Finger side-sway structure and robot

Abstract

The utility model provides a finger side-sway structure and a robot. The finger side-sway structure comprises a palm body, at least one of the finger structures is a first finger which is fixedly connected with the palm body, and at least one of the finger structures is a second finger which is rotationally connected with the palm body; the connecting frame is arranged on the palm body in a sliding mode, and at least one part of the second finger is in clearance fit with the connecting frame; and the driving piece is in driving connection with the connecting frame, and the driving piece drives the second finger to swing through the connecting frame. According to the finger side-sway structure and the robot, the problem that in the prior art, fingers are difficult to sway laterally is solved.

Description

Technical Field

[0001] The utility model relates to the field of robots, in particular to a finger side-swing structure and a robot. Background Art

[0002] The humanoid dexterous hand is a manipulator with finger index, degree of freedom, appearance and function close to that of a human hand, and can perform tasks such as grasping, pinching and clamping like a human hand. The humanoid dexterous hand can be used in industrial environments to assist human work, and can also replace human hands in dangerous working environments such as radiation and poisoning. It can also be used in medical, commercial and other fields.

[0003] In the prior art, due to limited hand space, the fingers of most dexterous hands can achieve knuckle bending, but it is difficult to achieve sideways swing of the knuckles. Utility Model Content

[0004] The main purpose of the utility model is to provide a finger side-swing structure and a robot, so as to solve the problem that fingers are difficult to side-swing in the prior art.

[0005] In order to achieve the above-mentioned purpose, according to one aspect of the utility model, a finger side-swing structure is provided, which includes a palm body; multiple finger structures, at least one of which is a first finger, which is fixedly connected to the palm body, and at least another one of which is a second finger, which is rotatably connected to the palm body; a connecting frame, which is slidably arranged on the palm body, and at least a part of the second finger is clearance-matched with the connecting frame; and a driving member, which is drivingly connected to the connecting frame, and the driving member drives the second finger to swing through the connecting frame.

[0006] Furthermore, a mounting cavity is provided on the palm body, the connecting frame is arranged inside the mounting cavity, and the driving member provides driving force for the connecting frame to move along the first direction inside the mounting cavity.

[0007] Furthermore, the second finger includes a first plate segment and a second plate segment arranged at an angle, and the second finger has a through hole formed at the connection area between the first plate segment and the second plate segment. The finger side swing structure also includes a rotating shaft, which is rotatably matched with the through hole.

[0008] Furthermore, a first connecting member is provided on one end of the second plate segment away from the first plate segment, and a second connecting member extending along the second direction is provided on the connecting frame, and the first connecting member and the second connecting member can slide relatively along the second direction.

[0009] Furthermore, one of the first connecting member and the second connecting member is a protrusion structure, and the other is a hole structure. At least a portion of the protrusion structure extends into the interior of the hole structure, and the protrusion structure and the hole structure are slidably matched.

[0010] Furthermore, the first connecting member is a protrusion structure; the second connecting member is a hole structure, and a plurality of hole structures are provided, and the plurality of hole structures are arranged at intervals along the second direction, and the hole structures and the protrusion structures are arranged in a one-to-one correspondence.

[0011] Furthermore, one end of the first finger close to the connecting frame is fixedly connected to a first limiting structure extending along the first direction, and the connecting frame has a second limiting structure that is slidably matched with the first limiting structure.

[0012] Furthermore, the first limiting structure is a long hole, and the second limiting structure is a convex shaft at least partially slidably set in the long hole; or the first limiting structure is a convex strip protruding toward one side of the connecting frame, and the second limiting structure is a sliding groove extending along the first direction.

[0013] Furthermore, the installation cavity includes a first cavity and a second cavity which are connected to each other, the connecting frame is slidably arranged in the first cavity along the first direction, and the driving member is arranged in the second cavity.

[0014] According to another aspect of the utility model, a robot is provided, comprising the above-mentioned finger side-swing structure.

[0015] By applying the technical solution of the utility model, the following technical effects are achieved:

[0016] 1. The finger side-swing structure of the present application can be configured with different numbers of first fingers and second fingers according to different simulation requirements to simulate the coordination of the swinging of different fingers of a person; at the same time, the second finger after swinging can cooperate with the first finger to clamp the object, so as to realize the clamping function of simulated human fingers.

[0017] 2. By sliding the connecting frame in the installation cavity provided on the palm, the relative sliding between the connecting frame and the palm can be limited by the installation cavity; it can also reduce the interference of the external environment on the sliding of the connecting frame to a certain extent, and increase the sliding stability of the connecting frame.

[0018] 3. By hiding the connecting frame and the driving component in the installation cavity opened on the palm body, it is beneficial to improve the overall aesthetics of the palm body.

