Mechanical finger structure for rigid-flexible coupling robot

Abstract

The invention relates to the technical field of robots, and provides a mechanical finger structure for a rigid-flexible coupling robot, the mechanical finger structure comprises a fixing plate and two groups of clamping fingers, each clamping finger comprises a first knuckle, a second knuckle and a finger head which sequentially rotate end to end, the first knuckles are rotatably arranged on the fixing plate, and the mechanical finger structure further comprises a clamping air bag, a driving mechanism and a clamping mechanism; the clamping air bag is fixedly installed at the end of the finger, an inflation pump is installed in the finger, the clamping air bag communicates with an inflation valve and a deflation valve, the inflation pump communicates with the inflation valve and is used for inflating the clamping air bag, the four sets of driving mechanisms are arranged, and the four sets of driving mechanisms are used for driving the two first knuckles and the two second knuckles to rotate correspondingly. By means of the technical scheme, the problem that in the prior art, due to the fact that the clamping force of mechanical fingers is large, part of objects are damaged is solved.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, and in particular to a mechanical finger structure for a rigid-flexible coupling robot. Background Art

[0002] Robotic fingers are an important part of modern artificial intelligence and robotics technology. Their development history is roughly as follows: they have undergone a transformation from early mechanical grasping devices to high-level intelligent manipulators with flexible perception and precise control capabilities. At present, the research and application of robotic fingers have become an important frontier in service robots, industrial automation, and medical assistance.

[0003] Current robotic fingers use motors, hydraulic oil, or compressed gas as a driving source to bend the finger joints and grasp objects. However, because the robotic fingers use a rigid mechanical structure to grasp objects, their grasping force is difficult to control. Although they can ensure stable clamping of objects, when clamping softer or more fragile objects, the clamping force is too strong and may cause damage to the objects. Summary of the Invention

[0004] The present invention proposes a mechanical finger structure for a rigid-flexible coupling robot, which is used to solve the problem in the prior art that the mechanical fingers have a strong gripping force that causes damage to some objects.

[0005] The technical solution of the present invention is as follows: A mechanical finger structure for a rigid-flexible coupling robot includes a fixed plate and two groups of clamping fingers, the clamping fingers include finger joint one, finger joint two and a finger that rotate in turn from head to tail, the finger joint one is rotatably arranged on the fixed plate, and also includes a clamping airbag, a driving mechanism and a clamping mechanism, the clamping airbag is fixedly installed at the end of the finger, an air pump is installed inside the finger, the clamping airbag is connected to an inflation valve and a deflation valve, the air pump and the inflation valve are connected for inflating the interior of the clamping airbag, the driving mechanism is provided with four groups, the four groups of driving mechanisms are respectively used to drive the two finger joints one and the two finger joints two to rotate, and the clamping mechanism is used to drive the fingers to rotate to clamp objects.

[0006] Preferably, the driving mechanism includes a driving bevel gear and a driven bevel gear, the driving bevel gear can be rotatably set on the fixed plate or the finger joint one, the finger joint one is rotatably connected to the fixed plate through a rotating shaft, the finger joint two is rotatably connected to the finger joint one through another rotating shaft, the driven bevel gear is fixedly sleeved on the rotating shaft, the driven bevel gear and the driving bevel gear are meshed, and the driven bevel gear and the rotating shaft are driven to rotate by the driving bevel gear, thereby driving the finger joint one and the finger joint two to rotate, thereby adjusting the angle of the mechanical finger.

[0007] Preferably, the clamping mechanism includes an electric cylinder 1, which is rotatably mounted on the finger joint 2. The output end of the electric cylinder 1 is rotatably connected to the finger. The finger is rotated by the extension and retraction of the electric cylinder 1, driving the clamping airbag to press on the surface of the object to clamp it.

[0008] In order to increase the clamping range of the mechanical finger, it also includes a movable plate. There are two movable plates. The movable plate can be movably set on the fixed plate. The finger joint 1 corresponds to the movable plate one by one. The finger joint 1 is rotatably set on the movable plate through a rotating shaft.

