A mechanical finger structure for rigid-flexible coupling robots

Abstract

This invention relates to the field of robotics and proposes a rigid-flexible coupling robotic mechanical finger structure, including a fixed plate and two sets of gripping fingers. Each gripping finger comprises a first phalanx, a second phalanx, and a fingertip that rotate sequentially from end to end. The first phalanx is rotatably mounted on the fixed plate. The structure also includes a gripping airbag, a drive mechanism, and a gripping mechanism. The gripping airbag is fixedly mounted on the end of the fingertip, and an air pump is installed inside the fingertip. The gripping airbag is connected to an inflation valve and a deflation valve, which are used to inflate the airbag. Four drive mechanisms are provided, each driving two first phalanxes and two second phalanxes to rotate. The gripping mechanism drives the fingertip to rotate in order to grip objects. This technical solution addresses the problem in existing technologies where the excessive gripping force of mechanical fingers causes damage to some objects.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically, to a mechanical finger structure for a rigid-flexible coupled robot. Background Technology

[0002] Mechanical fingers are an important component of modern artificial intelligence and robotics technology. Their development has roughly progressed from early mechanical grasping devices to advanced intelligent robotic hands with flexible perception and precise control capabilities. Currently, the research and application of mechanical fingers have become an important frontier in fields such as service robots, industrial automation, and medical assistance.

[0003] Current robotic fingers use motors, hydraulic oil, or compressed gas as driving sources to bend the joints and grasp objects. However, because robotic fingers use a rigid mechanical structure to grasp objects, the grasping force is difficult to control. Although it can ensure stable gripping of objects, the gripping force is too large when gripping soft or fragile items, which may cause damage to the items. Summary of the Invention

[0004] This invention proposes a rigid-flexible coupling mechanical finger structure for robots, which solves the problem that the excessive gripping force of mechanical fingers in the prior art causes damage to some items.

[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 sets of gripping fingers. Each gripping finger includes a first phalanx, a second phalanx, and a fingertip that rotate sequentially from end to end. The first phalanx is rotatably mounted on the fixed plate. The invention also includes a gripping airbag, a drive mechanism, and a gripping mechanism. The gripping airbag is fixedly mounted on the end of the fingertip. An air pump is installed inside the fingertip. The gripping airbag is connected to an inflation valve and an inflation valve. The air pump and the inflation valve are connected to inflate the gripping airbag. Four sets of drive mechanisms are provided. The four sets of drive mechanisms are respectively used to drive two first phalanxes and two second phalanxes to rotate. The gripping mechanism is used to drive the fingertip to rotate in order to grip an object.

[0006] Preferably, the driving mechanism includes a driving bevel gear and a driven bevel gear. The driving bevel gear is rotatably mounted on the fixed plate or the first finger joint. The first finger joint is rotatably connected to the fixed plate via a rotating shaft. The second finger joint is rotatably connected to the first finger joint via another rotating shaft. The driven bevel gear is fixedly mounted on the rotating shaft. The driven bevel gear and the driving bevel gear mesh. The driving bevel gear drives the driven bevel gear and the rotating shaft to rotate, thereby driving the first finger joint and the second finger joint to rotate and adjust the angle of the mechanical finger.

[0007] Preferably, the clamping mechanism includes an electric cylinder, which is rotatably mounted on the second finger joint. The output end of the electric cylinder is rotatably connected to the finger. The extension and retraction of the electric cylinder drives the finger to rotate, thereby causing the clamping airbag to press against the surface of the object to clamp it.

[0008] To improve the gripping range of the robotic finger, a movable plate is also included. Two movable plates are provided, which are movably mounted on the fixed plate. Each finger joint corresponds to one of the movable plates, and each finger joint is rotatably mounted on the movable plate via a rotating shaft.

[0009] To enable the movement of the movable plate, a bidirectional screw is also included. The bidirectional screw is rotatably mounted on the fixed plate. A drive nut is threaded onto each of the two threaded sections of the bidirectional screw. The two drive nuts are symmetrically arranged on the bidirectional screw, and each drive nut corresponds to a movable plate. The movable plate and the drive nut are fixedly connected. The distance between the two drive nuts is adjusted by rotating the bidirectional screw, thereby adjusting the distance between the two movable plates to accommodate the clamping of items of different sizes.

[0010] To further reduce damage to the items, the clamping airbag is connected to a pressure sensor, which is electrically connected to the inflation pump, the inflation valve, the deflation valve, the drive mechanism, and the clamping mechanism.

