Finger structure and manipulator

Abstract

The invention discloses a finger structure and a mechanical arm, and belongs to the field of mechanical arms, the finger structure comprises two knuckle driving pieces, two ropes, a rotation driving piece, a first elastic piece and a second elastic piece, the first knuckle is fixed to the output end of the rotation driving piece, and the first elastic piece is installed between the second knuckle and a third knuckle; the second elastic piece is installed between the first knuckle and the second knuckle, one knuckle driving piece is connected with the second knuckle through a rope so as to drive the second knuckle to rotate relative to the first knuckle, and the other knuckle driving piece is connected with the third knuckle through the other rope so as to drive the third knuckle to rotate relative to the second knuckle. The rotary driving part and the rope driving part are combined, the knuckles are rebounded and reset through the elastic parts, driving of the fingers is completed, the motion error is small, the control precision is high, and reverse rotation of the joints can be completed without an additional motor.

Description

Technical Field

[0001] The present invention relates to the field of manipulators, and in particular to finger structures. Background Art

[0002] At present, the transmission of finger joints is mainly realized by tendon transmission, connecting rod transmission, gear transmission and rope pulley transmission. In gear transmission, there is a gap when the gears are meshing, which will cause transmission error. This transmission error will continue to accumulate as the number of gear transmission levels increases, and eventually cause a large motion error in the fingertips. The connecting rod mechanism is more suitable for movement and power transmission with a short transmission distance such as mechanical fingers, but the biggest disadvantage of this transmission method is that its transmission ratio is constantly changing, so it can only achieve approximate movement, and it is difficult to achieve a high level of control accuracy. Rope pulley transmission may have a certain hysteresis, and the transmission ratio is also unstable. In addition, because the rope cannot withstand pressure, an additional motor is required to complete the forward and reverse movement of the joint. Summary of the invention

[0003] In order to overcome the deficiencies of the prior art, one of the objects of the present invention is to provide a finger structure with small motion error, high control accuracy, and no need for additional motors to complete the reversal of the joints.

[0004] In order to overcome the deficiencies of the prior art, one of the objectives of the present invention is to provide a manipulator with small motion error, high control accuracy, and no need for additional motors to complete the reversal of joints.

[0005] One of the purposes of the present invention is achieved by the following technical solution:

[0006] A finger structure includes a finger assembly, the finger assembly includes a first knuckle, a second knuckle and a third knuckle, the second knuckle is located between the first knuckle and the third knuckle and both ends of the second knuckle are rotatably connected to the first knuckle and the third knuckle respectively, the finger structure also includes two knuckle driving members, two ropes, a rotation driving member, a first elastic member and a second elastic member, the first knuckle is fixed to the output end of the rotation driving member, the first elastic member is installed between the second knuckle and the third knuckle, the second elastic member is installed between the first knuckle and the second knuckle, one knuckle driving member is connected to the second knuckle through one rope to drive the second knuckle to rotate relative to the first knuckle, and the other knuckle driving member is connected to the third knuckle through another rope to drive the third knuckle to rotate relative to the second knuckle.

[0007] Furthermore, the first elastic member and the second elastic member are both torsion springs.

[0008] Furthermore, the knuckle driving component is a steering gear.

[0009] Furthermore, the external force applied by the knuckle driving member to the second knuckle and the third knuckle through the rope is directed toward the inner side of the finger assembly.

[0010] Furthermore, the first knuckle is provided with a first penetration hole, and the second knuckle is provided with a first buckle hole. The rope driving the second knuckle passes through the first penetration hole from the outside of the first knuckle and extends into the first buckle hole from the inside of the second knuckle to buckle with the first buckle hole on the outside of the second knuckle.

[0011] Furthermore, the rope includes a sleeve and a traction line located in the sleeve, the first finger joint includes a first connecting pipe, the first connecting pipe is connected to the first penetration hole, the sleeve is connected to the first connecting pipe, and the traction line extends into the first connecting pipe and the first penetration hole.

[0012] Furthermore, the second knuckle is provided with a second through hole, and the third knuckle is provided with a second button hole, and the rope driving the third knuckle passes through the second through hole from the outside of the second knuckle and extends into the second button hole from the inside of the third knuckle to be buckled with the second button hole on the outside of the third knuckle.