[0009] In order to realize the movement of the movable plate, it also includes a bidirectional screw, which is rotatably set on the fixed plate, and the two threaded segments of the bidirectional screw are respectively threadedly connected with drive nuts, and the two drive nuts are symmetrically arranged on the bidirectional screw, and the drive nuts and the movable plate correspond one to one. The movable plate and the drive nuts are fixedly connected, and the distance between the two drive nuts is adjusted by rotating the bidirectional screw, so that the distance between the two movable plates can be adjusted to adapt to the clamping of objects of different sizes.

[0010] In order to further reduce damage to the article, the clamping airbag is connected to an air pressure sensor, and the air pressure sensor is electrically connected to the inflation pump, the inflation valve, the deflation valve, the driving mechanism and the clamping mechanism.

[0011] In order to further reduce the damage to the objects, the output end of the electric cylinder is fixedly connected to a fixed tube, a moving rod is slidably installed inside the fixed tube, the moving rod and the finger are rotatably connected, and a support spring is connected between the moving rod and the fixed tube. Through the support spring and elasticity and the sliding cooperation between the moving rod and the fixed tube, the reaction force of the object is buffered, thereby reducing the direct impact between the finger and the object.

[0012] In order to improve the stability of knuckle one and knuckle two, locking plates are also included. Four locking plates are provided, and the locking plates correspond to the rotating shafts one by one. The locking plates can be movably set on the fixed plate or on the knuckle one. The outside of the rotating shaft is fixedly connected with an anti-sliding block, and the locking plates can abut against the anti-sliding block to fix the rotating shaft.

[0013] In order to improve the stability of clamping, the outside of the clamping airbag is provided with anti-slip grooves, which can improve the stability of clamping the object.

[0014] The working principle and beneficial effects of the present invention are: 1. In the present invention, the driven bevel gear and the rotating shaft are driven to rotate, thereby adjusting the angles of the first and second knuckles, adjusting the opening angle of the mechanical finger, and the fingers are pushed to bend by the extension and contraction of the electric cylinder 1 to achieve the clamping of the object.

[0015] 2. In the present invention, the article is clamped by two clamping airbags. During the clamping process, the article generates a reaction force on the clamping airbags. The air pressure of the clamping airbags is sensed by the air pressure sensor. When the air pressure is too high, that is, the clamping force is too large, the driving mechanism and the clamping mechanism are controlled to stop working. If necessary, the air release valve can be controlled to release air to reduce the clamping force on the article, thereby reducing the damage to the article caused by excessive force.

[0016] 3. In the present invention, when the electric cylinder drives the fingers to bend and clamp an object, when the clamping force is large, the elasticity of the support spring and the sliding cooperation of the movable rod and the fixed tube provide a certain buffer to the fingers, and cooperate with the elasticity of the clamping airbag to reduce the direct rigid impact on the object, thereby better protecting the clamped object.

[0017] 4. In the present invention, the two movable plates can be driven to move closer to or farther from each other by the rotation of the bidirectional screw, that is, the distance between the two finger joints can be adjusted, thereby adjusting the distance between the two clamping airbags to adapt to the clamping of objects of different sizes.

[0018] 5. Compared with the mechanical finger structure of robots in the prior art, the present invention clamps the object by contacting the clamping airbag with the object, and inflates the clamping airbag by an air pump to adjust the hardness of the clamping airbag. At the same time, the elasticity of the supporting spring and the sliding fit of the moving rod and the fixed tube can reduce direct collision with the object and protect the object. At the same time, the air pressure of the clamping airbag is monitored by a pressure sensor to avoid excessive clamping force, so that the clamping action is stopped and the clamping airbag is deflated at the same time to reduce squeezing of the object. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0020] Figure 1 It is a structural schematic diagram of the present invention from a first viewing angle; Figure 2 It is a structural schematic diagram of the second viewing angle of the present invention; Figure 3 This is a schematic structural diagram of the first and second knuckles, the finger, and the clamping airbag of the present invention; Figure 4 This is a structural diagram of the second knuckle, the finger, the clamping airbag and the deflation valve of the present invention; Figure 5This is a schematic structural diagram of the movable plate, bidirectional screw, adjustment motor and drive nut of the present invention; Figure 6 For the present invention Figure 1 A schematic diagram of the partially enlarged structure at point A in the middle; Figure 7 For the present invention Figure 4 Schematic diagram of the locally enlarged structure at point B in the middle.

