Multi-degree-of-freedom finger, manipulator and robot

Abstract

The invention discloses a multi-degree-of-freedom finger, a manipulator and a robot. The multi-degree-of-freedom finger comprises a first finger part and a second finger part, the second finger part is rotationally connected with the first finger part; the third finger part is rotationally connected with the second finger part; the first driving assembly and the second driving assembly are both arranged on the second finger part; the first driving assembly is connected with the first finger part and realizes relative rotation of the first finger part and the second finger part; the second driving assembly is connected with the third finger part, and relative rotation of the second finger part and the third finger part is achieved. And the first driving assembly and the second driving assembly are both mounted on the second finger part, so that the overall structure of the multi-degree-of-freedom finger is more compact, and other structures can be mounted on the first finger part and the third finger part.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a multi-degree-of-freedom finger, robotic hand, and robot. Background Technology

[0002] Robotic fingers are the end effectors of robotic hands, directly contacting the objects being manipulated. Dexterous hand fingers are multi-degree-of-freedom robotic fingers that can perform various actions such as pinching, gripping, and grasping, achieving dexterity movements closer to those of human fingers.

[0003] In the existing technology, each degree of freedom of a multi-degree-of-freedom finger is usually realized by a corresponding motor or other driving component. Multiple driving components are assembled on the multi-degree-of-freedom finger, resulting in a bulky and non-compact overall structure.

[0004] Therefore, existing technologies still need improvement and development. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a multi-degree-of-freedom finger, robotic hand and robot in view of the above-mentioned defects of the prior art, so as to solve the problem that the overall structure of multi-degree-of-freedom fingers in the prior art is bulky and not compact.

[0006] The technical solution adopted by this invention to solve the technical problem is as follows: A multi-degree-of-freedom finger, comprising: First finger part; The second finger is rotatably connected to the first finger. The third finger is rotatably connected to the second finger. The first driving component and the second driving component are both disposed on the second finger portion; The first driving component is connected to the first finger and enables relative rotation between the first finger and the second finger. The second drive component is connected to the third finger and enables relative rotation between the second finger and the third finger.

[0007] The multi-degree-of-freedom finger, wherein the first finger portion is provided with a first shaft portion, the first shaft portion is rotatably connected to the second finger portion, and the first shaft portion is provided with a first gear; the first driving assembly includes: A first driving element is disposed on the second finger portion; The first tooth structure is disposed on the output shaft of the first driving member; The first tooth structure meshes with the first gear.

[0008] The multi-degree-of-freedom finger, wherein both the first gear and the first tooth structure are bevel gears; A snap-fit ​​sleeve is provided on the first finger portion, and a first snap-fit ​​structure is formed on the first shaft portion. The snap-fit ​​sleeve and the first snap-fit ​​structure form a snap-fit ​​engagement. The first finger is provided with a second shaft, and the second shaft is provided with a second gear. The second gear meshes with the first gear structure, and the second shaft rotates relative to the first finger and the second finger.

[0009] The multi-degree-of-freedom finger, wherein the third finger portion is provided with a third shaft portion, and the third shaft portion is provided with a third gear; the second drive assembly includes: The second driving component is disposed on the third finger portion; The second tooth structure is disposed on the output shaft of the second driving member; The second tooth structure meshes with the third gear.

[0010] The multi-degree-of-freedom finger, wherein the third gear is a worm gear and the second gear structure is a worm; The third gear is provided with a second snap-fit ​​structure, and the third finger is provided with a third snap-fit ​​structure, the second snap-fit ​​structure and the third snap-fit ​​structure forming a snap-fit ​​engagement.

[0011] The multi-degree-of-freedom finger further includes: The mounting base is rotatably connected to the first finger. A third drive component is disposed on the mounting base; The third drive component is connected to the first finger and enables relative rotation between the first finger and the mounting base.

[0012] A method for controlling a multi-degree-of-freedom finger as described in any of the above claims, comprising the steps of: By controlling the first drive component, the second finger can rotate relative to the first finger; The third finger rotates relative to the second finger by controlling the second drive component.

[0013] The multi-degree-of-freedom finger control method further includes: The first finger is rotated relative to the mounting base by controlling the third drive component.