[0013] Furthermore, the second finger joint includes a second phalanx and a second connecting rod, the second connecting rod is fixedly or rotationally connected to the second phalanx, and the second connecting rod is rotationally connected to the first finger joint.

[0014] The second object of the present invention is achieved by adopting the following technical solution:

[0015] A robot comprises a mounting frame and a plurality of finger structures of any one of the above, wherein the rotary drive components of the plurality of finger structures are mounted on the mounting frame, and a gripping space is formed between the plurality of finger components.

[0016] Furthermore, the knuckle drive member is located outside the gripping space.

[0017] Compared with the prior art, the finger structure of the present invention includes two knuckle driving members, two ropes, a rotating driving member, a first elastic member and a second elastic member, the first knuckle is fixed to the output end of the rotating driving member, the first elastic member is installed between the second knuckle and the third knuckle, the second elastic member is installed between the first knuckle and the second knuckle, one knuckle driving member is connected to the second knuckle by a rope to drive the second knuckle to rotate relative to the first knuckle, and the other knuckle driving member is connected to the third knuckle by another rope to drive the third knuckle to rotate relative to the second knuckle. Through the above design, a rotating driving member and a rope drive are combined, and the knuckles are rebounded and reset by the elastic member to complete the driving of the fingers. The motion error is small, the control accuracy is high, and no additional motor is required to complete the reversal of the joints. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A three-dimensional diagram of the manipulator of the present invention;

[0019] Figure 2 for Figure 1 A three-dimensional diagram of a mounting frame of a manipulator;

[0020] Figure 3 for Figure 1 A three-dimensional diagram of the finger structure of the manipulator;

[0021] Figure 4 for Figure 3 A three-dimensional view of a knuckle drive member of a finger structure;

[0022] Figure 5 for Figure 3 A three-dimensional diagram of a finger assembly of a finger structure;

[0023] Figure 6 for Figure 5 A three-dimensional cross-sectional view of a finger assembly;

[0024] Figure 7 for Figure 5 A three-dimensional diagram of the partial structure of the finger assembly.

[0025] In the figure: 10, mounting frame; 11, bottom plate; 12, column; 13, mounting part; 130, clamp; 131, fastener; 20, finger structure; 21, finger joint drive member; 210, base; 211, servo; 212, terminal board; 22, rope; 23, rotation drive member; 24, finger assembly; 240, connecting member; 241, first finger joint; 2410, first connecting pipe; 2411, first finger bone; 2412, first finger skin; 2413, first penetration hole; 242, second finger joint; 2420, second connecting pipe; 2421, second finger bone; 2422, second connecting rod; 2423, second finger skin; 2424, first buckle hole; 2425, second buckle hole; 243, third finger joint; 2430, second buckle hole; 244, first elastic member; 245, second elastic member. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only 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.

[0027] It should be noted that when a component is referred to as being "fixed to" another component, it may be directly on the other component or there may be another intermediate component through which it is fixed. When a component is considered to be "connected to" another component, it may be directly connected to the other component or there may be another intermediate component at the same time. When a component is considered to be "set on" another component, it may be directly set on the other component or there may be another intermediate component at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0028] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0029] like Figure 1 As shown, the manipulator of the present invention comprises a mounting frame 10 and a plurality of finger structures 20. In this embodiment, the number of the finger structures 20 is three, and in other embodiments, the number of the finger structures 20 is five or other number not less than two.

[0030] Please continue reading Figure 2The mounting frame 10 includes a base plate 11, a column 12 and a plurality of mounting portions 13. The base plate 11 is used to contact the ground. There are three base plates 11. The three base plates 11 intersect and the angle between two adjacent base plates 11 is 120 degrees. The column 12 is perpendicular to the base plate 11 and extends from the intersection of the base plates 11. The mounting portion 13 is provided at the top of the column 12. The number of the mounting portions 13 is the same as the number of the finger structures 20. The mounting portion 13 is used to install the rotating drive member 23 of the finger structure 20. Specifically, the mounting portion 13 includes a clamp 130 and a fastener 131. The clamp 130 is annular and has a notch. The rotating drive member 23 is installed in the clamp 130. The fastener 131 is installed at the notch of the clamp 130 to fasten the clamp 130.

