Finger mechanism, manipulator and robot

Abstract

The present invention discloses a finger mechanism, a manipulator and a robot. The finger mechanism includes a finger base, a driving assembly is arranged on the finger base; a first finger joint is rotatably connected to the finger base; a second finger joint is rotatably connected to the first finger joint; one end of a connecting rod member is transmission-connected to the driving assembly, and the other end is transmission-connected to the second finger joint, and is used to drive the first finger joint to rotate relative to the finger base and drive the second finger joint to rotate relative to the first finger joint under the drive of the driving assembly; an elastic reset member is arranged in an accommodating cavity, and one end of the elastic reset member is connected to the first finger joint, and the other end is connected to the second finger joint, and is used to drive the first finger joint and the second finger joint to reset. When the finger mechanism encounters an external force, the elastic reset member will first undergo elastic deformation, absorb and dissipate a part of the external force energy, thereby reducing the impact of the external force on the first finger joint, the second finger joint and the entire finger mechanism, effectively protecting the finger mechanism from damage, and reducing the risk of damage or even breakage of the finger mechanism.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulators, and in particular to a finger mechanism, a manipulator and a robot. Background Art

[0002] Robot arms are often used to replace human hands to perform tasks such as grasping and manipulation. They are precise and flexible. Their finger mechanisms, as an important component of human hand imitations, can achieve flexion and extension functions similar to those of human fingers.

[0003] The existing manipulator structure is usually relatively fixed, and the movement of its fingers is completely dependent on the drive of the driver, lacking autonomous adaptability and flexibility. When the driver is locked or stops working, the finger mechanism of the manipulator will be in a locked state. In this case, once a large external force acts on the finger, the finger cannot move flexibly to buffer or avoid the external force, and the manipulator finger is easily damaged or even broken, affecting the normal use of the manipulator. Summary of the invention

[0004] The main purpose of the present invention is to provide a finger mechanism, a manipulator and a robot, aiming to solve the technical problems that the existing finger mechanism is insufficient in flexibility and is easily damaged or even broken by external impact.

[0005] To achieve the above object, the present invention provides a finger mechanism, comprising:

[0006] Finger base;

[0007] A driving assembly, the driving assembly being arranged on the finger base;

[0008] a first finger joint, the first finger joint being rotatably connected to the finger base, and a receiving cavity being provided in the first finger joint;

[0009] a second knuckle, the second knuckle being rotatably connected to the first knuckle;

[0010] a connecting rod member, wherein the connecting rod member passes through the accommodating cavity, and one end of the connecting rod member is transmission-connected to the driving assembly, and the other end of the connecting rod member is transmission-connected to the second finger joint, and is used for driving the first finger joint to rotate relative to the finger base and driving the second finger joint to rotate relative to the first finger joint under the drive of the driving assembly;

[0011] An elastic reset component is disposed in the accommodating cavity, one end of the elastic reset component is connected to the first finger joint, and the other end is connected to the second finger joint, and is used to drive the first finger joint and the second finger joint to reset.

[0012] In some embodiments, the connecting rod member includes a first rod segment and a second rod segment connected to each other, the length of the first rod segment is greater than the length of the second rod segment, and a preset angle is formed between the first rod segment and the second rod segment, and the end of the first rod segment away from the second rod segment is connected to the finger base through a first rotating shaft, and the end of the second rod segment away from the first rod segment is connected to the second knuckle through a second rotating shaft.

[0013] In some embodiments, a first mounting portion is provided on a side of the second rod segment facing away from the second rotating shaft, a second mounting portion is extended inwardly from the inner wall of the accommodating cavity, one end of the elastic reset member is connected to the first mounting portion, and the other end is connected to the second mounting portion; and / or,

[0014] The elastic return component is a tension spring.

[0015] In some embodiments, the drive assembly comprises:

[0016] A driving member, the driving member is disposed on the finger base, and the driving member has an output shaft extending into the interior of the finger base;

[0017] a worm, the worm being disposed in the finger base and connected to the output shaft;

[0018] A worm wheel, the worm wheel is meshedly connected with the worm and is drivingly connected with one end of the connecting rod member;

[0019] Wherein, the driving member is configured to: drive the worm to rotate, and drive the connecting rod member to rotate through the worm gear, so as to drive the first finger joint to rotate relative to the finger base and drive the second finger joint to rotate relative to the first finger joint.

[0020] In some embodiments, a partition groove is provided at one end of the first rod segment away from the second rod segment, and the first rod segment is respectively constructed with mounting holes on opposite sides of the partition groove, the worm gear is installed in the partition groove, the first rotating shaft passes through the worm gear, and both ends of the first rotating shaft are respectively installed in the corresponding mounting holes.

[0021] In some embodiments, the first knuckle is pin-coupled to the finger base; and / or,

[0022] The link member is pin-coupled to the finger base; and / or,

[0023] The link member is coupled to the second knuckle pin; and / or,

[0024] The second knuckle is pin-coupled with the first knuckle.

