Finger device

Abstract

The utility model discloses a finger device which comprises a finger assembly, a knuckle driving mechanism and a pushing mechanism, a driving gear assembly of the knuckle driving mechanism is arranged on a base, and a movable gear is arranged on a first rotation stopping portion of a first joint shaft in an axial moving mode. The transmission gear assembly is arranged on the first knuckle and conducts meshing transmission between the driving gear assembly and the second knuckle, and the pushing mechanism is arranged in the first knuckle and can drive the movable gear to axially move on the first rotation stopping part. According to the finger device, the movable gear is arranged on the driving gear assembly, so that the movable gear is switched between a first position for meshing coupling with the driving gear assembly and a second position for staggered decoupling, a transmission structure in the whole finger device adopts a gear transmission structure, and a coupling and decoupling structure adopts a gear alignment and dislocation pushing structure, so that the mechanical structure is obviously simpler; and the manufacturing and mounting difficulty is reduced.

Description

Technical Field

[0001] The utility model belongs to the technical field of robot hands, and in particular relates to a finger device. Background Art

[0002] The finger device is an important component of the end effector (manipulator) of a humanoid robot, and its design and manufacture is one of the key technologies of a humanoid robot.

[0003] In order to achieve flexible and reliable grasping capabilities of the robot, the finger device has high requirements for lightness, versatility and adaptability. Underactuated transmission, where the number of actuators is less than the number of degrees of freedom of the joints, can reduce the number of components and the complexity of the mechanism, and can meet the requirements of lightness and smallness. At present, the coupled adaptive mode is a research hotspot for dual-joint underactuated robot fingers. However, in order to meet the requirements of the coupled adaptive mode, the entire mechanical structure of the finger device is relatively complex, which makes it difficult to manufacture and install. Utility Model Content

[0004] In view of the above-mentioned defects or shortcomings, the present invention provides a finger device, aiming to solve the technical problem that the mechanical structure in the existing finger device is relatively complex, resulting in greater difficulty in manufacturing and installation.

[0005] To achieve the above object, the utility model provides a finger device, wherein the finger device comprises:

[0006] The finger assembly comprises a base, a first finger joint and a second finger joint, wherein the first finger joint is rotatably arranged on the base through a first joint axis, and the second finger joint is rotatably arranged at an end of the first finger joint away from the base;

[0007] The finger joint drive mechanism comprises a driving gear assembly, a movable gear and a transmission gear assembly, wherein the driving gear assembly is arranged on a base, the movable gear is axially movable on a first anti-rotation portion of a first joint shaft, and the transmission gear assembly is arranged on a first finger joint and is used for meshing transmission between the driving gear assembly and a second finger joint;

[0008] The pushing mechanism is disposed in the first finger joint and can drive the movable gear to move axially on the first anti-rotation portion, so that the movable gear can be switched between a first position for meshing coupling with the driving gear assembly and a second position for staggered decoupling.

[0009] In an embodiment of the utility model, the pushing mechanism includes an electromagnet and a magnetic conductive part. The electromagnet is placed in the first finger joint and can be controlled by power. The magnetic conductive part is movably placed in the first finger joint and is located between the electromagnet and the movable gear, and the magnetic conductive part can drive the movable gear to move along the first stop portion. The electromagnet is used to drive the magnetic conductive part to move when powered on, so that the movable gear switches between the first position and the second position.

[0010] In an embodiment of the utility model, the electromagnet is used to drive the magnetic conductive part to move toward the direction close to the electromagnet when the power is on, and the pushing mechanism also includes a reset part, which is placed in the first finger joint, and the reset part is used to elastically deform when the magnetic conductive part moves toward the electromagnet, and to elastically drive the magnetic conductive part to reset in the direction away from the electromagnet when the electromagnet is in the power-off state.

[0011] In an embodiment of the utility model, a hinge shaft for rotatably mounting the first finger joint is also provided on the base, the hinge shaft and the first joint shaft are arranged on opposite sides of the first finger joint and are coaxially disconnected, the finger device also includes a locking assembly, the locking assembly includes a fixed locking member and a movable locking member, the fixed locking member is arranged at one end of the first joint shaft close to the hinge shaft, the movable locking member is movably and rotationally fixed on the hinge shaft, the movable locking member is docked with the magnetic conductive member, and the movable locking member is used to move to align and engage with the fixed locking member when the movable gear is in the second position.

[0012] In an embodiment of the utility model, the hinge shaft has an installation cavity extending axially, the electromagnet is fixedly arranged in the installation cavity, the magnetic conductive part is movably arranged in the installation cavity, the movable locking part is axially movably sleeved on the outer side of the hinge shaft, and the hinge shaft is provided with a movable opening extending in the same direction as the installation cavity on the circumferential side of the installation cavity, and the inner side of the movable locking part is provided with a first extension part extending from the movable opening into the installation cavity to dock with the magnetic conductive part.

[0013] In an embodiment of the utility model, a second extension portion is provided on the outer side of the magnetic conductive part extending in the radial direction, and the first extension portion is located on the side of the second extension portion away from the first joint axis and laterally abuts against the second extension portion; a stop plate is provided on the inner wall of the first finger joint for the hinge shaft to pass through, and the stop plate is located on the side of the movable locking part away from the fixed locking part, and the reset part in the pushing mechanism is sleeved on the outer side of the hinge shaft and located between the stop plate and the movable locking part.

[0014] In the embodiment of the utility model, the movable locking member is further connected to a shift fork member, and one end of the shift fork member away from the movable locking member can be embedded in the flange groove of the movable gear.

[0015] In an embodiment of the utility model, the movable locking member includes a movable locking body and a connecting boss. The movable locking body can be axially movably sleeved on the outer side of the hinge shaft, and the movable locking body and the fixed locking member are arranged as end toothed disc bodies that are aligned and meshed. The connecting boss is arranged on the peripheral side of the movable locking body, and the fork member is connected to one end of the connecting boss away from the movable locking body.

[0016] In an embodiment of the utility model, a side of the hinge shaft close to the first joint shaft is set as a second anti-rotation part, the movable locking piece can be axially movably sleeved on the outer side of the second anti-rotation part, and the first anti-rotation part and the second anti-rotation part are both set as spline shaft sections.

[0017] In an embodiment of the utility model, the second finger joint is rotatably provided at an end of the first finger joint away from the base through the second joint shaft, and a fixed gear is fixedly connected to the second joint shaft, the transmission gear assembly includes a first-stage transmission gear and an amplifying gear group, the first-stage transmission gear is rotatably provided on the hinge shaft in the first finger joint, and the hinge shaft is disconnected from the first joint shaft, the amplifying gear group is rotatably provided on the first finger joint and transmits between the first-stage transmission gear and the fixed gear, and the amplifying gear group is used to amplify the torque of the first-stage transmission gear, and the driving gear assembly is used to simultaneously drive the movable gear and the first-stage transmission gear to rotate or to drive the first-stage transmission gear to rotate alone.