[0031] Please continue reading Figure 3 Each finger structure 20 includes two finger joint driving members 21, two ropes 22, a rotation driving member 23 and a finger assembly 24. Each finger joint driving member 21 is connected to a finger joint of the finger assembly 24 through a rope 22.

[0032] Please continue reading Figure 4 Each finger joint driving member 21 includes a base 210, a steering gear 211 and a wiring board 212. The steering gear 211 is fixed on the base 210, and the wiring board 212 is fixed to the output end of the steering gear 211. The wiring board 212 is used to install the rope 22.

[0033] The rope 22 includes a sleeve and a traction line inside the sleeve, and the sleeve protects the traction line.

[0034] The rotary drive member 23 is a reduction motor.

[0035] Please continue reading Figures 5 to 7 The finger assembly 24 includes a connecting member 240 , a first finger joint 241 , a second finger joint 242 , a third finger joint 243 , a first elastic member 244 and a second elastic member 245 .

[0036] The connecting member 240 is fixedly connected to the output end of the rotary driving member 23 .

[0037] The first finger joint 241 includes a first connecting pipe 2410, a first phalanx 2411 and a first finger skin 2412. The first finger skin 2412 is covered on the first phalanx 2411. The first finger skin 2412 is made of a flexible material. The first phalanx 2411 is made of a rigid material. The first finger skin 2412 makes the outer surface of the first finger joint 241 flexible to reduce collision during grasping. The first connecting pipe 2410 is fixed to the first phalanx 2411. The first connecting pipe 2410 is used to connect with the sleeve of the rope 22. The first connecting pipe 2410 is a hollow structure. The first finger joint 241 is provided with a first penetration hole 2413. The first penetration hole 2413 is a through hole and communicates with the first penetration hole 2413.

[0038] The second finger joint 242 includes a second connecting rod 2420, a second phalanx 2421, a second connecting rod 2422 and a second finger skin 2423. There are two second connecting rods 2422, and the two second connecting rods 2422 are respectively fixed on both sides of the second phalanx 2421, and the second finger skin 2423 covers the second phalanx 2421 and the second connecting rod 2422. In other embodiments, the two second connecting rods 2422 are respectively rotatably mounted on both sides of the second phalanx 2421, so that the second connecting rod 2422 is rotatably connected to the second phalanx 2421, so that the second finger joint 242 can be everted, providing more degrees of freedom. The second finger joint 242 is provided with a first fastening hole 2424 and a second penetration hole 2425, and the first fastening hole 2424 and the second penetration hole 2425 are both through holes, the first fastening hole 2424 is close to the first finger joint 241, and the second penetration hole 2425 is connected to the second connecting rod 2420 and close to the third finger joint 243.

[0039] The third finger joint 243 is provided with a second button hole 2430 , and the second button hole 2430 is a through hole.

[0040] The first elastic member 244 and the second elastic member 245 are both torsion springs.

[0041] When assembling the finger assembly 24, one end of the first knuckle 241 is fixed to the connecting member 240, the second connecting rod 2422 of the second knuckle 242 is rotatably connected to the other end of the first knuckle 241, the first elastic member 244 is sleeved on the rotating shaft and its two ends are respectively connected to the first knuckle 241 and the second knuckle 242, providing elastic force for the second knuckle 242 to reset. The end of the third knuckle 243 is rotatably connected to the other end of the second knuckle 242, the second elastic member 245 is sleeved on the rotating shaft and its two ends are respectively connected to the third knuckle 243 and the second knuckle 242, providing elastic force for the third knuckle 243 to reset.

[0042] When assembling the manipulator, one end of the rope 22 driving the second knuckle 242 is connected to the wiring board 212 of the knuckle driving member 21, and the other end passes through the first pipe 2410 and the first through hole 2413 from the outside of the first knuckle 241 and extends from the inside of the second knuckle 242 into the first fastening hole 2424 and snaps with the first fastening hole 2424 on the outside of the second knuckle 242, so that the knuckle driving member 21 located outside the grasping space applies an inward force to the second knuckle 242 through the rope 22, so as to achieve the pitching action of the joint of the second knuckle 242 for grasping. The rope 22 driving the third knuckle 243 passes through the second pipe 2420 and the second through hole 2425 from the outside of the second knuckle 242 and extends from the inside of the third knuckle 243 into the second fastening hole 2430 and snaps with the second fastening hole 2430 on the outside of the third knuckle 243. The knuckle driving member 21 located outside the grasping space applies an inward force to the third knuckle 243 through the rope 22, so as to achieve a pitching motion of the joint of the third knuckle 243 for grasping.