[0011] To further reduce damage to the item, a fixed tube is fixedly connected to the output end of the electric cylinder. A movable rod is slidably installed inside the fixed tube. The movable rod is rotatably connected to the finger. A support spring is connected between the movable rod and the fixed tube. Through the support spring and elasticity, as well as the sliding cooperation between the movable rod and the fixed tube, the reaction force of the item is buffered, reducing the direct impact between the finger and the item.

[0012] To improve the stability of knuckle one and knuckle two, locking plates are also included. Four locking plates are provided, and each locking plate corresponds to a rotating shaft. The locking plates are movably mounted on the fixed plate or on knuckle one. Anti-slip blocks are fixedly connected to the outside of the rotating shaft, and the locking plates can abut against the anti-slip blocks to fix the rotating shaft.

[0013] To improve the stability of clamping, the outside of the clamping airbag is provided with anti-slip texture, which can improve the stability of clamping the item.

[0014] The working principle and beneficial effects of this invention are as follows:

[0015] 1. In this invention, the angles of the first and second phalanges are adjusted by driving the bevel gear to rotate the driven bevel gear and the rotating shaft, thereby adjusting the opening angle of the mechanical finger. The finger is bent by extending and retracting the electric cylinder to achieve the clamping of the object.

[0016] 2. In this invention, two clamping airbags are used to clamp the item. During the clamping process, the item generates a reaction force on the clamping airbags. The air pressure sensor senses the air pressure of the clamping airbags. When the air pressure is too high, that is, the clamping force is too high, the drive mechanism and clamping mechanism are controlled to stop working. If necessary, the air release valve can be controlled to release air, thereby reducing the clamping force on the item and reducing the damage caused by excessive force on the item.

[0017] 3. In this invention, when the electric cylinder drives the finger to bend and clamp the item, when the clamping force is large, the elasticity of the support spring and the sliding cooperation of the moving rod and the fixed tube provide a certain buffer for the finger, and the elasticity of the clamping airbag works together to reduce the direct rigid impact on the item, thereby better protecting the clamped item.

[0018] 4. In this invention, the rotation of the bidirectional screw can drive the two moving plates to move closer or further apart, that is, to adjust the distance between the two finger joints, thereby adjusting the distance between the two clamping airbags to adapt to the clamping of items of different sizes.

[0019] 5. Compared with the existing robotic finger structures, this invention clamps the object by contacting the clamping airbag. The clamping airbag is inflated by an air pump to adjust its hardness. At the same time, the elasticity of the support spring and the sliding cooperation between the moving rod and the fixed tube can reduce direct collision with the object and protect it. At the same time, the air pressure sensor monitors the air pressure of the clamping airbag to avoid excessive clamping force. When the clamping action is stopped, the clamping airbag is deflated to reduce the compression of the object. Attached Figure Description

[0020] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0021] Figure 1 This is a structural schematic diagram from a first perspective of the present invention;

[0022] Figure 2 This is a structural schematic diagram from a second perspective of the present invention;

[0023] Figure 3 This is a schematic diagram of the structure of the first phalanx, the second phalanx, the finger, and the clamping airbag of the present invention;

[0024] Figure 4 This is a schematic diagram of the structure of the second phalanx, the finger, the clamping airbag, and the deflation valve of the present invention;

[0025] Figure 5 This is a schematic diagram of the structure of the movable plate, bidirectional screw, adjusting motor and drive nut of the present invention;

[0026] Figure 6 For the present invention Figure 1 A magnified structural diagram of point A in the middle;

[0027] Figure 7 For the present invention Figure 4 A magnified structural diagram of a portion of point B in the middle.

[0028] In the picture:

[0029] 1. Fixing plate; 2. Finger joint one; 3. Finger joint two; 4. Finger; 5. Clamping airbag; 6. Inflation pump; 7. Inflation valve; 8. Deflator valve; 9. Anti-slip texture; 10. Moving plate; 11. Two-way screw; 12. Adjusting motor; 13. Drive nut; 14. Pressure sensor; 15. Fixing tube; 16. Moving rod; 17. Support spring; 18. Locking plate; 19. Anti-slip block; 20. Electric cylinder two;

[0030] 101. Driving bevel gear; 102. Driven bevel gear; 103. Drive motor; 104. Rotating shaft;

