Grabbing structure, grabbing device and intelligent terminal

Abstract

The invention relates to a grabbing structure, a grabbing device and an intelligent terminal. The grabbing structure comprises a first finger section, a second finger section, an elastic piece, a first driving piece and a linear transmission mechanism. The first finger section is rotationally connected to the second finger section around a first axis; the elastic piece is connected with the first finger section and the second finger section and can elastically deform when the first finger section rotates. The first driving piece is connected to the second finger section, and the first driving piece drives the first finger section to rotate through the linear transmission mechanism. When the first finger section of the grabbing structure needs to be driven to rotate relative to the second finger section, the power of the first driving part is transmitted to the first finger section through the linear transmission mechanism, so that the overall weight of the grabbing structure is reduced, and the flexibility of the grabbing structure during working can be improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of contour-copying robots, and in particular relates to a grasping structure, a grasping device and an intelligent terminal. Background Art

[0002] Grasping devices such as contour-copying manipulators are widely used in service robots, space robots and special operation robots. The grasping device has a palm structure and grasping structure corresponding to the human body. When working, the palm structure and the grasping structure cooperate to grasp the object.

[0003] However, the gripping structure in the related art is heavy, which results in poor flexibility. Summary of the invention

[0004] The technical problem to be solved by the present invention is: in view of the problem in the prior art that the gripping structure in the related technology is heavy, resulting in poor flexibility, a gripping structure, a gripping device and an intelligent terminal are provided.

[0005] In order to solve the above problems, on the one hand, an embodiment of the present invention provides a grasping structure, including a first finger segment, a second finger segment, an elastic member, a first driving member and a wire transmission mechanism; the first finger segment is connected to the second finger segment by rotating around a first axis; the elastic member is connected between the first finger segment and the second finger segment, and can undergo elastic deformation when the first finger segment rotates; the first driving member is connected to the second finger segment, and the first driving member drives the first finger segment to rotate through the wire transmission mechanism.

[0006] Optionally, the wire transmission mechanism includes a pull rope and a winding member; the two ends of the pull rope are respectively connected to the first finger segment and the winding member; the first driving member is connected to the winding member, and is used to drive the winding member to rotate so that the winding member can reel in or unreel the pull rope.

[0007] Optionally, the pull rope includes a first rope and a second rope; the first rope and the second rope are both connected to the first finger segment and the winding member; when the winding member unwinds the first rope, it can rewind the second rope; when the winding member rewinds the first rope, it can unwind the second rope; the first axis extends along the first direction of the grasping structure; the first rope and the second rope are spaced apart along the second direction of the grasping structure; the first finger segment and the second finger segment are arranged along the third direction of the grasping structure; the first direction, the second direction and the third direction are perpendicular to each other.

[0008] Optionally, the wire transmission mechanism further includes a first guide wheel, which is rotatably connected to the second finger segment, and the middle portion of the first rope is wound around the first guide wheel.

[0009] Optionally, the wire transmission mechanism also includes a second guide wheel, which is rotatably connected to the second finger segment, and the middle part of the second rope is wound around the second guide wheel; the second guide wheel and the first guide wheel are spaced apart along the second direction of the grabbing structure.

[0010] Optionally, the winding member is provided with a first wire groove and a second wire groove, and the first wire groove and the second wire groove are spaced apart along the axis of the winding member; the first wire groove and the second wire groove are both annular grooves; the first rope is connected to the inner wall of the first wire groove and can be rolled up in the first wire groove; the second rope is connected to the inner wall of the second wire groove and can be rolled up in the second wire groove.

[0011] Optionally, the axis of the winding member extends along the second direction of the gripping structure.

[0012] Optionally, the first finger segment includes a finger joint, a first connecting plate and a second connecting plate, and the first connecting plate and the second connecting plate are arranged on the finger joint at intervals along the first axis; the first connecting plate and the second connecting plate are both rotatably connected to the second finger segment so that the first finger segment can rotate around the first axis relative to the second finger segment.

[0013] Optionally, the second finger segment includes a first supporting portion, a third connecting plate and a fourth connecting plate; the first supporting portion is connected to the first driving member; the third connecting plate and the fourth connecting plate are arranged on the first supporting portion at intervals along the first axis; the third connecting plate and the fourth connecting plate are both rotatably connected to the first finger segment, so that the first finger segment can rotate around the first axis relative to the second finger segment.

[0014] Optionally, the first supporting portion, the third connecting plate, and the fourth connecting plate are enclosed to form a first mounting groove, and the first driving member is disposed in the first mounting groove.

[0015] Optionally, a first mounting groove is provided on the back side of the second finger segment, and the first driving member is arranged in the first mounting groove.