[0025] In some embodiments, the connection between the first knuckle and the finger base forms a first connection position, the connection between the connecting rod member and the finger base forms a second connection position, the connection between the connecting rod member and the second knuckle forms a third connection position, and the connection between the second knuckle and the first knuckle forms a fourth connection position, and the first connection position, the second connection position, the third connection position and the fourth connection position are arranged in a quadrilateral.

[0026] In some embodiments, a limit groove is provided in the finger base, and the limit groove has a notch connected to the outside. The connecting rod member is rotatably connected to the limit groove through the notch, and the limit groove forms limit end surfaces at opposite ends along the rotation direction of the connecting rod member, which are used to limit the angle range of rotation of the connecting rod member relative to the finger base.

[0027] The present invention also provides a manipulator, comprising a palm mechanism and at least one finger mechanism as described above, wherein the at least one finger mechanism is connected to the palm mechanism.

[0028] The present invention also provides a robot, comprising the manipulator as described above.

[0029] The finger mechanism of the present application drives the first finger joint to rotate relative to the finger base and drives the second finger joint to rotate relative to the first finger joint through the driving component, so as to realize the bending and stretching action of the finger, improve the flexibility of the finger mechanism, and realize more complex operation actions; and the present application can not only realize the reset function of the first finger joint and the second finger joint by setting an elastic reset component, but also play a buffering role when the finger mechanism is impacted by external force. When the finger mechanism encounters external force, the elastic reset component will first undergo elastic deformation, absorb and dissipate part of the external force energy, thereby reducing the impact of the external force on the first finger joint, the second finger joint and the entire finger mechanism, effectively protecting the finger mechanism from damage, and reducing the risk of damage or even breakage of the finger mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a structural schematic diagram of an embodiment of the finger mechanism of the present invention;

[0031] Figure 2 for Figure 1 Disassembly diagram of the middle finger mechanism;

[0032] Figure 3 for Figure 1 A schematic cross-sectional view of the middle finger mechanism;

[0033] Figure 4 It is a structural schematic diagram of an embodiment of a connecting rod component of the present invention;

[0034] Figure 5 It is a structural schematic diagram of an embodiment of a finger base of the present invention;

[0035] Figure 6 It is a cross-sectional schematic diagram of an embodiment of a finger base of the present invention.

[0036] Description of Figure Numbers:

[0037] 100-finger mechanism, 10-finger base, 20-driving assembly, 30-first finger joint, 31-accommodating cavity, 40-second finger joint, 50-connecting rod member, 60-elastic reset member, 51-first rod segment, 52-second rod segment, 53-first rotating shaft, 54-second rotating shaft, 521-first mounting portion, 311-second mounting portion, 21-driving member, 211-output shaft, 22-worm, 23-worm wheel, 511-partitioning groove, 512-mounting hole, 11-limiting groove, 12-notch, 13-limiting end face, 14-first mounting cavity, 15-second mounting cavity, 16-through hole, 17-mounting groove, 18-friction ring.

[0038] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0039] The scheme in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is only a part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0041] It should also be noted that when an element is referred to as being "fixed on" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element at the same time. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or there may be an intermediate element at the same time.

[0042] In addition, the descriptions of "first", "second", etc. in the present invention are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0043] Please refer to Figures 1 to 3 , an embodiment of the present application proposes a finger mechanism 100, including a finger base 10, a driving assembly 20, a first finger joint 30, a second finger joint 40, a connecting rod member 50 and an elastic reset member 60; the driving assembly 20 is arranged on the finger base 10; the first finger joint 30 is rotatably connected to the finger base 10, and a receiving cavity 31 is provided in the first finger joint 30; the second finger joint 40 is rotatably connected to the first finger joint 30; the connecting rod member 50 passes through the receiving cavity 31, and one end of the connecting rod member 50 is transmission-connected to the driving assembly 20, and the other end is transmission-connected to the second finger joint 40, and is used to drive the first finger joint 30 to rotate relative to the finger base 10 and drive the second finger joint 40 to rotate relative to the first finger joint 30 under the drive of the driving assembly 20; the elastic reset member 60 is arranged in the receiving cavity 31, and one end of the elastic reset member 60 is connected to the first finger joint 30, and the other end is connected to the second finger joint 40, and is used to drive the first finger joint 30 and the second finger joint 40 to reset.

[0044] The driving assembly 20 is installed on the finger base 10 as a power source. When the driving assembly 20 is started and outputs power, the power is transmitted through the connecting rod member 50. Under the action of the driving assembly 20, the connecting rod member 50 will produce corresponding displacement and force changes. Since the connecting rod member 50 is inserted into the accommodating cavity 31 of the first finger joint 30, and the other end is connected to the second finger joint 40 by transmission, this force will cause the first finger joint 30 to rotate relative to the finger base 10. At the same time, in this process, due to the connection relationship between the connecting rod member 50 and the second finger joint 40, the second finger joint 40 will also rotate relative to the first finger joint 30, thereby realizing the flexion and extension of the finger.