[0043] The rotary drive member 23 of each finger structure 20 is installed on the mounting frame 10, and a gripping space is formed between the finger assemblies 24 of the three finger structures 20. The manipulator of the present invention adopts a driving form that combines motor drive (rotary drive member 23) with rope 22 drive, and uses a torsion spring to achieve rebound reset, and has a simple structure. The overall structure of the manipulator is relatively simple, and it is easy to assemble and disassemble and maintain. A single finger only uses one rotary drive member 23 to directly connect to the finger base to complete the rotational movement, which can reduce the size and weight of the finger part of the manipulator and make the manipulator more flexible. Due to the use of rope 22 drive, the cost is low. In addition, it directly converts the driving force into joint bending force, which is more efficient. The adaptability of the rope 22 drive is also relatively strong, and maintenance is relatively convenient.

[0044] The above embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, which are equivalent modifications and improvements made to the above embodiments based on the essential technology of the present invention, and all of them belong to the protection scope of the present invention.

Claims

1. A finger structure, comprising a finger assembly, wherein the finger assembly comprises a first knuckle, a second knuckle and a third knuckle, wherein the second knuckle is located between the first knuckle and the third knuckle, and both ends of the second knuckle are rotatably connected to the first knuckle and the third knuckle respectively, Features: The finger structure also includes two knuckle driving members, two ropes, a rotation driving member, a first elastic member and a second elastic member, the first knuckle is fixed to the output end of the rotation driving member, the first elastic member is installed between the second knuckle and the third knuckle, the second elastic member is installed between the first knuckle and the second knuckle, one knuckle driving member is connected to the second knuckle through one rope to drive the second knuckle to rotate relative to the first knuckle, and the other knuckle driving member is connected to the third knuckle through another rope to drive the third knuckle to rotate relative to the second knuckle.

2. The finger structure according to claim 1, Features: The first elastic member and the second elastic member are both torsion springs.

3. The finger structure according to claim 1, Features: The knuckle driving member is a steering gear.

4. The finger structure according to claim 1, Features: The external force applied by the knuckle driving member to the second knuckle and the third knuckle through the rope is directed toward the inner side of the finger assembly.

5. The finger structure according to claim 1, Features: The first knuckle is provided with a first penetration hole, and the second knuckle is provided with a first buckle hole. The rope driving the second knuckle passes through the first penetration hole from the outside of the first knuckle and extends into the first buckle hole from the inside of the second knuckle to buckle with the first buckle hole on the outside of the second knuckle.

6. The finger structure according to claim 5, Features: The rope includes a sleeve and a traction line located in the sleeve, the first finger joint includes a first connecting pipe, the first connecting pipe is connected to the first penetration hole, the sleeve is connected to the first connecting pipe, and the traction line extends into the first connecting pipe and the first penetration hole.

7. The finger structure according to claim 1, Features: The second knuckle is provided with a second penetration hole, and the third knuckle is provided with a second buttonhole. The rope driving the third knuckle passes through the second penetration hole from the outside of the second knuckle and extends into the second buttonhole from the inside of the third knuckle and buckles with the second buttonhole on the outside of the third knuckle.

8. The finger structure according to claim 1, Features: The second finger joint includes a second finger bone and a second connecting rod, the second connecting rod is fixedly or rotationally connected to the second finger bone, and the second connecting rod is rotationally connected to the first finger joint.

9. A manipulator comprising a mounting frame, Features: It also includes a plurality of finger structures as described in any one of claims 1 to 8, wherein the rotation driving members of the plurality of finger structures are mounted on the mounting frame, and a gripping space is formed between the plurality of finger assemblies.

10. The robot according to claim 9, Features: The knuckle drive is located outside the gripping space.

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