A side swing mechanism for a manipulator finger and a manipulator

Abstract

The present invention relates to the field of robot technology, and discloses a side swing mechanism for a manipulator finger and a manipulator, including a palm body, a plurality of rotating finger parts, a plurality of connecting rods and a driving assembly. An accommodation groove is arranged inside the palm body, and a plurality of rotating finger parts are rotatably arranged in the accommodation groove. A connecting rod is rotatably arranged on each rotating finger part, and the other end of the connecting rod is connected to a sliding block in the accommodation groove. The sliding block is driven by the driving assembly; the driving assembly drives the sliding block to slide along the length direction of the palm body, and then drives a plurality of rotating finger parts to rotate synchronously through the connecting rods, so as to realize the linkage control of multiple fingers by a single driving assembly. The device has a compact structure and can drive a plurality of rotating finger parts to perform side swing movement through the linkage control of a single driving assembly.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and particularly to a side swing mechanism for a manipulator finger and a manipulator. Background Art

[0002] In the design of a manipulator, the design of the side swing function is crucial. When a human hand grasps and operates an object, the side swing movement of the fingers can adapt to objects of different shapes and sizes, providing higher flexibility and stability. The side swing function enables the fingers to make fine adjustments during the grasping process to adapt to the surface contour of the object, thereby achieving more precise grasping and manipulation. In addition, the side swing movement also plays a key role when operating tools or performing delicate actions, significantly improving the adaptability and operating ability of the manipulator.

[0003] However, in the existing manipulator designs, for the side swing of the fingers, single-motor control is generally adopted, that is, each finger requires a motor for control, which results in a large number of driving motors on the palm and an overly large overall hand size, making it inconvenient to perform grasping actions.

[0004] In view of this, the existing technology still needs to be improved and developed. Summary of the Invention

[0005] In view of the above deficiencies of the existing technology, the purpose of the present invention is to provide a side swing mechanism for a manipulator finger and a manipulator, aiming to solve the problem in the existing technology that the finger swing of the manipulator generally adopts single-motor control, resulting in a relatively large overall hand size and inconvenient grasping.

[0006] The technical solution adopted by the present invention to solve the technical problems is as follows:

[0007] A side swing mechanism for a manipulator finger and a manipulator, comprising:

[0008] A palm body, which is internally provided with a receiving groove;

[0009] A plurality of rotating finger parts, rotatably arranged in the receiving groove; the plurality of rotating finger parts are arranged at intervals and rotate in the same direction;

[0010] A sliding block, slidably arranged inside the receiving groove;

[0011] A plurality of connecting rods, one end of each of which is respectively connected to the rotating finger part, and the other end is rotatably arranged on the sliding block; the sliding block slides along the length direction of the palm body;

[0012] A driving component, arranged in the receiving groove; the driving component is connected to the sliding block to drive the sliding block to slide and make the plurality of rotating finger parts rotate.

[0013] Further, the driving assembly includes:

[0014] A driving motor, disposed inside the receiving groove;

[0015] A lead screw, rotatably disposed inside the receiving groove; the sliding block is in threaded engagement with the lead screw.

[0016] Further, a first bevel gear is coaxially disposed on the output shaft of the driving motor, and a second bevel gear is coaxially disposed at the bottom of the lead screw. The first bevel gear and the second bevel gear are meshed with each other.

[0017] Further, a waist-shaped hole is vertically provided on the rotating finger portion, and a driving rod is provided on one side of the connecting rod. The driving rod is disposed in the waist-shaped hole through a fixing assembly.

[0018] Further, the fixing assembly includes:

[0019] Two nuts, both rotatably disposed on the driving rod; threads are provided on the driving rod, and the two nuts are respectively located on both sides of the rotating finger portion; the two nuts cooperate with each other to fix the driving rod in the waist-shaped hole.

[0020] Further, first slot holes are respectively provided inside the rotating finger portions, and finger driving members are provided in the first slot holes.

[0021] Further, the finger driving members include:

[0022] Two first motors, disposed in the first slot holes; the two first motors are arranged at intervals in the thickness direction of the palm body;

[0023] Two sliding shafts, vertically slidably disposed in the first slot holes; rotating holes are provided at the tops of the sliding shafts for rotatably connecting with finger components; the two first motors are respectively connected to the two sliding shafts to drive the sliding shafts to slide vertically for realizing the bending of the finger components.

[0024] Further, it further includes:

[0025] A fixed finger portion, disposed in the receiving groove; the fixed finger portion is arranged at intervals from the plurality of rotating finger portions.

