Mechanical finger and robot hand
By designing a compact layout of bending and oscillating drive modules in the robotic finger, efficient bending and oscillating forces are achieved, solving the problem of insufficient force in existing robotic fingers and making it suitable for operation in confined spaces.
Patent Information
- Application Number
- CN202611556380.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-10-09
- Publication Date
- 2026-11-06
AI Technical Summary
Existing mechanical fingers cannot provide sufficient bending and oscillating forces.
A mechanical finger was designed, including a bending drive module, a swing drive module, a connecting module, and a knuckle module. By vertically arranging the bending drive module and the swing drive module side by side on the same side of the connecting module, the bending drive module realizes the bending of the knuckle module, and the swing drive module realizes the swinging of the knuckle module, thus achieving compact power integration and maximizing power output.
This invention achieves efficient bending and oscillating forces in a limited space, solving the problem that existing mechanical fingers cannot provide sufficient force, and is easy to install, position, and assemble quickly.
Smart Images
Figure CN123040123A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of robotics, and more specifically, to a mechanical finger and a mechanical hand. Background Technology
[0002] A robotic arm is an automated device that mimics the human hand to grasp, move, or manipulate tools. A robotic arm consists of multiple robotic fingers to achieve a high degree of precision in mimicking human hand movements. However, in practical use, the robotic fingers of existing robotic arms cannot provide sufficient bending and oscillating forces. Summary of the Invention
[0003] The first aspect of this application aims to provide a mechanical finger that solves the technical problem that existing mechanical fingers cannot provide sufficient bending and oscillating forces.
[0004] The mechanical finger provided in the first aspect of this application includes a bending drive module, a swing drive module, a connecting module, and a knuckle module. The bending drive module and the swing drive module are both vertically arranged and respectively connected to the connecting module. The bending drive module and the swing drive module are side-by-side and located on the same side of the connecting module. The connecting module includes a swing base and a bending transmission component. The swing base is located directly above the swing drive module. The bending transmission component is rotatably mounted on the swing base. The knuckle module is mounted on the swing base and connected to the bending transmission component. The bending drive module is driveably connected to the bending transmission component to drive the knuckle module to bend. The swing drive module is driveably connected to the swing base to drive the swing base to swing.
[0005] Furthermore, the connection module also includes a transition connection shaft and a movable component. The bending drive module is connected to the bending transmission component through the transition connection shaft. The movable component is rotatably mounted on the transition connection shaft. The swing drive module is driven by the movable component. The swing seat is fixedly connected to the movable component. The bending transmission component is located inside the swing seat.
[0006] Furthermore, the movable component includes a cylindrical portion and an annular portion. The annular portion is disposed within the central hole of the cylindrical portion and divides the central hole into a first roller mounting hole and a second roller mounting hole. A plurality of first rollers are installed in the first roller mounting hole, and a plurality of second rollers are installed in the second roller mounting hole. The movable component is rotatably supported on the transition connecting shaft by the first rollers and the second rollers.
[0007] Furthermore, the movable component also includes a positioning part, which is disposed on the outer peripheral surface of the cylindrical part and extends radially outward. The side of the positioning part facing the swing seat forms a positioning surface, and the swing seat abuts against the positioning surface.
[0008] Furthermore, the movable component also includes a ring-shaped fixing part, the positioning part is located outside the swing seat, the fixing part is disposed on the positioning surface, and the fixing part extends toward the swing seat and into the swing seat. The fixing part is fixedly connected to the swing seat, and the outer peripheral surface of the fixing part and the outer peripheral surface of the positioning part are radially spaced apart.
[0009] Furthermore, the movable component also includes a toothed portion, which is disposed on the outer peripheral surface of the positioning portion, and the swing drive module is connected to the movable component through the toothed portion.
[0010] Furthermore, the connection module also includes a mounting component, which is located directly above the bending drive module and fixedly disposed. The movable part also includes a rotating connection part, which is located inside the mounting component. The inner peripheral wall of the mounting component is provided with a first V-groove, and the outer peripheral wall of the rotating connection part is provided with a second V-groove. The second V-groove is opposite to the first V-groove and together accommodates a third roller, which is inclined.
