Fingertip smoothing mechanism and manipulator

Abstract

The utility model provides a fingertip smoothing mechanism and a manipulator. The fingertip smoothing mechanism comprises a connecting part, the fingertip part is rotationally connected with the connecting part, and a containing cavity with an opening facing the connecting part is formed in the fingertip part; the elastic piece is located in the containing cavity, and the elastic piece provides power for rotation of the fingertip part; one end of the connecting piece extends into the accommodating cavity and is connected with the elastic piece, and the other end of the connecting piece is connected with the connecting part. According to the fingertip smoothing mechanism and the mechanical arm, the problem that in the prior art, reverse rotation of fingers is not buffered is solved.

Description

Technical Field

[0001] The utility model relates to the field of manipulators, and in particular to a fingertip compliance mechanism and a manipulator. Background Art

[0002] A manipulator can imitate certain movements and functions of human hands and arms, and is an automatic operating device used to grab, carry objects or operate tools according to a fixed program. Among the manipulators, the fingers play a major imitation role. Human fingers can rotate forward, and when they touch an object, they can also rotate backward a small amount to play a buffering role. Most of the fingers in the prior art cannot be reversed, or after reversing, they cannot buffer and are easy to cause damage to the fingers. Utility Model Content

[0003] The main purpose of the utility model is to provide a fingertip compliance mechanism and a manipulator to solve the problem of no buffering when fingers rotate in the reverse direction in the prior art.

[0004] In order to achieve the above-mentioned purpose, according to one aspect of the utility model, a fingertip compliant mechanism is provided, which includes a connecting part; a fingertip portion, the fingertip portion is rotatably connected to the connecting part, and the interior of the fingertip portion has a accommodating cavity with an opening facing the connecting part; an elastic member, the elastic member is located in the accommodating cavity, and the elastic member provides power for the rotation of the fingertip portion; a connecting member, one end of the connecting member extends into the accommodating cavity and is connected to the elastic member, and the other end is connected to the connecting part.

[0005] Furthermore, the fingertip portion has a first rotating structure, the connecting portion has a second rotating structure, the fingertip compliance mechanism also includes a rotating shaft, and the first rotating structure and the second rotating structure are rotationally matched via the rotating shaft.

[0006] Furthermore, the connecting member passes through the second rotating structure, and the connecting member is supported on the outer surface of the rotating shaft.

[0007] Furthermore, the fingertip portion includes a main body portion, which has a accommodating cavity and a hole structure connected to the accommodating cavity. The first rotating structure includes two extending arms arranged in a pair, and the two extending arms are arranged on the side of the main body facing the connecting portion. The two extending arms are arranged at intervals along the axial direction of the rotating shaft to form an installation space. The accommodating cavity is connected to the installation space through the hole structure, and the two ends of the rotating shaft are respectively connected to the two extending arms. At least a portion of the second rotating structure is located inside the installation space and is rotatably coordinated with the extending arms through the rotating shaft.

[0008] Furthermore, the connecting part includes a fixed part, and the second rotating structure includes at least a protruding part, which is fixed on the fixed part. At least a part of the protruding part is located inside the installation space. The protruding part rotates with the extending arm through a rotating shaft. A clearance hole is provided on the protruding part. One end of the connecting part is connected to the fixed part, and the other end of the connecting part passes through the clearance hole, the installation space, and the hole structure in sequence, and then extends into the interior of the accommodating cavity to be connected to the elastic part.

[0009] Furthermore, the end of the connecting member away from the elastic member has a first limiting structure, and the connecting portion has a second limiting structure, and the first limiting structure and the second limiting structure abut against each other for limiting.

[0010] Furthermore, the connecting member is a thin rope, the first limiting structure is a knot formed at the end of the thin rope, and the second limiting structure is a through hole formed on the connecting portion, and the knot abuts against a side of the through hole away from the fingertip portion.