[0026] Further, the receiving groove includes:

[0027] A first counterbore, located at the upper part of the palm body, for placing the rotating finger portions;

[0028] A second counterbore, located at the bottom of the palm body, for placing the driving assembly; the first counterbore and the second counterbore are separated by a partition.

[0029] A manipulator, comprising a side swing mechanism for the fingers of the manipulator and the manipulator as described above.

[0030] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0031] In the present invention, a receiving groove is provided inside the palm body. A plurality of rotating finger parts are rotatably arranged in the receiving groove. A connecting rod is rotatably arranged on each rotating finger part. The other end of the connecting rod is connected to a sliding block in the receiving groove. The sliding block is driven by a driving component; by driving the sliding block to slide along the length direction of the palm body through the driving component, and then driving a plurality of rotating finger parts to rotate synchronously through the connecting rod; this device uses a single driving component to realize multi-finger linkage control, and has the advantages of compact structure and the ability to link and control the side swing movement of a plurality of rotating finger parts through a single driving component. Description of the Drawings

[0032] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0033] Figure 2 It is a schematic diagram of the structure of the driving component of the present invention.

[0034] Figure 3 It is a schematic diagram of the structure of the first motor of the present invention.

[0035] The numbers in the figure are marked as follows: 1. Palm body; 2. Receiving groove; 21. Sliding block; 22. First sunk groove; 23. Second sunk groove; 3. Rotating finger part; 31. Waist-shaped hole; 4. Fixed finger part; 5. Connecting rod; 6. Driving component; 61. Driving motor; 62. Lead screw; 63. First bevel gear; 64. Second bevel gear; 7. First slot hole; 71. First motor; 72. Sliding shaft; 73. Sleeve. Detailed Embodiments

[0036] In order to make the purpose, technical solution and effects of the present invention clearer and more definite, the following further describes the present invention in detail with reference to the accompanying drawings and by way of examples. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0037] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, the meaning of "plural" is two or more.

[0038] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "mounted", "connected", and "coupled" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0039] In the prior art, in order to achieve a flexible side-swing motion, the conventional design concept is to independently configure a motor for each finger unit of the manipulator. This configuration method makes the internal transmission structure of the manipulator extremely complex due to the need to accommodate multiple motors, not only occupying a large amount of space but also causing a significant increase in the overall structural size, which is not conducive to deployment and application in a production scenario with a compact space.

[0040] In addition, the mode of independent driving of each finger, although theoretically endowing the finger with a certain degree of freedom of movement, in the actual grasping process, due to the great difficulty of cooperative control between motors, the grasping action is severely restricted. For example, when grasping an object with an irregular shape and an uneven surface, it is difficult for each finger to cooperate precisely to complete a stable grasp, which not only reduces the grasping efficiency but also increases the risk of grasping failure, greatly limiting the application scenario expansion of the manipulator under complex working conditions.

[0041] In view of the deficiencies of the prior art, the present embodiment provides a side-swing mechanism for a manipulator finger and a manipulator, which are specifically as follows:

[0042] As shown in the attached Figure 1 and attached Figure 2As shown in the figure, a side-swing mechanism for a manipulator finger includes a palm body 1, a plurality of rotating finger parts 3, a plurality of connecting rods 5, and a driving assembly 6; an accommodation groove 2 is provided inside the palm body 1, and the plurality of rotating finger parts 3 are rotatably arranged in the accommodation groove 2. The plurality of rotating finger parts 3 are arranged at intervals and rotate in the same direction; a sliding block 21 is slidably arranged in the accommodation groove 2, and a connecting rod 5 is rotatably arranged on each rotating finger part 3. The other end of the connecting rod 5 is rotatably arranged on the sliding block 21, and the sliding block 21 slides along the length direction of the palm body 1; a driving assembly 6 is further provided inside the accommodation groove 2. The driving assembly 6 is connected to the sliding block 21 and is used to drive the sliding block 21 to slide. At the same time, the sliding block 21 will also drive the plurality of rotating finger parts 3 to rotate to achieve a side-swing motion.

[0043] Among them, the accommodation groove 2 refers to the space inside the palm body 1 for integrating finger parts and driving structures. Specifically, the component layout can be optimized through a hierarchical design. The rotating finger part 3 refers to a movable part rotatably connected in the accommodation groove 2, and its rotation directions are the same to achieve coordinated swinging. The sliding block 21 refers to a part that slides along the length direction of the palm body 1, and the linear motion is converted into the swinging of the rotating finger part 3 through the connecting rod 5. The driving assembly 6 refers to a power source connected to the sliding block 21. For example, a screw rod 62 transmission mechanism is used to convert the rotational motion into a linear displacement.

