Finger structure, dexterous hand and robot

Abstract

This application provides a finger structure, a dexterous hand, and a robot, relating to the field of robotics. The finger structure, applied to a dexterous hand, includes a middle segment, a root segment and a fingertip segment rotatably connected to both ends of the middle segment, and the root segment is also rotatably connected to the palm. The finger structure further includes: a first buffer layer disposed between the fingertip segment and the middle segment; a second buffer layer disposed between the root segment and the middle segment; and a third buffer layer disposed between the root segment and the palm.

Description

Technical Field

[0001] This application relates to the field of robotics, and more specifically, to a finger structure, a dexterous hand, and a robot. Background Technology

[0002] As an important component of humanoid robots, dexterous hands are often used to grasp or hold objects. Taking the currently mainstream rope-driven dexterous hand as an example, after performing multiple grasping actions, the accuracy, reliability, and lifespan of each finger's grasping of objects often decrease. This means that after a period of use, the dexterous hand's fingers need to be disassembled to recalibrate internal components (such as pivots and torsion springs). In severe cases, the rope-driven dexterous hand may even need to be replaced, causing a sharp increase in the operating cost of humanoid robots. Summary of the Invention

[0003] The purpose of this application is to provide a finger structure, a dexterous hand, and a robot that can effectively ensure that each finger can work accurately and reliably, and also extend the service life of the dexterous hand using the finger structure to a certain extent.

[0004] In a first aspect, embodiments of this application provide a finger structure for use in a dexterous hand. The finger structure includes a middle segment, a root segment and a fingertip segment rotatably connected to both ends of the middle segment, and the root segment is also rotatably connected to the palm. The finger structure further includes: a first buffer layer disposed between the fingertip segment and the middle segment; a second buffer layer disposed between the root segment and the middle segment; and a third buffer layer disposed between the root segment and the palm.

[0005] In some embodiments, the first buffer layer is fixed to the beginning end of the middle segment.

[0006] In some embodiments, the second buffer layer is fixed to the beginning end of the finger root segment.

[0007] In some embodiments, the third buffer layer is fixed to the palm portion.

[0008] In some embodiments, when the finger structure is in an extended state, the first buffer layer elastically abuts against the end of the fingertip segment, the second buffer layer elastically abuts against the end of the middle segment, and the third buffer layer elastically abuts against the end of the finger root segment.

[0009] In some embodiments, the palm portion includes a mounting platform, and the finger root segments are rotatably connected to the mounting platform.

[0010] In some embodiments, the first buffer layer, the second buffer layer, or the third buffer layer includes a rubber pad or a silicone pad.

[0011] In a second aspect, embodiments of this application also provide a dexterous hand, including the finger structure described above.

[0012] In some embodiments, the dexterous hand is a rope-driven dexterous hand.

[0013] In a third aspect, embodiments of this application also provide a robot, including the dexterous hand described above. Attached Figure Description

[0014] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1 A schematic diagram of the external structure of a finger in an extended posture according to an embodiment of this application; Figure 2 for Figure 1 A schematic diagram of the middle finger structure in a bent position; Figure 3 for Figure 1 A bottom view of the middle finger structure; Figure 4 for Figure 1 A schematic diagram of the first buffer layer of the middle finger structure.

[0016] Icons: 100 - Finger structure; 21 - Finger root segment; 22 - Middle segment; 23 - Finger tip segment; 24 - First pin; 25 - Second pin; 26 - Third pin; 212 - First wiring hole; 222 - Second wiring hole; 232 - Third wiring hole; 3 - Tendon cord; 41 - First torsion spring; 42 - Second torsion spring; 43 - Third torsion spring; 5 - Mounting platform; 11 - First buffer layer; 12 - Second buffer layer; 13 - Third buffer layer. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0018] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0019] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0020] In the description of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of the invention is in use. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. In addition, the terms "first," "second," and "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0021] Furthermore, terms such as "horizontal" and "vertical" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0022] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "set up," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0023] The dexterous hand provided in this embodiment can be applied to robots, such as humanoid robots, to grasp or hold objects. The dexterous hand includes a palm portion, a thumb connected to the palm portion, and several non-thumb fingers. These non-thumb fingers may include, for example, the index finger, middle finger, ring finger, and little finger. It should be understood that the number of fingers in a robot hand does not necessarily have to be five. Therefore, the number of fingers in the dexterous hand of this embodiment does not necessarily have to be five. For example, the number of non-thumb fingers can be three or even two, and can be flexibly selected according to the actual working conditions of the dexterous hand application. For ease of description, this embodiment uses a dexterous hand with five fingers as an example.