[0019] 4. The first finger of the present application is fixedly connected to the palm, and the connecting frame is slidably arranged relative to the palm. The connecting frame in the present application is slidably arranged with the first finger, and the sliding of the connecting frame can be limited by the limiting cooperation of the first limiting structure on the first finger and the second limiting structure on the connecting frame, so that the connecting frame slides along the extension direction of the first limiting structure, thereby increasing the sliding stability of the first limiting structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The drawings constituting part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation on the present invention. In the drawings:

[0021] Figure 1 It is a schematic diagram of the overall structure of the embodiment;

[0022] Figure 2 A top view of an embodiment.

[0023] The above drawings include the following reference numerals:

[0024] 1. Palm body; 11. Mounting cavity; 111. First cavity; 112. Second cavity; 2. Finger structure; 21. Second finger; 211. First plate segment; 212. Second plate segment; 2121. First connecting member; 213. Through hole; 22. First finger; 221. First limiting structure; 3. Connecting frame; 31. Second connecting member; 32. Second limiting structure; 4. Driving member; 5. Rotating shaft. DETAILED DESCRIPTION

[0025] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present utility model will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0026] It should be noted that, unless otherwise specified, all technical and scientific terms used in this application have the same meanings as commonly understood by ordinary technicians in the technical field to which this application belongs.

[0027] In the present invention, unless otherwise specified, the directional words used, such as "up, down, top, bottom", usually refer to the directions shown in the drawings, or to the components themselves in the vertical, perpendicular or gravity directions; similarly, for ease of understanding and description, "inside and outside" refer to the inside and outside relative to the outline of each component itself, but the above-mentioned directional words are not used to limit the present invention.

[0028] In order to solve the problem in the prior art that fingers are difficult to swing sideways, the utility model provides a finger sideways swing structure, which can conveniently control the fingers to swing sideways.

[0029] Embodiment 1

[0030] A finger side swing structure, see Figure 1 and Figure 2, including a palm body 1, a plurality of finger structures 2, a connecting frame 3 and a driving member 4. At least one of the finger structures 2 is a first finger 22, which is fixedly connected to the palm body 1, at least another of the finger structures 2 is a second finger 21, which is rotationally connected to the palm body 1, the connecting frame 3 is slidably arranged on the palm body 1, at least a part of the second finger 21 is clearance-matched with the connecting frame 3, the driving member 4 is drivingly connected to the connecting frame 3, and the driving member 4 drives the second finger 21 to swing through the connecting frame 3.

[0031] The second finger 21 rotates around the connection position with the palm 1 driven by the connecting frame 3 and the driving member 4, so as to simulate the left and right swinging of the finger. Different numbers of first fingers 22 and second fingers 21 can be set according to actual simulation requirements to adapt to different simulation requirements. At the same time, the swinging second finger 21 can cooperate with the first finger 22 to clamp the object, so as to realize the clamping function of simulating human fingers.

[0032] Furthermore, a mounting cavity 11 is provided on the palm body 1 , the connecting frame 3 is arranged inside the mounting cavity 11 , and the driving member 4 provides a driving force for the connecting frame 3 to move along a first direction inside the mounting cavity 11 .

[0033] Specifically, by placing the connecting frame 3 in the installation cavity 11 provided on the palm body 1 and sliding the connecting frame 3 inside the palm body 1, not only can the relative sliding between the connecting frame 3 and the palm body 1 be limited by the installation cavity 11, but also the interference of the external environment on the sliding of the connecting frame 3 can be reduced to a certain extent, thereby increasing the sliding stability of the connecting frame 3. At the same time, since the driving member 4 and the connecting frame 3 are placed inside the installation cavity 11 of the palm body 1, it is beneficial to improve the overall aesthetics of the palm body 1.

[0034] Figure 2 The X direction is the first direction, and the Y direction is the second direction.

[0035] Furthermore, the second finger 21 includes a first plate segment 211 and a second plate segment 212 that are arranged at an angle, and the second finger 21 has a through hole 213 formed at the connection area between the first plate segment 211 and the second plate segment 212. The finger side swing structure also includes a rotating shaft 5, which is rotatably matched with the through hole 213.

[0036] In this embodiment, the first plate segment 211 and the second plate segment 212 are arranged at an angle. When the driving member 4 pulls the second plate segment 212 to move along the first direction, the second finger 21 rotates through the shaft to achieve the swing of the first plate segment 211 toward or away from the first finger 22, which can facilitate the cooperation between the second finger 21 and the connecting frame 3 at multiple different positions; through the rotational cooperation between the through hole 213 and the shaft 5, the rotational connection between the second finger 21 and the palm 1 can be facilitated.