[0045] It should be understood that the drive component 20 can be in various forms, such as a small motor that can convert electrical energy into mechanical energy and drive the connecting rod member 50 through the rotational movement of the output shaft 211; it can also be a pneumatic or hydraulic device that uses the pressure generated by compressed gas or liquid to push the piston and other components to move, thereby driving the connecting rod member 50 to achieve the rotation of the first finger joint 30 and the second finger joint 40. These different types of drive components 20 can be selected according to specific application scenarios to meet the flexible and stable operation requirements of the finger mechanism 100 under various working conditions.

[0046] The elastic reset member 60 is placed in the accommodating cavity 31 of the first knuckle 30, and connects the first knuckle 30 and the second knuckle 40. During the movement of the finger mechanism 100, when the driving assembly 20 drives the first knuckle 30 and the second knuckle 40 to rotate, the elastic reset member 60 will undergo elastic deformation with the relative movement of the knuckles. For example, during the bending of the finger, the elastic reset member 60 may be stretched or compressed, thereby storing elastic potential energy. When the driving assembly 20 stops working or loses power, the elastic reset member 60 will use its own stored elastic potential energy to generate a restoring force and act on the first knuckle 30 and the second knuckle 40, so that it returns to its initial position and completes the reset action. Moreover, when the finger mechanism 100 is subjected to an external impact force or a disturbance force, the elastic reset member 60 will first undergo elastic deformation, absorb and dissipate a portion of the external force energy, and reduce the impact of the external force on the first finger joint 30, the second finger joint 40 and the entire finger mechanism 100, so that the finger mechanism 100 can be buffered and adaptively adjusted within a certain range, rather than directly transmitting the impact force like a traditional rigid finger mechanism 100, thereby effectively protecting the finger mechanism 100 from damage and reducing the risk of damage or even breakage of the finger mechanism 100.

[0047] In this embodiment, the cooperation of the connecting rod member 50 and the elastic reset member 60 makes the movement of the finger mechanism 100 very flexible. Driven by the drive assembly 20, the finger can achieve complex bending and stretching movements, can better adapt to objects of different shapes and sizes, improve the flexibility of the finger mechanism 100, and achieve more complex operating movements. Moreover, the connecting rod member 50 and the elastic reset member 60 are arranged in the accommodating cavity 31 of the first finger joint 30, which makes full use of the internal space, so that the overall volume of the finger mechanism 100 will not be too large, which is conducive to layout and installation in equipment such as manipulators. At the same time, the connection relationship between the various components is also closer, reducing the motion error caused by loose components.

[0048] Please refer to Figure 3 and Figure 4In some embodiments, the connecting rod member 50 includes a first rod segment 51 and a second rod segment 52 connected to each other, the length of the first rod segment 51 is greater than the length of the second rod segment 52, and a preset angle is formed between the first rod segment 51 and the second rod segment 52, and the end of the first rod segment 51 away from the second rod segment 52 is connected to the finger base 10 through a first rotating shaft 53, and the end of the second rod segment 52 away from the first rod segment 51 is connected to the second finger joint 40 through a second rotating shaft 54.

[0049] In this embodiment, the connecting rod member 50 is composed of a first rod segment 51 and a second rod segment 52 that are connected to each other, and a preset angle is formed between the two. This design with an angle enables it to transmit power at a specific angle relationship during the transmission process, change the direction and magnitude of the force, and better meet the complex movement requirements of the finger mechanism 100. In addition, the length of the first rod segment 51 is greater than the length of the second rod segment 52, so that the force can be amplified or reduced and the angle can be effectively adjusted during the power transmission process. According to the principle of lever, when the drive assembly 20 acts on the longer end of the first rod segment 51, a larger torque can be obtained at the shorter end of the second rod segment 52, thereby enhancing the gripping force of the finger mechanism 100.

[0050] One end of the first rod segment 51 away from the second rod segment 52 is connected to the finger base 10 through the first rotating shaft 53, so that the first rod segment 51 can rotate flexibly relative to the finger base 10, and the end of the second rod segment 52 away from the first rod segment 51 is connected to the second finger joint 40 through the second rotating shaft 54. In this way, under the action of the driving component 20, the connecting rod member 50 can be connected to different components through the first rotating shaft 53 and the second rotating shaft 54 ​​respectively, so as to drive the first finger joint 30 to rotate relative to the finger base 10 and the second finger joint 40 to rotate relative to the first finger joint 30, thereby realizing the flexible flexion and extension movement of the entire finger mechanism 100 simulating the human hand.

[0051] In this embodiment, by reasonably setting the lengths of the first rod segment 51 and the second rod segment 52 and the preset angle, the motion angle range of the finger mechanism 100 can be accurately adjusted. Different length ratios and angle combinations can enable the finger mechanism 100 to adapt to different working scenarios and operating requirements, such as grasping objects of different sizes and shapes.