[0016] Optionally, the grasping structure also includes a third finger segment, a second driving member and a worm gear mechanism; the third finger segment is connected to the end of the second finger segment facing away from the first finger segment, the second finger segment can rotate relative to the third finger segment around a second axis, and the second axis is parallel to the first axis; the second driving member is connected to the third finger segment; the second driving member is connected to the worm of the worm gear mechanism, and the worm wheel of the worm gear mechanism is connected to the second finger segment.

[0017] Optionally, the second finger segment includes a first supporting portion, a fifth connecting plate and a sixth connecting plate; the first supporting portion is connected to the first driving member; the fifth connecting plate and the sixth connecting plate are arranged on the first supporting portion at intervals along the first axis; the fifth connecting plate and the sixth connecting plate are both connected to the third finger segment, so that the second finger segment can rotate around the second axis relative to the third finger segment.

[0018] In order to solve the above problems, on the other hand, an embodiment of the present invention provides a grasping device, comprising any one of the grasping structures described above.

[0019] Optionally, the grasping device also includes a palm structure; the grasping structure also includes a third finger segment, the third finger segment is rotatably connected to the end of the second finger segment away from the first finger segment, and the end of the third finger segment away from the second finger segment is connected to the palm structure.

[0020] In order to solve the above problem, on the other hand, an embodiment of the present invention provides a smart terminal, including the above-mentioned grasping device.

[0021] In the grasping structure, grasping device and intelligent terminal provided by the embodiments of the present invention, when it is necessary to drive the first finger segment of the grasping structure to rotate relative to the second finger segment, the power of the first driving member is transmitted to the first finger segment through the wire transmission mechanism. This arrangement is conducive to reducing the overall weight of the grasping structure, thereby improving the flexibility of the grasping structure when working.

[0022] In addition, the first finger segment and the second finger segment are rotatably connected to form a joint structure, which is similar to imitating a human finger joint. In this embodiment, an elastic member is provided between the first finger segment and the second finger segment. When the first finger segment and / or the second finger segment is impacted, the spring will bear and offset part of the impact force. Only when the external impact force is greater than the elastic force of the spring, the first finger segment will rotate relative to the second finger segment, which can effectively prevent the external impact force from causing damage to the linear transmission mechanism.

[0023] In addition, the use of a wire drive mechanism for power transmission can also achieve high-precision position control, allowing the grasping structure to more accurately locate and manipulate the target object when performing tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 is a schematic diagram of a gripping structure provided by an embodiment of the present invention Figure 1 ; Figure 2 is a schematic diagram of a gripping structure provided by an embodiment of the present invention Figure 2 ; Figure 3 is a cross-sectional view of a gripping structure provided by an embodiment of the present invention; Figure 4 It is a schematic diagram of the winding structure of the grabbing structure provided by one embodiment of the present invention.

[0025] Reference numerals: 10. Grasp the structure; 1. first finger segment; 11. finger joint; 12. first connecting plate; 13. second connecting plate; 14. first reinforcing plate; 2. second finger segment; 21. first support portion; 22. third connecting plate; 23. fourth connecting plate; 24. first mounting groove; 25. fifth connecting plate; 26. sixth connecting plate; 27. second reinforcing plate; 3. Elastic parts; 4. First driving member; 5. Line transmission mechanism; 51. Pull rope; 511. First rope; 512. Second rope; 52. Winding member; 521. First wire groove; 522. Second wire groove; 53. First guide wheel; 54. Second guide wheel; 55. First connecting shaft; 56. Second connecting shaft; 61. first rotating shaft; 62. second rotating shaft 62; 7. third finger segment; 71. second support portion; 72. seventh connecting plate; 73. eighth connecting plate; 74. second mounting groove; 75. ninth connecting plate; 8. A second driving member; 9. Worm gear mechanism. DETAILED DESCRIPTION

[0026] In order to make the technical problems, technical solutions and beneficial effects solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0027] like Figure 1 and Figure 2 As shown, in one embodiment, the grasping structure 10 includes a first finger segment 1, a second finger segment 2, an elastic member 3, a first driving member 4 and a wire transmission mechanism 5; the first finger segment 1 is connected to the second finger segment 2, and can rotate relative to the second finger segment 2 around a first axis; the elastic member 3 is connected between the first finger segment 1 and the second finger segment 2, and can undergo elastic deformation when the first finger segment 1 rotates; the first driving member 4 is connected to the second finger segment 2, and the first driving member 4 drives the first finger segment 1 to rotate through the wire transmission mechanism 5.