[0011] Furthermore, the mounting assembly includes a mounting base and a retaining ring, the retaining ring being located between the mounting base and the swing base and fixedly connected to the mounting base; the mounting base has an opening facing the retaining ring, the mounting base is provided with a first inner chamfer at the opening, and the retaining ring is provided with a second inner chamfer at one end facing the mounting base, the first inner chamfer and the second inner chamfer abutting to form the first V-groove.
[0012] Furthermore, the mounting base has a maintenance port located on the side of the mounting base away from the swing seat. The mounting assembly also includes a side cover plate, which is detachably mounted on the mounting base for opening or closing the maintenance port.
[0013] Furthermore, the bending drive module includes a first motor and a first bevel gear, the first bevel gear being driven to rotate by the first motor; the connecting module also includes a second bevel gear and a third bevel gear, and the bending transmission component includes a fourth bevel gear, wherein the second bevel gear is fixedly mounted on one end of the transition connecting shaft and meshes with the first bevel gear for transmission, and the third bevel gear is fixedly mounted on the other end of the transition connecting shaft and meshes with the fourth bevel gear for transmission.
[0014] Furthermore, the swing drive module includes a second motor, a fifth bevel gear, a sixth bevel gear, and a transition gear. The fifth bevel gear is driven to rotate by the second motor. The sixth bevel gear meshes with the fifth bevel gear for transmission. The transition gear is coaxially fixed to the sixth bevel gear. The transition gear meshes with the toothed portion for transmission.
[0015] The beneficial effects of the mechanical finger proposed in this application are: By setting up a mechanical finger mainly composed of a bending drive module, a swing drive module, a connecting module, and a knuckle module, when the knuckle module needs to be bent, the bending drive module can be activated to output power to the bending transmission component, thereby driving the knuckle module to bend; when the knuckle module needs to swing, the swing drive module can be activated to drive the swing base to swing. During the swinging process of the swing base, since the knuckle module is rotated and mounted on the swing base through the bending transmission component, the swing base will drive the knuckle module to swing together, thereby realizing the swinging action of the knuckle module.
[0016] This robotic finger, by vertically arranging the bending drive module and the swing drive module side-by-side on the same side of the connecting module, can fully utilize the space on the same side of the knuckle module for power layout, achieving compact integration of dual power sources within a limited space. Furthermore, by connecting both the bending drive module and the swing drive module to the connecting module for power output, and placing the swing base directly above the swing drive module, the power chain can be shortened. This avoids the increased overhang caused by dispersed drive arrangement, making it suitable for operation in confined spaces. Simultaneously, it facilitates a unified installation positioning benchmark for the bending drive module and the swing drive module, enabling rapid assembly.
[0017] In addition, the mechanical finger uses a bending drive module to drive the bending of the knuckle module and a swing drive module to drive the swing of the knuckle module. The two drive modules can maximize the power output for bending and swinging conditions respectively, thereby improving the bending force and swinging force respectively, effectively solving the technical problem that existing mechanical fingers cannot provide sufficient bending force and swinging force.
[0018] The second aspect of this application aims to provide a robotic hand that solves the technical problem that existing robotic fingers cannot provide sufficient bending and oscillating forces.
[0019] The robotic hand provided in the second aspect of this application includes a plurality of the aforementioned robotic fingers, which are arranged side by side along the width of the palm.
[0020] By incorporating the aforementioned mechanical fingers into the robotic hand, the robotic hand thereby acquires all the advantages of the aforementioned mechanical fingers, which will not be elaborated upon here. Attached Figure Description
[0021] To more clearly illustrate the technical solutions in the embodiments or background art of this application, the drawings used in the description of the embodiments or background art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.
