving more complex finger movements, and improving the flexibility of the mechanical finger 100.

[0075] Specifically, Figure 6 As shown, the lower end of the driving link 15 is rotationally connected to the first finger joint 11 through the first rotating shaft 161, and the upper end of the driving link 15 is rotationally connected to the third finger joint 13 through the second rotating shaft 162. At the same time, the lower end of the connecting rod part 121 is rotationally connected to the first finger joint 11 through the third rotating shaft 163, and the upper end of the connecting rod part 121 is rotationally connected to the third finger joint 13 through the fourth rotating shaft 164, so that the three finger joints of the finger body 1 are distributed in the form of a four-bar linkage.

[0076] Among them, the finger driving member 14 can be constructed as a driving motor, and the finger driving member 14 can be installed in the first finger joint 11, and the third rotating shaft 163 is provided with a matching gear 17. At the same time, an active worm 141 is provided on the motor shaft of the finger driving member 14, and the active worm 141 is meshed with the matching gear 17, and the matching gear 17 can drive the third rotating shaft 163 to rotate, thereby driving the connecting rod 121, the driving connecting rod 15, and the second finger joint 12 and the third finger joint 13 to move. It should be noted that the size length of each part of the four-link can be set so that when the connecting rod 121 rotates under the driving action of the finger driving member 14, the three finger joints of the finger body 1 can be closer to the movement process of the three finger joints of the human finger, thereby improving the dexterity of the mechanical finger 100.

[0077] The invention also provides a mechanical device.

[0078] The mechanical device according to an embodiment of the present invention includes a mechanical finger 100 of any of the above-mentioned embodiments. The finger body 1 of the mechanical finger 100 can flexibly swing left and right and bend and stretch, so as to more accurately simulate the movements of human fingers, thereby facilitating the mechanical finger 100 to perform operations that are closer to human fingers, thereby meeting the usage requirements in different scenarios and improving the flexibility of the mechanical finger 100.

[0079] Therefore, by providing the mechanical device with the mechanical finger 100, the mechanical finger 100 can flexibly perform more types of operations, so that the mechanical device can be applied to different types of working conditions and enhance applicability.

[0080] Among them, the mechanical equipment can be a robot, a transport machine, etc.

[0081] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0082] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A mechanical finger, characterized in that: include: A finger base (2), the finger base (2) comprising a movable base (21) and a fixed base (22), the movable base (21) being rotatably connected to the fixed base (22) around a first axis (51); A finger body (1), the finger body (1) being rotatably connected to the movable seat (21) around a second axis (52); A swing assembly (4) and a pitch assembly (3), wherein the swing assembly (4) is used to drive the movable seat (21) to drive the finger body (1) to swing around the first axis (51), and the pitch assembly (3) is used to drive the finger body (1) to pitch and rotate around the second axis (52), and the first axis (51) and the second axis (52) intersect.

2. The mechanical finger according to claim 1, characterized in that: The pitch assembly (3) comprises a pitch driving member (31), a swinging member (32) and a movable rod (33); the swinging member (32) comprises a mounting portion (321) and a connecting portion (322) connected to each other; the mounting portion (321) is fixedly mounted on an output shaft of the pitch driving member (31); when the output shaft rotates, the swinging member (32) is driven to rotate; two ends of the movable rod (33) are respectively connected to the connecting portion (322) of the swinging member (32) and the finger body (1) for rotation; the pitch driving member (31) drives the finger body (1) to pitch and rotate around the second axis (52) through the swinging member (32) and the movable rod (33) in sequence.

3. The mechanical finger according to claim 2, characterized in that: The movable rod (33) comprises a first rod portion (331) and a second rod portion (332) which are connected by bending, the connecting portion (322) is rotationally connected to the first rod portion (331), and the second rod portion (332) is rotationally connected to the finger body (1).

4. The mechanical finger according to claim 3, characterized in that: The included angle between the mounting portion (321) and the connecting portion (322) is greater than or equal to 90° and less than or equal to 180°; And / or, the angle between the first rod portion (331) and the second rod portion (332) is greater than 90° and less than 180°.

5. The mechanical finger according to claim 1, characterized in that: The movable seat (21) comprises a rotating shaft portion (211) and a connecting support (212); the rotating shaft portion (211) is rotatably mounted on the fixed seat (22) around a first axis (51); the connecting support (212) is provided with a movable opening (2123); the finger body (1) is provided with a connecting matching portion (112); the connecting matching portion (112) extends into the movable opening (2123) and is rotatably connected to the connecting support (212) around a second axis (52).

6. The mechanical finger according to claim 5, characterized in that: The connecting support (212) comprises an intermediate plate (2121) and two connecting support plates (2122), the two connecting support plates (2122) are respectively connected to the two ends of the intermediate plate (2121), the rotating shaft portion (211) is connected to the middle of the intermediate plate (2121), and the two connecting support plates (2122) are spaced apart and relatively distributed and are respectively rotatably connected to the finger body (1).

7. The mechanical finger according to claim 1, characterized in that: The swing assembly (4) comprises a swing driving member (41) and a transmission gear (42); the transmission gear (42) is arranged on the movable seat (21); the output shaft of the swing driving member (41) is provided with a driving worm (411); the driving worm (411) is meshed with the transmission gear (42) to drive the movable seat (21) to swing around the first axis (51).

8. The mechanical finger according to any one of claims 1 to 7, characterized in that: The finger body (1) comprises a first finger joint (11), a second finger joint (12) and a third finger joint (13); the first finger joint (11), the second finger joint (12) and the third finger joint (13) are movably connected in sequence, and the first finger joint (11) is rotatably connected to the movable seat (21) around the second axis (52).

9. The mechanical finger according to claim 8, characterized in that: It also includes a finger driving member (14) and a driving connecting rod (15), one end of the driving connecting rod (15) is rotatably connected to the first finger joint (11) and the other end of the driving connecting rod (15) is rotatably connected to the third finger joint (13); The second finger joint (12) comprises a connecting rod portion (121), one end of the connecting rod portion (121) is rotatably connected to the first finger joint (11) and the other end is rotatably connected to the third finger joint (13), the connecting rod portion (121) and the driving connecting rod (15) are cross-distributed, and the finger driving member (14) is used to drive the connecting rod portion (121) to rotate relative to the first finger joint (11).

10. A mechanical device, characterized in that: A mechanical finger comprising any one of claims 1-9.

Images