[0052] In some embodiments, a first mounting portion 521 is provided on a side of the second rod segment 52 away from the second rotating shaft 54, a second mounting portion 311 extends inwardly from the inner wall of the accommodating cavity 31, one end of the elastic reset member 60 is connected to the first mounting portion 521, and the other end is connected to the second mounting portion 311; and / or,

[0053] The elastic return member 60 is a tension spring.

[0054] In this embodiment, since the first mounting portion 521 is disposed on the second rod segment 52 and the second mounting portion 311 is disposed on the inner wall of the accommodating cavity 31, the positions of the two mounting portions are relatively fixed and the structures are stable, so that the elastic reset member 60 can stably transmit the reset force. When the elastic reset member 60 generates a restoring force, it can directly and effectively act on the two components to ensure that the first knuckle 30 and the second knuckle 40 can be accurately reset, thereby reducing the situation of incomplete knuckle reset or reset deviation caused by unstable reset force transmission.

[0055] In this embodiment, when the finger mechanism 100 moves under the action of the drive assembly 20, the two ends of the tension spring are respectively connected to the first mounting portion 521 of the second rod segment 52 and the second mounting portion 311 of the inner wall of the accommodating chamber 31. Due to the characteristics of the tension spring, it will deform as the position of the second rod segment 52 relative to the inner wall of the accommodating chamber 31 changes. For example, when the finger mechanism 100 performs a bending action, the second rod segment 52 moves in a direction close to the inner wall of the accommodating chamber 31, and the tension spring will be stretched, and the tension spring will store elastic potential energy. When the drive assembly 20 stops working or loses power, the tension spring will try to return to its original length. At this time, the tension spring will use the stored elastic potential energy to generate a tension force, which will act on the second rod segment 52 and the inner wall of the accommodating chamber 31. Due to the interaction of forces, the tension spring will pull the second rod segment 52 to move in a direction away from the inner wall of the accommodating chamber 31, thereby driving the first finger joint 30 and the second finger joint 40 to reset through the connection relationship between the connecting rod member 50 and the finger joint.

[0056] Compared with other complex elastic reset devices, the manufacturing and installation process of the tension spring is relatively simple and the cost is low. Moreover, the tension spring has high reliability. Under normal use conditions, as long as it does not exceed its elastic limit, it can work stably for a long time, reducing the maintenance cost of the finger mechanism 100 caused by the failure of the elastic reset component 60. In addition, the tension spring can maintain elasticity within a larger deformation range. This allows the finger mechanism 100 to effectively use the tension spring for reset under different degrees of movement. Whether the finger mechanism 100 is performing a small fine-tuning or a large bending movement, the tension spring can store and release elastic potential energy according to its deformation, ensuring that the finger mechanism 100 can achieve a good reset function under various working conditions.

[0057] Please continue to refer to Figure 2 and Figure 3 In some embodiments, the driving assembly 20 includes a driving member 21, a worm 22 and a worm wheel 23. The driving member 21 is disposed on the finger base 10, and the driving member 21 has an output shaft 211 extending into the interior of the finger base 10; the worm 22 is disposed in the finger base 10 and is connected to the output shaft 211; the worm wheel 23 is meshedly connected to the worm 22 and is transmission-connected to one end of the connecting rod member 50.

[0058] The driving member 21 is configured to drive the worm 22 to rotate, and drive the connecting rod member 50 to rotate through the worm gear 23, so as to drive the first finger joint 30 to rotate relative to the finger base 10 and drive the second finger joint 40 to rotate relative to the first finger joint 30.

[0059] The driving member 21 is installed on the finger base 10 as the starting power source of the entire driving assembly 20, and its output shaft 211 extending into the inside of the finger base 10 can output power. When the driving member 21 starts working (for example, the motor is powered on and rotates), the output shaft 211 starts to rotate. Since the worm 22 is connected to the output shaft 211 and the worm wheel 23 is meshed with the worm 22, the worm 22 will rotate synchronously with the output shaft 211, and the helical teeth of the worm 22 will drive the worm wheel 23 to rotate during the rotation process. While the worm wheel 23 is rotating, it is also connected to one end of the connecting rod member 50, so the rotational movement of the worm wheel 23 will be transmitted to the connecting rod member 50. As mentioned above, the connecting rod member 50, through its own structure (the first rod segment 51, the second rod segment 52, and the connection with the rotating shafts of various components, etc.), will drive the first finger joint 30 to rotate relative to the finger base 10 after receiving the power transmitted by the worm gear 23, and further drive the second finger joint 40 to rotate relative to the first finger joint 30, and finally realize the flexion and extension movement of the entire finger mechanism 100 to simulate the human hand, and complete functions such as grasping and operating objects.