[0014] A robotic hand, comprising: a multi-degree-of-freedom finger as described in any of the above.

[0015] A robot comprising: a multi-degree-of-freedom finger as described in any of the above, or a robotic hand as described above.

[0016] Beneficial effects: Both the first and second drive components are installed on the second finger, making the overall structure of the multi-degree-of-freedom finger more compact, so that other structures can be installed on the first and third fingers. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the first structure of a multi-degree-of-freedom finger in an embodiment of the present invention.

[0018] Figure 2 This is a schematic diagram of the second structure of the multi-degree-of-freedom finger in an embodiment of the present invention.

[0019] Figure 3 yes Figure 2 Sectional view along line A.

[0020] Figure 4 This is a cross-sectional view of a multi-degree-of-freedom finger in an embodiment of the present invention.

[0021] Figure 5 This is a first structural schematic diagram of the first driving component, the second driving component, and the third driving component in an embodiment of the present invention.

[0022] Figure 6 This is a second structural schematic diagram of the first driving component, the second driving component, and the third driving component in an embodiment of the present invention.

[0023] Figure 7 This is a schematic diagram of the structure of the first driving component and the second driving component in an embodiment of the present invention.

[0024] Figure 8 This is a schematic diagram of the structure of the first shaft, the first gear, and the snap-fit ​​sleeve in an embodiment of the present invention.

[0025] Figure 9 This is a schematic diagram of the structure of the second shaft and the second gear in an embodiment of the present invention.

[0026] Figure 10 This is a schematic diagram of the structure of the third finger and the third gear in an embodiment of the present invention.

[0027] Figure 11 This is an exploded view of the third finger and the third gear in an embodiment of the present invention.

[0028] Figure 12 This is a schematic diagram of the structure of the third gear in an embodiment of the present invention.

[0029] Figure 13 This is a schematic diagram of the structure of the robotic arm in an embodiment of the present invention.

[0030] Figure 14 This is a schematic diagram of the robot in an embodiment of the present invention.

[0031] Explanation of reference numerals in the attached figures: 10. First finger portion; 11. First shaft portion; 111. First snap-fit ​​structure; 12. First gear; 13. Snap-fit ​​sleeve; 14. Second shaft portion; 15. Second gear; 20. The second finger; 30. Third finger section; 31. Third shaft section; 32. Third gear; 33. Second snap-fit ​​structure; 34. Third snap-fit ​​structure; 40. First drive assembly; 41. First drive element; 42. First tooth structure; 50. Second drive assembly; 51. Second drive element; 52. Second tooth structure; 60. Mounting bracket; 70. Third driving component. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of this invention clearer and more explicit, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0033] Please also refer to Figures 1-12 This invention provides some embodiments of a multi-degree-of-freedom finger.

[0034] like Figures 1-2 As shown, the multi-degree-of-freedom finger of the present invention includes: First finger section 10; The second finger 20 is rotatably connected to the first finger 10; The third finger portion 30 is rotatably connected to the second finger portion 20; The first drive component 40 and the second drive component 50 are both disposed on the second finger portion 20; The first driving component 40 is connected to the first finger 10 and enables relative rotation between the first finger 10 and the second finger 20; the second driving component 50 is connected to the third finger 30 and enables relative rotation between the second finger 20 and the third finger 30.

[0035] Specifically, the multi-degree-of-freedom finger has multiple degrees of freedom, for example, at least two rotational degrees of freedom. The first finger portion 10 and the second finger portion 20 form one rotational degree of freedom, and the second finger portion 20 and the third finger portion 30 form another rotational degree of freedom. The rotation of the first finger portion 10 and the second finger portion 20 is achieved by the first drive assembly 40, and the rotation of the second finger portion 20 and the third finger portion 30 is achieved by the second drive assembly 50. The first drive assembly 40 and the second drive assembly 50 do not interfere with each other. The first finger portion 10, the second finger portion 20, and the third finger portion 30 are sequentially rotatably connected, corresponding to the three parts of a real finger connected by two joints. Both the first drive assembly 40 and the second drive assembly 50 are mounted on the second finger portion 20, making the overall structure of the multi-degree-of-freedom finger more compact, so that other structures can be mounted on the first finger portion 10 and the third finger portion 30.