[0044] Specifically, when the driving assembly 6 drives the sliding block 21 to perform a linear movement, the connecting rod 5 transmits the displacement of the sliding block 21 to the rotating finger part 3, causing it to swing around the rotating shaft. The plurality of rotating finger parts 3 achieve synchronous motion through the same sliding block 21, and there is no need to configure a separate driving source for each finger part. The hierarchical design of the accommodation groove 2 isolates the driving components from the finger movement components, further compressing the overall space.

[0045] Compared with the prior art, in the traditional scheme, each rotating finger part 3 needs to be driven by an independent motor, resulting in an overly large palm volume and complex control. In this scheme, a single driving assembly 6 drives multiple fingers in a linkage manner, significantly reducing the number of driving elements. At the same time, through the cooperation of the sliding block 21 and the connecting rod 5, a compact layout is achieved, making the palm structure more adaptable to the operation requirements of narrow spaces.

[0046] Through the above technical solutions, this application solves the problem of the overly large size of the entire hand caused by the layout of multiple motors, and at the same time ensures the coordinated swinging function of the plurality of rotating finger parts 3. During the grasping process, the rotating finger parts 3 can synchronously adapt to the contour of the object, improving the grasping stability and operation flexibility, especially suitable for the application scenarios of manipulators with high requirements for space utilization.

[0047] In this embodiment, the side swing mechanism for the manipulator finger further includes a fixed finger portion 4; the fixed finger portion 4 is a fixed component directly fixed in the receiving groove 2 and is arranged at intervals with each rotating finger portion 3; the fixed finger portion 4 is a component fixed in the receiving groove 2 for providing a grasping reference, avoiding the overall structure from shifting.

[0048] Furthermore, the driving component 6 can drive 1 to 4 rotating finger portions 3; among them, the thumb is driven separately, while the index finger, ring finger, middle finger, and little finger can all rotate, and the four rotating finger portions 3 can be driven by the same driving component 6, and at the same time, three of them can be fixedly arranged, and only one rotating finger portion 3 needs to be driven by the driving component 6.

[0049] As shown in the attached Figure 2 figure, the present application further proposes that the driving component 6 includes a driving motor 61 and a lead screw 62. The driving motor 61 is arranged inside the receiving groove 2, the lead screw 62 is rotatably arranged inside the receiving groove 2 and is arranged in parallel with the fixed finger portion 4, and the sliding block 21 is in threaded cooperation with the lead screw 62, and the sliding block 21 can be a nut.

[0050] Among them, the driving motor 61 refers to a power source arranged inside the receiving groove 2, and specifically can be realized by a micro reduction motor, and its output shaft is in transmission connection with the lead screw 62 through bevel gears, thereby directly using the internal space of the palm body 1 for layout. Among them, the lead screw 62 refers to a threaded rod member parallel to the fixed finger portion 4, and specifically can be realized by a trapezoidal thread structure, and its axial direction is consistent with the finger reference direction, ensuring that the linear motion trajectory of the sliding block 21 has no interference with other components. Among them, the threaded cooperation between the sliding block 21 and the lead screw 62 refers to a mechanical connection structure that converts rotational motion into linear displacement, and specifically can be realized by the way of a copper nut insert being in threaded engagement with the lead screw 62, driving multiple connecting rods 5 to act synchronously through a single transmission path.

[0051] Specifically, the driving motor 61 drives the lead screw 62 to rotate through a bevel gear set, and the sliding block 21 moves along the length direction of the palm body 1 under the action of the thread of the lead screw 62. The displacement of the sliding block 21 is transmitted to multiple rotating finger portions 3 through the connecting rod 5, so that all rotating finger portions 3 realize synchronous swinging based on the same driving source. Since the lead screw 62 is arranged in parallel with the fixed finger portion 4, the moving direction of the sliding block 21 is consistent with the finger reference direction, avoiding the spatial interference between the transmission mechanism and other components, and at the same time replacing multiple independent motors with a single driving source, thereby reducing the number of driving units.

[0052] Through the above technical solutions, the present application solves the problems of complex structure and oversize caused by the multi-motor configuration in the prior art. Through the integrated transmission design of a single driving source, the synchronous control of the rotating finger portion 3 is realized, significantly reducing the number of motors used and compressing the overall structure space, thereby improving the compactness and practicability of the manipulator.