[0022] Figure 1 A schematic diagram of the structure of the robotic arm provided in the embodiments of this application; Figure 2 This is a schematic diagram of the structure of the mechanical finger after the knuckle module is hidden, as provided in the embodiments of this application; Figure 3 A cross-sectional view of the mechanical finger with the knuckle module hidden, provided in an embodiment of this application; Figure 4 One of the exploded views of the structure of the mechanical finger with the knuckle module hidden, provided in an embodiment of this application; Figure 5 This is the second exploded view of the mechanical finger with the knuckle module hidden, as provided in the embodiments of this application. Figure 6 One of the schematic diagrams showing the installation of the movable part of the mechanical finger on the transition connection shaft according to an embodiment of this application; Figure 7 A second schematic diagram showing the installation of the movable component of the mechanical finger on the transition connection shaft, as provided in the embodiments of this application; Figure 8 This is a schematic diagram of the structure of the movable component of the mechanical finger provided in an embodiment of this application; Figure 9 An axial cross-sectional view of the movable component of the mechanical finger provided in the embodiments of this application; Figure 10 This is an assembly diagram of the mounting base and fixing ring of the mechanical finger provided in an embodiment of this application.
[0023] Explanation of reference numerals in the attached figures: 010 - Mechanical finger; 100 - Bending drive module; 200 - Swing drive module; 300 - Connecting module; 400 - Knuckle module; 110 - First motor; 120 - First bevel gear; 130 - First planetary gear reducer; 210 - Second motor; 220 - Fifth bevel gear; 230 - Sixth bevel gear; 240 - Transition gear; 250 - Second planetary gear reducer; 310-Swing seat; 320-Bending transmission component; 330-Transition connecting shaft; 340-Moving component; 341-Cylindrical part; 342-Annular part; 343-First roller mounting hole; 344-Second roller mounting hole; 345-Positioning part; 3451-Positioning surface; 346-Fixing part; 347-Toothed part; 348-Rotating connection part; 3481-Second V-groove; 351-First roller; 352-Second roller; 353-Third roller; 360-Mounting assembly; 361-First V-groove; 362-Mounting seat; 3621-First inner chamfer; 3622-Maintenance port; 363-Fixing ring; 3631-Second inner chamfer; 364-Side cover plate; 371-Second bevel gear; 372-Third bevel gear; 373-Fourth bevel gear. Detailed Implementation
[0024] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, specific embodiments of this application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.
[0025] Figure 1 This is a schematic diagram of the robotic arm provided in this embodiment. Figure 1 As shown, this embodiment provides a robotic hand, which includes multiple robotic fingers 010 arranged side by side along the width of the palm.
[0026] The aforementioned robotic arm can mimic the movements of a human hand to grasp, move objects, or operate tools.
[0027] The following text will provide a detailed explanation of the specific structure and working principle of the mechanical finger 010.
[0028] Figure 2 This is a schematic diagram of the structure of the mechanical finger 010 after hiding the knuckle module 400 in this embodiment; Figure 3 This is a cross-sectional view of the mechanical finger 010 after the knuckle module 400 is hidden, as provided in this embodiment. Figure 4 This is one of the exploded views of the mechanical finger 010 after hiding the knuckle module 400 in this embodiment; Figure 5 This is the second exploded view of the structure of the mechanical finger 010 after hiding the knuckle module 400 provided in this embodiment. Figures 2 to 5As shown, in this embodiment, the mechanical finger 010 includes a bending drive module 100, a swing drive module 200, a connecting module 300, and a knuckle module 400. Specifically, the bending drive module 100 and the swing drive module 200 are both vertically arranged and respectively connected to the connecting module 300. The bending drive module 100 and the swing drive module 200 are side by side and located on the same side of the connecting module 300. The connecting module 300 includes a swing base 310 and a bending transmission... The moving part 320 and the swing seat 310 are located directly above the swing drive module 200. The bending transmission component 320 is rotatably mounted on the swing seat 310. The knuckle module 400 is mounted on the swing seat 310 and connected to the bending transmission component 320. The bending drive module 100 is drivenly connected to the bending transmission component 320 and is used to drive the knuckle module 400 to bend. The swing drive module 200 is drivenly connected to the swing seat 310 and is used to drive the swing seat 310 to swing.