[0018] In an embodiment of the utility model, the amplifying gear set includes a second-stage transmission gearwheel, a second-stage transmission pinion and a third-stage transmission gear. The second-stage transmission gearwheel and the second-stage transmission pinion are arranged in parallel and are rotatably arranged on the first finger joint through the first transmission shaft. The second-stage transmission gearwheel is meshed and connected with the first-stage transmission gearwheel. The second-stage transmission pinion gear is arranged opposite to the fixed gear. The first-stage transmission gear and the second-stage transmission gearwheel are arranged on the side of the fixed gear away from the movable gear. The third-stage transmission gear is rotatably arranged on the first finger joint through the second transmission shaft and is used for transmission between the second-stage transmission pinion gear and the fixed gear. The size of the second-stage transmission pinion gear is smaller than that of the second-stage transmission gearwheel and the third-stage transmission gear.

[0019] In an embodiment of the utility model, the driving gear assembly includes a motor group, a driving shaft and a driving gear body. The driving shaft is rotatably disposed on a base. The driving gear body has a first gear portion and a second gear portion arranged at intervals along the axial direction of the driving shaft. The first gear portion and the second gear portion are respectively meshed and connected with the movable gear and the first-stage transmission gear one by one. The motor group is disposed on the base and is drivingly connected to the driving shaft to drive the driving shaft to rotate.

[0020] In an embodiment of the utility model, the driving gear body also includes a connecting sleeve portion, which is fixedly sleeved on the driving shaft, and the first gear portion and the second gear portion are arranged at both ends of the connecting sleeve portion; and / or, the motor group includes a motor body, a reducer, an active bevel gear and a passive bevel gear, the motor body is arranged on an end plate arranged on the base toward the second joint, the reducer connects the motor body and the active bevel gear, and the passive bevel gear is fixedly arranged on the driving shaft and meshingly connected with the active bevel gear.

[0021] In the embodiment of the utility model, a first pressure sensor and a second pressure sensor are respectively disposed on the gripping panel of the first knuckle and the gripping panel of the second knuckle.

[0022] In an embodiment of the utility model, two first side plates relatively arranged on the first knuckle both extend toward the inner side of the base, so that the first joint axis arranged on the first side plate can be rotatably arranged on the base, and two second side plates relatively arranged on the second knuckle both extend toward the inner side of the first knuckle, so that the second joint axis arranged on the second side plate can be rotatably arranged on the first side plate, and the base and the first knuckle are connected to form an internal space for accommodating the knuckle driving mechanism and the pushing mechanism.

[0023] Through the above technical solution, the finger device provided by the utility model has the following beneficial effects:

[0024] When the above-mentioned finger device is used, since it includes a finger assembly, a finger joint driving mechanism and a pushing mechanism, the pushing mechanism can drive the movable gear in the finger joint driving mechanism to move axially along the first anti-rotation portion, so that the movable gear can switch between the first position for meshing coupling with the driving gear assembly and the second position for staggered decoupling. When the first finger joint and the second finger joint need to be coupled and rotated, the movable gear can be first driven by the pushing mechanism to move to the first position for meshing coupling with the driving gear assembly, and then the driving gear assembly can be controlled to drive the movable gear and the transmission gear assembly to rotate at the same time. Since the movable gear is arranged on the first anti-rotation portion of the first joint shaft, and the transmission gear assembly transmits between the driving gear assembly and the second finger joint, the first finger joint and The second finger joint is coupled and rotated to realize the coupled grasping mode of the first finger joint and the second finger joint; when the second finger joint needs to rotate alone, the movable gear can be driven by the pushing mechanism to move to the second position where it is staggered and decoupled from the driving gear assembly, and then the driving gear assembly can be controlled to drive the transmission gear assembly to rotate alone, and transmit it to the second finger joint for independent rotation, so that the second finger joint adaptive grasping mode can be entered after the first finger joint contacts the object. The coupling grasping and adaptive grasping are combined to form the coupled adaptive mode of the entire finger device. At the same time, the transmission structure in the entire finger device adopts a gear transmission structure, and the coupling and decoupling are realized by driving the movable gear to move by the pushing mechanism, which will obviously make the mechanical structure simpler and achieve the purpose of reducing the difficulty of manufacturing and installation.

[0025] Other features and advantages of the present invention will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The accompanying drawings are used to provide a further understanding of the embodiments of the present utility model and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the embodiments of the present utility model, but do not constitute a limitation on the embodiments of the present utility model. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without creative work. In the drawings:

[0027] Figure 1 is a schematic diagram of the three-dimensional structure of a finger device according to an embodiment of the utility model;

[0028] Figure 2 is a schematic diagram of the internal structure of a finger device according to an embodiment of the utility model;

[0029] Figure 3 is a schematic diagram of the disassembled structure of a finger device according to an embodiment of the utility model;

[0030] Figure 4 It is a partial structural schematic diagram of the first finger joint according to an embodiment of the utility model;

[0031] Figure 5 yes Figure 4 Schematic diagram of the cross-sectional structure;

[0032] Figure 6 It is a structural schematic diagram of a movable locking member, a shift fork member and a movable gear according to an embodiment of the utility model;

[0033] Figure 7 It is a structural schematic diagram of a movable gear in a first position according to an embodiment of the utility model;

[0034] Figure 8 yes Figure 7 Schematic diagram of the cross-sectional structure along the AA direction;

[0035] Fig. 9 It is a structural schematic diagram of a movable gear in a second position according to an embodiment of the utility model;

[0036] Fig.10 yes Fig. 9 Schematic diagram of the cross-sectional structure along the BB direction;

[0037] Fig.11 is a structural schematic diagram of a finger device in an initial vertical state according to an embodiment of the utility model;

[0038] Fig.12 It is a structural schematic diagram of a finger device in a coupling grasping process according to an embodiment of the utility model;

[0039] Fig.13It is a structural schematic diagram of a finger device in an adaptive grasping process according to an embodiment of the utility model.

[0040] Description of reference numerals:

[0041] 100 Base 101 End plate

[0042] 102 third pressure sensor 103 base cover

[0043] 104 stop plate 200 first finger joint

[0044] 210 first joint shaft 211 first anti-rotation portion

[0045] 212 first rotating part 220 hinge shaft

[0046] 221 Mounting cavity 222 Moving opening

[0047] 223 threading hole 224 second anti-rotation part

[0048] 240 first side plate 250 first pressure sensor

[0049] 300 Second finger joint 310 Second joint axis

[0050] 320 fixed gear 330 second side plate

[0051] 340 Second pressure sensor 400 Driving gear assembly

[0052] 410 Motor body 420 Reducer

[0053] 430 driving bevel gear 440 passive bevel gear

[0054] 450 driving shaft 460 driving gear body

[0055] 461 first gear part 462 second gear part

[0056] 463 connecting sleeve 500 movable gear

[0057] 501 flange groove 600 transmission gear assembly

[0058] 610 First stage transmission gear 620 Amplification gear set

[0059] 621 Second stage transmission large gear 622 Second stage transmission small gear

[0060] 623 third stage transmission gear 624 first transmission shaft

[0061] 625 Second transmission shaft 630 Fourth stage transmission gear

[0062] 631 third transmission shaft 700 push mechanism

[0063] 710 Electromagnet 720 Magnetic Parts

[0064] 721 second extension portion 730 reset member

[0065] 800 Locking assembly 810 Fixed locking member

[0066] 820 movable locking member 821 first extension

[0067] 822 connecting boss 900 fork DETAILED DESCRIPTION

[0068] The specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0069] The finger device of the present invention is described below with reference to the accompanying drawings.