[0060] In this embodiment, the transmission method of the worm 22 and the worm wheel 23 is adopted, which can achieve a larger transmission ratio, and can convert the relatively high rotation speed of the output shaft 211 of the driving member 21 into a lower rotation speed at the end of the worm wheel 23 while increasing the torque. In this way, when driving the finger mechanism 100, even if the torque output by the driving member 21 itself is limited, after the transmission of the worm wheel 23 and the worm 22, it can provide a sufficiently large torque for the connecting rod member 50, ensuring that the knuckles are driven to rotate effectively, meeting the strength requirements of the finger mechanism 100 when grasping objects, etc., especially when grasping heavier objects or objects that require greater gripping force. The advantages are obvious.

[0061] Furthermore, the driving component 21, the worm 22 and the worm wheel 23 are all arranged in the finger base 10 or are closely connected to the finger base 10. The overall layout is relatively compact, and the space inside and around the finger base 10 is fully utilized. The driving component 20 will not occupy too much space outside, which is conducive to the miniaturization and integration of the overall structure of the finger mechanism 100, and is convenient for its application in equipment such as manipulators with different size requirements. In addition, the compact structure also makes the connection between the components more stable, reducing problems such as transmission errors caused by loose structure.

[0062] In some embodiments, a partition groove 511 is provided at one end of the first rod segment 51 away from the second rod segment 52, and the first rod segment 51 is respectively constructed with mounting holes 512 on opposite sides of the partition groove 511, the worm gear 23 is installed in the partition groove 511, the first rotating shaft 53 passes through the worm gear 23, and the two ends of the first rotating shaft 53 are respectively installed in the corresponding mounting holes 512.

[0063] The partition groove 511 provided on the first rod section 51 provides installation space for the worm gear 23, so that the worm gear 23 can be placed therein, and the originally relatively independent driving assembly 20 and the connecting rod member 50 are more closely integrated in space, reducing the space interval and unnecessary connection structure between the components, making the structure of the entire finger mechanism 100 more compact. This compact structure is conducive to integrating more functional components in a limited space, or allowing the finger mechanism 100 to occupy a smaller space when installed on a robot or other equipment, which is convenient for the miniaturization design and layout optimization of the overall equipment.

[0064] Furthermore, the stable connection between the worm wheel 23 and the first rod segment 51 by means of the first rotating shaft 53 ensures stability during the power transmission process. Specifically, the two ends of the first rotating shaft 53 are precisely installed in the mounting hole 512, so that the worm wheel 23 can stably drive the first rod segment 51 to rotate when rotating, avoiding problems such as power transmission interruption and transmission angle deviation caused by loose connection or loose installation, ensuring the reliability of the entire transmission link from the drive assembly 20 to the rotation of the finger joint, making the movement of the finger mechanism 100 more stable and accurate, and helping to improve the performance of the finger mechanism 100 during long-term work.

[0065] In some embodiments, the first knuckle 30 is pin-connected to the finger base 10; and / or,

[0066] The link member 50 is pin-connected to the finger base 10; and / or,

[0067] The link member 50 is pin-connected to the second knuckle 40; and / or,

[0068] The second finger joint 40 is pin-connected to the first finger joint 30 .

[0069] In this embodiment, the pin connection method gives the components the flexibility of relative rotation. Whether it is the first finger joint 30 relative to the finger base 10, or the connecting rod member 50 and other components, or the second finger joint 40 and the first finger joint 30, they can all rotate freely around the pin within a certain angle range. This flexibility makes the finger mechanism 100 more natural and smooth when simulating the flexion and extension of the human hand, and can better meet the needs of grasping objects of different shapes, sizes and textures. For example, when grasping a spherical object, each finger joint can be flexibly rotated to fit the surface of the object to achieve a stable grasp.

[0070] During the assembly process of the finger mechanism 100, the pin connection operation is relatively simple. Workers only need to align the corresponding pin holes on each component and insert the pin to complete the connection, which helps to improve the efficiency of production and assembly and reduce assembly costs. Moreover, during subsequent use, if a pin connection part is worn out and needs to be repaired or replaced, it can also be easily disassembled and reinstalled, which facilitates the maintenance of the entire finger mechanism 100 and extends its service life.

[0071] In some embodiments, the connection between the first knuckle 30 and the finger base 10 forms a first connection position, the connection between the connecting rod member 50 and the finger base 10 forms a second connection position, the connection between the connecting rod member 50 and the second knuckle 40 forms a third connection position, and the connection between the second knuckle 40 and the first knuckle 30 forms a fourth connection position. The first connection position, the second connection position, the third connection position and the fourth connection position are arranged in a quadrilateral.

[0072] The quadrilateral layout constrains the position and angle of each component in space. Taking the first finger joint 30 and the second finger joint 40 as an example, due to the existence of the fourth connection position and its being in the quadrilateral layout, the rotation angle range of the second finger joint 40 relative to the first finger joint 30 will be limited by this layout, and excessive rotation beyond the design expectation will not occur, thereby ensuring the accuracy and stability of the movement of the finger mechanism 100.