[0011] Furthermore, the elastic member is a spring, one end of the spring is fixedly connected to the bottom wall of the accommodating cavity, and the other end of the spring extends toward the opening direction of the accommodating cavity and is fixedly connected to the connecting member.

[0012] Furthermore, an inclined surface is provided at one end of the fingertip away from the connecting portion, and the inclined surface is located on one side of the rotation direction of the fingertip.

[0013] According to another aspect of the present invention, a manipulator is provided, comprising the above-mentioned fingertip compliance mechanism.

[0014] By applying the technical solution of the utility model, the following technical effects are achieved:

[0015] 1. The fingertip portion and the connecting portion of the present application are rotationally connected. When subjected to external force, the relative rotation between the two can simulate the forward rotation and flipping of a human fingertip and the movement of a human fingertip. Since an elastic member is provided inside the fingertip portion, the fingertip portion is reset under the drive of the elastic member after being separated from the external force; and during the rotation process, the elastic member will store and release energy, and the elastic member will play a certain buffering role, making the rotation of the finger smoother.

[0016] 2. The connecting part is a thin rope, which is a flexible part. When the fingertip and the connecting part rotate relative to each other, the connection effect of the thin rope is not affected. The aperture of the through hole is smaller than the size of the knot, so that the through hole can block the knot and prevent the knot from passing through the through hole, thereby fixing the thin rope at this end.

[0017] 3. The slope of the fingertips can increase the contact area between the fingertips and the object, reducing local damage caused by excessive pressure. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] 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:

[0019] Figure 1 It is a schematic diagram of the overall structure of the fingertip compliance mechanism of the utility model;

[0020] Figure 2 It is a three-dimensional structural schematic diagram of the fingertip compliance mechanism of the utility model;

[0021] Figure 3 It is a schematic diagram of the three-dimensional structure of the fingertip portion of the utility model;

[0022] Figure 4 It is a schematic diagram of the three-dimensional structure of the connecting part of the utility model;

[0023] Figure 5 It is another three-dimensional structural schematic diagram of the connecting part of the utility model.

[0024] The above drawings include the following reference numerals:

[0025] 1. Connecting part; 11. Fixing part; 12. Second rotating structure; 121. Protruding part; 1211. Clearance hole; 13. Second limiting structure; 2. Finger tip part; 21. Main body; 211. Accommodating cavity; 212. Hole structure; 22. First rotating structure; 221. Extending arm; 2211. Installation space; 23. Inclined surface; 3. Elastic member; 4. Connecting member; 41. First limiting structure; 5. Rotating shaft. DETAILED DESCRIPTION

[0026] 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.

[0027] 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.

[0028] 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.

[0029] In order to solve the problem in the prior art that fingers cannot be reversed or are damaged after being reversed, the utility model provides a fingertip compliance mechanism, which solves the problem in the prior art by adding an elastic structure.

[0030] Embodiment 1

[0031] A fingertip compliance mechanism, see Figures 1 to 5 , including a connecting part 1, a fingertip part 2, an elastic member 3 and a connecting part 4. The fingertip part 2 is rotatably connected to the connecting part 1. The interior of the fingertip part 2 has a accommodating cavity 211 with an opening toward the connecting part 1. The elastic member 3 is located in the accommodating cavity 211. The elastic member 3 provides power for the rotation of the fingertip part 2. One end of the connecting member 4 extends into the accommodating cavity 211 and is connected to the elastic member 3, and the other end is connected to the connecting part 1.

[0032] Specifically, when the fingertip 2 of the finger touches an object and the finger continues to move toward the object, the fingertip 2 is blocked by the object and cannot continue to move, so a relative rotation occurs between the fingertip 2 and the connecting part 1; since the elastic member 3 is located inside the fingertip 2 and the connecting part 4 is connected to the connecting part 1, after the fingertip 2 and the connecting part 1 rotate relative to each other, the connecting member 4 will drive the elastic member 3 to move, so as to accumulate momentum for the elastic member 3. When the fingertip 2 is separated from the object and freed from the external force, the fingertip 2 will be reset under the action of the elastic member 3. During the whole process, the presence of the elastic member 3 provides a buffering effect for the movement of the entire fingertip 2, making the movement of the fingertip 2 smoother. At the same time, since the fingertip 2 is connected to the connecting part 1 in a rotational manner, the fingertip 2 can rotate both forward and reverse, thereby more realistically simulating the movement of the fingertip.