[0037] See also Figure 1 and Figure 2 The second plate segment 212 has a first connecting member 2121 at one end away from the first plate segment 211, and the connecting frame 3 has a second connecting member 31 extending along the second direction. The first connecting member 2121 and the second connecting member 31 can slide relatively along the second direction.

[0038] Specifically, when the connecting frame 3 moves along the first direction driven by the driving member 4, since the first connecting member 2121 is slidably arranged relative to the second connecting member 31, the first connecting member 2121 and the second connecting member 31 move along the first direction while the first connecting member 2121 and the second connecting member 31 move relatively along the second direction, thereby realizing the swing of the second finger 21. Through the matching structure of the first connecting member 2121 and the second connecting member 31, the movement of the connecting frame 3 along the first direction drives the second finger 21 and the palm 1 to rotate, thereby facilitating the realization of simulated finger swing.

[0039] Furthermore, one of the first connecting member 2121 and the second connecting member 31 is a protrusion structure, and the other is a hole structure. At least a portion of the protrusion structure extends into the interior of the hole structure to achieve clearance fit, and the protrusion structure and the hole structure are slidably fitted.

[0040] In this embodiment, the portion of the protrusion structure extending into the interior of the hole structure is slidably matched with the hole structure along the second direction.

[0041] In a specific implementation of this embodiment, the first connecting member 2121 is a protrusion structure, and the second connecting member 31 is a hole structure. There are multiple hole structures, and the multiple hole structures are arranged at intervals along the second direction. The hole structures and the protrusion structures are arranged one by one.

[0042] The sliding of the protrusion structure in the hole structure facilitates the relative sliding between the first connection member 2121 and the second connection member 31. When there are multiple second fingers 21, by providing multiple hole structures on the connection frame 3, one connection frame 3 can simultaneously drive multiple first connection members 2121 to move, thereby driving multiple second fingers 21 to swing simultaneously.

[0043] By setting a plurality of hole structures and setting the hole structures and the protrusion structures in one-to-one correspondence, the swing angle of the second finger 21 is limited by limiting the length of the hole structure. At the same time, the plurality of protrusion structures cooperate with different hole structures respectively to avoid collision between the plurality of protrusion structures.

[0044] See also Figure 1 and Figure 2One end of the first finger 22 close to the connecting frame 3 is fixedly connected to a first limiting structure 221 extending along the first direction, and the connecting frame 3 has a second limiting structure 32 that slidably cooperates with the first limiting structure 221.

[0045] Specifically, the first finger 22 of the present application is fixedly connected to the palm body 1, and the connecting frame 3 is slidably arranged relative to the palm body 1. The connecting frame 3 of the present application is slidably arranged with the first finger 22. Through the limiting cooperation of the first limiting structure 221 of the first finger 22 and the second limiting structure 32 of the connecting frame 3, the sliding of the connecting frame 3 can be limited, so that the connecting frame 3 slides along the extension direction of the first limiting structure 221, thereby increasing the sliding stability of the first limiting structure 221.

[0046] Furthermore, the first limiting structure 221 is a long hole, and the second limiting structure 32 is a convex shaft at least part of which is slidably disposed in the long hole.

[0047] The convex shaft slides in the long hole so that the convex shaft can only slide along the length direction of the long hole, which facilitates the cooperation between the first limiting structure 221 and the second limiting structure 32 to limit the sliding of the connecting frame 3.

[0048] Of course, the first limiting structure 221 is not limited to the elongated hole. The first limiting structure 221 can also be a convex strip protruding toward one side of the connecting frame 3, and the second limiting structure 32 is a sliding groove extending along the first direction.

[0049] The convex strip slides in the slide groove, so that the convex strip can only slide along the extension direction of the slide groove, which facilitates the cooperation between the first limiting structure 221 and the second limiting structure 32 to achieve the limiting of the sliding connection.

[0050] In this embodiment, the installation cavity 11 includes a first cavity 111 and a second cavity 112 which are connected to each other. The connecting frame 3 is slidably disposed in the first cavity 111 along a first direction, and the driving member 4 is disposed in the second cavity 112 .

[0051] By dividing the installation cavity 11 into two different cavities, and different cavities are used to place and accommodate different components, the installation cavity 11 is differentiated, thereby reducing interference between the components.

[0052] Embodiment 2

[0053] This embodiment provides a robot, and the robot includes the finger side-swing structure in the first embodiment.

[0054] From the above description, it can be seen that the above embodiments of the utility model achieve the following technical effects:

[0055] 1. The finger side-swing structure of the present application can be configured with different numbers of first fingers 22 and second fingers 21 according to different simulation requirements to simulate the coordination of the swinging of different fingers of a person. At the same time, the second finger 21 after swinging can cooperate with the first finger 22 to clamp the object, so as to realize the clamping function of simulated human fingers.