[0021] In the picture: 1. Fixed plate; 2. Knuckle 1; 3. Knuckle 2; 4. Finger; 5. Clamping airbag; 6. Air pump; 7. Inflation valve; 8. Deflation valve; 9. Anti-slip groove; 10. Moving plate; 11. Bidirectional screw; 12. Adjustment motor; 13. Drive nut; 14. Air pressure sensor; 15. Fixed tube; 16. Moving rod; 17. Support spring; 18. Locking plate; 19. Anti-slip block; 20. Electric cylinder 2 101. Driving bevel gear; 102. Driven bevel gear; 103. Driving motor; 104. Rotating shaft; 201. Electric cylinder 1. DETAILED DESCRIPTION

[0022] The following will be combined with the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described 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 making any creative efforts are within the scope of protection of the present invention.

[0023] like Figures 1 to 7 As shown, this embodiment proposes a mechanical finger structure for a rigid-flexible coupling robot, including a fixed plate 1 and two groups of clamping fingers, wherein the clamping fingers include finger joint 1 2, finger joint 2 3 and finger head 4 that rotate in sequence head to tail, finger joint 1 2 is rotatably set on the fixed plate 1, and also includes a clamping airbag 5, a driving mechanism and a clamping mechanism. Compared with the mechanical finger structure for robots in the prior art, the present invention clamps the object by contacting the clamping airbag 5 with the object, and inflates the clamping airbag 5 by the air pump 6 to adjust the hardness of the clamping airbag 5. At the same time, the elasticity of the supporting spring 17 and the sliding cooperation of the moving rod 16 and the fixed tube 15 can reduce direct collision with the object and protect the object. At the same time, the air pressure sensor 14 is used to monitor the air pressure of the clamping airbag 5 to avoid excessive clamping force, so that the clamping action is stopped and the clamping airbag 5 is deflated at the same time to reduce squeezing of the object.

[0024] The clamping airbag 5 is fixedly installed at the end of the finger 4, and an air pump 6 is installed inside the finger 4. The clamping airbag 5 is connected to an inflation valve 7 and an air release valve 8. The air pump 6 and the inflation valve 7 are connected for inflating the interior of the clamping airbag 5. The outside of the clamping airbag 5 is provided with anti-slip grooves 9, which can increase the friction coefficient between the clamping airbag 5 and the object, thereby improving the stability of clamping the object. The inflation valve 7 is opened and the air release valve 8 is closed, and the interior of the clamping airbag 5 can be inflated by the air pump 6. The air pump 6 and the inflation valve 7 are closed and the air release valve 8 is opened to discharge the gas in the clamping airbag 5. As the clamping airbag 5 is inflated, its hardness increases, which can increase the clamping force of the object. As the clamping airbag 5 is deflated, its hardness decreases, reducing the extrusion between it and the object, thereby protecting the object.