[0031] 201. Electric Cylinder 1. Detailed Implementation

[0032] The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0033] like Figures 1 to 7 As shown, this embodiment proposes a rigid-flexible coupling robotic mechanical finger structure, including a fixed plate 1 and two sets of gripping fingers. The gripping fingers include a first phalanx 2, a second phalanx 3, and a fingertip 4 that rotate sequentially from end to end. The first phalanx 2 is rotatably mounted on the fixed plate 1. It also includes a gripping airbag 5, a drive mechanism, and a gripping mechanism. Compared with existing robotic mechanical finger structures, this invention grips the object by contacting it with the gripping airbag 5. The airbag 5 is inflated by the air pump 6 to adjust its hardness. At the same time, the elasticity of the support spring 17 and the sliding cooperation between the moving rod 16 and the fixed tube 15 can reduce direct collision with the object and protect it. Meanwhile, the air pressure sensor 14 monitors the air pressure of the gripping airbag 5 to avoid excessive gripping force. When the gripping action is stopped, the gripping airbag 5 is deflated to reduce the compression of the object.

[0034] The clamping airbag 5 is fixedly installed at the end of the finger 4. An air pump 6 is installed inside the finger 4. The clamping airbag 5 is connected to an inflation valve 7 and an deflation valve 8. The inflation pump 6 and the inflation valve 7 are connected to inflate the clamping airbag 5. The outside of the clamping airbag 5 is provided with anti-slip texture 9, which can increase the friction coefficient between the clamping airbag 5 and the object, thereby improving the stability of clamping the object. Opening the inflation valve 7 and closing the deflation valve 8 allows the air pump 6 to inflate the clamping airbag 5. Closing the inflation pump 6 and the inflation valve 7 and opening the deflation valve 8 allows the gas inside the clamping airbag 5 to be discharged. As the clamping airbag 5 is inflated, its hardness increases, which can increase the clamping force on the object. As the clamping airbag 5 is deflated, its hardness decreases, which reduces the compression between it and the object, thereby protecting the object.

[0035] The drive mechanism is provided in four sets, which are used to drive the rotation of two finger joints 2 and two finger joints 3 respectively. The drive mechanism includes a drive bevel gear 101 and a driven bevel gear 102. The drive bevel gear 101 is rotatably mounted on the fixed plate 1 or finger joint 2. Both the fixed plate 1 and finger joint 2 are equipped with drive motors 103. The drive bevel gear 101 is fixedly connected to the output end of the drive motor 103. Finger joint 2 is rotatably connected to the fixed plate 1 through a rotating shaft 104. The driven bevel gear 102 is fixedly mounted on the rotating shaft 104, and the rotating shaft 104 is rotatably connected to the fixed plate 1. One end of finger joint 2 is fixedly connected to... The finger joint 2 is rotatably connected to the other end of the shaft 104; the finger joint 3 is fixedly connected to the shaft 104 and is rotatably connected to the finger joint 2 through the shaft 104. The driven bevel gear 102 is also fixedly mounted on the outside of the shaft 104. The driven bevel gear 102 meshes with the corresponding drive bevel gear 101. The drive motor 103 can drive the drive bevel gear 101 to rotate, thereby driving the driven bevel gear 102 and the shaft 104 to rotate, adjusting the rotation angle of the finger joint 2 and the finger joint 3, that is, adjusting the open or bent state of the mechanical finger.

[0036] The clamping mechanism is used to drive the finger 4 to rotate in order to clamp the item. The clamping mechanism includes an electric cylinder 201, which is rotatably mounted on the second finger joint 3. The output end of the electric cylinder 201 is rotatably connected to the finger 4. The extension, retraction and rotation of the electric cylinder 201 drive the finger 4 to rotate, adjust the angle between the finger 4 and the second finger joint 3, and drive the clamping airbag 5 to press against the surface of the item to clamp it.

[0037] To improve the gripping range of the robotic finger, a movable plate 10 is also included. Two movable plates 10 are provided, movably mounted on a fixed plate 1. One finger joint 2 corresponds to one movable plate 10, and is rotatably mounted on the movable plate 10 via a rotating shaft 104. To enable the movement of the movable plate 10, a bidirectional screw 11 is also included. The bidirectional screw 11 is rotatably mounted on the fixed plate 1. An adjusting motor 12 is mounted on the fixed plate 1. The bidirectional screw 11 is fixedly connected to the output end of the adjusting motor 12. Drive nuts 13 are threaded onto the two threaded sections of the bidirectional screw 11, and the two drive nuts 13 are symmetrically arranged on the bidirectional screw 11. 13 corresponds one-to-one with the movable plate 10. The movable plate 10 and the drive nut 13 are fixedly connected, and the movable plate 10 and the fixed plate 1 are slidably connected. The distance between the two drive nuts 13 is adjusted by rotating the bidirectional screw 11, thereby adjusting the distance between the two movable plates 10 to accommodate the clamping of items of different sizes. By adjusting the motor 12 to drive the bidirectional screw 11 to rotate, the two drive nuts 13 are moved closer or further apart, adjusting the distance between the two movable plates 10, which is also adjusting the distance between the two clamping airbags 5, increasing the clamping range of the clamping airbags 5, and accommodating the clamping of items of more sizes.