[0070] like Figures 1 to 5 As shown, the utility model provides a finger device, wherein the finger device comprises:

[0071] The finger assembly includes a base 100, a first finger joint 200 and a second finger joint 300, wherein the first finger joint 200 is rotatably disposed on the base 100 through a first joint shaft 210, and the second finger joint 300 is rotatably disposed at an end of the first finger joint 200 away from the base 100;

[0072] The finger joint driving mechanism includes a driving gear assembly 400, a movable gear 500 and a transmission gear assembly 600. The driving gear assembly 400 is arranged on the base 100, the movable gear 500 is axially movable on the first anti-rotation portion 211 of the first joint shaft 210, and the transmission gear assembly 600 is arranged on the first finger joint 200 and is used for meshing transmission between the driving gear assembly 400 and the second finger joint 300;

[0073] The pushing mechanism 700 is disposed in the first finger joint 200 and can drive the movable gear 500 to move axially in the first rotation-stopping portion 211, so that the movable gear 500 switches between a first position in meshing coupling with the driving gear assembly 400 and a second position in which the movable gear 500 is staggered and decoupled.

[0074] When the above-mentioned finger device is used, since it includes a finger assembly, a finger joint driving mechanism and a pushing mechanism 700, the pushing mechanism 700 can drive the movable gear 500 in the finger joint driving mechanism to move axially along the first stop portion 211, so that the movable gear 500 can switch between a first position in which it is meshed and coupled with the driving gear assembly 400 and a second position in which it is staggered and decoupled. When the first finger joint 200 and the second finger joint 300 need to be coupled and rotated, the movable gear 500 can be first driven by the pushing mechanism 700 to move to the first position in which it is meshed and coupled with the driving gear assembly 400, and then the driving gear assembly 400 can be controlled to simultaneously drive the movable gear 500 and the transmission gear assembly 600 to rotate. Since the movable gear 500 is arranged on the first stop portion 211 of the first joint shaft 210, and the transmission gear assembly 600 is transmitted between the driving gear assembly 400 and the second finger joint 300, the first finger joint 200 and the second finger joint 300 can be driven to rotate. The first finger joint 300 is coupled and rotated to realize the coupled grasping mode of the first finger joint 200 and the second finger joint 300; when the second finger joint 300 needs to rotate alone, the movable gear 500 can be driven by the pushing mechanism 700 to move to the second position where it is staggered and decoupled from the driving gear assembly 400, and then the driving gear assembly 400 can be controlled to drive the transmission gear assembly 600 to rotate alone, and transmit it to the second finger joint 300 for independent rotation, so that after the first finger joint 200 contacts the object, the second finger joint 300 can enter the adaptive grasping mode. The coupling grasping and the adaptive grasping are combined to form the coupled adaptive mode of the entire finger device. At the same time, the transmission structure in the entire finger device adopts a gear transmission structure, and the coupling and decoupling are realized by driving the movable gear 500 to move by the pushing mechanism 700, which will obviously make the mechanical structure simpler and achieve the purpose of reducing the difficulty of manufacturing and installation. In addition, electromagnetic control and gear transmission will also improve control stability and control accuracy.

[0075] Specifically, the first joint shaft 210 is arranged on one of the first side plates 240 of the first finger joint 200 and includes a first rotating portion 212 and a first stop portion 211. The first rotating portion 212 can be set as an optical axis segment. The first rotating portion 212 is located on the outer side of the corresponding first side plate 240 and is rotatably arranged on the base 100. The first stop portion 211 can be set as a flat key shaft segment or a spline shaft segment. The first stop portion 211 is located on the inner side of the corresponding first side plate 240 and can be provided for the movable gear 500 to be mounted, and the movable gear 500 can move axially on the first stop portion 211, but cannot rotate relative to each other. The rotation of the movable gear 500 will inevitably drive the first joint shaft 210 to rotate, thereby ensuring the reliability of the rotation control of the first finger joint 200.

[0076] It should be specially noted that the first position and the second position of the movable gear 500 are not limited to left-right order, that is, the first position can be located on the left side of the second position, or on the right side of the second position, as long as the movable gear 500 is meshedly coupled with the driving gear assembly 400 at the first position, and staggeredly coupled with the driving gear assembly 400 at the second position.

[0077] In the embodiment of the utility model, the push mechanism 700 is configured to generate an electromagnetic force to drive the movable gear 500 to move along the first anti-rotation portion 211 when powered on, so that the movable gear 500 switches between a first position of meshing coupling with the driving gear assembly 400 and a second position of staggered decoupling. The electromagnetic control structure of the push mechanism 700 can make the mechanical mechanism simpler and the production cost lower.

[0078] See also Figures 3 to 5 In the embodiment of the utility model, the push mechanism 700 includes an electromagnet 710 and a magnetic conductive member 720. The electromagnet 710 is placed in the first finger joint 200 and can be electrically controlled. The magnetic conductive member 720 is movably placed in the first finger joint 200 and is located between the electromagnet 710 and the movable gear 500. The magnetic conductive member 720 can drive the movable gear 500 to move along the first anti-rotation portion 211. The electromagnet 710 is used to drive the magnetic conductive member 720 to move so that the movable gear 500 switches between the first position and the second position. The position of the movable gear 500 can be changed by controlling the power-on state of the electromagnet 710. The magnetic conductive member 720 and the movable gear 500 are separated, so that the material of the movable gear 500 is not limited, and the arrangement of the electromagnet 710 is not affected by the shape of the movable gear 500, which is conducive to the layout design. Of course, the utility model is not limited to this. The push mechanism 700 can also be set as a suitable telescopic drive member such as an electric push rod.

[0079] Furthermore, the magnetic conductive member 720 can be directly connected to the movable gear 500, or can establish a linkage relationship with the movable gear 500 through an intermediate connecting member, which is specifically manifested as: when the power-on state of the magnetic conductive member 720 changes, the magnetic conductive member 720 drives the movable gear 500 to move in the same direction. At the same time, the electromagnet 710 has a control harness that can control the power-on state, and the magnetic conductive member 720 can be set as an iron core or other suitable magnetic conductive structure.

[0080] Of course, the present invention is not limited thereto, the magnetic conductive member 720 and the movable gear 500 may also be integrally provided, that is, the movable gear 500 is made of magnetic conductive material, so that the movable gear 500 has both the gear structure function and the electromagnet 710 can directly apply magnetic force thereto.