[0053] As shown in the appended Figure 2 figure, the present application further proposes that a first bevel gear 63 is coaxially arranged on the output shaft of the drive motor 61, and a second bevel gear 64 is coaxially arranged at the bottom of the lead screw 62, and the first bevel gear 63 and the second bevel gear 64 are meshed with each other.

[0054] Among them, the first bevel gear 63 refers to a bevel gear coaxially connected to the output shaft of the drive motor 61, and specifically, interference fit or keyway connection can be used to achieve coaxial fixed installation, and its function is to transmit the rotational power of the motor to the second bevel gear 64. The second bevel gear 64 refers to a bevel gear coaxially connected to the bottom of the lead screw 62, and specifically, a flange or a coupling can be used to achieve coaxial installation, and its function is to convert the rotational power into the axial movement direction of the lead screw 62 through meshing with the first bevel gear 63.

[0055] Specifically, after the drive motor 61 is started, its output shaft drives the first bevel gear 63 to rotate, and drives the second bevel gear 64 to rotate synchronously through the gear meshing relationship. Since the second bevel gear 64 is coaxially connected to the lead screw 62, the lead screw 62 generates a rotational movement, and then pushes the slider 21 to slide along the length direction of the palm body 1. The movement of the slider 21 is transmitted to a plurality of rotating finger parts 3 through the connecting rod 5 to realize synchronous linkage swing of multiple fingers. In this process, the meshing transmission between the first bevel gear 63 and the second bevel gear 64 adjusts the axial direction of the motor and the axial direction of the lead screw 62 to a spatially perpendicular layout, so that the drive assembly 6 is compactly distributed in the receiving groove 2.

[0056] Through the above technical solution, the present application solves the problems of redundant drive elements and bloated overall structure caused by independent drive of multiple motors in the existing side swing mechanism of the manipulator. The multi-finger linkage control is realized by a single motor cooperating with bevel gear meshing transmission, the number of drive elements is reduced while the overall space layout of the machine is optimized, and the stability of the side swing movement is improved through the self-locking characteristic of gear transmission.

[0057] As shown in the appended Figure 2 figure, the present application further proposes that a kidney-shaped hole 31 is vertically arranged on the rotating finger part 3, and a driving rod is arranged on one side of the connecting rod 5, and the driving rod is arranged in the kidney-shaped hole 31 through a fixing component.

[0058] Among them, the kidney-shaped hole 31 refers to a strip-shaped through hole extending along the vertical direction of the rotating finger portion 3, and can be specifically implemented by a long circular hole or a rectangular groove structure. This structure allows the driving rod to be adjusted in the vertical direction. Among them, the driving rod refers to a cylindrical metal rod, and a threaded section can be provided on the surface. This rod is used to convert the horizontal movement of the sliding block 21 into the swinging of the rotating finger portion 3. Among them, the fixing component refers to a locking mechanism including two nuts, and specifically, hexagonal nuts with internal threads can be used to achieve clamping and fixing by screwing on both sides of the threaded section of the driving rod. This component is used to establish a rigid connection in the kidney-shaped hole 31 and prevent movement deviation.

[0059] Specifically, when the sliding block 21 is horizontally moved under the traction of the driving component 6, the connecting rod 5 drives the driving rod to displace in the kidney-shaped hole 31. The fixing component clamps both sides of the rotating finger portion 3 through two nuts. While ensuring the transmission accuracy, it allows the operator to loosen the nuts and manually adjust the initial installation position of the driving rod in the kidney-shaped hole 31. For example, when the driving rod is adjusted to the upper end of the kidney-shaped hole 31, the rotating finger portion 3 can obtain a larger swinging angle range; conversely, when the driving rod is at the lower end of the kidney-shaped hole 31, the swinging amplitude decreases accordingly.

[0060] Compared with the prior art, the traditional scheme usually uses a fixed shaft-hole matching method to limit the rotation angle, and different-sized connecting rods 5 need to be replaced to achieve angle adjustment. However, in this scheme, through the synergistic effect of the kidney-shaped hole 31 and the adjustable fixing component, on the premise of maintaining a single driving component 6, only the installation position of the driving rod needs to be adjusted to change the rotation angle range, avoiding the problem of increased volume caused by adding an adjustment mechanism.