[0025] The driving mechanism is provided with four groups, and the four groups of driving mechanisms are respectively used to drive the two finger joints 1 2 and the two finger joints 2 3 to rotate. The driving mechanism includes a driving bevel gear 101 and a driven bevel gear 102. The driving bevel gear 101 can be rotatably set on the fixed plate 1 or the finger joint 1 2. The fixed plate 1 and the finger joint 1 2 are both equipped with a driving motor 103. The driving bevel gear 101 is fixedly connected to the output end of the driving motor 103. The finger joint 1 2 is rotatably connected to the fixed plate 1 through a rotating shaft 104. The driven bevel gear 102 is fixedly sleeved on the rotating shaft 104. The rotating shaft 104 is rotatably connected to the fixed plate 1. One end of the finger joint 2 is fixedly connected The knuckle 1 is connected to the rotating shaft 104; the other end of the knuckle 1 is rotatably connected to another rotating shaft 104, and the knuckle 2 is fixedly connected to the rotating shaft 104. The knuckle 2 is rotatably connected to the knuckle 1 through the rotating shaft 104. The outside of the rotating shaft 104 is also fixedly covered with a driven bevel gear 102. The driven bevel gear 102 is engaged with the corresponding driving bevel gear 101. The driving motor 103 can drive the driving bevel gear 101 to rotate, thereby driving the driven bevel gear 102 and the rotating shaft 104 to rotate, and adjusting the rotation angle of the knuckle 1 and the knuckle 2, that is, adjusting the opening or bending state of the mechanical finger.

[0026] The clamping mechanism is used to drive the finger 4 to rotate to clamp the object. The clamping mechanism includes an electric cylinder 201, which is rotatably installed on the finger joint 2 3. The output end of the electric cylinder 201 is rotatably connected to the finger 4. The finger 4 is driven to rotate by the extension and rotation of the electric cylinder 201, and the angle between the finger 4 and the finger joint 2 3 is adjusted, driving the clamping airbag 5 to press on the surface of the object to clamp it.

[0027] In order to improve the clamping range of the mechanical finger, the movable plates 10 are arranged, the movable plates 10 are arranged in pairs, the movable plates 10 are movably arranged on the fixed plate 1, the knuckles 2 correspond to the movable plates 10 in a one-to-one manner, and the knuckles 2 are rotatably arranged on the movable plates 10 through the rotating shafts 104. In order to realize the movement of the movable plates 10, the bidirectional screw rods 11 are arranged, the bidirectional screw rods 11 are rotatably arranged on the fixed plate 1, the adjusting motor 12 is installed on the fixed plate 1, the bidirectional screw rods 11 are fixedly connected to the output end of the adjusting motor 12, the two threaded segments of the bidirectional screw rods 11 are respectively threadedly connected with the drive nuts 13, the two drive nuts 13 are symmetrically arranged on the bidirectional screw rods 11, the drive nuts 13 correspond to the movable plates 10 in a one-to-one manner, the movable plates 10 are fixedly connected with the drive nuts 13, the movable plates 10 are slidably connected with the fixed plate 1, the distance between the two drive nuts 13 is adjusted through the rotation of the bidirectional screw rods 11, so that the distance between the two movable plates 10 can be adjusted, different sizes of objects can be clamped, the adjusting motor 12 drives the bidirectional screw rods 11 to rotate, so that the two drive nuts 13 are driven to move close to or away from each other, the distance between the two movable plates 10 is adjusted, that is, the distance between the two clamping air bags 5 is adjusted, the clamping range of the clamping air bags 5 is increased, and more sizes of objects can be clamped.

[0028] In order to further reduce the damage of the object, the clamping air bag 5 is communicated with the air pressure sensor 14, the air pressure sensor 14 is electrically connected with the air pump 6, the inflation valve 7, the deflation valve 8, the drive mechanism and the clamping mechanism, specifically, the air pressure sensor 14 is electrically connected with the drive motor 103 and the electric cylinder one 201, the air pressure in the clamping air bag 5 is monitored and sensed through the air pressure sensor 14, the air pressure sensor 14 is provided with a controller, when not clamping, the inside of the clamping air bag 5 is inflated through the air pump 6 to make the clamping air bag 5 expand, the object is clamped through the expanded clamping air bag 5, the air pressure in the clamping air bag 5 is monitored through the air pressure sensor 14 during the inflation process, when the clamping air bag 5 is fully expanded, an electrical signal is transmitted to the controller, the air pump 6 is controlled to stop supplying air and the inflation valve 7 is controlled to be closed, the inside of the clamping air bag 5 is stopped to supply air, when the object is clamped, the air pressure sensor 14 senses that the pressure in the clamping air bag 5 increases to a certain degree, that is, when the clamping force on the object is too large, an electrical signal is transmitted to the controller, the drive motor 103 and the electric cylinder one 201 are controlled to stop working, further bending of the mechanical finger is avoided to further press the object, at the same time, the deflation valve 8 can be controlled to be opened to deflate the clamping air bag 5, the hardness of the clamping air bag 5 is reduced, the pressing on the object is reduced, and the damage of the clamped object is reduced.