[0081] In an embodiment of the utility model, the electromagnet 710 is used to drive the magnetic member 720 to move in a direction close to the electromagnet 710 when powered on, that is, the electromagnet 710 can generate an attractive force on the magnetic member 720 when powered on, and when the magnetic member 720 moves to a contact or limit position with the electromagnet 710, the movable gear 500 can move to a first position for meshing coupling with the driving gear assembly 400, and during the coupling rotation of the first finger joint 200 and the second finger joint 300, the electromagnet 710 remains powered on; at the same time, the pushing mechanism 700 also includes a reset member 730, which is disposed in the first finger joint 200, and the reset member 730 is used to elastically deform (be compressed) when the magnetic member 720 moves toward the electromagnet 710, and to elastically drive the magnetic member 720 to reset in a direction away from the electromagnet 710 when the electromagnet 710 is in a power-off state. That is, by adding the reset member 730, the movable gear 500 can be compressed and accumulate elastic potential energy in the process of moving from the second position to the first position. In addition, after the electromagnet 710 is powered off, the reset member 730 can release the elastic potential energy and restore to the original length. The reset member 730 and the magnetic conductive member 720 establish a linkage relationship. In the process of the reset member 730 restoring to the original length, the magnetic conductive member 720 performs reset movement and can drive the movable gear 500 to move from the first position to the second position. Selecting the reset member 730 for reset drive can achieve the purpose of reducing energy consumption.

[0082] Specifically, the reset member 730 can be set as a reset spring, the first end of the reset member 730 can be fixedly connected or limitedly abutted with the first finger joint 200, and the second end can abut against the magnetic member 720 or the intermediate connecting member that establishes a linkage relationship between the magnetic member 720 and the movable gear 500. In the process of the magnetic member 720 moving toward the electromagnet 710, the second end of the reset member 730 can be compressed by the magnetic member 720 or the intermediate connecting member; when the spring potential energy accumulated in the reset member 730 is released, the second end of the reset member 730 can push the magnetic member 720 or the intermediate connecting member to perform a reset movement.

[0083] In addition, in another embodiment of the utility model, the moving direction of the magnetic component 720 can be switched by changing the direction of the current flowing through the electromagnet 710. Specifically, when it is necessary to drive the magnetic component 720 to move in a direction close to the electromagnet 710, the current flowing through the electromagnet 710 can be controlled to be in a positive direction so that an attractive force is applied to the magnetic component 720. When it is necessary to drive the magnetic component 720 to move in a direction away from the electromagnet 710, the current flowing through the electromagnet 710 can be controlled to be in a reverse direction so that a repulsive force is applied to the magnetic component 720. This can be achieved without adding a reset component 730.

[0084] Please see again Figures 3 to 5In the embodiment of the utility model, a hinge shaft 220 is further provided on the base 100 for rotatably mounting the first finger joint 200. The hinge shaft 220 and the first joint shaft 210 are respectively arranged on opposite sides of the first finger joint 200 and are coaxially disconnected. The finger device also includes a locking assembly 800. The locking assembly 800 includes a fixed locking member 810 and a movable locking member 820. The fixed locking member 810 is arranged at one end of the first joint shaft 210 close to the hinge shaft 220. The movable locking member 820 is movably and non-rotatably arranged on the first finger joint 200. The movable locking member 820 is docked with the magnetic conductive member 720 of the pushing mechanism 700, and the movable locking member 820 is used to move to align and engage with the fixed locking member 810 when the movable gear 500 is in the second position. That is, when the magnetic conductive member 720 drives the movable gear 500 to switch from the first position to the second position, the movable locking member 820 connected to the push mechanism 700 can move toward the fixed locking member 810, and when the movable gear 500 moves to the second position to be staggered and decoupled from the driving gear assembly 400, the movable locking member 820 moves to be aligned with the fixed locking member 810. Since the hinge shaft 220 is fixedly connected to the base 100, when the movable locking member 820 and the fixed locking member 810 are locked, the movable locking member 820 and the fixed locking member 810 are locked. After the fixed locking member 810 is aligned and engaged, the first joint shaft 210 of the first knuckle 200 is circumferentially fixed on the base 100 via the fixed locking member 810, the movable locking member 820 and the hinge shaft 220, so that the first knuckle 200 is locked during the subsequent independent rotation of the second knuckle 300. This clever locking of the first knuckle 200 during decoupling and achieving shape closure and force closure can ensure stable grasping and have good resistance to external vibration interference. It should be particularly noted that in order to lock the first knuckle 200 during decoupling, the second position of the movable gear 500 should be on the side of the first position away from the electromagnet 710.

[0085] Furthermore, the connection between the movable locking member 820 and the push mechanism 700 can be set as a fixed connection between the movable locking member 820 and the magnetic member 720, or can be set as the movable locking member 820 is sandwiched between the reset member 730 and the magnetic member 720, and the above setting methods can be selected and implemented according to specific circumstances. At the same time, a second anti-rotation portion 224 can be provided on the hinge shaft 220, and the movable locking member 820 can be axially movably sleeved on the outer side of the second anti-rotation portion 224, and the second anti-rotation portion 224 can be set as a key shaft segment, such as: a flat key shaft segment or a spline shaft segment, so that the shaft segment on which the movable locking member 820 is sleeved has an anti-rotation function.

[0086] See also Figures 2 to 6In the embodiment of the utility model, the hinge shaft 220 has an installation cavity 221 extending axially, the electromagnet 710 is fixedly arranged in the installation cavity 221, the magnetic conductive member 720 is movably arranged in the installation cavity 221, the movable locking member 820 is axially movably sleeved on the outer side of the hinge shaft 220, and the hinge shaft 220 is provided with a movable opening 222 extending in the same direction as the installation cavity 221 on the circumferential side of the installation cavity 221, and the inner side of the movable locking member 820 is provided with a first extension portion 821 extending from the movable opening 222 into the installation cavity 221 to dock with the magnetic conductive member 720. By further improving the structure of the hinge shaft 220, it can not only provide a containment and protection function for the electromagnet 710 and the magnetic conductive member 720, but also guide the movement of the magnetic conductive member 720 and the movable locking member 820. Thus, the hinge shaft 220 meets various layout requirements, and there is no need to separately provide an installation structure for the electromagnet 710 and a movement guide structure for the magnetic conductive member 720 and the movable locking member 820, thereby further achieving the purpose of simplifying the structure and layout. Of course, the utility model is not limited to this, and a slide rail can also be provided on the first finger joint, and the slide rail can replace the installation cavity 221 to provide a sliding guide for the magnetic conductive member 720.