[0028] The grasping structure 10 of this embodiment is used to be combined with the palm structure to form a manipulator, wherein the grasping structure 10 is the finger structure of the manipulator, and when working, the grasping structure 10 cooperates with the palm structure to grasp an object. When the grasping device using the grasping structure 10 of this embodiment grasps an object, the first driving member 4 can drive the first finger segment 1 to rotate relative to the second finger segment 2 to press the object against the palm structure.

[0029] The power of the first driving member 4 is transmitted to the first finger segment 1 through the wire transmission mechanism 5. This arrangement is beneficial to reducing the overall weight of the grasping structure 10, thereby improving the flexibility of the grasping structure when working.

[0030] In addition, the first finger segment 1 and the second finger segment 2 are rotatably connected to form a joint structure, which is similar to imitating a human finger joint. In this embodiment, an elastic member 3 is provided between the first finger segment 1 and the second finger segment 2. When the first finger segment 1 and / or the second finger segment 2 is impacted, the spring will bear and offset part of the impact force. Only when the external impact force is greater than the elastic force of the spring, the first finger segment 1 will rotate relative to the second finger segment 2, which can effectively prevent the external impact force from causing damage to the linear transmission mechanism.

[0031] In addition, the use of the wire transmission mechanism 5 for power transmission can also achieve high-precision position control, so that the grasping structure 10 can more accurately locate and operate the target object when performing a task.

[0032] In actual scenarios, the first axis may extend along a first direction of the gripping structure, and the first finger segment 1 rotates in a second direction of the gripping structure. The first direction and the second direction intersect, and preferably the first direction and the second direction may be perpendicular. In addition, the first direction may refer to the left-right direction, and the second direction may refer to the front-back direction.

[0033] Initially, the gripping structure is in a straightened state, at which time, the first finger segment 1 and the second finger segment 2 are arranged along the third direction of the gripping structure. The first direction, the second direction and the third direction intersect each other, and preferably, the first direction, the second direction and the third direction are perpendicular to each other, that is, the first direction, the second direction and the third direction are perpendicular to each other.

[0034] In a scenario where the first direction refers to the left-right direction and the second direction refers to the front-back direction, the third direction is the up-down direction. At this time, the first finger segment 1 is located above the second finger segment 2 .

[0035] Among them, the front side of the first finger segment 1 and the front side of the second finger segment 2 both belong to the front side of the grasping structure 10, and the back side of the first finger segment 1 and the back side of the second finger segment 2 both belong to the back side of the grasping structure 10. The first driving member 4 can apply force to the first finger segment 1 through the wire transmission mechanism 5 to make the end of the first finger segment 1 away from the second finger segment 2 move toward the front side of the second finger segment 2.

[0036] In one embodiment, the elastic member 3 may be an object capable of elastic deformation, such as a clip.

[0037] In some scenarios, after the first finger segment 1 rotates, it can be reset under the deformation force of the elastic member 3. Specifically, when the first driving member 4 drives the first finger segment 1 to rotate, the first finger segment 1 can apply force to the elastic member 3 to cause the elastic member 3 to produce elastic deformation. When the first driving member 4 unwinds the wire transmission mechanism 5, the first driving member 4 may not apply force to the wire transmission mechanism 5. At this time, the first finger segment 1 can be reset under the deformation force of the elastic member 3. The first driving member 4 drives the first finger segment 1 to rotate through the wire transmission mechanism 5. In fact, the first driving member 4 drives the first finger segment 1 to rotate around the first axis through the wire transmission mechanism 5.

[0038] Initially, the grasping structure 10 is in a straightened state. When the first driving member 4 applies force to the first finger segment 1 through the wire transmission mechanism 5, the first finger segment 1 rotates. Subsequently, the first finger segment 1 can be restored to the initial state under the action of the elastic member 3.

[0039] exist Figure 1 and Figure 2 In the direction shown, the first axis is parallel to the X-axis, the first finger segment 1 and the second finger segment 2 are arranged in sequence along the Z-axis direction, the front-to-back direction of the grasping structure 10 is parallel to the Y-axis, and any two of the X-axis, Y-axis and Z-axis are perpendicular to each other. In addition, the arrangement direction of the first finger segment 1 and the second finger segment 2 mentioned here refers to the arrangement direction when the relative position of the first finger segment 1 and the second finger segment 2 is in the initial state. Figure 1 and Figure 2 The state shown is that the relative positions of the first finger segment 1 and the second finger segment 2 are in an initial state, and at this time, the grasping structure 10 is in an extended state.

[0040] like Figure 1 As shown, in one embodiment, the wire transmission mechanism 5 includes a pull rope 51 and a winding member 52; the two ends of the pull rope 51 are respectively connected to the first finger segment 1 and the winding member 52; the first driving member 4 is connected to the winding member 52, and is used to drive the winding member 52 to rotate, so that the winding member 52 can reel in or unreel the pull rope 51. By reeling in the pull rope 51 through the winding member 52, the entire grasping structure 10 can be made neater, and the pull rope 51 can be prevented from being entangled with other objects, thereby improving the working effect of the grasping structure 10.

