Robot finger mechanism and robot

Abstract

The invention relates to the technical field of robots, and discloses a robot finger mechanism which comprises a finger assembly rotationally connected with a palm assembly and a pull rope driving the finger assembly to move, a movable guide wheel, a fixed guide wheel and a pull rope base are arranged in the palm assembly, the outer end of the pull rope is connected with the outermost phalanx in the finger assembly, and the outer end of the pull rope is connected with the outermost phalanx in the finger assembly. The inner end of the pull rope sequentially bypasses the movable guide wheel and the fixed guide wheel and then is connected with the pull rope seat; a driving mechanism used for driving the movable guide wheel and the pull rope base to move synchronously in the same direction is arranged in the palm assembly, and elastic reset pieces are arranged at the joints of any two phalanges in the finger assembly. A hand of the robot adopts the robot finger mechanism. The finger mechanism has the beneficial effects of compact structure and fast action response of the finger assembly.

Description

Technical Field

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

[0002] There are many ways to drive robot fingers, usually motor gear drive, pneumatic drive or hydraulic drive, tendon drive, electromagnetic drive, etc. Among them, tendon drive imitates the working principle of human tendons, and achieves finger bending and extension by pulling ropes or cables connected to finger joints. Because this drive structure is simple and flexible, and can better simulate human hand movements, it is widely used in the field of robotics.

[0003] However, tendon rope drive usually uses electric cylinders to pull ropes to achieve finger bending, and each finger needs to be controlled separately. In the process of fingers stretching to bending, the rope travels a long distance, which also requires a large travel of the electric cylinder. The electric cylinder is usually installed inside the palm of the robot, which requires a large enough space inside the palm to install these electric cylinders, which leads to a large size and weight of the robot palm, resulting in a bloated hand and affecting flexibility. Due to the large rope pulling travel, the robot also has a long response time when grasping objects. Summary of the invention

[0004] In order to solve the problems existing in the prior art, the present invention provides a robot finger mechanism and a robot which have a compact and stable structure, occupy a small space, and have a faster finger movement response speed.

[0005] In order to achieve the above object, the present invention adopts the following technical solution: A robot finger mechanism comprises a finger assembly rotatably connected to a palm assembly, and a pull rope for driving the finger assembly to move; a movable guide wheel, a fixed guide wheel and a pull rope seat are arranged in the palm assembly; the outer end of the pull rope is connected to the outermost phalanx in the finger assembly, and the inner end of the pull rope is connected to the pull rope seat after passing through the movable guide wheel and the fixed guide wheel in sequence; a driving mechanism for driving the movable guide wheel and the pull rope seat to move synchronously and in the same direction is arranged in the palm assembly, and elastic reset parts are arranged at the joints of any two phalanxes in the finger assembly.

[0006] By adopting the above technical solution: the driving mechanism can simultaneously drive the movable guide wheel and the rope seat to move synchronously in the same direction, so that the displacement of the outer end of the rope is about three times the displacement of the rope seat, which greatly reduces the stroke of the rope seat, thereby making the driving mechanism have a smaller stroke, a smaller volume, a compact structure, and a more flexible design of the palm assembly; at the same time, since the small stroke of the driving mechanism can drive the large stroke of the rope, after the stroke is magnified three times, the bending response speed of the finger assembly is also increased three times, and the flexibility of the finger assembly is significantly improved.

[0007] Preferably, the driving mechanism includes a connecting rod and a translational force driving the connecting rod to move, the movable guide wheel is connected to a wheel seat, one end of the connecting rod is connected to the wheel seat, and the other end of the connecting rod is connected to a rope seat.

[0008] Preferably, the driving mechanism includes a screw rod and a rotating power for driving the screw rod to rotate, the movable guide wheel is connected to a wheel seat, one end of the screw rod is rotatably connected to the wheel seat, and the other end of the screw rod is rotatably connected to the rope seat. The screw rod drives the movable guide wheel and the rope seat to move synchronously in the same direction, with high movement accuracy, and can stop and lock at any position.