[0029] By setting up a mechanical finger 010 mainly composed of a bending drive module 100, a swing drive module 200, a connecting module 300, and a knuckle module 400, when the knuckle module 400 needs to be bent, the bending drive module 100 can be activated to output power to the bending transmission component 320 to drive the knuckle module 400 to bend; when the knuckle module 400 needs to swing, the swing drive module 200 can be activated to drive the swing base 310 to swing. During the swinging process of the swing base 310, since the knuckle module 400 is rotatably mounted on the swing base 310 through the bending transmission component 320, the swing base 310 will drive the knuckle module 400 to swing together, thereby realizing the swinging action of the knuckle module 400.
[0030] This robotic finger 010, by vertically arranging the bending drive module 100 and the swing drive module 200 side-by-side on the same side of the connecting module 300, can fully utilize the space on the same side of the knuckle module 400 for power layout, achieving compact integration of dual power sources within a limited space. Furthermore, by connecting both the bending drive module 100 and the swing drive module 200 to the connecting module 300 for power output, and positioning the swing seat 310 directly above the swing drive module 200, the power chain can be shortened. This avoids the increased overhang caused by dispersed drive arrangement, making it suitable for operation in confined spaces. Simultaneously, it facilitates a unified installation positioning reference for the bending drive module 100 and the swing drive module 200, promoting rapid assembly.
[0031] In addition, the mechanical finger 010 uses a bending drive module 100 to drive the bending of the knuckle module 400 and a swing drive module 200 to drive the swing of the knuckle module 400. The two drive modules can maximize the power output for bending and swinging conditions respectively, thereby improving the bending force and swinging force respectively, effectively solving the technical problem that the existing mechanical finger 010 cannot provide sufficient bending force and swinging force.
[0032] In this embodiment, the bending drive module 100 and the swing drive module 200 are arranged side by side along the thickness direction of the palm.
[0033] Figure 6 One of the schematic diagrams showing the installation of the movable part 340 of the mechanical finger 010 in this embodiment on the transition connection shaft 330; Figure 7 This is the second schematic diagram showing the installation of the movable part 340 of the mechanical finger 010 provided in this embodiment on the transition connecting shaft 330. Please continue to refer to... Figures 3 to 5 and combined Figure 6 and Figure 7 In this embodiment, the connecting module 300 may further include a transition connecting shaft 330 and a movable member 340. The bending drive module 100 is connected to the bending transmission member 320 through the transition connecting shaft 330. The movable member 340 is rotatably mounted on the transition connecting shaft 330. The swing drive module 200 is connected to the movable member 340 through a transmission connection. The swing seat 310 is fixedly connected to the movable member 340. The bending transmission member 320 is located inside the swing seat 310.
[0034] After the bending drive module 100 is started, power will be transmitted to the bending transmission component 320 through the transition connecting shaft 330 to drive the bending of the knuckle module 400; after the swing drive module 200 is started, the movable component 340 will be driven to rotate on the transition connecting shaft 330, that is, the movable component 340 and the transition connecting shaft 330 will rotate relative to each other, and the rotational force will be transmitted to the swing seat 310 to drive the swing seat 310 to swing.
[0035] This configuration of the connecting module 300 allows the bending drive module 100 and the swing drive module 200 to transmit bending power and swing power to the knuckle module 400 respectively through the transition connecting shaft 330 and the movable part 340, which have a relative rotational relationship. This achieves power decoupling, and the two sets of power transmissions not only do not interfere with each other, but also have good integration, which is conducive to further improving the structural compactness of the mechanical finger 010 in this embodiment.