[0061] Through the above technical solution, the present application realizes the stepless adjustment function of the swinging angle of the rotating finger portion 3. When the output stroke of the driving component 6 remains unchanged, different working condition requirements can be matched by adjusting the position of the driving rod in the kidney-shaped hole 31. This design significantly reduces the risk of overload of the driving component 6 caused by excessive rotation angle, and at the same time simplifies the angle adjustment operation process, which is beneficial to improving the adaptability of the manipulator grasping action.

[0062] The present application further proposes that the fixing component includes two nuts, both of which are rotatably arranged on the driving rod; the driving rod is provided with threads, and the two nuts are respectively located on both sides of the rotating finger portion 3; the two nuts cooperate with each other to fix the driving rod in the kidney-shaped hole 31.

[0063] Among them, the nut refers to a fastener with internal threads, which can be specifically realized by using a standard hexagonal nut or a wing nut, and is used to generate an axial clamping force through rotation. Among them, the thread on the driving rod refers to a spiral groove structure formed on the outer surface, which can be specifically realized by using a metric thread or a trapezoidal thread, and is used to cooperate with the nut to generate a locking effect. Among them, the kidney-shaped hole 31 refers to an oblong through hole opened on the rotating finger portion 3, which can be specifically formed by using a milling or wire cutting process, and is used to provide a sliding adjustment space for the driving rod.

[0064] Specifically, after the driving rod passes through the kidney-shaped hole 31 of the rotating finger portion 3, the threaded section is exposed on both sides of the kidney-shaped hole 31. Two nuts are respectively screwed onto the threaded section of the driving rod and abut against the two side surfaces of the rotating finger portion 3. When the nuts are tightened in opposite directions, the generated reverse force clamps the rotating finger portion 3 in the middle, thereby forming a symmetric axial locking effect. This structure allows the assembly clearance between the kidney-shaped hole 31 and the driving rod to be adapted by adjusting the screwing depth of the nut, and at the same time avoids displacement of the driving rod due to uneven force during the swinging process.

[0065] Through the above technical solution, the present application solves the problems of unstable fixation or difficult adjustment of the driving rod in the kidney-shaped hole 31, and utilizes the symmetric clamping effect of the bidirectional nut to ensure a reliable connection between the driving rod and the rotating finger portion 3, while avoiding an increase in the size of the palm body 1 due to the adoption of a complex fixing structure.

[0066] As shown in the Figure 2 attachment, the present application further proposes a structural design of arranging two symmetrically arranged kidney-shaped holes 31 on the surface of the rotating finger portion 3.

[0067] Among them, the kidney-shaped hole 31 refers to a strip-shaped hole that penetrates along the thickness direction of the rotating finger portion 3, which can be specifically realized by using a rectangular or oblong hole, and the length direction thereof forms an angle with the swinging axis of the rotating finger portion 3. Symmetric arrangement means that the two kidney-shaped holes 31 are respectively located on both sides of the rotating finger portion 3, which can be specifically realized in a mirror-symmetric form.

[0068] Specifically, when the driving rod is installed in any one of the kidney-shaped holes 31 through the fixing component, the linear motion of the sliding block 21 is transmitted to the rotating finger portion 3 through the connecting rod 5, and its swinging angle range is affected by the position of the kidney-shaped hole 31. Since the two kidney-shaped holes 31 are symmetrically distributed on both sides of the swinging axis, selecting different kidney-shaped holes 31 to install the driving rod can enable the rotating finger portion 3 to obtain different swinging angles.

[0069] Compared with the prior art, the existing single kidney-shaped hole 31 structure is limited by a single installation position, and its swinging angle adjustment range is limited to the maximum value in a single direction. However, in this solution, by adding symmetric kidney-shaped holes 31, the effective swinging angle adjustment is expanded under the same driving stroke, and the number of driving components 6 does not need to be increased.

[0070] Through the above technical solution, the present application expands the swing angle adjustment range of the rotating finger 3 under the condition that the stroke of the driving assembly 6 remains unchanged. When grasping objects of different sizes, the drive rod can be installed in the matching waist-shaped hole 31 to enable the rotating finger 3 to obtain the best swing angle. When a waist-shaped hole 31 is partially worn, it can also be switched to the spare waist-shaped hole 31 to maintain the normal operation of the mechanism, avoiding transmission interruption caused by failure of a single fulcrum.

[0071] As attached Figure 1 and attached Figure 3 As shown, the present application further proposes that a first slot hole 7 is provided inside the rotating finger portion 3 and the fixed finger portion 4 , and a finger driving member is provided inside the first slot hole 7 .