[0009] Preferably, a connecting column is provided at the end of the screw rod, a bearing is provided on the wheel seat, and the connecting column passes through the bearing and is limited by a fastener, thereby reducing the influence of the screw rod rotation on the movable guide wheel and making the screw rod rotation resistance small.

[0010] Preferably, the pull rope is provided with an elastic tensioner; the pull rope is configured into two sections, namely a first pull rope and a second pull rope, one end of the first pull rope is connected to the finger assembly, the other end of the first pull rope is connected to the elastic tensioner, one end of the second pull rope is connected to the pull rope seat, and the other end of the second pull rope is connected to the elastic tensioner. The elastic tensioner can tension the pull rope on one hand, and on the other hand, it makes the finger assembly have a certain flexibility when holding an object, and it is not easy to damage the object.

[0011] Preferably, a slide rail is fixedly provided on the inner wall of the palm assembly, a slider is provided on the slide rail, and one end of the first pull rope close to the elastic tensioner is connected to the slider; a locking mechanism is provided between the slider and the slide rail, so that the slider can be locked at any position of the slide rail. When the road surface on which the robot walks is uneven and the object is carried over a relatively long distance, the object will fall due to the bumps of the road surface when the finger assembly elastically grips the object; the locking mechanism is initially in an unlocked state, at which time the slider can slide freely along the slide rail, and the driving mechanism drives the finger assembly to bend and grip the object, and then the locking mechanism locks the slider and the slide rail together, at which time the finger assembly is only tightened by the first pull rope (the elastic tensioner does not work), and the finger assembly is in rigid contact with the object, so that the robot can maintain the object stably even on a bumpy road surface; since the contact between the finger assembly and the object is elastic in the initial stage, the object is not easily damaged during the gripping process.

[0012] Preferably, the locking mechanism comprises an electromagnet disposed on a sliding seat, the sliding rail is configured as a ferromagnet, and the adsorption surface of the electromagnet faces the sliding rail; when the electromagnet is energized, the electromagnet is adsorbed on the sliding rail so that the slider is locked. The locking is achieved by adsorbing the sliding rail with the electromagnet, and the locking mechanism is simple and stable.

[0013] Preferably, a guide wheel is provided at a position between the fixed guide wheel and the rope pull seat in the palm assembly, and the second rope passes around the guide wheel; the direction of the rope pull between the fixed guide wheel and the guide wheel is parallel to the moving direction of the movable guide wheel, and the moving direction of the slider is parallel to the moving direction of the movable guide wheel. The guide wheel is used to adjust the direction of the rope pull between the fixed guide wheel and the rope pull seat, so that the direction of the rope pull at this position is parallel to the moving direction of the rope pull seat, thereby optimizing the configuration of various components inside the palm assembly and reducing the volume of the palm assembly.

[0014] Preferably, the finger assembly includes a first phalanx, a second phalanx rotationally connected to the first phalanx, a third phalanx rotationally connected to the second phalanx, and the third phalanx is rotationally connected to the palm assembly; the elastic return member is configured as a torsion spring or a tension spring.

[0015] A robot, wherein the hand of the robot adopts the robot finger mechanism.

[0016] Therefore, the present invention has the following beneficial effects: (1) The stroke of the outer end of the pull rope is three times the movement stroke of the driving mechanism, so that a large stroke can be controlled by a small stroke, so that the space required for the movement of the driving mechanism is smaller, the overall structure is more compact, and the volume of the palm assembly can be reduced; (2) The large stroke of the pull rope in the finger assembly is driven by the small stroke of the driving mechanism, which improves the movement response speed of the finger assembly and makes the bending of the finger faster and more flexible; (3) When the robot walks on an uneven or bumpy road, it grasps the object in two stages: in the first stage, the locking mechanism is unlocked, and the elasticity of the elastic tensioner is used to enable the finger assembly to flexibly grasp the object to prevent damage to the object; in the second stage, after grasping the object, the locking mechanism locks the end of the first pull rope. At this time, the finger assembly rigidly grasps the object (relative to the first stage), thereby preventing the object from falling due to bumps, vibrations, etc. during the movement of the robot, ensuring that the object is carried more stably. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the first structure of the present invention.