[0036] Figure 8 This is a schematic diagram of the structure of the movable component 340 of the mechanical finger 010 provided in this embodiment; Figure 9This is an axial cross-sectional view of the movable part 340 of the mechanical finger 010 provided in this embodiment. Please continue to refer to... Figure 6 and Figure 7 and combined Figure 8 and Figure 9 In this embodiment, the movable member 340 may include a cylindrical portion 341 and an annular portion 342. Specifically, the annular portion 342 is disposed in the central hole of the cylindrical portion 341 and divides the central hole into a first roller mounting hole 343 and a second roller mounting hole 344. The first roller mounting hole 343 is equipped with a plurality of first rollers 351, and the second roller mounting hole 344 is equipped with a plurality of second rollers 352. The movable member 340 is rotatably supported on the transition connecting shaft 330 by the first rollers 351 and the second rollers 352.
[0037] This arrangement allows the movable part 340 to be held in place by a first roller 351 and a second roller 352 around the outer periphery of the transition connecting shaft 330, forming a double-row roller bearing support. This not only effectively increases the radial load-bearing capacity and distributes the force evenly along the circumference, but also suppresses the sway and wobbling during rotation, ensuring the smooth rotation of the movable part 340.
[0038] Please continue to refer to Figure 3 ,as well as Figures 6 to 9 In this embodiment, the movable member 340 may also include a positioning part 345. Specifically, the positioning part 345 is disposed on the outer peripheral surface of the cylindrical part 341 and extends radially outward. The side of the positioning part 345 facing the swing seat 310 forms a positioning surface 3451, and the swing seat 310 abuts against the positioning surface 3451.
[0039] The positioning part 345 is provided so that when the swing seat 310 is assembled with the movable ring, the swing seat 310 can be limited by the cooperation between the swing seat 310 and the positioning surface 3451, so as to avoid over-installation and component interference.
[0040] Please continue to refer to Figure 3 ,as well as Figures 6 to 9 In this embodiment, the movable part 340 may further include a ring-shaped fixing part 346. Specifically, the positioning part 345 is located outside the swing seat 310, the fixing part 346 is disposed on the positioning surface 3451, and the fixing part 346 extends toward the swing seat 310 and extends into the swing seat 310. The fixing part 346 is fixedly connected to the swing seat 310, and the outer peripheral surface of the fixing part 346 and the outer peripheral surface of the positioning part 345 are spaced apart in the radial direction.
[0041] When assembling the swing seat 310, the swing seat 310 can be fitted onto the fixed part 346. The connection between the swing seat 310 and the fixed part 346 achieves a fixed connection between the swing seat 310 and the movable part 340. Specifically, by radially spacing the outer peripheral surface of the fixed part 346 from the outer peripheral surface of the positioning part 345, and maintaining a certain distance between them, a space is formed at this location to accommodate the wall thickness of the swing seat 310, thereby reducing the outward protrusion of the swing seat 310.
[0042] In this embodiment, the fixing part 346 has a plurality of connecting holes arranged in a circumferential direction, so that the fixing part 346 can be connected to the swing seat 310 by screws.
[0043] Please continue to refer to Figures 6 to 9 In this embodiment, the movable member 340 may also include a toothed portion 347. Specifically, the toothed portion 347 is disposed on the outer peripheral surface of the positioning portion 345, and the swing drive module 200 is connected to the movable member 340 through the toothed portion 347.
[0044] This configuration allows the moving part 340 to receive power via the toothed portion 347, resulting in smooth and precise power transmission. Furthermore, this method of inputting power from the outside to the moving part 340 allows the torque to be simultaneously carried by multiple teeth along the circumference, minimizing the impact on the moving part 340.
[0045] In this embodiment, the toothed portion 347 is provided only in a localized area on the outer peripheral surface of the positioning portion 345.
[0046] Please continue to refer to Figure 3 In this embodiment, the connecting module 300 may further include a mounting component 360. Specifically, the mounting component 360 is located directly above the bending drive module 100 and is fixedly installed. The movable part 340 may further include a rotating connecting part 348, wherein the rotating connecting part 348 is located inside the mounting component 360. The inner peripheral wall of the mounting component 360 is provided with a first V-groove 361, and the outer peripheral wall of the rotating connecting part 348 is provided with a second V-groove 3481. The second V-groove 3481 is opposite to the first V-groove 361 and together accommodates the third roller 353. The third roller 353 is inclined.