[0041] In one embodiment, the axis of the winding member 52 extends along the second direction of the grabbing structure 10 , which makes it easier to reel in and unreel the pull rope 51 .

[0042] In one embodiment, the first driving member 4 includes a motor, a main shaft of which is connected to the winding member 52 for driving the winding member 52 to rotate.

[0043] like Figure 3 As shown, in one embodiment, the pull rope 51 includes a first rope 511 and a second rope 512; wherein, the first rope 511 and the second rope 512 are both connected to the first finger segment 1 and the winding member 52; when the winding member 52 unwinds the first rope 511, it can reel in the second rope 512; when the winding member 52 reels in the first rope 511, it can unwind the second rope 512; the first axis extends along the first direction of the grasping structure 10; the first rope 511 and the second rope 512 are spaced apart along the second direction of the grasping structure 10; the first finger segment 1 and the second finger segment 2 are arranged along the third direction of the grasping structure 10.

[0044] In this embodiment, in the front-to-back direction of the grasping structure 10, the first pull rope 51 may be located in front of the second pull rope 51. When the winding member 52 reels the first rope 511, the first rope 511 may apply force to the first finger segment 1, thereby causing the end of the first finger segment 1 away from the second finger segment 2 to rotate toward the front of the second finger segment 2 (this rotation direction is defined as forward rotation); when the winding member 52 reels the second rope 512, the second rope 512 may apply force to the first finger segment 1, thereby causing the end of the first finger segment 1 away from the second finger segment 2 to rotate toward the back of the second finger segment 2 and reset (this rotation direction is defined as reverse rotation).

[0045] In addition, when the first rope 511 is reeled in, the second rope 512 is unreeled to avoid the second rope 512 interfering with the forward rotation of the first finger segment 1; when the second rope 512 is reeled in, the first rope 511 is unreeled to avoid the first rope 511 interfering with the reverse rotation of the first finger segment 1.

[0046] In one embodiment, the winding member 52 is an integrated structure. At this time, the winding directions of the first rope 511 and the second rope 512 in the winding member 52 can be opposite, so that the winding member 52 can unwind the second rope 512 when rewinding the first rope 511, and can rewind the second rope 512 when unwinding the first rope 511.

[0047] like Figure 3 As shown, in one embodiment, the wire transmission mechanism 5 further includes a first guide wheel 53, which is rotatably connected to the second finger segment 2, and the middle part of the first rope 511 is wound around the first guide wheel 53. The provision of the first guide wheel 53 is conducive to isolating the first rope 511 and the second rope 512, thereby preventing the first rope 511 and the second rope 512 from being entangled with each other.

[0048] The middle part of the first rope 511 refers to the part of the first rope 511 between the end of the first rope 511 connected to the first finger segment 1 and the end of the first rope 511 connected to the winding member 52. Specifically, in the Z-axis direction, the first guide wheel 53 may be located between the winding member 52 and the first finger segment 1, and the three are arranged at intervals.

[0049] In addition, installing the first guide wheel 53 on the second finger segment 2 can reduce the total weight of the first finger segment 1 and the components thereon, which can reduce the load of the first driving member 4 and help improve the control accuracy of the first finger segment 1.

[0050] In addition, the first guide wheel 53 can rotate around its own axis relative to the second finger segment 2, and the axis of the first guide wheel 53 is parallel to the first axis, which can reduce the friction between the first rope 511 and the first guide wheel 53.

[0051] like Figure 3 As shown, in one embodiment, the wire transmission mechanism 5 also includes a second guide wheel 54, which is rotatably connected to the second finger segment 2, and the middle part of the second rope 512 is wound around the second guide wheel 54; the second guide wheel 54 and the first guide wheel 53 are spaced apart along the second direction of the grasping structure 10; such an arrangement is more conducive to separating the first rope 511 and the second rope 512, and at the same time, the second guide wheel 54 is installed on the second finger segment 2, which can also reduce the total weight of the first finger segment 1 and the components thereon.

[0052] The middle part of the second rope 512 refers to the part of the second rope 512 between the end of the second rope 512 connected to the first finger segment 1 and the end of the second rope 512 connected to the winding member 52. Specifically, in the Z-axis direction, the second guide wheel 54 may be located between the winding member 52 and the first finger segment 1, and the three are arranged at intervals.