[0033] Furthermore, the elastic member 3 is hidden inside the accommodating cavity 211 , which is beneficial to improving the overall aesthetics.

[0034] In this embodiment, the connecting portion 1 may be other joint structures of a finger, or may be a palm structure.

[0035] In this embodiment, the fingertip portion 2 has a first rotating structure 22 , the connecting portion 1 has a second rotating structure 12 , and the fingertip compliance mechanism further includes a rotating shaft 5 , through which the first rotating structure 22 and the second rotating structure 12 rotate in coordination.

[0036] The first rotating structure 22 and the second rotating structure 12 are rotationally matched via the rotating shaft 5 , thereby realizing the rotational connection between the fingertip portion 2 and the connecting portion 1 .

[0037] Furthermore, the connecting member 4 passes through the second rotating structure 12 , and the connecting member 4 is supported on the outer surface of the rotating shaft 5 .

[0038] Furthermore, the fingertip portion 2 includes a main body portion 21, which has the accommodating cavity 211 and the hole structure 212 connected to the accommodating cavity 211, and the first rotating structure 22 includes two extending arms 221 arranged in pairs, and the two extending arms 221 are arranged on the side of the main body 21 facing the connecting portion 1, and the two extending arms 221 are arranged at intervals along the axial direction of the rotating shaft 5 to form an installation space 2211, and the accommodating cavity 211 is connected to the installation space 2211 through the hole structure 212, and the two ends of the rotating shaft 5 are respectively connected to the two extending arms 221, and at least a portion of the second rotating structure 12 is located inside the installation space 2211, and is rotatably coordinated with the extending arms 221 through the rotating shaft 5.

[0039] The extending arms 221 fix the shaft 5, which is convenient for installation and fixation of the shaft 5. The installation space 2211 formed between the two extending arms 221 is used for placing the second rotating structure 12, and the installation space 2211 is used for the connecting member 4 to pass through, which is convenient for the connection and cooperation between the connecting member 4 and the elastic member 3.

[0040] Furthermore, the connecting portion 1 includes a fixed portion 11, and the second rotating structure 12 at least includes a protruding portion 121, the protruding portion 121 is fixed on the fixed portion 11, and at least a portion of the protruding portion 121 is located inside the installation space 2211. The protruding portion 121 is rotatably matched with the extending arm 221 through the rotating shaft 5, and a clearance hole 1211 is opened on the protruding portion 121. One end of the connecting member 4 is connected to the fixed portion 11, and the other end of the connecting member 4 passes through the clearance hole 1211, the installation space 2211, and the hole structure 212 in sequence, and then extends into the interior of the accommodating cavity 211 and is connected to the elastic member 3.

[0041] In this embodiment, the rotational cooperation between the connecting part 1 and the fingertip part 2 is achieved by cooperating with the protrusion 121 and the rotating shaft 5; the clearance hole 1211 facilitates the passage of the connecting member 4. When the connecting member 4 is connected to the elastic member 3 through the clearance hole 1211, the installation space 2211, and the hole structure 212, the elastic member 3 is in a static state without force, and the distance between the end of the connecting member 4 connected to the elastic member 3 and the bottom end of the connecting member 4 connected to the second rotating structure 12 is the shortest; when the fingertip part 2 and the connecting part 1 rotate relative to each other, the connecting member 4 will stretch the elastic member 3 so that the elastic member 3 can accumulate potential. When the external force is removed, the accumulated potential of the elastic member 3 is released, driving the fingertip part 2 to return to its original position.