[0047] This configuration allows the connecting module 300 to use the mounting component 360 as a support base, which not only enables the rotational connection between the movable part 340 and the mounting component 360, but also, by using the third roller 353 inclinedly arranged in the first V-groove 361 and the second V-groove 3481, a thrust-stopping and centering structure can be formed, which can prevent axial movement and achieve radial centering, so as to ensure the movement accuracy of the mechanical finger 010 in this embodiment.
[0048] Figure 10This is a schematic diagram of the assembly of the mounting base 362 and the retaining ring 363 of the mechanical finger 010 provided in this embodiment. Please refer to... Figure 3 , Figure 4 and Figure 5 and combined Figure 10 In this embodiment, the mounting component 360 may include a mounting base 362 and a fixing ring 363. Specifically, the fixing ring 363 is located between the mounting base 362 and the swing seat 310 and is fixedly connected to the mounting base 362. The mounting base 362 has an opening facing the fixing ring 363. The mounting base 362 is provided with a first inner chamfer 3621 at the opening. The fixing ring 363 is provided with a second inner chamfer 3631 at one end facing the mounting base 362. The first inner chamfer 3621 and the second inner chamfer 3631 are joined to form a first V-groove 361.
[0049] This configuration allows the mounting base 362 and the retaining ring 363 to be joined together by their respective inner chamfers, forming a simple-to-shape and well-aligned first V-groove 361. This eliminates the need to separately mill deep cavities on the parts to obtain a standard V-shaped bearing surface, resulting in low machining difficulty.
[0050] Please continue to refer to Figure 4 , Figure 5 and Figure 10 In this embodiment, a maintenance port 3622 can be provided in the mounting base 362. The maintenance port 3622 is located on the side of the mounting base 362 away from the swing seat 310. The mounting assembly 360 may also include a side cover plate 364, which is detachably mounted on the mounting base 362 for opening or closing the maintenance port 3622.
[0051] When internal inspection and maintenance of the mounting base 362 is required, the side cover 364 can be removed to expose the maintenance port 3622, allowing for inspection and maintenance through the maintenance port 3622 without completely disassembling the connecting module 300, thus effectively improving maintenance efficiency. After inspection and maintenance are completed, the side cover 364 can be reinstalled to close the maintenance port 3622.
[0052] In this embodiment, the mounting assembly 360 is generally in the shape of a right-angled base, and the side cover 364 is generally in the shape of a stepped platform. This arrangement exposes as much of the maintenance port 3622 as possible, ensuring sufficient operating space during inspection and maintenance, while also further reducing the space occupied by the surrounding area.
[0053] Please continue to refer to Figure 3In this embodiment, the bending drive module 100 may include a first motor 110 and a first bevel gear 120, the first bevel gear 120 being driven to rotate by the first motor 110; the connecting module 300 may also include a second bevel gear 371 and a third bevel gear 372, and the bending transmission component 320 includes a fourth bevel gear 373, wherein the second bevel gear 371 is fixedly mounted on one end of the transition connecting shaft 330 and meshes with the first bevel gear 120 for transmission, and the third bevel gear 372 is fixedly mounted on the other end of the transition connecting shaft 330 and meshes with the fourth bevel gear 373 for transmission.
[0054] When it is necessary to bend the knuckle module 400, the first motor 110 can be started to drive the first bevel gear 120 to rotate. During the rotation of the first bevel gear 120, the second bevel gear 371 meshing with it will be driven to rotate. Then, the rotational force of the second bevel gear 371 is transmitted to the third bevel gear 372 through the transition connecting shaft 330. The third bevel gear 372 further drives the fourth bevel gear 373 meshing with it to rotate, thereby realizing the bending and rotation of the knuckle module 400 fixed with the fourth bevel gear 373.
[0055] This method of using multi-stage gears to transmit bending power to the knuckle module 400 results in smooth transmission and high control precision.