[0053] In addition, the second guide wheel 54 can rotate around its own axis relative to the second finger segment 2, and the axis of the second guide wheel 54 is parallel to the first axis, which can reduce the friction between the second rope 512 and the second guide wheel 54.

[0054] like Figure 4 As shown, in one embodiment, a first wire groove 521 and a second wire groove 522 are provided on the winding member 52, and the first wire groove 521 and the second wire groove 522 are spaced apart along the axis of the winding member 52; the first wire groove 521 and the second wire groove 522 are both annular grooves; the first rope 511 is connected to the inner wall of the first wire groove 521 and can be rolled up in the first wire groove 521; the second rope 512 is connected to the inner wall of the second wire groove 522 and can be rolled up in the second wire groove 522.

[0055] The first wire groove 521 and the second wire groove 522 are both coaxial with the winding member 52 , so that the first rope 511 can be wound up in the first wire groove 521 , and the second rope 512 can be wound up in the second wire groove 522 .

[0056] The first wire groove 521 can be provided to limit the reeling position of the first rope 511 to prevent it from being entangled with the second rope 512. Similarly, the second wire groove 522 can be provided to limit the reeling position of the second rope 512 to prevent it from being entangled with the first rope 511. In particular, when the winding member 52 is an integrated structure, the first wire groove 521 and the second wire groove 522 can effectively prevent the first rope 511 and the second rope 512 from being entangled.

[0057] like Figure 1 and Figure 2 As shown, in one embodiment, the first finger segment 1 includes a finger joint 11, a first connecting plate 12 and a second connecting plate 13, and the first connecting plate 12 and the second connecting plate 13 are arranged on the finger joint 11 along the first axis at intervals; the first connecting plate 12 and the second connecting plate 13 are both rotatably connected to the second finger segment 2, so that the first finger segment 1 can rotate relative to the second finger segment 2 around the first axis. This arrangement can reduce the weight of the first finger segment 1, and the finger joint 11 can be used to press the target object on the palm during operation.

[0058] The first connecting plate 12 and the second connecting plate 13 both protrude from a side of the finger joint 11 close to the second finger segment 2 , and the parts of the two protruding from the finger joint 11 are connected to the second finger segment 2 .

[0059] It should be understood that the axis around which the first connecting plate 12 rotates relative to the second finger segment 2 and the axis around which the second connecting plate 13 rotates relative to the second finger segment 2 are both the first axis.

[0060] like Figure 1 and Figure 2 As shown, the first finger segment 1 further includes a first reinforcing plate 14, the two ends of which are respectively connected to the first connecting plate 12 and the second connecting plate 13, and in addition, the first reinforcing plate 14 is spaced apart from the finger joint 11. When the first connecting plate 12 and the second connecting plate 13 are relatively long, the strength of the first finger segment 1 can be made higher by the provision of the first reinforcing plate 14. In addition, the first reinforcing plate 14 is respectively connected to the back side of the first connecting plate 12 and the back side of the second connecting plate 13, and the back side of the first connecting plate 12 and the back side of the second connecting plate 13 both belong to the back side of the first finger segment 1.

[0061] like Figure 1As shown, in one embodiment, the second finger segment 2 includes a first support portion 21, a third connecting plate 22 and a fourth connecting plate 23; the first support portion 21 is connected to the first driving member 4; the third connecting plate 22 and the fourth connecting plate 23 are arranged on the first support portion 21 along the first axis at intervals; the third connecting plate 22 and the fourth connecting plate 23 are both rotatably connected to the first finger segment 1, so that the first finger segment 1 can rotate relative to the second finger segment 2 around the first axis. This arrangement can reduce the weight of the second finger segment 2. Among them, the third connecting plate 22 and the fourth connecting plate 23 both protrude from the side of the first support portion 21 close to the first finger segment 1.

[0062] In an achievable implementation, the first connecting plate 12, the second connecting plate 13, the third connecting plate 22 and the fourth connecting plate 23 are connected together by a rotating shaft (defined as the first rotating shaft 61), so that the first finger segment 1 can rotate around the first axis relative to the second finger segment 2. The first rotating shaft 61 can rotate around its own axis relative to the third connecting plate 22, and can rotate around its own axis relative to the fourth connecting plate 23, and the first connecting plate 12 and the second connecting plate 13 are fixedly connected to the first rotating shaft 61.

[0063] In addition, the first connecting plate 12 and the second connecting plate 13 may be located between the third connecting plate 22 and the fourth connecting plate 23, so that the size of the first finger segment 1 in the left-right direction of the grasping structure 10 can be set smaller. In addition, the elastic member 3 may be sleeved on the first rotating shaft 61.

[0064] In one embodiment, the first supporting portion 21 may be a plate-shaped structure.