[0036] The second finger portion 20 and the third finger portion 30 are modeled after the shapes of real fingers. For example, the second finger portion 20 is knuckle-shaped, specifically cylindrical; the third finger portion 30 is fingertip-shaped, specifically wedge-shaped. The first finger portion 10 can be knuckle-shaped or adapted to the shape of a real palm, depending on the type of finger. For example, when a multi-degree-of-freedom finger is modeled after a real thumb, the first finger portion 10 needs to adapt to the shape of the palm; when a multi-degree-of-freedom finger is modeled after the real index, middle, ring, and little fingers, the first finger portion 10 can be knuckle-shaped.

[0037] In a preferred implementation of this invention, such as Figures 3-7 As shown, the first finger portion 10 is provided with a first shaft portion 11, which is rotatably connected to the second finger portion 20. A first gear 12 is provided on the first shaft portion 11. The first drive assembly 40 includes: The first driving member 41 is disposed on the second finger portion 20; The first tooth structure 42 is disposed on the output shaft of the first driving member 41; The first tooth structure 42 meshes with the first gear 12.

[0038] Specifically, the first drive assembly 40 is a gear-driven drive assembly. A first shaft 11 is mounted on the first finger 10, and a first gear 12 is mounted on the first shaft 11. The first gear 12 meshes with the first tooth structure 42. The first shaft 11 is fixed relative to the first finger 10, and the first gear 12 is fixed relative to the first shaft 11. The first drive member 41 drives the first tooth structure 42 to rotate, thereby causing the first gear 12, the first shaft 11, and the first finger 10 to rotate. The first drive member 41 can be a coreless motor.

[0039] In a preferred implementation of this invention, such as Figures 4-7As shown, both the first gear 12 and the first tooth structure 42 are bevel gears.

[0040] Specifically, both the first gear 12 and the first tooth structure 42 are bevel gears. The change of rotation direction is achieved by the meshing of the two bevel gears. The axial direction of the output shaft of the first drive member 41 is perpendicular to the axial direction of the first shaft portion 11. The first drive member 41 is arranged along the length direction of the second finger portion 20, the first tooth structure 42 rotates circumferentially along the second finger portion 20 (that is, circumferentially along the output shaft of the first drive member 41), and the first gear 12 rotates in a direction perpendicular to the circumferential direction of the second finger portion 20 (that is, circumferentially along the first shaft portion 11), thereby realizing the mutual rotation of the first finger portion 10 and the second finger portion 20.

[0041] In a preferred implementation of this invention, such as Figure 5 , Figure 7 and Figure 8 As shown, a snap-fit ​​sleeve 13 is provided on the first finger portion 10, and a first snap-fit ​​structure 111 is formed on the first shaft portion 11. The snap-fit ​​sleeve 13 and the first snap-fit ​​structure 111 form a snap-fit ​​engagement.

[0042] Specifically, the first finger portion 10 and the first shaft portion 11 are fixed by a snap-fit ​​connection. A snap-fit ​​sleeve 13 is assembled on the first finger portion 10, and a first snap-fit ​​structure 111 is formed on the first shaft portion 11. The snap-fit ​​sleeve 13 is fitted over the first shaft portion 11, and the snap-fit ​​sleeve 13 and the first snap-fit ​​structure 111 form a snap-fit ​​engagement. A first mounting hole is formed on the first finger portion 10, and the snap-fit ​​sleeve 13 is fixedly installed in the first mounting hole. A third mounting hole is formed on the second finger portion 20, and the first shaft portion 11 passes through the third mounting hole and rotates within the third mounting hole.

[0043] In a preferred implementation of this invention, such as Figure 5 , Figure 7 and Figure 9 As shown, a second shaft 14 is provided on the first finger portion 10, and a second gear 15 is provided on the second shaft portion 14. The second gear 15 meshes with the first tooth structure 42, and the second shaft portion 14 rotates relative to the first finger portion 10 and the second finger portion 20.