[0024] The edge of the palm has five mounting platforms, and the thumb, index finger, middle finger, ring finger, and little finger can be hinged to their respective mounting platforms.

[0025] The thumb, index finger, middle finger, ring finger, and little finger are generally made by hinged together in three segments, differing only in length and shape. The rope-driven method used to achieve bending of each finger is the same. Therefore, please refer to the reference... Figures 1 to 4 The following description uses the index finger as an example to illustrate the finger structure 100 provided in this embodiment.

[0026] The finger structure 100 includes a root segment 21 connected to the palm, a tip segment 23 away from the palm, and a middle segment 22 located between the root segment 21 and the tip segment 23. The two ends of the middle segment 22 are respectively hinged to the root segment 21 and the tip segment 23 via a first pin 24 and a second pin 25. The root segment 21 is hinged to the palm via a third pin 26, specifically to the mounting platform 5.

[0027] A second torsion spring 42 and a first torsion spring 41 are respectively fitted onto the first pin 24 and the second pin 25. The two torsion arms of the second torsion spring 42 elastically abut against the finger root segment 21 and the middle segment 22, respectively. The two torsion arms of the first torsion spring 41 elastically abut against the fingertip segment 23 and the middle segment 22, respectively. A third torsion spring 43 is fitted onto the third pin 26. The two torsion arms of the third torsion spring 43 elastically abut against the finger root segment 21 and the mounting platform 5, respectively.

[0028] The elastic resistance of the second torsion spring 42, the first torsion spring 41, and the third torsion spring 43 allows the finger structure 100, composed of the root segment 21, the middle segment 22, and the fingertip segment 23, to be shaped as follows: Figure 1 The straightened state shown.

[0029] In this embodiment, the root segment 21, the middle segment 22, and the tip segment 23 each include a shell and a hollow cavity formed within the shell. Each shell is provided with a first wiring hole 212, a second wiring hole 222, and a third wiring hole 232 that pass through both ends of the finger segment. The first wiring hole 212, the second wiring hole 222, and the third wiring hole 232 allow the tendon cord 3 to pass through.

[0030] One end of the tendon cord 3 passes through the first wiring hole 212, the second wiring hole 222, and the third wiring hole 232 in sequence and is fixed in the third wiring hole 232 of the fingertip segment 23. The other end of the tendon cord 3 is connected to a winch driven by a finger motor, which is located on the palm.

[0031] As described above, when the finger motor drives the winch to rotate, the tendon rope 3 wound on the winch pulls the finger structure 100. Since the other end of the tendon rope 3 is fixed in the third wiring hole 232 of the fingertip segment 23, for example, the other end of the tendon rope 3 can be tied to a stop block located in the third wiring hole 232 of the fingertip segment 23, and the movement of the tendon rope 3 is limited by the stop block.

[0032] When the tendon rope 3 is pulled by the winch, the base segment 21, middle segment 22, and fingertip segment 23 all move toward the palm of the hand, causing the finger structure 100 to bend toward the palm of the hand (e.g., Figure 2 The second torsion spring 42 and the first torsion spring 41, which are sleeved on the first pin 24 and the second pin 25, will be compressed and accumulate elastic potential energy. At this time, the finger structure 100 is in a bent state, which is used to hold or pinch objects.

[0033] It should be emphasized that in the finger structure 100 of this embodiment, A first buffer layer 11 is provided between the fingertip segment 23 and the middle segment 22.

[0034] The first buffer layer 11 can be, for example, a thin sheet with elastic cushioning capabilities, such as a rubber pad or a silicone pad.

[0035] In this embodiment, the first buffer layer 11 can be glued to the end of the fingertip segment 23, or the first buffer layer 11 can be glued to the beginning of the middle segment 22.

[0036] In this embodiment, a second buffer layer 12 is provided between the root segment 21 and the middle segment 22.

[0037] The second buffer layer 12 can be, for example, a thin sheet with elastic cushioning capabilities, such as a rubber pad or a silicone pad.

[0038] The second buffer layer 12 can be glued to the end of the middle segment 22, or the second buffer layer 12 can be glued to the beginning of the finger root segment 21.

[0039] A third buffer layer 13 is provided between the finger root segment 21 and the palm. Specifically, the third buffer layer 13 is located between the finger root segment 21 and the mounting platform 5.

[0040] The third buffer layer 13 can be, for example, a thin sheet with elastic cushioning capabilities, such as a rubber pad or a silicone pad.

[0041] The third buffer layer 13 can be glued to the end of the finger root segment 21, or the third buffer layer 13 can be glued to the palm, specifically to the mounting platform 5 of the palm.