[0065] like Figure 1 and Figure 2 As shown, in one embodiment, the first guide wheel 53 and the second guide wheel 54 are both arranged between the third connecting plate 22 and the fourth connecting plate 23. The wire transmission mechanism 5 includes a first connecting shaft 55 and a second connecting shaft 56, both ends of which are connected to the third connecting plate 22 and the fourth connecting plate 23, the first guide wheel 53 is mounted on the first connecting shaft 55, and the second guide wheel 54 is mounted on the second connecting shaft 56.

[0066] The first connecting shaft 55 is fixedly connected to at least one of the third connecting plate 22 and the fourth connecting plate 23, and at this time, the first guide wheel 53 can rotate around its own axis relative to the first connecting shaft 55. Alternatively, the first connecting shaft 55 can rotate around its own axis relative to the third connecting plate 22 and the fourth connecting plate 23, and the first guide wheel 53 is fixedly mounted on the first connecting shaft 55, and at this time, the axis of the first connecting shaft 55 is parallel to the first axis.

[0067] Similarly, the second connecting shaft 56 is fixedly connected to at least one of the third connecting plate 22 and the fourth connecting plate 23, and at this time, the second guide wheel 54 can rotate around its own axis relative to the second connecting shaft 56. Alternatively, the second connecting shaft 56 can rotate around its own axis relative to the third connecting plate 22 and the fourth connecting plate 23, and the second guide wheel 54 is fixedly mounted on the second connecting shaft 56, and at this time, the axis of the second connecting shaft 56 is parallel to the first axis.

[0068] In addition, the first connecting shaft 55 and the second connecting shaft 56 are both located between the first rotating shaft 61 and the first supporting portion 21 .

[0069] like Figure 1 As shown, in one embodiment, a first mounting groove 24 is provided on the back side of the second finger segment 2, and the first driving member 4 is disposed in the first mounting groove 24, so that the size of the grasping structure 10 can be reduced and the weight of the grasping structure 10 can be reduced.

[0070] In one embodiment, the first support portion 21, the third connecting plate 22 and the fourth connecting plate 23 enclose a first mounting groove 24. When the first mounting groove 24 is located on the back side of the second finger segment 2, the third connecting plate 22 and the fourth connecting plate 23 both protrude from the back side of the first support portion 21, thereby forming the first mounting groove 24 on the back side of the second finger segment 2.

[0071] like Figure 1 and Figure 2 As shown, the second finger segment 2 further includes a second reinforcing plate 27, the two ends of which are connected to the third connecting plate 22 and the fourth connecting plate 23, respectively. In addition, the second reinforcing plate 27 is spaced apart from the first supporting portion 21. When the third connecting plate 22 and the fourth connecting plate 23 are relatively long, the second finger segment 2 can be made stronger by the provision of the second reinforcing plate 27. In addition, the second reinforcing plate 27 is connected to the back side of the third connecting plate 22 and the back side of the fourth connecting plate 23, respectively, and the back side of the third connecting plate 22 and the back side of the fourth connecting plate 23 both belong to the back side of the second finger segment 2. After assembly, the first reinforcing plate 14 and the second reinforcing plate 27 are spaced apart.

[0072] In one embodiment, the grasping structure 10 further includes a third finger segment 7, a second driving member 8, and a worm gear mechanism 9; the third finger segment 7 is connected to the end of the second finger segment 2 away from the first finger segment 1, and the second finger segment 2 can rotate relative to the third finger segment 7 around a second axis, and the second axis is parallel to the first axis; the second driving member 8 is connected to the third finger segment 7; the second driving member 8 is connected to the worm of the worm gear mechanism 9, and the worm of the worm gear mechanism is connected to the second finger segment 2. When the grasping structure 10 is applied to a grasping device, the end of the third finger segment 7 away from the second finger segment 2 is connected to the palm structure, and the second driving member 8 drives the second finger segment 2 to rotate through the worm gear mechanism 9, which can provide greater torque and load energy for the grasping structure 10.

[0073] like Figure 1 As shown, in one embodiment, the second finger segment 2 includes a first support portion 21, a fifth connecting plate 25 and a sixth connecting plate 26; the first support portion 21 is connected to the first driving member 4; the fifth connecting plate 25 and the sixth connecting plate 26 are arranged on the first support portion 21 along the first axis at intervals; the fifth connecting plate 25 and the sixth connecting plate 26 are both connected to the third finger segment 7, so that the second finger segment 2 can rotate relative to the third finger segment 7 around the second axis. In this way, the weight of the second finger segment 2 can be reduced.