[0044] Specifically, a second shaft 14 is mounted on the first finger portion 10, and a second gear 15 is mounted on the second shaft 14. The second gear 15 meshes with the first tooth structure 42. When the first tooth structure 42 rotates, the second gear 15 also rotates. Since the second shaft 14 rotates relative to the first finger portion 10, the driving force output by the first drive member 41 is not transmitted to the first finger portion 10 through the second gear 15 and the second shaft 14, but only through the first gear 12 and the first shaft 11. The first gear 12 and the second gear 15 are located on both sides of the output shaft of the first drive member 41. Both the first gear 12 and the second gear 15 can support the first tooth structure 42, making the rotation of the first tooth structure 42 more stable and reliable. The second shaft 14 is rotatably connected to the second finger portion 20, and the rotatable connection between the first finger portion 10 and the second finger portion 20 is achieved through the first shaft 11 and the second shaft 14. A second mounting hole is formed on the first finger portion 10, a fourth mounting hole is formed on the second finger portion 20, the second shaft portion 14 passes through the second mounting hole and the third mounting hole, and the second shaft portion 14 rotates within the second mounting hole and the third mounting hole.

[0045] In a preferred implementation of this invention, such as Figure 5 , Figure 7 , Figures 10-12 As shown, a third shaft portion 31 is provided on the third finger portion 30, and a third gear 32 is provided on the third shaft portion 31.

[0046] Specifically, a third shaft portion 31 is mounted on the third finger portion 30. The third shaft portion 31 is rotatably connected to at least one of the second finger portion 20 and the third finger portion 30. The rotatable connection between the second finger portion 20 and the third finger portion 30 is achieved through the third shaft portion 31. For example, the third shaft portion 31 is fixed to the third finger portion 30 and rotates relative to the second finger portion 20; alternatively, the third shaft portion 31 is fixed to the second finger portion 20 and rotates relative to the third finger portion 30. A third gear 32 is mounted on the third shaft portion 31 and is fixed relative to the third finger portion 30. For example, the two can be locked together by a snap-fit. When the third shaft portion 31 is fixed to the third finger portion 30, the third gear 32 can be fixed to the third shaft portion 31 or rotate relative to the third shaft portion 31. When the third shaft portion 31 rotates relative to the third finger portion 30, the third gear 32 rotates relative to the third shaft portion 31. A fifth mounting hole and a sixth mounting hole are formed on the second finger portion 20, and a seventh mounting hole and an eighth mounting hole are formed on the third finger portion 30. The first end of the third shaft portion 31 passes through the fifth mounting hole and the seventh mounting hole, and the second end of the third shaft portion 31 passes through the sixth mounting hole and the eighth mounting hole.

[0047] In a preferred implementation of this invention, such as Figures 1-5 As shown, the second driving component 50 includes: The second driving member 51 is disposed on the third finger portion 30; The second tooth structure 52 is disposed on the output shaft of the second driving member 51; The second tooth structure 52 meshes with the third gear 32.

[0048] Specifically, the second drive assembly 50 is a gear-driven drive assembly, with the second tooth structure 52 meshing with the third gear 32. The second drive member 51 drives the second tooth structure 52 to rotate, and in turn drives the third gear 32 and the third finger 30 to rotate. The second drive member 51 can be a coreless motor.

[0049] In a preferred implementation of this invention, such as Figure 4 and Figure 7 As shown, the third gear 32 is a worm gear, and the second tooth structure 52 is a worm.

[0050] Specifically, the third gear 32 can be a worm gear, and the second gear structure 52 can be a worm. The meshing of the worm and the worm gear achieves a change in the direction of rotation. The axial direction of the output shaft of the second drive member 51 is perpendicular to the axial direction of the third shaft portion 31. The second drive member 51 is arranged along the length of the second finger portion 20. The worm rotates circumferentially around the second finger portion 20 (i.e., circumferentially around the output shaft of the second drive member 51), and the worm gear rotates in a direction perpendicular to the circumferential direction of the second finger portion 20 (i.e., circumferentially around the third shaft portion 31), thereby enabling the second finger portion 20 and the third finger portion 30 to rotate relative to each other.