[0087] Specifically, the installation cavity 221 unidirectionally penetrates one end of the hinge shaft 220 that is disposed toward the first joint shaft 210, and the opening of this end is provided to facilitate the disassembly and assembly of the electromagnet 710 and the magnetic conductive member 720. Of course, the utility model is not limited thereto, and this end opening can also be provided with an openable and closable end cover. In addition, the movable opening 222 is located on the side of the electromagnet 710 that is disposed toward the first joint shaft 210, and the movable opening 222 unidirectionally penetrates one end of the hinge shaft 220 that is disposed toward the first joint shaft 210, so that the movable locking member 820 with the first extension 821 can be fitted on the outer side of the hinge shaft 220, and at the same time, the peripheral side of the hinge shaft 220 is provided with a threading hole 223 that is the same as the installation cavity 221 on the side of the electromagnet 710 that is not facing the first joint shaft 210, and the threading hole 223 can allow the control harness of the electric magnet 710 to pass through the installation cavity 221.

[0088] More specifically, the installation cavity 221 is provided with a threading cavity section, an intermediate cavity section and a movable cavity section in sequence in the direction toward the first joint axis 210, the electromagnet 710 is fixedly arranged in the intermediate cavity section, a threading hole 223 is provided on the peripheral wall of the threading cavity section, one end of the movable cavity section away from the intermediate cavity section unidirectionally passes through the hinge shaft 220, the movable opening 222 is arranged on the peripheral wall of the movable cavity section, and the magnetic conductive part 720 is movably arranged in the movable cavity section.

[0089] It should be particularly noted that the connection between the first extension portion 821 of the movable locking member 820 and the magnetic conductive member 720 can be set as a fixed connection, or can be set as a lateral abutment between the first extension portion 821 and the magnetic conductive member 720 .

[0090] In the embodiment of the utility model, a second extension portion 721 is provided on the outer side of the magnetic conductive member 720 extending in the radial direction, and the first extension portion 821 is located on the side of the second extension portion 721 away from the first joint shaft 210 and is laterally abutted against the second extension portion 721; a stop plate 104 is provided on the inner wall of the first finger joint 200 for the hinge shaft 220 to pass through, and the stop plate 104 is located on the side of the movable locking member 820 away from the fixed locking member 810, and the reset member 730 in the pushing mechanism 700 is sleeved on the outer side of the hinge shaft 220 and is located between the stop plate 104 and the movable locking member 820. That is, when the reset member 730 is selected for decoupling drive, the docking of the movable locking member 820 and the magnetic conductive member 720 can be set to a lateral abutment form, so as to facilitate disassembly, assembly, maintenance and replacement. In addition, the addition of the stop plate 104 can, on the one hand, stop the reset member 730, and on the other hand, the first-stage transmission gear 610 of the transmission gear assembly 600 is arranged on the side of the stop plate 104 facing away from the reset member 730, thereby serving to separate the first-stage transmission gear 610 from the reset member 730.

[0091] Furthermore, when coupling drive is required, the electromagnet 710 can be controlled to be energized to generate an attraction to the magnetic conductive member 720, and the magnetic conductive member 720 moves in the mounting cavity 221 toward the electromagnet 710, and drives the movable gear 500 to move from the second position toward the first position, and the movable locking member 820 moves away from the fixed locking member 810 under the push of the second extension portion 721 on the first extension portion 821, until the magnetic conductive member 720 moves to abut against the electromagnet 710 or the limit position, as shown in FIG. Figure 7 and Figure 8 As shown, at this time, the movable gear 500 reaches the first position and meshes with the driving gear assembly 400, the movable locking member 820 disengages from the fixed locking member 810, and the reset member 730 is compressed. Subsequently, when the driving gear assembly 400 couples and drives the first finger joint 200 and the second finger joint 300, it is necessary to keep the electromagnet 710 energized; when decoupling drive, that is, adaptive independent drive of the second finger joint 300, is required, the electromagnet 710 can be controlled to be powered off so that the reset member 730 can release the continued elastic potential energy, and the reset member 730 can push the movable locking member 820 to move toward the fixed locking member 810 while the first extension 821 of the movable locking member 820 can apply a thrust to the magnetic guide member 720 to move away from the electromagnet 710, and the movable gear 500 can move from the first position to the second position until the reset member 730 recovers its original length, as shown in FIG. Fig. 9 and Fig.10As shown, at this time, the movable locking member 820 is aligned and engaged with the fixed locking member 810, the magnetic conductive member 720 is located in the installation cavity 221 at the end away from the electromagnet 710, and the movable gear 500 reaches the second position and is staggered with the driving gear assembly 400.

[0092] See also Figures 4 to 6 In the embodiment of the utility model, the movable locking member 820 is also connected to a fork member 900, and one end of the fork member 900 away from the movable locking member 820 can be embedded in the flange groove 501 of the movable gear 500. That is, the movable locking member 820 can not only play a locking role with the fixed locking member 810 on the rotation of the first finger joint 200, but also can be linked and bridged between the push mechanism 700 and the movable gear 500. This clever arrangement avoids the design of opening another hole on the hinge shaft 220 for the connecting member to extend into the installation cavity 221 to connect the magnetic member 720 and the movable gear 500. In addition, the movable gear 500 uses a gear with a flange groove 501 and cooperates with the fork member 900 structure. On the one hand, both sides of the flange groove 501 can limit the fork member 900, ensuring the stable push and pull effect of the fork member 900 on the movable gear 500. On the other hand, the disassembly and assembly between the two is also very convenient. Of course, the present invention is not limited thereto, and it is also possible to directly connect the two ends of the connecting member to the movable locking member 820 and the movable gear 500 in a one-to-one correspondence.

[0093] In the embodiment of the utility model, the movable locking member 820 includes a movable locking body and a connecting boss 822, the movable locking body can be axially movably sleeved on the outer side of the hinge shaft 220, and the movable locking body and the fixed locking member 810 are set as end tooth disc bodies that are aligned and meshed, the connecting boss 822 is set on the peripheral side of the movable locking body, and the fork member 900 is connected to one end of the connecting boss 822 that is away from the movable locking body. The movable locking body and the fixed locking member 810 of the movable locking member 820 are set as end tooth disc bodies that are aligned and meshed. Since the end tooth disc body in the prior art has multiple meshing teeth, and the multiple meshing teeth are evenly spaced, the stability of the locking can be further guaranteed. In addition, the connecting boss 822 can be set on the area of ​​the movable locking body that avoids the tooth body. The addition of the connecting boss 822 can raise the installation position of the fork member 900 to ensure that the fork member 900 is installed horizontally. Specifically, a first connecting hole is opened on the end surface of the connecting boss 822 away from the movable locking body, and a second connecting hole is opened on the end of the fork member 900 connected to the connecting boss 822. The fork member 900 is detachably connected to the connecting boss 822 through a fastener passing through the second connecting hole and the first connecting hole.