[0056] Please continue to refer to Figure 3 In this embodiment, the bending drive module 100 may further include a first planetary gear reducer 130, wherein the first planetary gear reducer 130 is drively connected between the first motor 110 and the first bevel gear 120. The first planetary gear reducer 130 can increase the torque transmitted from the first motor 110 to the first bevel gear 120 to ensure that the knuckle module 400 has sufficient bending power.
[0057] Please continue to refer to Figure 3 In this embodiment, the swing drive module 200 may further include a second motor 210, a fifth bevel gear 220, a sixth bevel gear 230, and a transition gear 240. The fifth bevel gear 220 is driven to rotate by the second motor 210, the sixth bevel gear 230 meshes with the fifth bevel gear 220 for transmission, and the transition gear 240 is coaxially fixed with the sixth bevel gear 230. The transition gear 240 meshes with the toothed portion 347 for transmission.
[0058] When the knuckle module 400 needs to swing, the second motor 210 can be started to drive the fifth bevel gear 220 to rotate. During the rotation of the fifth bevel gear 220, the sixth bevel gear 230 meshing with it will be driven to rotate. During this process, the transition gear 240 rotates synchronously, and then the rotational force is transmitted to the movable part 340 through the toothed part 347, so that the movable part 340 rotates around the transition connecting shaft 330, thereby realizing the synchronous movement of the swing, and thus achieving the purpose of making the knuckle module 400 swing.
[0059] In the swing drive module 200, the output force of the second motor 210 is first reversed by the fifth bevel gear 220 and the sixth bevel gear 230, and then transmitted to the moving part 340 by the transition gear 240 in an external meshing manner, forming a compact orthogonal direct drive structure with a short power chain, smooth transmission, and high control precision.
[0060] Please continue to refer to Figure 3 In this embodiment, the rocking drive module 200 may further include a second planetary gear reducer 250, wherein the second planetary gear reducer 250 is driveably connected between the second motor 210 and the fifth bevel gear 220. The second planetary gear reducer 250 can increase the torque transmitted from the second motor 210 to the fifth bevel gear 220 to ensure that the knuckle module 400 has sufficient rocking power.
[0061] While this application discloses the above information, it is not limited thereto. Any person skilled in the art can make various modifications and alterations without departing from the spirit and scope of this application; therefore, the scope of protection of this application shall be determined by the scope defined in the claims.
[0062] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the term "comprising" or any other variations thereof is intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.
[0063] In the above embodiments, descriptions of directions such as "up" and "down" are based on the accompanying drawings.
[0064] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application.
[0065] Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims
1. A mechanical finger, characterized in that, The system includes a bending drive module (100), a swing drive module (200), a connecting module (300), and a knuckle module (400). The bending drive module (100) and the swing drive module (200) are both vertically arranged and connected to the connecting module (300). The bending drive module (100) and the swing drive module (200) are side-by-side and located on the same side of the connecting module (300). The connecting module (300) includes a swing base (310) and a bending transmission component (320). The swing base (310)... Located directly above the swing drive module (200), the bending transmission component (320) is rotatably mounted on the swing seat (310), and the knuckle module (400) is mounted on the swing seat (310) and connected to the bending transmission component (320). The bending drive module (100) is connected to the bending transmission component (320) for driving the knuckle module (400) to bend; the swing drive module (200) is connected to the swing seat (310) for driving the swing seat (310) to swing.
2. The mechanical finger according to claim 1, characterized in that, The connecting module (300) further includes a transition connecting shaft (330) and a movable component (340). The bending drive module (100) is connected to the bending transmission component (320) through the transition connecting shaft (330). The movable component (340) is rotatably mounted on the transition connecting shaft (330). The swing drive module (200) is connected to the movable component (340) in a transmission connection. The swing seat (310) is fixedly connected to the movable component (340). The bending transmission component (320) is located inside the swing seat (310).
3. The mechanical finger according to claim 2, characterized in that, The movable component (340) includes a cylindrical portion (341) and an annular portion (342). The annular portion (342) is disposed in the central hole of the cylindrical portion (341) and divides the central hole into a first roller mounting hole (343) and a second roller mounting hole (344). The first roller mounting hole (343) is equipped with a plurality of first rollers (351), and the second roller mounting hole (344) is equipped with a plurality of second rollers (352). The movable component (340) is rotatably supported on the transition connecting shaft (330) by the first rollers (351) and the second rollers (352).