[0051] The first drive assembly 40 employs a bevel gear transmission, while the second drive assembly 50 employs a worm gear transmission. By staggering the arrangement of the first drive member 41 and the second drive member 51, the second finger portion 20 will not be excessively long, thus helping it maintain the size of a realistic finger. The second finger portion 20 is internally fitted with a first mounting bracket and a second mounting bracket. The first mounting bracket is used to mount the first drive member 41, and the second mounting bracket is used to mount the second drive member 51. The first mounting bracket is located at the position corresponding to the output shaft of the first drive member 41, and the second mounting bracket is located at the position corresponding to the output shaft and worm gear of the second drive member 51. The worm gear is rotatably connected to the second mounting bracket.

[0052] In a preferred implementation of this invention, such as Figures 10-12 As shown, the third gear 32 is provided with a second snap-fit ​​structure 33, and the third finger 30 is provided with a third snap-fit ​​structure 34. The second snap-fit ​​structure 33 and the third snap-fit ​​structure 34 form a snap-fit ​​engagement.

[0053] Specifically, the third gear 32 and the third finger 30 are fixed by a snap-fit ​​mechanism, forming a second snap-fit ​​structure 33 on the third gear 32 and a third snap-fit ​​structure 34 on the third finger 30. The second snap-fit ​​structure 33 and the third snap-fit ​​structure 34 form a snap-fit ​​engagement. Both the second snap-fit ​​structure 33 and the third snap-fit ​​structure 34 use open slots to achieve the snap-fit. The open slot has a groove and an opening, with two openings located on opposite sides of the groove. The second snap-fit ​​structure 33 uses a first open slot, and the third snap-fit ​​structure 34 uses a second open slot. The first open slot and the second open slot interlock with each other, thus limiting each other's movement. The groove openings of the first open slot and the groove openings of the second open slot are opposite each other.

[0054] In a preferred implementation of this invention, such as Figures 1-6 As shown, the multi-degree-of-freedom finger also includes: The mounting base 60 is rotatably connected to the first finger 10; The third drive component 70 is disposed on the mounting base 60; The third drive component 70 is connected to the first finger 10 and enables relative rotation between the first finger 10 and the mounting base 60.

[0055] Specifically, the mounting base 60 can be mounted on the palm of the robotic arm, and the third drive assembly 70 is mounted on the mounting base 60, thereby enabling the rotation of the mounting base 60 and the first finger 10. The third drive assembly 70 does not interfere with the first drive assembly 40 and the second drive assembly 50.

[0056] In a preferred implementation of this invention, such as Figures 1-6 As shown, the third drive component 70 includes: The third drive unit is located on the mounting base 60; The output shaft of the third driving component is connected to the first finger 10.

[0057] Specifically, the first finger part 10 is a frame, and the third driving component can be a folding motor.

[0058] Based on the multi-degree-of-freedom finger described in any of the above embodiments, the present invention also provides a preferred embodiment of a control method for a multi-degree-of-freedom finger.

[0059] The control method of this invention includes the following steps: Step S100: By controlling the first drive component, the second finger is rotated relative to the first finger; Step S200: By controlling the second drive component, the third finger rotates relative to the second finger.

[0060] Specifically, since the first and second drive components do not interfere with each other, either the first or second drive component can be controlled independently, or they can be controlled together. When it is necessary to rotate the second finger, the first drive component is controlled, causing the second finger to rotate relative to the first finger, which also causes the second and third fingers as a whole to rotate relative to the first finger. When it is necessary to rotate the third finger, the second drive component is controlled, causing the third finger to rotate relative to the second finger.

[0061] Step S300: By controlling the third drive component, the first finger is rotated relative to the mounting base.

[0062] Specifically, since the third drive assembly does not interfere with the first and second drive assemblies, it can be controlled independently. When it is necessary to rotate the first finger, the third drive assembly is controlled to rotate the first finger relative to the mounting base, which will also cause the first, second, and third fingers as a whole to rotate relative to the mounting base.

[0063] Based on the multi-degree-of-freedom finger described in any of the above embodiments, the present invention also provides an embodiment of a robotic hand.