[0042] In this embodiment, one end of the connecting member 4 connected to the connecting portion 1 has a first limiting structure 41, and the connecting portion 1 has a second limiting structure 13, and the first limiting structure 41 abuts against the second limiting structure 13 to limit the position. The first limiting structure 41 and the second limiting structure 13 abut against each other to limit the position, thereby realizing the connection and positioning of the connecting member 4 and the connecting portion 1, so as to prevent the connecting member 4 from being separated from the connecting portion 1.

[0043] Furthermore, the connecting member 4 is a thin rope, the first limiting structure 41 is a knot formed at the end of the thin rope, the second limiting structure 13 is a through hole formed on the connecting portion 1, and the knot abuts against the side of the through hole away from the fingertip portion 2.

[0044] Specifically, the first limiting structure 41 and the second limiting structure 13 cooperate to facilitate the fixing of the connector 4 on the connector 1. The connector 4 is a thin rope, which is a flexible member. When the fingertip 2 and the connector 1 rotate relative to each other, the connection effect of the thin rope is not affected. The diameter of the through hole is smaller than the ball diameter of the spherical knot, so that the through hole can block the knot and prevent the knot from passing through the through hole, thereby achieving the effect of limiting the connector 4.

[0045] It should be noted that the knot is not limited to a spherical shape, but may also be a knot of other structures, with the specific condition that the knot cannot pass through the through hole.

[0046] In this embodiment, the knot can be set as a slipknot, so that operations such as replacing the knot can be convenient.

[0047] In this embodiment, the elastic member 3 is a spring, one end of which is fixedly connected to the bottom wall of the accommodating cavity 211 , and the other end of the spring extends toward the opening direction of the accommodating cavity 211 and is fixedly connected to the connecting member 4 .

[0048] Specifically, the spring has low cost, is easy to install, and is convenient to use. One end of the spring is connected to the bottom wall of the accommodating cavity 211, and the other end is connected to the connecting member 4. When the fingertip 2 and the connecting member 1 rotate relative to each other, the connecting member 4 pulls the spring, and the spring is in a stretched state at this time, and the fingertip 2 and the connecting member 1 are set at an angle; when the external force is removed, the stretched spring is reset, and then the connecting member 4 is pulled, and the relative rotation of the fingertip 2 and the connecting member 1 is realized through the connecting member 4, and the fingertip 2 is reset.

[0049] Furthermore, an inclined surface 23 is provided at one end of the fingertip portion 2 away from the connecting portion 1 , and the inclined surface 23 is located on one side of the rotation direction of the fingertip portion 2 .

[0050] In this embodiment, the inclined surface 23 of the fingertip 2 can increase the contact area between the fingertip 2 and the object, thereby reducing local damage caused by excessive pressure.

[0051] Embodiment 2

[0052] This embodiment provides a robot arm, which includes the fingertip compliance mechanism in the first embodiment.

[0053] From the above description, it can be seen that the above embodiments of the utility model achieve the following technical effects:

[0054] 1. The fingertip portion 2 of the present application is rotatably connected to the connecting portion 1. When subjected to external force, the two rotate relative to each other, which can simulate the forward rotation and flipping of a human fingertip and the movement of a human fingertip. Since an elastic member 3 is provided inside the fingertip portion 2, the fingertip portion 2 can be reset under the drive of the elastic member 3 after being separated from the external force; and during the rotation process, the elastic member 3 will store and release energy, and the elastic member 3 will play a certain buffering role, making the rotation of the finger smoother.

[0055] 2. The connecting member 4 is a thin rope, which is a flexible member. When the fingertip portion 2 and the connecting portion 1 rotate relative to each other, the connection effect of the thin rope is not affected. The diameter of the through hole is smaller than the size of the knot, so that the through hole can block the knot and prevent the knot from passing through the through hole, thereby fixing the thin rope at this end.

[0056] 3. The inclined surface 23 of the fingertip 2 can increase the contact area between the fingertip 2 and the object, reducing local damage caused by excessive pressure.

[0057] 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.

[0058] 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.