[0029] In order to further reduce the damage to the objects, the output end of the electric cylinder 201 is fixedly connected to the fixed tube 15, and a moving rod 16 is slidably installed inside the fixed tube 15. The moving rod 16 and the finger 4 are rotatably connected, and a support spring 17 is connected between the moving rod 16 and the fixed tube 15. Through the elasticity of the support spring 17 and the sliding cooperation between the moving rod 16 and the fixed tube 15, the reaction force of the object is buffered, thereby reducing the direct impact between the finger 4 and the object.

[0030] In order to improve the stability of finger joint 1 2 and finger joint 2 3, it also includes a locking plate 18, which is provided with four locking plates 18, and the locking plates 18 correspond to the rotating shaft 104 one by one. The locking plate 18 can be movably set on the fixed plate 1 or the finger joint 1 2, and the outside of the rotating shaft 104 is fixedly connected with an anti-sliding block 19. The locking plate 18 can abut against the anti-sliding block 19 to fix the rotating shaft 104. An electric cylinder 20 is installed on the fixed plate 1 and the finger joint 1 2. The locking plate 18 is fixedly connected to the output end of the electric cylinder 2 20. When the air pressure sensor 14 senses that the air pressure is too high, that is, the clamping force is too large, the drive motor 103 and the electric cylinder 1 201 are controlled to stop working. At the same time, the locking plate 18 is driven by the electric cylinder 2 20 to press on the surface of the anti-sliding block 19 to prevent the rotating shaft 104 from continuing to rotate, thereby ensuring the stability of the clamping force, avoiding the increase or decrease of the clamping force, and ensuring the stability of the clamping.

[0031] It should be noted that the driving motor 103 for driving the rotating shaft 104 fixedly connected to the finger joint 1 2 and the electric cylinder 2 20 are both installed on the moving plate 10 and move synchronously with the finger joint 1 2.

[0032] The working principle or use process of the mechanical finger structure of the rigid-flexible coupling robot is as follows: The fixed plate 1 is installed at the end of the robot arm. The robot arm drives the fixed plate 1 and the mechanical fingers to move to the required position. When an object needs to be clamped, the adjustment motor 12 is turned on according to the size of the object. The adjustment motor 12 drives the bidirectional screw 11 to rotate, and the distance between the two movable plates 10 is adjusted, that is, the distance between the two clamping airbags 5 is adjusted; The air pump 6 and the air valve 7 are turned on to inflate the clamping airbag 5. When the air pressure sensor 14 senses that the air in the clamping airbag 5 is full, the air pump 6 and the air valve 7 are closed, and the drive motor 103 and the electric cylinder 1 201 are turned on. The drive motor 103 drives the finger joint 1 2 and the finger joint 2 3 to rotate, and the electric cylinder 1 201 drives the finger 4 to rotate, thereby driving the clamping airbag 5 and the object to be clamped to clamp it tightly; The reaction force of the clamped object on the clamping airbag 5 increases the pressure inside the clamping airbag 5. When the air pressure sensor 14 senses that the pressure inside the clamping airbag 5 is too high, it controls the drive motor 103 and the electric cylinder 1 201 to stop working. At the same time, the electric cylinder 2 20 drives the locking plate 18 to press against the surface of the anti-sliding block 19 to fix the rotating shaft 104, ensuring the stability of the finger joint 1 2 and the finger joint 2 3, and stably clamping the object.