[0073] Similarly, in the connection between the connecting rod member 50 and the finger base 10 and the second finger joint 40, the quadrilateral layout where the second connection position and the third connection position are located limits the swing angle, displacement, etc. in space to a certain range, thereby making the motion trajectory of the entire finger mechanism 100 more predictable and more in line with design requirements, and facilitating operations such as precise grasping of objects of different shapes. For example, when grasping a rectangular object, each finger joint can accurately adjust the angle and position within the motion range limited by the quadrilateral layout to fit the surface of the object.

[0074] In this embodiment, the quadrilateral layout constructs a relatively stable structural form, making the relative movement between each connection position more orderly and stable. During the repeated flexion and extension movement of the finger mechanism 100, the force transmission and movement connection between the components are carried out under this layout framework, reducing the unstable factors such as shaking and offset caused by the uncoordinated movement between the components, and can more reliably complete tasks such as grasping and operation, especially when working continuously for a long time, it can still maintain a good movement state, thereby improving the overall performance and service life of the finger mechanism 100.

[0075] Please refer to Figure 5A limiting groove 11 is provided in the finger base 10, and the limiting groove 11 has a notch 12 connected to the outside. The connecting rod member 50 is rotatably connected to the limiting groove 11 through the notch 12. The limiting groove 11 has limiting end surfaces 13 formed at opposite ends along the rotation direction of the connecting rod member 50, which are used to limit the angular range of rotation of the connecting rod member 50 relative to the finger base 10.

[0076] The connecting rod member 50 enters the limiting groove 11 through the notch 12 of the finger base 10 and is rotatably connected therein, so that the connecting rod member 50 has a relatively stable rotation space in the finger base 10. When the driving assembly 20 drives the connecting rod member 50 to rotate, it will rotate around the connection point in the limiting groove 11. The limiting end faces 13 at both ends of the limiting groove 11 along the rotation direction of the connecting rod member 50 play a key limiting role. When the connecting rod member 50 rotates in one direction, it will gradually approach one of the limiting end faces 13. When the limiting end face 13 is contacted, the connecting rod member 50 cannot continue to rotate in this direction due to the obstruction of the limiting end face 13, thereby limiting its rotation angle in this direction. Similarly, when rotating in the opposite direction, the other limiting end face 13 will also play the same limiting role, thereby effectively limiting the angle range of rotation of the connecting rod member 50 relative to the finger base 10.

[0077] Due to the presence of the limiting groove 11 and the limiting end face 13, the rotation angle of the connecting rod member 50 can be accurately controlled to indirectly control the rotation angle of the first finger joint 30 relative to the finger base 10 and the second finger joint 40 relative to the first finger joint 30, thereby improving the movement accuracy of the entire finger mechanism 100, and can effectively avoid excessive rotation of the connecting rod member 50 and prevent damage to components caused by excessive movement.

[0078] Please refer to Figure 3 and Figure 6 In some embodiments, the output shaft 211 of the driving member 21 is arranged along a first direction, and the worm 22 and the worm wheel 23 are arranged along a second direction, and the second direction is perpendicular to the first direction;

[0079] A first mounting cavity 14 and a second mounting cavity 15 are disposed in the finger base 10 and are connected along the second direction. The first mounting cavity 14 is used to mount the output shaft 211 and the worm 22 , and the second mounting cavity 15 is used to mount the worm wheel 23 .

[0080] Among them, the output shaft 211 of the driving member 21 is arranged along a first direction, and the worm 22 and the worm wheel 23 are arranged in a second direction perpendicular to the first direction, so that the power can be effectively turned during the transmission process, and the axial movement of the output shaft 211 is converted into the rotational movement of the plane where the worm 22 and the worm wheel 23 are located, so as to reasonably utilize the space and adapt the transmission relationship between the various components. For example, the output shaft 211 outputs power along the horizontal direction (assuming the first direction), and the transmission conversion is performed through the worm 22 and the worm wheel 23 arranged in the vertical direction (the second direction), thereby avoiding the excessive extension of various components in the same direction to cause space waste or structural interference.

[0081] The finger base 10 is provided with a first installation cavity 14 and a second installation cavity 15 connected along the second direction, which are used to install the output shaft 211, the worm 22 and the worm wheel 23, respectively, to provide accurate and stable installation positions for each component. The first installation cavity 14 accommodates the output shaft 211 and the worm 22, ensuring that they can be tightly connected in the same space, and ensuring that the power is smoothly transmitted from the output shaft 211 to the worm 22. The second installation cavity 15 is used to install the worm wheel 23, so that it is in a suitable meshing position with the worm 22, and in the second installation cavity 15, the worm wheel 23 can stably rotate, and after receiving the power transmitted by the worm 22, the power can be further smoothly transmitted through the connected space structure, and the whole layout creates a good physical environment for the transmission of the worm wheel 23 and the worm 22.