[0038] To further reduce damage to items, the clamping airbag 5 is connected to a pressure sensor 14. The pressure sensor 14 is electrically connected to an air pump 6, an inflation valve 7, a deflation valve 8, a drive mechanism, and a clamping mechanism. Specifically, the pressure sensor 14 is electrically connected to a drive motor 103 and an electric cylinder 201. The pressure sensor 14 monitors and senses the air pressure inside the clamping airbag 5. The pressure sensor 14 is equipped with a controller. When not clamping, the air pump 6 inflates the clamping airbag 5, causing it to expand. The inflated clamping airbag 5 clamps the item. During inflation, the pressure sensor 14 monitors the air pressure inside the clamping airbag 5. When the clamping airbag 5 is fully inflated, an electrical signal is sent to the controller to control the air pump 6 to stop supplying air and control the inflation valve 7 to close, stopping the air supply to the clamping airbag 5. When clamping an object, when the pressure sensor 14 senses that the pressure inside the clamping airbag 5 has increased to a certain level, that is, when the clamping force on the object is too large, an electrical signal is sent to the controller to control the drive motor 103 and the electric cylinder 201 to stop working, preventing the mechanical fingers from further bending and squeezing the object. At the same time, the deflation valve 8 can be controlled to open to deflate the clamping airbag 5, reducing the hardness of the clamping airbag 5, thereby reducing the squeezing of the object and reducing damage to the clamped object.

[0039] To further reduce damage to the items, a fixed tube 15 is fixedly connected to the output end of the electric cylinder 201. A moving rod 16 is slidably installed inside the fixed tube 15. The moving rod 16 is rotatably connected to the finger 4. 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 items is buffered, reducing the direct impact between the finger 4 and the items.

[0040] To improve the stability of knuckle 1 (2) and knuckle 2 (3), locking plates 18 are also included. Four locking plates 18 are provided, each corresponding to a rotating shaft 104. The locking plates 18 are movably mounted on the fixed plate 1 or on knuckle 1 (2). An anti-slip block 19 is fixedly connected to the outside of the rotating shaft 104. The locking plates 18 can abut against the anti-slip block 19 to fix the rotating shaft 104. Electric cylinders 20 are installed on both the fixed plate 1 and knuckle 1 (2). The locking plates 18 are fixedly connected to the output end of the electric cylinders 20. When the air pressure sensor 14 senses that the air pressure is too high, that is, the clamping force is too high, it controls the drive motor 103 and the electric cylinders 201 to stop working. At the same time, the electric cylinders 20 drive the locking plates 18 to press against the surface of the anti-slip block 19, preventing the rotating shaft 104 from continuing to rotate, thereby ensuring the stability of the clamping force and preventing the increase or decrease of the clamping force, thus ensuring the stability of the clamping.

[0041] It should be noted that the drive motor 103 and the electric cylinder 20 used to drive the rotating shaft 104 which is fixedly connected to the finger joint 2 are both mounted on the moving plate 10 and move synchronously with the finger joint 2.

[0042] The working principle or usage process of the mechanical finger structure in this rigid-flexible coupling robot is as follows:

[0043] The fixed plate 1 is installed at the end of the robot arm. The robot arm moves the fixed plate 1 and the mechanical fingers to the required position. When it is necessary to clamp the item, the adjustment motor 12 is turned on according to the size of the item. The adjustment motor 12 drives the bidirectional screw 11 to rotate, thereby adjusting the distance between the two moving plates 10, which is to say, adjusting the distance between the two clamping airbags 5.

[0044] Turn on the air pump 6 and the air valve 7. The air pump 6 inflates the inside of the clamping airbag 5. After the air pressure sensor 14 senses that the airbag 5 is full of gas, turn off the air pump 6 and the air valve 7. Turn on the drive motor 103 and the electric cylinder 201. The drive motor 103 drives the first finger joint 2 and the second finger joint 3 to rotate. The electric cylinder 201 drives the finger 4 to rotate, thereby causing the clamping airbag 5 and the object to be clamped to stick together and clamp it.