[0033] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A mechanical finger structure for a rigid-flexible coupling robot, comprising a fixed plate (1) and two groups of clamping fingers, wherein the clamping fingers comprise a first finger joint (2), a second finger joint (3) and a finger head (4) which rotate in sequence head to tail, and the first finger joint (2) is rotatably arranged on the fixed plate (1), and is characterized in that: Also includes: A clamping airbag (5), wherein the clamping airbag (5) is fixedly mounted on the end of the finger (4), an air pump (6) is mounted inside the finger (4), and the clamping airbag (5) is connected to an inflation valve (7) and a deflation valve (8), wherein the inflation pump (6) is connected to the inflation valve (7) for inflating the interior of the clamping airbag (5); A driving mechanism, wherein the driving mechanism is provided in four groups, and the four groups of driving mechanisms are respectively used to drive the two first finger joints (2) and the two second finger joints (3) to rotate; A clamping mechanism, wherein the clamping mechanism is used to drive the finger (4) to rotate to clamp an object.

2. The mechanical finger structure for a rigid-flexible coupling robot according to claim 1, characterized in that: The driving mechanism comprises: A driving bevel gear (101), wherein the driving bevel gear (101) is rotatably arranged on the fixing plate (1) or the finger joint 1 (2); The driven bevel gear (102) is connected to the fixed plate (1) by rotating shaft (104), and the finger joint (2) is connected to the finger joint (2) by rotating shaft (104). The driven bevel gear (102) is fixedly mounted on the rotating shaft (104), and the driven bevel gear (102) and the driving bevel gear (101) are meshed.

3. The mechanical finger structure for a rigid-flexible coupling robot according to claim 2, characterized in that: The clamping mechanism comprises: An electric cylinder (201) is rotatably mounted on the finger joint (3), and an output end of the electric cylinder (201) is rotatably connected to the finger (4).

4. The mechanical finger structure for a rigid-flexible coupling robot according to claim 3, characterized in that: It also includes a movable plate (10), two movable plates (10) are provided, and the movable plates (10) are movably provided on the fixed plate (1), the finger joint (2) and the movable plate (10) correspond one to one, and the finger joint (2) is rotatably provided on the movable plate (10) via a rotating shaft (104).

5. The mechanical finger structure for a rigid-flexible coupling robot according to claim 4, characterized in that: It also includes a bidirectional screw (11), which is rotatably arranged on the fixed plate (1), and two threaded sections of the bidirectional screw (11) are respectively threadedly connected with drive nuts (13), and the drive nuts (13) and the movable plate (10) correspond one to one, and the movable plate (10) and the drive nuts (13) are fixedly connected.

6. The mechanical finger structure for a rigid-flexible coupling robot according to claim 5, characterized in that: The clamping airbag (5) is connected to an air pressure sensor (14), and the air pressure sensor (14) is electrically connected to the inflation pump (6), the inflation valve (7), the deflation valve (8), the driving mechanism, and the clamping mechanism.

7. The mechanical finger structure for a rigid-flexible coupling robot according to claim 3, characterized in that: The output end of the electric cylinder 1 (201) is fixedly connected to a fixed tube (15), a moving rod (16) is slidably installed inside the fixed tube (15), the moving rod (16) and the finger (4) are rotationally connected, and a support spring (17) is connected between the moving rod (16) and the fixed tube (15).

8. The mechanical finger structure for a rigid-flexible coupling robot according to claim 4, characterized in that: It also includes locking plates (18), four of which are provided. The locking plates (18) correspond to the rotating shafts (104) one by one, and the locking plates (18) can be movably provided on the fixing plate (1) or on the finger joint (2).

9. The mechanical finger structure for a rigid-flexible coupling robot according to claim 5, characterized in that: The two driving nuts (13) are symmetrically arranged on the bidirectional screw (11).

10. A mechanical finger structure for a rigid-flexible coupling robot according to any one of claims 1 to 9, characterized in that: The outside of the clamping airbag (5) is provided with anti-slip grooves (9).

11. The mechanical finger structure for a rigid-flexible coupling robot according to claim 8, characterized in that: The exterior of the rotating shaft (104) is fixedly connected to an anti-sliding block (19), and the locking plate (18) can abut against the anti-sliding block (19) to fix the rotating shaft (104).

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