[0018] Figure 2 This is a first embodiment of the elastic reset element.

[0019] Figure 3 This is a second implementation of the elastic reset element.

[0020] Figure 4 This is a schematic diagram of the second structure of the present invention.

[0021] Figure 5 for Figure 4 Partial exploded view. DETAILED DESCRIPTION

[0022] In order to make the technical problems, technical solutions and beneficial technical effects to be solved by the present invention more clearly understood, the present invention will be further described in detail below in conjunction with the accompanying drawings and multiple exemplary embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the scope of protection of the present invention.

[0023] It should be understood that, in this document, the expressions "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance, nor should they be understood as implicitly indicating the number of technical features indicated. Features defined as "first" or "second" may explicitly or implicitly indicate that at least one of the features is included.

[0024] Example 1: Figure 1-Figure 3 A robot finger mechanism is shown, comprising a finger assembly 2 rotatably connected to a palm assembly 1, and a pull rope 3 for driving the finger assembly 2 to move; a movable guide wheel 10, a fixed guide wheel 11 and a pull rope seat 4 are provided in the palm assembly 1; the outer end of the pull rope 3 is connected to the outermost phalanx in the finger assembly 2, and the inner end of the pull rope 3 is connected to the pull rope seat 4 after passing through the movable guide wheel 10 and the fixed guide wheel 11 in sequence; a driving mechanism 5 for driving the movable guide wheel 10 and the pull rope seat 4 to move synchronously and in the same direction is provided in the palm assembly 1, and elastic reset parts 6 are provided at the joints of any two phalanges in the finger assembly 2.

[0025] like Figure 2 As shown, the driving mechanism 5 includes a connecting rod 50 and a translational force 51 for driving the connecting rod 50 to move. A wheel seat 100 is connected to the movable guide wheel 10. One end of the connecting rod 50 is connected to the wheel seat 100, and the other end of the connecting rod 50 is connected to the rope seat 4. In some embodiments, the translational force 51 is configured as any one of an electric cylinder, a gas cylinder, and an oil cylinder. In this embodiment, the translational force is configured as an electric cylinder.

[0026] The finger assembly 2 includes a first phalanx 20, a second phalanx 21 rotatably connected to the first phalanx 20, and a third phalanx 22 rotatably connected to the second phalanx 21. The third phalanx 22 is rotatably connected to the palm assembly 1. The outer end of the pull rope is fixedly connected to the first phalanx, and the pull rope is arranged on the inner side of the finger assembly. The elastic reset member 6 is configured as a torsion spring 60. Figure 2 As shown, torsion springs are provided at the rotational connection between the first phalanx and the second phalanx, at the rotational connection between the second phalanx and the third phalanx, and at the rotational connection between the third phalanx and the palm assembly. When the pull rope is released, the finger assembly is automatically unfolded by the torsion springs.

[0027] like Figure 3Another embodiment of the driving mechanism is shown in FIG. 5 . Specifically, the driving mechanism 5 includes a screw rod 52 and a rotating power 53 for driving the screw rod 52 to rotate. The movable guide wheel 10 is connected to a wheel seat 100. One end of the screw rod 52 is rotatably connected to the wheel seat 100, and the other end of the screw rod 52 is rotatably connected to the rope pull seat 4. Figure 5 As shown, a connecting column 520 is provided at the end of the screw rod 52, and a bearing 101 is provided on the wheel seat 100. After the connecting column 520 passes through the bearing 101, it is limited by a fastener 521. In some embodiments, the fastener 521 is configured as a nut, the end of the connecting column is threaded, and the bearing is configured as a thrust bearing. After the connecting column passes through the thrust bearing, it is locked by a nut to ensure that the screw rod 52 and the wheel seat 100 can rotate stably relative to each other and prevent the screw rod from separating from the wheel seat. In some other embodiments, the fastener 521 is configured as a limit pin. After the connecting column passes through the bearing, it is limited by the limit pin to prevent the connecting column from falling out of the bearing. Figure 3 The elastic reset member adopts a tension spring 61, the pull rope is arranged on the inner side of the finger assembly, and the tension spring 61 is arranged on the outer side of the connection between two adjacent phalanges. When the pull rope is tightened, the finger assembly is in a bent state. When the pull rope is released, the finger assembly is reset to the expanded state under the action of the tension spring 61.