[0042] The first buffer layer 11, the second buffer layer 12, and the third buffer layer 13 have roughly the same structure and shape, which can be referred to as... Figure 4 The first buffer layer 11, the second buffer layer 12 and the third buffer layer 13 are all constructed in a U-shape, which allows them to better envelop and cover the ends of the corresponding finger joints, and makes the back of the finger structure 100 more neat and beautiful when it is in a straight posture.

[0043] It should be understood that the above-mentioned buffer layers can be fixed not only by adhesive bonding but also by screws. However, for buffer layers made of rubber or silicone pads, adhesive bonding is simpler and more convenient, and there is no need to drill additional screw holes on the knuckle.

[0044] like Figure 1 When the finger structure is in an extended state, the first buffer layer 11 elastically abuts against the end of the fingertip segment 23, the second buffer layer 12 elastically abuts against the end of the middle segment 22, and the third buffer layer 13 elastically abuts against the end of the finger root segment 21. This allows each phalanx of the finger structure to be in a straight state, and each buffer layer can precisely fill the gaps between the phalanxes, preventing foreign objects such as dust or moisture from entering the interior of the finger structure, thereby preventing jamming or corrosion of internal torsion springs or pins.

[0045] More importantly, when the finger structure is bent to the point where... Figure 2 After being bent as shown, the finger structure... Figure 2 The bending state is restored to as Figure 1 In the extended state shown, the end of the fingertip segment 23 and the beginning of the middle segment 22 will collide, the end of the middle segment 22 and the beginning of the root segment 21 will collide, and the end of the root segment 21 and the palm portion, specifically the mounting platform, will collide. Because the finger structure frequently switches between extended and bent states during operation, the cumulative number of collisions between adjacent phalanges increases, and the vibrations caused by these collisions can affect the firmness of the pins, causing them to loosen. It can also affect the reliability of the torsion springs, causing them to shift. This damage is extremely detrimental to a rope-driven dexterous hand that requires precise control. In this embodiment, by adding the first buffer layer 11, the second buffer layer 12, and the third buffer layer 13, the elastic buffering effect of the buffer layers can effectively reduce or even eliminate the vibrations caused by the collisions between the phalanges and the collisions between the finger root segment 21 and the palm. This avoids the damage caused by the vibrations to the various components of the finger structure, ensuring that the dexterous hand using this finger structure can work accurately and reliably, and also extending the service life of the dexterous hand to a certain extent.

[0046] It is important to emphasize that the accuracy and lifespan of each finger in grasping objects often decrease because the repeated cycles of each finger joint returning from a bent to an extended position cause the pin to loosen and the torsion spring to shift.

[0047] Furthermore, although this embodiment uses a rope-driven dexterous hand as an example, it is understood that adding a buffer layer between each finger joint is also applicable to dexterous hands with multiple finger joints, such as a linkage-type dexterous hand.

[0048] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A finger structure (100) applied to a dexterous hand, the finger structure (100) comprising a middle segment (22), a proximal segment (21) and a distal segment (23) rotatably connected to two ends of the middle segment (22) respectively, and the proximal segment (21) is also rotatably connected to a palm part; characterized in that, The finger structure (100) also includes: A first buffer layer (11) is disposed between the fingertip segment (23) and the middle segment (22); A second buffer layer (12) is disposed between the root segment (21) and the middle segment (22); and A third buffer layer (13) is provided between the finger root segment (21) and the palm.

2. The finger structure (100) according to claim 1, characterized in that The first buffer layer (11) is fixed to the beginning of the middle segment (22).

3. The finger structure (100) according to claim 1, characterized in that The second buffer layer (12) is fixed to the first end of the finger root segment (21).

4. The finger structure (100) according to claim 1, characterized in that, The third buffer layer (13) is fixed to the palm.

5. The finger structure (100) according to claim 4, characterized in that, When the finger structure (100) is in an extended state, the first buffer layer (11) elastically abuts against the end of the fingertip segment (23), the second buffer layer (12) elastically abuts against the end of the middle segment (22), and the third buffer layer (13) elastically abuts against the end of the finger root segment (21).

6. The finger structure (100) according to claim 1, characterized in that, The palm portion includes a mounting platform, and the finger root segment (21) is rotatably connected to the mounting platform (5).

7. The finger structure (100) according to claim 1, characterized in that, The first buffer layer (11), the second buffer layer (12), or the third buffer layer (13) includes a rubber pad or a silicone pad.

8. A dexterous hand, characterized in that, Includes the finger structure (100) as described in any one of claims 1-7.

9. The dexterous hand according to claim 8, characterized in that, The dexterous hand is a rope-driven dexterous hand.

10. A robot, characterized in that, Including the dexterous hand as described in any one of claims 8-9.

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