[0072] Among them, the first slot 7 refers to a long cavity structure opened inside the finger body, which can be formed by machining or injection molding, and its extension direction is consistent with the length direction of the finger, and is used to accommodate the installation of the finger driver. By embedding the driving component into the finger body, the internal space of the finger structure can be directly utilized, avoiding the additional occupation of the installation area outside the palm body 1. Among them, the finger driver refers to a linear drive device for driving the finger component to perform a bending action, which can be implemented in the form of a combination of a threaded transmission mechanism and a sliding shaft 72. The driver is embedded in the first slot 7, so that its output end is directly connected to the finger motion unit, reducing the intermediate transmission links, thereby reducing space occupancy and improving transmission efficiency.

[0073] Specifically, the inner space of the first slot 7 is used to install the finger driver. The finger driver drives the sliding shaft 72 to move vertically through threaded engagement. The top of the sliding shaft 72 is hinged to the finger part, and the finger is driven to complete the bending action by the lifting and lowering of the sliding shaft 72. Since the driver is completely integrated inside the finger, there is no need to set an independent driving unit in the palm body 1 or outside, thereby reducing the overall size of the manipulator in the thickness direction. At the same time, the structural design of the first slot 7 makes the driver and the finger swing mechanism isolated from each other in space to avoid motion interference.

[0074] Compared with the prior art, conventional manipulators usually need to separately arrange finger motors and transmission mechanisms on the palm body 1 or the outside of the fingers, resulting in a loose structure and a large overall volume. However, this solution integrates the drive unit with the finger structure by embedding the drive unit in the finger body and using the first slot 7 to achieve physical integration of the drive unit and the finger structure, which not only optimizes the spatial layout, but also shortens the physical distance between the drive component and the motion unit, thereby significantly improving the compactness of the structure.

[0075] Through the above technical solution, the present application solves the problem of the overall excessive size of the manipulator caused by the external placement of the driving component in the prior art, and at the same time realizes the efficient integration of the driving unit and the finger movement mechanism. This solution can effectively reduce the redundant structure of the driving system, enabling the manipulator to have a smaller volume while maintaining the side-swing function, and is applicable to grasping scenarios with strict space requirements.

[0076] The finger component refers to the bent joint part, and the rotating finger part 3 and the fixed finger part 4 are located at the bottom of the finger component, providing a swinging function for the finger component.

[0077] As shown in the attached Figure 3 figure, the present application further proposes that the finger driving member includes two first motors 71 and two sliding shafts 72. The two first motors 71 are arranged in the first slot 7 and spaced apart along the thickness direction of the palm body 1. The two sliding shafts 72 are vertically slidably arranged in the first slot 7. A rotating hole is provided at the top of the sliding shaft 72 and is rotatably connected to the finger component. The two first motors 71 are respectively connected to the two sliding shafts 72 to drive their vertical sliding.

[0078] Among them, the two first motors 71 are spaced apart along the thickness direction of the palm body 1, and this arrangement method can reduce the occupation of lateral space. The vertical sliding arrangement of the sliding shaft 72 can be specifically realized by a linear bearing or a slide rail structure. This design makes the movement trajectory of the sliding shaft 72 match the finger bending direction. The connection between the first motor 71 and the sliding shaft 72 means that the power transmission path directly acts on the shaft body, and can be specifically realized by a screw fit or a rack and pinion structure. This method ensures the efficient conversion of the driving force into linear displacement.

[0079] Specifically, the two first motors 71 in the first slot 7 are installed staggeredly along the thickness direction. The output end of each motor is connected to the corresponding sliding shaft 72 through a screw pair. When the first motor 71 is started, the rotational movement of the output shaft is converted into the vertical displacement of the sliding shaft 72 through the screw, driving the finger component installed in the rotating hole at the top of the sliding shaft 72 to rotate around the hinge point. The two independently driven sliding shafts 72 can respectively control the bending angles of the corresponding fingers, and different bending angles of the fingers can be achieved by adjusting the displacement amount of the unilateral sliding shaft 72. The screw drive structure generates a self-locking effect during the movement process, preventing the fingers from accidentally retracting under the action of the load.

[0080] Through the above technical solution, the present application solves the problem of the structural size expansion caused by single-motor drive, realizes the integration of two independent drive units in a limited space, and through the cooperation of the screw drive and the vertical sliding structure, ensures the precise control and movement stability of the finger bending action.