[0028] In some embodiments, the pull rope 3 is provided with an elastic tensioning member 32; the pull rope 3 is configured into two sections, namely a first pull rope 30 and a second pull rope 31, one end of the first pull rope 30 is connected to the finger assembly 2, the other end of the first pull rope 30 is connected to the elastic tensioning member 32, one end of the second pull rope 31 is connected to the pull rope seat 4, and the other end of the second pull rope 3 is connected to the elastic tensioning member 32. The elastic tensioning member 32 is a spring.

[0029] In order to make the movement of the pull rope smoother and the distribution of components in the palm assembly more compact and reasonable, in some embodiments, a guide wheel 12 is provided in the palm assembly 1 between the fixed guide wheel 11 and the pull rope seat 4, and the second pull rope 31 bypasses the guide wheel 12, and the direction of the pull rope 3 between the fixed guide wheel 11 and the guide wheel 12 is parallel to the moving direction of the movable guide wheel 10.

[0030] Embodiment 2: Embodiment 2 differs from Embodiment 1 in that: a slide rail 7 is fixedly provided on the inner wall of the palm assembly 1, a slider 8 is provided on the slide rail 7, and one end of the first pull rope 30 close to the elastic tensioner 32 is fixedly connected to the slider 8; a locking mechanism 9 is provided between the slider 8 and the slide rail 7, so that the slider 8 can be locked at any position of the slide rail 7; the locking mechanism 9 includes an electromagnet 90 provided on a sliding seat, the slide rail 7 is configured as a ferromagnet, and the adsorption surface of the electromagnet 90 faces the slide rail 7; when the electromagnet 90 is energized, the electromagnet 90 is adsorbed on the slide rail 7 so that the slider 8 is locked.

[0031] A robot, wherein the hand of the robot adopts the robot finger mechanism.

[0032] In conjunction with the accompanying drawings, the principles of the present invention are as follows: Embodiment 1 is more suitable for grasping and transferring objects that are close and light in weight. In the initial state, the finger assembly is in the unfolded state. When an object needs to be grasped, the robot moves the entire palm assembly close to the object, and drives the movable guide wheel and the pull rope seat to move away from the finger assembly through the driving mechanism. At this time, the pull rope contracts and drives the phalanges in the finger assembly to bend and grasp the object. Since an elastic tensioning member is provided on the pull rope, the finger assembly grasps the object elastically and is not easy to damage the object. In this mechanism, since the stroke of the outer end of the pull rope is three times the stroke of the pull rope seat, the driving mechanism can drive the large stroke of the pull rope to realize the bending of the finger assembly with a smaller stroke. On the one hand, the volume of the palm assembly can be designed to be smaller and the overall structure is more compact. On the other hand, the movement speed of the finger assembly can be increased, and the bending response speed of the finger assembly can be increased, so that the movement of the finger assembly is more flexible.

[0033] Embodiment 2 is more suitable for grasping and rotating objects with relatively heavy mass at a long distance; when the robot walks on an uneven or bumpy road, it grasps the object in two stages: in the first stage, the electromagnet is powered off, and the elasticity of the elastic tensioner is used to enable the finger assembly to grasp the object flexibly to prevent damage to the object; in the second stage, after grasping the object, the electromagnet is energized to lock the end of the first pull rope. At this time, the finger assembly rigidly grasps the object (compared to the elastic grasping in the first stage), and the grasping is more stable, thereby preventing the object from falling due to bumps, vibrations, etc. during the movement of the robot, ensuring that the transported objects are more stable.

[0034] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by up, down, left, right, inside, outside, one end, the other end, etc. are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the purpose of more clearly describing the technical solution of the present invention, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific orientation, and cannot be understood as a limitation of the present invention.

[0035] Although specific embodiments of the present invention are described in detail herein, they are provided for the purpose of explanation only and should not be considered to limit the scope of the present invention. Various substitutions, changes and modifications may be conceived without departing from the spirit and scope of the present invention.