[0074] In one embodiment, the third connecting plate 22 and the fifth connecting plate 25 are an integral structure, and the fourth connecting plate 23 and the sixth connecting plate 26 are an integral structure. At this time, it can be considered that, in the up and down direction of the grabbing structure 10, both ends of the third connecting plate 22 protrude from the first supporting portion 21, and both ends of the fourth connecting plate 23 protrude from the first supporting portion 21.

[0075] like Figure 1 As shown, in one embodiment, the third finger segment 7 includes a second support portion 71, a seventh connecting plate 72 and an eighth connecting plate 73, wherein the seventh connecting plate 72 and the eighth connecting plate 73 are arranged on the second support portion 71 at intervals along the first axis, and the seventh connecting plate 72 and the eighth connecting plate 73 are both rotatably connected to the second finger segment 2, thereby enabling the second finger segment 2 to rotate relative to the third finger segment 7 around the second axis.

[0076] The seventh connecting plate 72 and the eighth connecting plate 73 both protrude from one end of the second supporting portion 71 close to the second finger segment 2. The second supporting portion 71 may be a plate-shaped structure.

[0077] In addition, the fifth connecting plate 25, the sixth connecting plate 26, the seventh connecting plate 72 and the eighth connecting plate 73 can be connected together by the second rotating shaft 62, so as to realize that the second finger segment 2 can rotate relative to the third finger segment 7 around the second axis. The axis of the second rotating shaft 62 is the second axis. Among them, the second rotating shaft 62 can rotate relative to the seventh connecting plate 72 around its own axis, and can rotate relative to the eighth connecting plate 73 around its own axis, and the fifth connecting plate 25 and the sixth connecting plate 26 are fixedly connected to the second rotating shaft 62.

[0078] In one embodiment, the fifth connecting plate 25 and the sixth connecting plate 26 are both located between the seventh connecting plate 72 and the eighth connecting plate 73 .

[0079] In addition, the second driving member 8 is installed on the second supporting portion 71, and the worm wheel of the worm gear mechanism 9 is installed on the second rotating shaft 62. When the second driving member 8 drives the worm to rotate, it can drive the worm wheel to rotate, and then drive the second rotating shaft 62 to rotate, and the second rotating shaft 62 can drive the second finger segment 2 to rotate.

[0080] like Figure 1 As shown, the third finger segment 7 is provided with a second mounting groove 74, and the second driving member 8 is mounted in the second mounting groove 74. In addition, the second mounting groove 74 is located on the back side of the third finger segment 7. The back side of the third finger segment 7 also belongs to the back side of the grasping structure 10.

[0081] like Figure 1 As shown, the third finger segment 7 also includes a ninth connecting plate 75, which is connected to the second support portion 71 and respectively connected to the seventh connecting plate 72 and the eighth connecting plate 73. The second support portion 71, the seventh connecting plate 72, the eighth connecting plate 73 and the ninth connecting plate 75 together form a second mounting groove 74.

[0082] In one embodiment, the second driving member 8 comprises a motor, the main shaft of which is connected to the worm, for driving the worm to rotate. The main shaft of the motor and the worm may be coaxially connected.

[0083] An embodiment of the present invention further provides a grasping device, which comprises the grasping structure 10 described in any one of the above embodiments.

[0084] In one embodiment, the grasping device further includes a palm structure, in which case the grasping device may be a manipulator; the grasping structure 10 further includes a third finger segment 7, and the end of the third finger segment 7 facing away from the second finger segment 2 is connected to the palm structure. When working, the grasping structure 10 cooperates with the palm structure to grasp an object.

[0085] An embodiment of the present invention further provides an intelligent terminal, which includes the grasping device described in any one of the above embodiments.

[0086] It should be understood that the above-mentioned related settings can also be replaced by other methods, such as: In other embodiments, the winding member 52 may also be a split structure, in which case the winding member 52 includes a first winding portion and a second winding portion, wherein the first driving member 4 can drive the first winding portion to rotate, and can also drive the second winding portion to rotate, the first rope 511 connects the first finger segment 1 and the first winding portion, and the second rope 512 connects the second finger segment 2 and the second winding portion. During operation, the first driving member 4 can drive the first winding portion to rotate clockwise, and drive the second winding portion to rotate counterclockwise, thereby realizing that the first winding portion reels the first rope 511, and the second winding portion unwinds the second rope 512; at the same time, the first driving member 4 can drive the second winding portion to rotate clockwise, and drive the first winding portion to rotate counterclockwise, thereby realizing that the second winding portion reels the second rope 512, and the first winding portion unwinds the first rope 511.

[0087] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0088] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A gripping structure, characterized in that: It includes a first finger segment, a second finger segment, an elastic member, a first driving member and a wire transmission mechanism; The first finger segment is rotatably connected to the second finger segment around a first axis; The elastic member is connected between the first finger segment and the second finger segment, and can be elastically deformed when the first finger segment rotates; The first driving member is connected to the second finger segment, and the first driving member drives the first finger segment to rotate through the wire transmission mechanism.