[0064] The robotic hand of the present invention includes multi-degree-of-freedom fingers as described in any of the above embodiments. The robotic hand can be a single-finger robotic hand or a multi-finger robotic hand, such as a two-finger robotic hand or a three-finger robotic hand. The robotic hand can perform tasks such as grasping or moving objects, operating tools, and displaying different gestures. Figure 13 The robotic hand has five fingers, any one of which can be a multi-degree-of-freedom finger as described in any of the above embodiments. For example, the thumb, index finger, middle finger, ring finger, and little finger can be multi-degree-of-freedom fingers as described in any of the above embodiments.

[0065] Based on the multi-degree-of-freedom finger or robotic hand described in any of the above embodiments, the present invention also provides an embodiment of a robot.

[0066] The robot of this invention includes: a multi-degree-of-freedom finger as described in any of the above embodiments, or a robotic hand as described in any of the above embodiments. The robot can be a special robot, a wheeled robot, a legged robot, a crawler robot, a squirming robot, a flying robot, a floating robot, a diving robot, a ground robot, an underground robot, a space robot, a SCARA robot, a parallel robot, a master-slave robot, a collaborative robot, etc. The robot can be a single-armed robot or a multi-armed robot. Figure 14 It is a wheeled robot with bionic arms, wherein either bionic arm can be the robotic hand or the multi-degree-of-freedom finger described in any of the above embodiments.

[0067] It should be understood that the application of the present invention is not limited to the examples above. Those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A multi-degree-of-freedom finger, characterized in that, include: First finger part; The second finger is rotatably connected to the first finger. The third finger is rotatably connected to the second finger. The first driving component and the second driving component are both disposed on the second finger portion; The first driving component is connected to the first finger and enables relative rotation between the first finger and the second finger. The second drive component is connected to the third finger and enables relative rotation between the second finger and the third finger.

2. The multi-degree-of-freedom finger according to claim 1, characterized in that, The first finger is provided with a first shaft portion, which is rotatably connected to the second finger portion, and a first gear is provided on the first shaft portion; the first drive assembly includes: A first driving element is disposed on the second finger portion; The first tooth structure is disposed on the output shaft of the first driving member; The first tooth structure meshes with the first gear.

3. The multi-degree-of-freedom finger according to claim 2, characterized in that, Both the first gear and the first tooth structure are bevel gears; A snap-fit ​​sleeve is provided on the first finger portion, and a first snap-fit ​​structure is formed on the first shaft portion. The snap-fit ​​sleeve and the first snap-fit ​​structure form a snap-fit ​​engagement. The first finger is provided with a second shaft, and the second shaft is provided with a second gear. The second gear meshes with the first gear structure, and the second shaft rotates relative to the first finger and the second finger.

4. The multi-degree-of-freedom finger according to claim 1, characterized in that, The third finger portion is provided with a third shaft portion, and the third shaft portion is provided with a third gear; the second drive assembly includes: The second driving component is disposed on the third finger portion; The second tooth structure is disposed on the output shaft of the second driving member; The second tooth structure meshes with the third gear.

5. The multi-degree-of-freedom finger according to claim 4, characterized in that, The third gear is a worm gear, and the second gear structure is a worm. The third gear is provided with a second snap-fit ​​structure, and the third finger is provided with a third snap-fit ​​structure, the second snap-fit ​​structure and the third snap-fit ​​structure forming a snap-fit ​​engagement.

6. The multi-degree-of-freedom finger according to any one of claims 1 to 5, characterized in that, The multi-degree-of-freedom finger also includes: The mounting base is rotatably connected to the first finger. A third drive component is disposed on the mounting base; The third drive component is connected to the first finger and enables relative rotation between the first finger and the mounting base.

7. A method for controlling a multi-degree-of-freedom finger as described in any one of claims 1 to 6, characterized in that, Including the following steps: By controlling the first drive component, the second finger can rotate relative to the first finger; The third finger rotates relative to the second finger by controlling the second drive component.

8. The method for controlling a multi-degree-of-freedom finger according to claim 7, characterized in that, The control method further includes: The first finger is rotated relative to the mounting base by controlling the third drive component.

9. A robotic arm, characterized in that, include: The multi-degree-of-freedom finger as described in any one of claims 1 to 6.

10. A robot, characterized in that, include: The multi-degree-of-freedom finger as described in any one of claims 1 to 6, or the robotic hand as described in claim 9.

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