[0082] When the driving member 21 is started, the output shaft 211 arranged along the first direction starts to rotate. Since the output shaft 211 is connected to the worm 22 in the first installation cavity 14, the power will be directly transmitted to the worm 22, so that the worm 22 starts to rotate in the second direction. In this process, the structure of the first installation cavity 14 defines their relative position and connection stability, ensuring the reliability of power transmission. The worm 22 rotating in the second direction meshes with the worm wheel 23 located in the second installation cavity 15. According to the transmission principle of the worm wheel 23 and the worm 22, the worm 22 drives the worm wheel 23 to rotate.

[0083] In the present embodiment, the design of connecting the first mounting cavity 14 and the second mounting cavity 15 enables the meshing state between the worm 22 and the worm wheel 23 to be maintained in a good and stable manner, and does not cause tooth disengagement, jamming and other transmission-affecting conditions due to unreasonable spatial structure. This ensures that power can be continuously and smoothly transmitted from the worm 22 to the worm wheel 23, and then drive the movement of the finger joints through subsequent connecting rod components 50, etc., to realize the function of the finger mechanism 100.

[0084] Furthermore, this embodiment greatly improves the space utilization rate inside the finger base 10 by arranging the output shaft 211 of the driving member 21, the worm 22, and the worm wheel 23 in mutually perpendicular directions and using the mounting cavities connected in the corresponding directions in the finger base 10 to arrange the components. The components can be compactly and orderly arranged in a limited space, avoiding space waste caused by random layout or extension of components in the same direction, which helps to achieve miniaturization and lightweight of the manipulator hand structure.

[0085] In some embodiments, the finger base 10 is provided with a through hole 16 and a mounting groove 17 connected to the first mounting cavity 14 along the first direction. The through hole 16 and the mounting groove 17 are arranged opposite to each other at intervals. The through hole 16 is used for allowing the output shaft 211 to pass through the first mounting groove 17, and the mounting groove 17 is used to accommodate the free end of the output shaft 211.

[0086] When the finger mechanism 100 is assembled, the output shaft 211 can be smoothly inserted into the first installation cavity 14 inside the finger base 10 through the through hole 16, so that the output shaft 211 can be accurately connected to the worm 22 installed in the first installation cavity 14. The size and position of the through hole 16 are designed according to the specifications of the output shaft 211 and the connection requirements with the worm 22, ensuring that the output shaft 211 can maintain the correct axial position during the insertion process, laying a foundation for subsequent stable power transmission.

[0087] The mounting groove 17, which is arranged opposite to the through hole 16, is used to accommodate the free end of the output shaft 211. After the output shaft 211 passes through the through hole 16 and enters the first mounting cavity 14 and is connected to the worm 22, the mounting groove 17 can stably accommodate the free end of the output shaft 211 therein, on the one hand, to prevent the free end from shaking due to lack of support during the operation of the finger mechanism 100, thereby affecting the stability of power transmission; on the other hand, the positioning of the free end by the mounting groove 17 further limits the position of the output shaft 211 in the first direction, ensuring that the relative position relationship between the entire driving member 21 and the finger base 10 is more accurate, so that the power can be smoothly transmitted from the driving member 21 to the worm 22 according to the design requirements.

[0088] In this embodiment, the design of the through hole 16 and the mounting groove 17 enables the output shaft 211 of the driving member 21 to be accurately installed and positioned on the finger base 10. Specifically, the output shaft 211 accurately enters the first mounting cavity 14 through the through hole 16 to dock with the worm 22, and its free end can be properly received by the mounting groove 17. This clear installation method avoids the position deviation of the output shaft 211 caused by manual installation errors or inaccurate matching of components, improves the assembly accuracy of the entire finger mechanism 100, and creates good conditions for subsequent stable power transmission and precise motion control.

[0089] In some embodiments, friction rings 18 are provided between the worm 22 and the limiting groove 11 , and between the worm 22 and the through hole 16 .

[0090] When the driving member 21 drives the worm 22 to rotate, the friction between the friction ring 18 and the worm 22, the limiting groove 11 or the through hole 16 will produce a certain damping effect on the rotation of the worm 22. This damping can prevent the worm 22 from losing control of its speed due to a sudden change in power (such as a sudden change in the speed of the output shaft 211 of the driving member 21). For example, when the driving member 21 suddenly accelerates or decelerates, the friction of the friction ring 18 can make the speed of the worm 22 change more slowly, ensuring that the process of power from the driving member 21 to the worm 22, and then transmitted to the finger joint through the worm wheel 23 and the connecting rod member 50 is more stable, thereby making the movement of the finger mechanism 100 more stable.

[0091] Since the friction ring 18 can adjust the rotation speed and position of the worm 22, the power transmission of the entire finger mechanism 100 is more stable, thereby improving the motion accuracy of the finger mechanism 100. In addition, by buffering the collision and friction between the worm 22 and the perforation 16 and the limit groove 11, the friction ring 18 effectively protects these components, reduces their wear, avoids component damage or uncontrolled motion caused by impact, and improves the reliability and adaptability of the finger mechanism 100.