2. The gripping structure according to claim 1, characterized in that: The wire transmission mechanism includes a pull rope and a winding member; Two ends of the pull rope are respectively connected to the first finger segment and the winding member; The first driving member is connected to the winding member and is used to drive the winding member to rotate so that the winding member can reel in or unreel the pull rope.

3. The gripping structure according to claim 2, characterized in that: The pull rope includes a first rope and a second rope; The first rope and the second rope are both connected to the first finger segment and the winding member; when the winding member unwinds the first rope, the second rope can be reeled in; when the winding member reels in the first rope, the second rope can be unwound; The first axis extends along a first direction of the gripping structure; The first rope and the second rope are arranged at intervals along a second direction of the grabbing structure; The first finger segment and the second finger segment are arranged along a third direction of the gripping structure; The first direction, the second direction and the third direction are perpendicular to each other.

4. The gripping structure according to claim 3, characterized in that: The wire transmission mechanism also includes a first guide wheel, which is rotatably connected to the second finger segment, and the middle part of the first rope is wound around the first guide wheel.

5. The gripping structure according to claim 4, characterized in that: The wire transmission mechanism further comprises a second guide wheel, the second guide wheel being rotatably connected to the second finger segment, and the middle portion of the second rope being wound around the second guide wheel; The second guide wheel and the first guide wheel are arranged at intervals along the second direction of the grabbing structure.

6. The gripping structure according to claim 3, characterized in that: The winding member is provided with a first wire groove and a second wire groove, and the first wire groove and the second wire groove are arranged at intervals along the axis of the winding member; The first wire groove and the second wire groove are both annular grooves; The first rope is connected to the inner wall of the first wire groove and can be rolled up in the first wire groove; The second rope is connected to the inner wall of the second wire groove and can be rolled up in the second wire groove.

7. The gripping structure according to claim 3, characterized in that: The axis of the winding member extends along the second direction of the gripping structure.

8. The gripping structure according to claim 1, characterized in that: The first finger segment includes a finger joint, a first connecting plate and a second connecting plate, wherein the first connecting plate and the second connecting plate are arranged on the finger joint at intervals along the first axis; The first connecting plate and the second connecting plate are both rotatably connected to the second finger segment, so that the first finger segment can rotate relative to the second finger segment around the first axis.

9. The gripping structure according to claim 1, characterized in that: The second finger segment includes a first support portion, a third connecting plate and a fourth connecting plate; The first supporting portion is connected to the first driving member; The third connecting plate and the fourth connecting plate are arranged on the first supporting portion at intervals along the first axis; The third connecting plate and the fourth connecting plate are both rotatably connected to the first finger segment, so that the first finger segment can rotate relative to the second finger segment around the first axis.

10. The gripping structure according to claim 9, characterized in that: The first supporting portion, the third connecting plate and the fourth connecting plate are enclosed to form a first mounting groove, and the first driving member is disposed in the first mounting groove.

11. The gripping structure according to claim 1, characterized in that: A first mounting groove is provided on the back side of the second finger segment, and the first driving member is arranged in the first mounting groove.

12. The gripping structure according to claim 1, characterized in that: The gripping structure further includes a third finger segment, a second driving member and a worm gear mechanism; The third finger segment is connected to an end of the second finger segment away from the first finger segment, and the second finger segment can rotate relative to the third finger segment around a second axis, and the second axis is parallel to the first axis; The second driving member is connected to the third finger segment; The second driving member is connected to the worm of the worm gear mechanism, and the worm wheel of the worm gear mechanism is connected to the second finger segment.

13. The gripping structure according to claim 12, characterized in that: The second finger segment includes a first support portion, a fifth connecting plate and a sixth connecting plate; The first supporting portion is connected to the first driving member; The fifth connecting plate and the sixth connecting plate are arranged on the first supporting portion at intervals along the first axis; The fifth connecting plate and the sixth connecting plate are both connected to the third finger segment, so that the second finger segment can rotate relative to the third finger segment around the second axis.

14. A gripping device, characterized in that: The invention comprises the grasping structure as described in any one of claims 1 to 13.

15. The gripping device according to claim 14, characterized in that The grasping device also includes a palm structure; the grasping structure also includes a third finger segment, the third finger segment is rotatably connected to the end of the second finger segment away from the first finger segment, and the end of the third finger segment away from the second finger segment is connected to the palm structure.

16. An intelligent terminal, characterized in that: It comprises the grasping device described in claims 14-15.

Images