[0081] Further, a first motor 71 can also be arranged in the first slot 7. One side of the finger component is rotatably connected to the top of the rotating finger part 3 or the fixed finger part 4, and the other side is rotatably connected to the sliding shaft 72 on the first motor 71. Through two rotation points, cooperating with the first motor 71 to drive the vertical sliding of the sliding shaft 72, the bending action of the finger component can also be controlled. In this way, one first motor 71 will be reduced, thereby reducing the components in the palm body 1.

[0082] The present application further proposes to provide a sleeve 73 on the output shaft of the first motor 71. A first thread is arranged inside the sleeve 73, and a second thread is arranged on the outer surface of the sliding shaft 72. The first thread cooperates with the second thread. By driving the rotation of the sleeve 73, the vertical sliding of the sliding shaft 72 can be realized.

[0083] Among them, the sleeve 73 refers to a cylindrical member coaxially connected to the output shaft of the first motor 71. Specifically, it can be processed and formed by using a metal material. A spiral groove structure is processed on the inner wall of the sleeve 73. This sleeve 73 serves as a power transmission component. The first thread structure forms a contact interface of a screw drive pair through meshing with the external thread of the sliding shaft 72.

[0084] Specifically, after the first motor 71 is started, it drives the sleeve 73 to rotate around the axis. The first thread inside the sleeve 73 meshes with the second thread on the outer surface of the sliding shaft 72. Since the sliding shaft 72 is constrained by the linear movement degree of freedom in the vertical direction, the rotational movement of the sleeve 73 is forced to be converted into the vertical displacement of the sliding shaft 72 through the helix angle of the screw pair. The lead parameter of the screw pair in this process determines the displacement amount of the sliding shaft 72 per revolution, thereby precisely controlling the bending amplitude of the finger component. The self-locking effect of the screw pair prevents the sliding shaft 72 from shifting in position when there is no driving force.

[0085] Through the above technical solution, the transmission path for converting the rotational movement into a linear movement in the present application is shortened to a single screw pair, effectively reducing the axial space occupied by the driving mechanism. The self-locking characteristic of the screw pair ensures the reliable fixation of the sliding shaft 72 at any position, avoiding displacement deviation caused by external force interference. This structure enables a single first motor 71 to precisely control the independent displacement amounts of multiple sliding shafts 72 by adjusting the screw parameters, providing a basic condition for the coordinated movement control of the mechanical fingers.

[0086] As shown in the Figure 2 accompanying drawings, the present application further proposes that the receiving groove 2 includes a first sink 22 and a second sink 23. The first sink 22 is located in the upper part of the palm body 1 and is used to place the rotating finger part 3 and the fixed finger part 4. The second sink 23 is located at the bottom of the palm body 1 and is used to place the driving assembly 6. The first sink 22 and the second sink 23 are separated by a partition.

[0087] Among them, the first sink 22 refers to a concave structure provided on the upper layer of the palm body 1, which can be specifically realized by a cavity structure formed by machining, and is used to provide an independent installation and movement space for the finger part. The second sink 23 refers to a concave structure provided on the lower layer of the palm body 1, which can be specifically realized by a stepped sink structure coaxial with the first sink 22, and is used to centrally arrange the transmission components of the drive system. The partition refers to a rigid plate that separates the upper and lower sinks, which can be specifically realized by a metal stamping part or an engineering plastic injection part, and is used to block the physical contact between the two cavities.

[0088] Specifically, the first sink 22 and the second sink 23 form a layered layout in the vertical direction. The rotating finger part 3 and the fixed finger part 4 are restricted to move within the first sink 22, and the drive assembly 6 is enclosed in the second sink 23. The partition serves both as a structural support to carry the finger assembly and as a seal to isolate the two functional areas. When the drive assembly 6 operates, the mechanical vibration generated by it is attenuated by the partition and then transmitted to the finger part, while the debris generated by gear wear is restricted within the second sink 23 and will not enter the finger movement area. This layout method enables the maintenance operation of the drive system to be carried out separately without affecting the finger structure.

[0089] Through the above technical solution, the present application solves the problem of movement interference between the drive component and the finger part. The operating vibration of the drive assembly 6 is restricted within an independent cavity, avoiding affecting the accuracy of the finger grasping action. The layered structure makes the lubricating grease and mechanical wear debris not pollute the finger movement mechanism, extending the service life of key components. The compact layout of the upper and lower sinks effectively controls the overall size of the palm body 1 on the premise of ensuring functional integrity, and improves the operation adaptability of the manipulator in a narrow space.