[0092] The present application also provides a manipulator, including a palm mechanism and at least one of the above-mentioned finger mechanisms 100, wherein at least one of the finger mechanisms 100 is connected to the palm mechanism. Since the manipulator adopts all the technical solutions of all the embodiments of the above-mentioned finger mechanisms 100, the manipulator of the present invention also has at least all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be described one by one here.

[0093] The present application also provides a robot, including the above-mentioned manipulator. Since the robot adopts all technical solutions of all embodiments of the above-mentioned finger mechanism 100, the robot of the present invention also has at least all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be described one by one here.

[0094] The above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is impossible to list all the embodiments here. Any obvious changes or modifications derived from the technical solution of the present invention are still within the scope of protection of the present invention.

Claims

1. A finger mechanism, characterized in that: include: Finger base; A driving assembly, the driving assembly being arranged on the finger base; a first finger joint, the first finger joint being rotatably connected to the finger base, and a receiving cavity being provided in the first finger joint; a second knuckle, the second knuckle being rotatably connected to the first knuckle; a connecting rod member, wherein the connecting rod member passes through the accommodating cavity, and one end of the connecting rod member is transmission-connected to the driving assembly, and the other end of the connecting rod member is transmission-connected to the second finger joint, and is used for driving the first finger joint to rotate relative to the finger base and driving the second finger joint to rotate relative to the first finger joint under the drive of the driving assembly; An elastic reset member, wherein the elastic reset member is disposed in the accommodating cavity, and one end of the elastic reset member is connected to the first finger joint, and the other end of the elastic reset member is connected to the connecting rod member, and is used for driving the first finger joint and the second finger joint to reset; The connecting rod component includes a first rod segment and a second rod segment connected to each other, the length of the first rod segment is greater than the length of the second rod segment, and a preset angle is formed between the first rod segment and the second rod segment, an end of the first rod segment away from the second rod segment is connected to the finger base through a first rotating shaft, and an end of the second rod segment away from the first rod segment is connected to the second finger joint through a second rotating shaft; A first mounting portion is provided on a side of the second rod section away from the second rotating shaft, a second mounting portion is extended inwardly from the inner wall of the accommodating cavity, one end of the elastic reset member is connected to the first mounting portion, and the other end is connected to the second mounting portion; The first finger joint is a cylindrical structure, the cylindrical structure is provided with the accommodating cavity, the finger base is provided with a second installation cavity, one end of the connecting rod member is passed through the second installation cavity, and the other end of the connecting rod member is passed through the accommodating cavity.

2. The finger mechanism according to claim 1, characterized in that: The elastic return component is a tension spring.

3. The finger mechanism according to claim 1, characterized in that: The drive assembly comprises: A driving member, the driving member is disposed on the finger base, and the driving member has an output shaft extending into the interior of the finger base; a worm, the worm being disposed in the finger base and connected to the output shaft; A worm wheel, the worm wheel is meshedly connected with the worm and is drivingly connected with one end of the connecting rod member; Wherein, the driving member is configured to: drive the worm to rotate, and drive the connecting rod member to rotate through the worm gear, so as to drive the first finger joint to rotate relative to the finger base and drive the second finger joint to rotate relative to the first finger joint.

4. The finger mechanism according to claim 3, characterized in that: A partition groove is provided at one end of the first rod segment away from the second rod segment, and the first rod segment is respectively constructed with mounting holes on opposite sides of the partition groove, the worm gear is installed in the partition groove, the first rotating shaft passes through the worm gear, and the two ends of the first rotating shaft are respectively installed in the corresponding mounting holes.

5. The finger mechanism according to any one of claims 1 to 4, characterized in that: The first finger joint is pin-connected to the finger base; and / or, The link member is pin-coupled to the finger base; and / or, The link member is coupled to the second knuckle pin; and / or, The second knuckle is pin-coupled with the first knuckle.

6. The finger mechanism according to claim 5, characterized in that: The connection between the first knuckle and the finger base forms a first connection position, the connection between the connecting rod member and the finger base forms a second connection position, the connection between the connecting rod member and the second knuckle forms a third connection position, and the connection between the second knuckle and the first knuckle forms a fourth connection position. The first connection position, the second connection position, the third connection position and the fourth connection position are arranged in a quadrilateral.

7. The finger mechanism according to claim 5, characterized in that: A limiting groove is provided in the finger base, and the limiting groove has a notch connected to the outside. The connecting rod member is rotatably connected to the limiting groove through the notch. The limiting groove has limiting end surfaces formed at opposite ends along the rotation direction of the connecting rod member, which are used to limit the angular range of rotation of the connecting rod member relative to the finger base.

8. A robot, characterized in that: The invention comprises a palm mechanism and at least one finger mechanism according to any one of claims 1 to 7, wherein the at least one finger mechanism is connected to the palm mechanism.

9. A robot, characterized in that: Comprising the robot as claimed in claim 8.

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