[0094] See also Figure 4In the embodiment of the utility model, the side of the hinge shaft 220 close to the first joint shaft 210 is set as the second anti-rotation part 224, the movable locking member 820 is axially movable and sleeved on the outer side of the second anti-rotation part 224, and the first anti-rotation part 211 and the second anti-rotation part 224 are both set as spline shaft sections. That is, the shaft section sleeved by the movable locking member 820 and the shaft section sleeved by the movable gear 500 both have the anti-rotation function, so that the hinge shaft 220 does not have the function of driving the first finger joint 200 to rotate, thereby further locking the rotation of the first finger joint 200. At the same time, the first anti-rotation part 211 and the second anti-rotation part 224 use a spline structure for anti-rotation, which will have higher reliability and longer service life.

[0095] See also Figure 2 and Figure 3 In an embodiment of the utility model, the second finger joint 300 is rotatably disposed at an end of the first finger joint 200 away from the base 100 through the second joint shaft 310, and a fixed gear 320 is fixedly connected to the second joint shaft 310. The transmission gear assembly 600 includes a first-stage transmission gear 610 and an amplifying gear set 620. The first-stage transmission gear 610 is rotatably disposed on the hinge shaft 220 in the first finger joint 200, and the hinge shaft 220 is disconnected from the first joint shaft 210. The amplifying gear set 620 is rotatably disposed on the first finger joint 200 and transmits between the first-stage transmission gear 610 and the fixed gear 320, and the amplifying gear set 620 is used to amplify the torque of the first-stage transmission gear 610. The driving gear assembly 400 is used to simultaneously drive the movable gear 500 and the first-stage transmission gear 610 to rotate or to drive the first-stage transmission gear 610 to rotate alone. The transmission gear assembly 600 is configured to include a first-stage transmission gear 610 and an amplifying gear set 620, so that a multi-stage gear transmission can be provided between the driving gear assembly 400 and the second finger joint 300. The multi-stage gear can reduce the gear size, thereby reducing the finger size. In addition, the addition of the amplifying gear set 620 can also amplify the torque and reduce the rotation speed.

[0096] Specifically, the hinge shaft 220 can be fixed on the base 100 as described above, so that the first finger joint 200 can be rotatably installed, that is, a through hole for the hinge shaft 220 to pass through is opened on the corresponding side panel of the first finger joint 200, and the hinge shaft 220 and the first joint shaft 210 are arranged on opposite sides of the first finger joint 200. The first joint shaft 210 can drive the first finger joint 200 to rotate on the base 100 under the drive of the movable gear 500, and the hinge shaft 220 can play a role in ensuring the rotation stability.

[0097] In the embodiment of the utility model, the amplifying gear set 620 includes a second-stage transmission large gear 621, a second-stage transmission small gear 622 and a third-stage transmission gear 623. The second-stage transmission large gear 621 and the second-stage transmission small gear 622 are arranged in parallel and rotatably arranged on the first finger joint 200 through the first transmission shaft 624. The second-stage transmission large gear 621 is meshed and connected with the first-stage transmission gear 610, and the second-stage transmission small gear 622 is arranged opposite to the fixed gear 320. The first-stage transmission gear 610 and the second-stage transmission large gear 621 are arranged on the side of the fixed gear 320 away from the movable gear 500. It can be understood that in order to ensure the stability of the rotation of the second finger joint 300, the second finger The fixed gear 320 on the knuckle 300 is arranged in the center, but if the first-stage transmission gear 610 is arranged opposite to the second knuckle 300, it will inevitably lead to a larger width dimension of the finger. Therefore, in order to reduce the width dimension of the finger, the first-stage transmission gear 610 can be arranged to be biased to one side of the fixed gear 320, of course, not to the side with the movable gear 500, and then the coaxial second-stage transmission large gear 621 and the second-stage transmission small gear 622 are arranged on the first transmission shaft 624 of the next stage, and the second-stage transmission large gear 621 is meshed with the first-stage transmission gear 610, and the second-stage transmission small gear 622 is arranged opposite to the fixed gear 320, so that the motion can be transmitted to the fixed gear 320. At the same time, the third-stage transmission gear 623 is rotatably arranged on the first knuckle 200 through the second transmission shaft 625, and is used for transmission between the second-stage transmission small gear 622 and the fixed gear 320, and the size of the second-stage transmission small gear 622 is smaller than the size of the second-stage transmission large gear 621 and the third-stage transmission gear 623. On the one hand, setting the size of the second-stage transmission pinion 622 to be smaller than that of the third-stage transmission gear 623 can amplify the torque and reduce the rotational speed. On the other hand, the second-stage transmission gear 621 and the second-stage transmission pinion 622 are coaxially arranged, and the torque and rotational speed of the two are equal, and no scaling effect will be produced. However, this arrangement can enable the third-stage transmission gear 623 of the latter stage to extend to one side of the second-stage transmission gear 621 and mesh with the second-stage transmission pinion 622, which is conducive to the size enlargement arrangement of the third-stage transmission gear 623.

[0098] Further, the size of the second-stage transmission gear 621 can be set to be larger than the size of the first-stage transmission gear 610, so as to achieve two-stage amplification. Of course, the transmission gear assembly 600 can also include a fourth-stage transmission gear 630 disposed between the third-stage transmission gear and the fixed gear 320. The fourth-stage transmission gear 630 can be rotatably disposed on the first finger joint 200 through the third transmission shaft 631. The size of the fourth-stage transmission gear 630 is not limited, mainly to enable the second finger joint 300 to obtain a suitable rotation speed. However, even if the size of the fourth-stage transmission gear 630 is smaller than the size of the third-stage transmission gear 623, the entire amplification gear set 620 should play a role in torque amplification. Furthermore, the first transmission shaft 624 and the second transmission shaft 625 can be rotatably disposed on the first finger joint 200 through bearings.

[0099] See also Figures 1 to 3 In the embodiment of the utility model, the driving gear assembly 400 includes a motor group, a driving shaft 450 and a driving gear body 460. The driving shaft 450 is rotatably arranged on the base 100. The driving gear body 460 has a first gear part 461 and a second gear part 462 arranged at intervals along the axial direction of the driving shaft 450. The first gear part 461 and the second gear part 462 are respectively meshed and connected with the movable gear 500 and the first-stage transmission gear 610 in a one-to-one correspondence. The motor group is arranged on the base 100 and is drivingly connected to the driving shaft 450 to drive the driving shaft 450 to rotate. That is, two fingers can be driven by one motor group, realizing under-driven transmission. It should be particularly noted that the driving gear assembly 400 of the utility model is not limited to the use of one motor group. It is also possible for two motor groups to correspondingly drive the first gear part 461 and the second gear part 462 that are not coaxially arranged.

[0100] In the embodiment of the utility model, the driving gear body 460 further includes a connecting sleeve portion 463, which is fixedly sleeved on the driving shaft 450, and the first gear portion 461 and the second gear portion 462 are respectively arranged at both ends of the connecting sleeve portion 463. That is, the driving gear body 460 can be set as an integrated structure having a connecting sleeve portion 463, a first gear portion 461 and a second gear portion 462, and can be fixedly arranged on the driving shaft 450 through a clamping structure, so as to facilitate the production of the driving shaft 450 and the driving gear body 460. Of course, the utility model is not limited to this, and it is also possible that the first gear portion 461 and the second gear portion 462 are connected to the driving shaft 450 independently of each other.