[0045] The reaction force of the clamping item 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 201 to stop working. At the same time, the electric cylinder 20 drives the locking plate 18 to press against the surface of the anti-slip block 19 to fix the rotating shaft 104, ensuring the stability of the finger joint 2 and the finger joint 3, and stably clamping the item.

[0046] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A mechanical finger structure for a rigid-flexible coupled robot, comprising a fixed plate (1) and two groups of clamping fingers, the clamping fingers comprising a first knuckle (2), a second knuckle (3) and a finger tip (4) which are rotatably arranged in sequence, the first knuckle (2) being rotatably arranged on the fixed plate (1), characterized in that, Also include: Clamping air bag (5), the clamping air bag (5) is fixedly installed at the end of the finger (4), the inside of the finger (4) is installed with an air pump (6), the clamping air bag (5) is communicated with inflation valve (7) and deflation valve (8), the air pump (6) and the inflation valve (7) are communicated, for the inside of the clamping air bag (5) is inflated; Driving mechanism, the driving mechanism is provided with four groups, four groups the driving mechanism is used for driving two the knuckle one (2) and two the knuckle two (3) rotation respectively; Clamping mechanism, the clamping mechanism is used for driving the finger (4) rotation to clamp the article; Also include moving plate (10), the moving plate (10) is provided with two, the moving plate (10) is movably arranged on the fixed plate (1), the knuckle one (2) and the moving plate (10) one to one, the knuckle one (2) is rotatably arranged on the moving plate (10) through the pivot (104); The clamping mechanism includes: Electric cylinder one (201), the electric cylinder one (201) is rotatably installed on the knuckle two (3), and the output end of the electric cylinder one (201) is rotatably connected with the finger (4); The output end of the electric cylinder one (201) is fixedly connected with a fixed tube (15), a movable rod (16) is slidably installed in the fixed tube (15), the movable rod (16) is rotatably connected with the finger (4), and a supporting spring (17) is connected between the movable rod (16) and the fixed tube (15).

2. The mechanical finger structure for a rigid-flexible coupled robot according to claim 1, characterized by The driving mechanism includes: Driving bevel gear (101), the driving bevel gear (101) is rotatably arranged on the fixed plate (1) or the knuckle one (2); Driven bevel gear (102), the knuckle one (2) is rotatably connected to the fixed plate (1) through a pivot (104), the knuckle two (3) is rotatably connected to the knuckle one (2) through another pivot (104), the driven bevel gear (102) is fixedly sleeved on the pivot (104), and the driven bevel gear (102) is engaged with the driving bevel gear (101).

3. The mechanical finger structure for a rigid-flexible coupled robot according to claim 1, wherein Also include bidirectional screw rod (11), the bidirectional screw rod (11) is rotatably arranged on the fixed plate (1), two threaded segments of the bidirectional screw rod (11) are respectively threadedly connected with driving nuts (13), the driving nuts (13) and the moving plate (10) one to one, and the moving plate (10) and the driving nuts (13) are fixedly connected.

4. The mechanical finger structure for a rigid-flexible coupled robot according to claim 3, wherein The clamping air bag (5) is communicated with an air pressure sensor (14), and the air pressure sensor (14) is electrically connected with the air pump (6), the inflation valve (7), the deflation valve (8), the driving mechanism and the clamping mechanism.

5. The mechanical finger structure for a rigid-flexible coupled robot according to claim 1, wherein Also include locking plate (18), the locking plate (18) is provided with four, the locking plate (18) and the pivot (104) one to one, and the locking plate (18) is movably arranged on the fixed plate (1) or the knuckle one (2).

6. The mechanical finger structure for a rigid-flexible coupled robot according to claim 3, wherein Two driving nuts (13) are symmetrically arranged on the bidirectional screw rod (11).

7. The mechanical finger structure for a rigid-flexible coupled robot according to any one of claims 1 to 6, characterized in that, The clamping air bag (5) is externally provided with anti-skid lines (9).

8. The mechanical finger structure for a rigid-flexible coupled robot according to claim 5, wherein The outer part of the rotating shaft (104) is fixedly connected with an anti-skid block (19), and the locking plate (18) can abut against the anti-skid block (19) to fix the rotating shaft (104).

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