Claims

1. A robot finger mechanism, comprising a finger assembly (2) rotatably connected to a palm assembly (1), and a pull rope (3) for driving the finger assembly (2) to move, wherein: The palm assembly (1) is provided with a movable guide wheel (10), a fixed guide wheel (11) and a pull rope seat (4); the outer end of the pull rope (3) is connected to the outermost phalanx of the finger assembly (2); the inner end of the pull rope (3) passes through the movable guide wheel (10) and the fixed guide wheel (11) in sequence and then is connected to the pull rope seat (4); The palm assembly (1) is provided with a driving mechanism (5) for driving the movable guide wheel (10) and the rope pull seat (4) to move synchronously and in the same direction, and the joints of any two phalanges in the finger assembly (2) are provided with elastic reset parts (6).

2. A robot finger mechanism according to claim 1, characterized in that: The driving mechanism (5) comprises a connecting rod (50) and a translational force (51) for driving the connecting rod (50) to move; a wheel seat (100) is connected to the movable guide wheel (10); one end of the connecting rod (50) is connected to the wheel seat (100); and the other end of the connecting rod (50) is connected to the pull rope seat (3).

3. A robot finger mechanism according to claim 1, characterized in that: The driving mechanism (5) comprises a screw rod (52) and a rotating power (53) for driving the screw rod (52) to rotate; a wheel seat (100) is connected to the movable guide wheel (10); one end of the screw rod (52) is rotatably connected to the wheel seat (100); and the other end of the screw rod (52) is rotatably connected to the rope pull seat (4).

4. A robot finger mechanism according to claim 3, characterized in that: A connecting column (520) is provided at the end of the screw rod (52), a bearing (101) is provided on the wheel seat (100), and the connecting column (520) passes through the bearing (101) and is limited in position by a fastener (521).

5. A robot finger mechanism according to claim 1 or 2 or 3 or 4, characterized in that: The pull rope (3) is provided with an elastic tensioning member (32); The pull rope (3) is configured into two sections, namely a first pull rope (30) and a second pull rope (31); one end of the first pull rope (30) is connected to the finger assembly (2), and the other end of the first pull rope (30) is connected to the elastic tensioning member (32); one end of the second pull rope (31) is connected to the pull rope seat (4), and the other end of the second pull rope (3) is connected to the elastic tensioning member (32).

6. A robot finger mechanism according to claim 5, characterized in that: A slide rail (7) is fixedly provided on the inner wall of the palm assembly (1), a slider (8) is provided on the slide rail (7), and one end of the first pull rope (30) close to the elastic tensioning member (32) is connected to the slider (8); A locking mechanism (9) is provided between the slide block (8) and the slide rail (7), so that the slide block (8) can be locked at any position of the slide rail (7).

7. A robot finger mechanism according to claim 6, characterized in that: The locking mechanism (9) comprises an electromagnet (90) disposed on a sliding seat, the sliding rail (7) being configured as a ferromagnet, and the adsorption surface of the electromagnet (90) facing the sliding rail (7); when the electromagnet (90) is energized, the electromagnet (90) is adsorbed on the sliding rail (7) so that the sliding block (8) is locked.

8. The robot finger mechanism according to claim 6, characterized in that: A guide wheel (12) is provided in the palm assembly (1) at a position between the fixed guide wheel (11) and the rope pull seat (4), and the second rope (31) passes around the guide wheel (12); The direction of the pull rope (3) between the fixed guide wheel (11) and the guide wheel (12) is parallel to the moving direction of the movable guide wheel (10), and the moving direction of the slider (8) is parallel to the moving direction of the movable guide wheel (10).

9. The robot finger mechanism according to claim 1, characterized in that: The finger assembly (2) comprises a first phalanx (20), a second phalanx (21) rotatably connected to the first phalanx (20), and a third phalanx (22) rotatably connected to the second phalanx (21); the third phalanx (22) is rotatably connected to the palm assembly (1); and the elastic return element (6) is configured as a torsion spring or a tension spring.

10. A robot, characterized in that: The hand of the robot adopts the robot finger mechanism described in any one of claims 1-9.

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