[0101] In the embodiment of the utility model, the motor group includes a motor body 410, a reducer 420, an active bevel gear 430 and a passive bevel gear 440. The motor body 410 is arranged on the end plate 101 of the base 100 facing the second finger joint 300, the reducer 420 connects the motor body 410 and the active bevel gear 430, and the passive bevel gear 440 is fixedly arranged on the drive shaft 450 and meshed with the active bevel gear 430. By adding the active bevel gear 430 and the passive bevel gear 440, the motor body 410 can be arranged on the end side of the base 100 instead of the side, which is conducive to reducing the width size of the finger. At the same time, the addition of the reducer 420 can play a role in reducing the rotation speed and increasing the output torque.

[0102] like Figure 1 As shown, in the embodiment of the utility model, the first pressure sensor 250 and the second pressure sensor 340 are respectively provided on the gripping panel of the first knuckle 200 and the gripping panel of the second knuckle 300. The addition of the first pressure sensor 250 and the second pressure sensor 340 can realize the automatic control of the finger device. Specifically, when the first pressure sensor 250 detects pressure data, it proves that the coupling rotation of the first knuckle 200 and the second knuckle 300 is in place, and the first knuckle 200 has contacted a foreign object, and at this time, the decoupling operation can be controlled; when the second pressure sensor 340 detects pressure data, it proves that the adaptive rotation of the second knuckle 300 is in place, and the second knuckle 300 has contacted a foreign object, and at this time, the second knuckle 300 can be controlled to stop rotating alone.

[0103] Please see again Figures 1 to 3In the embodiment of the utility model, the two first side plates 240 arranged opposite to each other on the first knuckle 200 both extend to the inner side of the base 100, so that the first joint shaft 210 arranged on the first side plate 240 can be rotatably arranged on the base 100, and the two second side plates 330 arranged opposite to each other on the second knuckle 300 both extend to the inner side of the first knuckle 200, so that the second joint shaft 310 arranged on the second side plate 330 can be rotatably arranged on the first side plate 240, and the base 100 and the first knuckle 200 are connected to form an internal space for accommodating the knuckle driving mechanism and the pushing mechanism 700. That is, one end of the first knuckle 200 is sleeved with the base 100 on the inner side of the base 100, and one end of the second knuckle 300 is sleeved with the first knuckle 200 on the inner side of the end of the first knuckle 200 away from the base 100, so that the formed internal space is relatively closed, which plays a better protective role. Specifically, the base 100 has a detachable base cover 103, which is arranged on the side facing the grasped object, and a third pressure sensor 102 is arranged on the base cover 103, and the grasping panel of the first finger joint 200 is also detachable. More specifically, the first pressure sensor 250, the second pressure sensor 340 and the third pressure sensor 102 can be fixed by gluing, screwing or pressing with a pressure plate.

[0104] Specifically, the coupling process of the first finger joint 200 and the second finger joint 300 in the present invention is as follows:

[0105] When the electromagnet 710 is energized, it generates magnetic force and attracts the magnetic member 720 to slide along the axial direction towards the electromagnet 710 until it slides to abut against the electromagnet 710 or to the left limit position. When the magnetic member 720 slides towards the electromagnet 710, it pushes the first extension portion 821 on the movable locking member 820, thereby disengaging the movable locking member 820 from the fixed locking member 810. At the same time, the fork member 900 fixed on the movable locking member 820 will pull the movable gear 500 to move to the first position and mesh with the first gear portion 461 in the driving gear body 460. The driving gear body 460 is simultaneously meshed with the movable gear 500 and the first-stage transmission gear 610 respectively, and can simultaneously drive the rotation of the first knuckle 200 and the second knuckle 300, thereby realizing the coupling of the first knuckle 200 and the second knuckle 300.

[0106] The decoupling process of the first finger joint 200 and the second finger joint 300 in the present invention is as follows:

[0107] When the electromagnet 710 is powered off, the movable locking member 820 overcomes the compressive force of the magnetic member 720 and slides to the right under the elastic force of the reset member 730. When the magnetic member 720 slides to the right limit position, the movable locking member 820 is aligned and meshed with the fixed locking member 810 to lock the first finger joint 200. At the same time, the fork member 900 fixed on the movable locking member 820 will pull the movable gear 500 to move to the second position, and disengage from the first gear portion 461 in the driving gear body 460. The first finger joint 200 cannot rotate under the locking of the movable locking member 820 and the fixed locking member 810. At this time, the driving gear body 460 is only meshed with the first-stage transmission gear 610, and drives the second finger joint 300 to rotate alone.

[0108] In addition, the utility model can realize the coupled adaptive grasping mode, and the specific process is as follows:

[0109] like Fig.11 As shown, the finger device is initially in a vertical state. When a foreign object is to be grasped, the first step is the "coupling grasping process", which is specifically: the electromagnet 710 is energized to achieve the coupling connection between the first finger joint 200 and the second finger joint 300, the motor body 410 rotates forward, and drives the active bevel gear 430 to rotate through the reducer 420, drives the passive bevel gear 440 to rotate, and makes the drive shaft 450 rotate forward, driving the drive gear body 460 to rotate. On the one hand, the drive gear body 460 drives the first-stage transmission gear 610 to rotate, and then drives the second finger joint 300 to rotate forward around the axis of the second joint shaft 310 toward the foreign object to be grasped through the amplifying gear set 620. On the other hand, the drive gear body 460 simultaneously drives the movable gear 500 to rotate, and the movable gear 500 drives the first finger joint 200 to rotate forward around the axis of the second joint shaft 310 toward the foreign object to be grasped. In this process, the first finger joint 200 and the second finger joint 300 rotate synchronously until the first finger joint 200 touches the foreign object, such as Fig.12 shown.

[0110] The second step is the "adaptive grasping process". When the first knuckle 200 touches a foreign object, the first pressure sensor 250 on the first knuckle 200 detects it and sends a signal feedback to the controller. The first knuckle 200 and the second knuckle 300 are decoupled, the first knuckle 200 is locked, and the second knuckle 300 is driven to rotate alone. The second knuckle 300 automatically adjusts the rotation angle according to the size and shape of the foreign object. After contacting the foreign object, Fig.13 As shown, the gripping force is controlled in a closed loop by the second pressure sensor 340 to achieve adaptive gripping.

[0111] The above-mentioned "coupled grasping process" and "adaptive grasping process" are integrated to form the "coupled adaptive grasping mode" of the utility model.

[0112] The first pressure sensor 250, the second pressure sensor 340 and the third pressure sensor 102 in the finger device can provide real-time feedback of the pressure exerted by the finger device on an external object, thereby realizing dynamic force feedback control of the grasping force of the finger device, and adapting to the shape, size and hardness of the external object to achieve flexible and intelligent control.