[0059] 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.

[0060] 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 fingertip compliance mechanism, characterized in that: include: A connecting portion (1); A fingertip portion (2), the fingertip portion (2) being rotatably connected to the connecting portion (1), and the interior of the fingertip portion (2) having a receiving cavity (211) opening toward the connecting portion (1); an elastic member (3), the elastic member (3) being located in the accommodating cavity (211), and the elastic member (3) providing power for the rotation of the fingertip portion (2); A connecting piece (4), one end of which extends into the accommodating cavity (211) and is connected to the elastic piece (3), and the other end of which is connected to the connecting portion (1).

2. The fingertip compliance mechanism according to claim 1, characterized in that: The fingertip portion (2) has a first rotating structure (22), the connecting portion (1) has a second rotating structure (12), the fingertip compliance mechanism further comprises a rotating shaft (5), and the first rotating structure (22) and the second rotating structure (12) are rotationally matched via the rotating shaft (5).

3. The fingertip compliance mechanism according to claim 2, characterized in that: The connecting member (4) passes through the second rotating structure (12), and the connecting member (4) is supported on the outer surface of the rotating shaft (5).

4. The fingertip compliance mechanism according to claim 3, characterized in that: The fingertip portion (2) comprises a main body portion (21), the main body portion (21) having the accommodating cavity (211) and a hole structure (212) communicating with the accommodating cavity (211), and the first rotating structure (22) comprises: Two extending arms (221) are arranged in pairs, and the two extending arms (221) are arranged on one side of the main body (21) facing the connecting portion (1). The two extending arms (221) are arranged at intervals along the axial direction of the rotating shaft (5) to form an installation space (2211). The accommodating cavity (211) is connected to the installation space (2211) through the hole structure (212). The two ends of the rotating shaft (5) are respectively connected to the two extending arms (221). At least a part of the second rotating structure (12) is located inside the installation space (2211) and is rotatably matched with the extending arms (221) through the rotating shaft (5).

5. The fingertip compliance mechanism according to claim 4, characterized in that: The connecting portion (1) comprises a fixing portion (11), and the second rotating structure (12) comprises at least: A raised portion (121), the raised portion (121) is fixed on the fixed portion (11), at least a portion of the raised portion (121) is located inside the installation space (2211), the raised portion (121) is rotatably matched with the extending arm (221) via the rotating shaft (5), a clearance hole (1211) is provided on the raised portion (121), one end of the connecting member (4) is connected to the fixed portion (11), and the other end of the connecting member (4) passes through the clearance hole (1211), the installation space (2211), and the hole structure (212) in sequence, and then extends into the interior of the accommodating cavity (211) to be connected to the elastic member (3).

6. The fingertip compliance mechanism according to claim 1, characterized in that: The end of the connecting member (4) away from the elastic member (3) has a first limiting structure (41), and the connecting portion (1) has a second limiting structure (13), and the first limiting structure (41) and the second limiting structure (13) are in contact with each other for limiting.

7. The fingertip compliance mechanism according to claim 6, characterized in that: The connecting member (4) is a thin rope, the first limiting structure (41) is a knot formed at the end of the thin rope, the second limiting structure (13) is a through hole formed on the connecting portion (1), and the knot abuts against the side of the through hole away from the fingertip portion (2).

8. The fingertip compliance mechanism according to any one of claims 1 to 7, characterized in that: The elastic member (3) is a spring, one end of which is fixedly connected to the bottom wall of the accommodating cavity (211), and the other end of which extends toward the opening direction of the accommodating cavity (211) and is fixedly connected to the connecting member (4).

9. The fingertip compliance mechanism according to any one of claims 1 to 7, characterized in that: An inclined surface (23) is provided at one end of the fingertip portion (2) away from the connecting portion (1), and the inclined surface (23) is located on one side of the rotation direction of the fingertip portion (2).

10. A robot, characterized in that: The invention comprises the fingertip compliance mechanism described in any one of claims 1 to 9.

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