[0056] 2. By slidingly setting the connecting frame 3 in the installation cavity 11 opened on the palm body 1, the relative sliding between the connecting frame 3 and the palm body 1 can be limited by the installation cavity 11, and the phenomenon of interference of the external environment on the sliding of the connecting frame 3 can be reduced to a certain extent, thereby increasing the sliding stability of the connecting frame 3.

[0057] 3. By hiding the connecting frame 3 and the driving member 4 in the installation cavity 11 provided on the palm body 1, the overall aesthetics of the palm body 1 is improved.

[0058] 4. The first finger 22 of the present application is fixedly connected to the palm body 1, and the connecting frame 3 is slidably arranged relative to the palm body 1. The connecting frame 3 of the present application is slidably arranged with the first finger 22. Through the limiting cooperation of the first limiting structure 221 of the first finger 22 and the second limiting structure 32 of the connecting frame 3, the sliding of the connecting frame 3 can be limited, so that the connecting frame 3 slides along the extension direction of the first limiting structure 221, thereby increasing the sliding stability of the first limiting structure 221.

[0059] Obviously, the embodiments described above are only some embodiments of the utility model, not all embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the utility model.

[0060] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0061] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein.

[0062] The above description is only the preferred embodiment of the utility model, and is not intended to limit the utility model. For those skilled in the art, the utility model can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. A finger side swing structure, characterized in that: include: palm(1); A plurality of finger structures (2), at least one of the finger structures (2) is a first finger (22), the first finger (22) is fixedly connected to the palm (1), and at least another of the finger structures (2) is a second finger (21), the second finger (21) is rotatably connected to the palm (1); A connecting frame (3), the connecting frame (3) being slidably arranged on the palm (1), and at least a part of the second finger (21) being clearance-matched with the connecting frame (3); A driving member (4), the driving member (4) is drivingly connected to the connecting frame (3), and the driving member (4) drives the second finger (21) to swing through the connecting frame (3).

2. The finger side swing structure according to claim 1, characterized in that: The palm body (1) is provided with a mounting cavity (11), the connecting frame (3) is arranged inside the mounting cavity (11), and the driving member (4) provides a driving force for the connecting frame (3) to move along a first direction inside the mounting cavity (11).

3. The finger side swing structure according to claim 1, characterized in that: The second finger (21) comprises a first plate segment (211) and a second plate segment (212) which are arranged at an angle, and the second finger (21) has a through hole (213) formed at a connection area between the first plate segment (211) and the second plate segment (212), and the finger side swing structure also comprises a rotating shaft (5), and the rotating shaft (5) is rotatably matched with the through hole (213).

4. The finger side swing structure according to claim 3, characterized in that: The second plate segment (212) has a first connecting member (2121) on one end away from the first plate segment (211), and the connecting frame (3) has a second connecting member (31) extending along a second direction, and the first connecting member (2121) and the second connecting member (31) can slide relative to each other along the second direction.

5. The finger side swing structure according to claim 4, characterized in that: One of the first connecting member (2121) and the second connecting member (31) is a protrusion structure, and the other is a hole structure. At least a portion of the protrusion structure extends into the interior of the hole structure, and the protrusion structure is slidably matched with the hole structure.

6. The finger side swing structure according to claim 4, characterized in that: The first connecting member (2121) is a protrusion structure, and the second connecting member (31) is a hole structure. A plurality of the hole structures are provided, and the plurality of the hole structures are arranged at intervals along the second direction. The hole structures and the protrusion structures are arranged in a one-to-one correspondence.

7. The finger side swing structure according to claim 1, characterized in that: One end of the first finger (22) close to the connecting frame (3) is fixedly connected to a first limiting structure (221) extending along a first direction, and the connecting frame (3) has a second limiting structure (32) that slidably cooperates with the first limiting structure (221).

8. The finger side swing structure according to claim 7, characterized in that: The first limiting structure (221) is an elongated hole, and the second limiting structure (32) is a convex shaft at least part of which is slidably disposed in the elongated hole; or The first limiting structure (221) is a convex strip protruding toward one side of the connecting frame (3), and the second limiting structure (32) is a sliding groove extending along the first direction.

9. The finger side swing structure according to claim 2, characterized in that: The installation cavity (11) comprises a first cavity (111) and a second cavity (112) which are connected to each other, the connection frame (3) is slidably arranged inside the first cavity (111) along the first direction, and the driving member (4) is arranged inside the second cavity (112).

10. A robot, characterized in that: The invention comprises the finger side swing structure according to any one of claims 1 to 9.

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