[0113] At the same time, the utility model has two control methods for releasing foreign objects:

[0114] a) The first finger joint 200 and the second finger joint 300 maintain a decoupled state, the motor reverses, and drives the second finger joint 300 alone to rotate in a direction away from the external object, thereby releasing the gripping force on the external object.

[0115] b) The electromagnet 710 is energized, the first finger joint 200 and the second finger joint 300 are coupled, the motor reverses, and simultaneously drives the first finger joint 200 and the second finger joint 300 to rotate in a direction away from the foreign object, thereby releasing the gripping force on the foreign object.

[0116] In the description of the present invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0117] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0118] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0119] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations of the present invention. Ordinary technicians in the field can change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A finger device, characterized in that: The finger device comprises: A finger assembly comprises a base (100), a first finger joint (200) and a second finger joint (300), wherein the first finger joint (200) is rotatably arranged on the base (100) via a first joint shaft (210), and the second finger joint (300) is rotatably arranged at an end of the first finger joint (200) away from the base (100); A finger joint drive mechanism, comprising a driving gear assembly (400), a movable gear (500) and a transmission gear assembly (600), wherein the driving gear assembly (400) is arranged on the base (100), the movable gear (500) is axially movably arranged on a first anti-rotation portion (211) of the first joint shaft (210), and the transmission gear assembly (600) is arranged on the first finger joint (200) and is used for meshing transmission between the driving gear assembly (400) and the second finger joint (300); The pushing mechanism (700) is disposed in the first finger joint (200) and can drive the movable gear (500) to move axially on the first anti-rotation portion (211), so that the movable gear (500) switches between a first position of meshing coupling with the driving gear assembly (400) and a second position of offset decoupling.

2. The finger device according to claim 1, characterized in that: The pushing mechanism (700) comprises: An electromagnet (710) is disposed in the first finger joint (200) and can be electrically controlled; The magnetic conductive member (720) is movably disposed in the first finger joint (200) and is located between the electromagnet (710) and the movable gear (500), and the magnetic conductive member (720) can drive the movable gear (500) to move along the first anti-rotation portion (211), and the electromagnet (710) is used to drive the magnetic conductive member (720) to move so that the movable gear (500) switches between the first position and the second position.

3. The finger device according to claim 2, characterized in that: The electromagnet (710) is used to drive the magnetic conductive member (720) to move in a direction close to the electromagnet (710) when powered on, and the pushing mechanism (700) further comprises: A reset member (730) is disposed in the first finger joint (200), and the reset member (730) is used to elastically deform when the magnetic conductive member (720) moves toward the electromagnet (710), and to elastically drive the magnetic conductive member (720) to reset in a direction away from the electromagnet (710) when the electromagnet (710) is in a power-off state.

4. The finger device according to claim 2, characterized in that: The base (100) is also provided with a hinge shaft (220) for rotatably mounting the first finger joint (200), the hinge shaft (220) and the first joint shaft (210) are respectively arranged on opposite sides of the first finger joint (200) and are coaxially disconnected, the finger device also includes a locking assembly (800), and the locking assembly (800) includes: A fixed locking member (810) is arranged at one end of the first joint shaft (210) close to the hinge shaft (220); A movable locking member (820) is movably and non-rotatably arranged on the hinge shaft (220), the movable locking member (820) is docked with the magnetic conductive member (720), and the movable locking member (820) is used to move to align and engage with the fixed locking member (810) when the movable gear (500) is in the second position.

5. The finger device according to claim 4, characterized in that: The hinge shaft (220) has an axially extending mounting cavity (221), the electromagnet (710) is fixedly disposed in the mounting cavity (221), the magnetic conductive member (720) is movably disposed in the mounting cavity (221), the movable locking member (820) is axially movably sleeved on the outer side of the hinge shaft (220), and the hinge shaft (220) is provided with a movable opening (222) extending in the same direction as the mounting cavity (221) on the circumferential side of the mounting cavity (221), and the inner side of the movable locking member (820) is provided with a first extension portion (821) extending from the movable opening (222) into the mounting cavity (221) for docking with the magnetic conductive member (720).

6. The finger device according to claim 5, characterized in that: The outer side of the magnetic conductive part (720) is provided with a second extension part (721) extending in the radial direction, and the first extension part (821) is located on the side of the second extension part (721) away from the first joint shaft (210) and is laterally abutted against the second extension part (721); a stop plate (104) is provided on the inner wall of the first finger joint (200) for the hinge shaft (220) to pass through, and the stop plate (104) is located on the side of the movable locking part (820) away from the fixed locking part (810), and the reset part (730) in the pushing mechanism (700) is sleeved on the outer side of the hinge shaft (220) and is located between the stop plate (104) and the movable locking part (820).

7. The finger device according to claim 5, characterized in that: The movable locking member (820) is also connected to a fork member (900), and one end of the fork member (900) away from the movable locking member (820) can be embedded in a flange groove (501) of the movable gear (500); And / or, a side of the hinge shaft (220) close to the first joint shaft (210) is set as a second anti-rotation portion (224), the movable locking member (820) can be axially movably sleeved on the outer side of the second anti-rotation portion (224), and the first anti-rotation portion (211) and the second anti-rotation portion (224) are both set as spline shaft sections.

8. The finger device according to any one of claims 1 to 7, characterized in that: The second finger joint (300) is rotatably arranged at an end of the first finger joint (200) away from the base (100) through a second joint shaft (310), and a fixed gear (320) is fixedly connected to the second joint shaft (310). The transmission gear assembly (600) includes a first-stage transmission gear (610) and an amplifying gear set (620). The first-stage transmission gear (610) is rotatably arranged on a hinge shaft (220) in the first finger joint (200), and the hinge shaft (220) is connected to the first The joint shaft (210) is disconnected, the amplifying gear set (620) is rotatably arranged on the first finger joint (200) and transmits between the first-stage transmission gear (610) and the fixed gear (320), and the amplifying gear set (620) is used to amplify the torque of the first-stage transmission gear (610), and the driving gear assembly (400) is used to simultaneously drive the movable gear (500) and the first-stage transmission gear (610) to rotate or drive the first-stage transmission gear (610) to rotate alone.

9. The finger device according to claim 8, characterized in that: The driving gear assembly (400) comprises a motor group, a driving shaft (450) and a driving gear body (460); the driving shaft (450) is rotatably arranged on the base (100); the driving gear body (460) comprises a first gear portion (461) and a second gear portion (462) arranged at intervals along the axial direction of the driving shaft (450); the first gear portion (461) and the second gear portion (462) are respectively meshed and connected with the movable gear (500) and the first-stage transmission gear (610) in a one-to-one correspondence; the motor group is arranged on the base (100) and is drivingly connected to the driving shaft (450) to drive the driving shaft (450) to rotate.

10. The finger device according to any one of claims 1 to 7, characterized in that: A first pressure sensor (250) and a second pressure sensor (340) are respectively disposed on the gripping panel of the first finger joint (200) and the gripping panel of the second finger joint (300).

Images