[0090] The present application further proposes that the side swing mechanism further includes a mechanism for locking a plurality of telescopic rods. The locking telescopic rods cooperate with the rotating finger part 3 to limit the rotation of the rotating finger part 3.

[0091] Specifically, the connecting rod 5 and the rotating finger part 3 are in a detachable state, and a plurality of locking telescopic rods correspond to a plurality of rotating finger parts 3 and are located at the bottom of the rotating finger part 3. Part of the locking telescopic rod can also be located within the second sink 23 to avoid protruding too much within the first sink 22 and affecting the rotation of the rotating finger part 3; a positioning hole is provided at the bottom of each rotating finger part 3, and the locking telescopic rod cooperates with the positioning hole.

[0092] When it is necessary to fix a specific rotating finger part 3, the locking telescopic rod can be activated. The locking telescopic rod extends and inserts into the positioning hole. At this time, the connecting rod 5 of this rotating finger part 3 has been disassembled. When the drive assembly 6 is activated, the drive assembly 6 cannot drive this rotating finger part 3, thereby providing different ways for the grasping action.

[0093] The present application also provides a manipulator, which includes the above-mentioned side-swing mechanism for the fingers of the manipulator.

[0094] After considering the specification and practicing the solutions disclosed herein, those skilled in the art will readily conceive of other embodiments of the present invention. The present invention is intended to cover any variations, uses, or adaptations of the present invention, which follow the general principles of the present invention and include the common general knowledge or conventional technical means in the technical field not disclosed in this solution. The specification and examples are only regarded as exemplary, and the true scope and spirit of the present invention are pointed out by the claims.

Claims

1. A side swing mechanism for a manipulator finger, characterized in that Comprising: A palm body, which is internally provided with a receiving groove; A plurality of rotatable finger parts, rotatably arranged in the receiving groove; The plurality of rotatable finger parts are arranged at intervals and have the same rotation direction; A sliding block, slidably arranged inside the receiving groove; A plurality of connecting rods, one end of each of which is respectively connected to the rotatable finger part, and the other end is rotatably arranged on the sliding block; the sliding block slides along the length direction of the palm body; A driving assembly, arranged in the receiving groove; the driving assembly is connected to the sliding block to drive the sliding block to slide and cause the plurality of rotatable finger parts to rotate; A waist-shaped hole is vertically arranged on the rotatable finger part, and a driving rod is arranged on one side of the connecting rod. The driving rod is arranged in the waist-shaped hole through a fixing assembly; The fixing assembly includes: Two nuts, both rotatably arranged on the driving rod; the driving rod is provided with threads, and the two nuts are respectively located on both sides of the rotatable finger part; the two nuts cooperate with each other to fix the driving rod in the waist-shaped hole.

2. The side swing mechanism for a manipulator finger according to claim 1, wherein The driving assembly includes: A driving motor, arranged inside the receiving groove; A lead screw, rotatably arranged inside the receiving groove; the sliding block is in threaded cooperation with the lead screw.

3. The side swing mechanism for a manipulator finger according to claim 2, wherein A first bevel gear is coaxially arranged on the output shaft of the driving motor, and a second bevel gear is coaxially arranged at the bottom of the lead screw. The first bevel gear and the second bevel gear are meshed with each other.

4. The side swing mechanism for a manipulator finger according to claim 1, characterized in that A first slot is arranged inside each of the rotatable finger parts, and a finger driving member is arranged in the first slot.

5. The side swing mechanism for a manipulator finger according to claim 4, characterized in that, The finger driving member includes: Two first motors, arranged in the first slot; the two first motors are arranged at intervals along the thickness direction of the palm body; Two sliding shafts, vertically slidably arranged in the first slot; a rotation hole is arranged at the top of the sliding shaft for rotatably connecting with a finger component; the two first motors are respectively connected to the two sliding shafts to drive the sliding shafts to slide vertically for realizing the bending of the finger component.

6. The side-swing mechanism for a manipulator finger according to claim 1, characterized in that, It further includes: A fixed finger part, arranged in the receiving groove; the fixed finger part is arranged at intervals from the plurality of rotatable finger parts.

7. The side swing mechanism for the manipulator finger according to claim 1, characterized in that, The receiving groove includes: A first sunk groove, located at the upper part of the palm body, for placing the rotatable finger parts; A second sunk groove, located at the bottom of the palm body, for placing the driving assembly; the first sunk groove and the second sunk groove are separated by a partition.

8. A manipulator, characterized in that, Including: A side swing mechanism for a manipulator finger according to any one of claims 1-7.

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