4. The mechanical finger according to claim 3, characterized in that, The movable part (340) also includes a positioning part (345), which is disposed on the outer peripheral surface of the cylindrical part (341) and extends radially outward. The side of the positioning part (345) facing the swing seat (310) forms a positioning surface (3451), and the swing seat (310) abuts against the positioning surface (3451).
5. The mechanical finger according to claim 4, characterized in that, The movable part (340) also includes a ring-shaped fixing part (346), the positioning part (345) is located outside the swing seat (310), the fixing part (346) is disposed on the positioning surface (3451), and the fixing part (346) extends toward the swing seat (310) and extends into the swing seat (310). The fixing part (346) is fixedly connected to the swing seat (310), and the outer peripheral surface of the fixing part (346) and the outer peripheral surface of the positioning part (345) are radially spaced apart.
6. The mechanical finger according to claim 4, characterized in that, The movable part (340) also includes a toothed portion (347), which is disposed on the outer peripheral surface of the positioning portion (345). The swing drive module (200) is connected to the movable part (340) through the toothed portion (347).
7. The mechanical finger according to claim 3, characterized in that, The connecting module (300) further includes a mounting component (360), which is located directly above the bending drive module (100) and fixedly installed. The movable part (340) further includes a rotating connecting part (348), which is located inside the mounting component (360). The inner peripheral wall of the mounting component (360) is provided with a first V-groove (361), and the outer peripheral wall of the rotating connecting part (348) is provided with a second V-groove (3481). The second V-groove (3481) is opposite to the first V-groove (361) and together accommodates a third roller (353). The third roller (353) is inclined.
8. The mechanical finger according to claim 7, characterized in that, The mounting assembly (360) includes a mounting base (362) and a retaining ring (363). The retaining ring (363) is located between the mounting base (362) and the swing seat (310) and is fixedly connected to the mounting base (362). The mounting base (362) has an opening facing the retaining ring (363). The mounting base (362) has a first inner chamfer (3621) at the opening. The retaining ring (363) has a second inner chamfer (3631) at one end facing the mounting base (362). The first inner chamfer (3621) and the second inner chamfer (3631) are joined to form the first V-groove (361).
9. The mechanical finger according to claim 8, characterized in that, The mounting base (362) has a maintenance port (3622) located on the side of the mounting base (362) away from the swing seat (310). The mounting assembly (360) also includes a side cover plate (364) which is detachably mounted on the mounting base (362) for opening or closing the maintenance port (3622).
10. The mechanical finger according to claim 2, characterized in that, The bending drive module (100) includes a first motor (110) and a first bevel gear (120), the first bevel gear (120) being driven to rotate by the first motor (110); the connecting module (300) also includes a second bevel gear (371) and a third bevel gear (372), the bending transmission component (320) includes a fourth bevel gear (373), wherein the second bevel gear (371) is fixedly fitted onto one end of the transition connecting shaft (330) and meshes with the first bevel gear (120) for transmission, and the third bevel gear (372) is fixedly fitted onto the other end of the transition connecting shaft (330) and meshes with the fourth bevel gear (373) for transmission.
11. The mechanical finger according to claim 6, characterized in that, The swing drive module (200) includes a second motor (210), a fifth bevel gear (220), a sixth bevel gear (230), and a transition gear (240). The fifth bevel gear (220) is driven to rotate by the second motor (210). The sixth bevel gear (230) meshes with the fifth bevel gear (220) for transmission. The transition gear (240) is coaxially fixed with the sixth bevel gear (230). The transition gear (240) meshes with the toothed portion (347) for transmission.
12. A robotic arm, characterized in that, The invention includes a plurality of mechanical fingers according to any one of claims 1-11, wherein the plurality of mechanical fingers are arranged side by side along the width of the palm.