Humanoid robot finger mechanism

Abstract

The utility model discloses a humanoid robot finger mechanism which comprises fingertips, first knuckles and second knuckles, one ends of the second knuckles are provided with the first knuckles in a hinged mode, the end portions of the first knuckles are provided with the fingertips in a hinged mode, and the other ends of the second knuckles are connected with a palm in a hinged mode. The fingertips are arranged at the ends of the first knuckles, the fingertips are hinged to the third ear frames at the ends of the first knuckles through the convex lugs, so that the fingertips are flexible, a connector can be covered through the simulated skin, the first meshing grooves are formed in one ends of the first knuckles, the first ear frames are arranged on the inner sides of the first meshing grooves, and the first knuckles are arranged on the first ear frames. The first ear frame can be meshed with the end of the second knuckle through the first meshing groove, the first ear frame can be inserted into the second knuckle, the joint position can be hidden, the novel finger ring is attractive and convenient to use, and friction loss can be reduced; a gasket is arranged on the top of the second knuckle, and a power storage plate is arranged on the gasket.

Description

Technical Field

[0001] The utility model relates to the relevant field of humanoid robots, in particular to a finger mechanism of a humanoid robot. Background Art

[0002] In the process of robot development, technicians regard anthropomorphic robots as the highest realm of robot research. Similar to humans, most functions of anthropomorphic robots are realized through hand operation, and the design basis of the hand mechanism is the finger device, which is one of the key technologies of anthropomorphic robots. The main advantage of advanced dexterous hands is that they can grasp objects flexibly and actively, and have good grasping stability. The disadvantage is that the dexterous hands cannot automatically adapt to the shape and size of objects when grasping objects, and have high requirements for sensors and control systems. The system is complex, costly, and has low reliability. It also requires people with high technical levels to operate, and the operation threshold is high.

[0003] For example, the authorized patent (robot finger device) with publication number CN109648591B: the robot finger device has a small grasping range and poor applicability. The robot finger device includes a base, a first finger segment hinged on the base around a proximal joint axis, and a second finger segment hinged on the first finger segment around a distal joint axis. The second finger segment is fixed on a second finger segment connecting rod hinged to the distal joint axis. The arrangement direction of the base, the first finger segment and the second finger segment in the initial state is vertical. The first finger segment is provided with a guide slide that is guided and moved in a direction intersecting the vertical direction. The guide slide is hinged with a first connecting rod and a variable coupling connecting rod. The first finger segment is hinged with a grasping connecting rod. The grasping connecting rod has a grasping end for grasping objects and a variable coupling end hinged with the variable coupling connecting rod. The variable coupling connecting rod is located on the side of the grasping connecting rod facing away from the grasping direction of the robot finger device. The hinge point between the grasping connecting rod and the first finger segment is located between the two ends of the grasping connecting rod.

[0004] The connections between the joints in the above-mentioned prior art are not smooth enough, the simulation effect is not good enough, the appearance is affected, the joints cannot be seamlessly connected, the friction process easily causes wear and tear, the service life is short, the joints cannot be seamlessly shock-absorbing and protected, and the fingers cannot be independently powered and used separately. Utility Model Content

[0005] The purpose of the utility model is to provide a humanoid robot finger mechanism to solve the problems proposed in the above-mentioned background technology that the connection between the joints is not smooth enough, the simulation effect is not enough, the appearance is affected, the joints cannot be seamlessly connected, the friction process easily causes wear and tear, the service life is short, the joints cannot be seamlessly shock-absorbing and protected, and the fingers cannot be independently powered and used alone.

[0006] To achieve the above object, the present utility model provides the following technical solutions: A humanoid robot finger mechanism, including a fingertip, a first finger joint, and a second finger joint. One end of the second finger joint is provided with the first finger joint in a hinged manner, the end of the first finger joint is provided with the fingertip in a hinged manner, and the other end of the second finger joint is connected to the palm in a hinged manner.

[0007] In a further embodiment, a lug with an integral structure is provided at the bottom end of the fingertip, and a third ear bracket is provided at one end of the first finger joint, and the third ear bracket is hinged to the lug.

[0008] In a further embodiment, a first engaging groove is provided at the other end of the first finger joint, and first ear brackets are provided on both sides at the bottom end of the first engaging groove.

[0009] In a further embodiment, the joint at the end of the second finger joint is set as an arc head, and the arc head engages with the first engaging groove and is hinged to the first ear bracket through an ear hole.

[0010] In a further embodiment, a gasket is provided on the back side of the second finger joint, a storage battery plate is provided on the gasket, an electronic slot is provided in the storage battery plate, and a gland is provided on the electronic slot.

[0011] In a further embodiment, a second ear bracket is provided at the end of the second finger joint, a second engaging groove is provided inside the second ear bracket, an integral engaging head is provided at the end of the palm, and the engaging head engages with the second engaging groove and is hinged to the second ear bracket.

[0012] Compared with the prior art, the beneficial effects of the present utility model are:

[0013] 1. The end of the first finger joint of this utility model is provided with a fingertip, and the fingertip is hinged to the third ear bracket at the end of the first finger joint through a lug, making it relatively flexible, and the interface can be covered with simulation skin. A first engaging groove is provided at one end of the first finger joint, and a first ear bracket is provided inside the first engaging groove. Through the first engaging groove, it can engage with the end of the second finger joint, and the first ear bracket can be inserted into the second finger joint, enabling the joint to be hidden, being more beautiful, convenient to use, and reducing frictional losses.

[0014] 2. A gasket is provided on the top of the second finger joint of this utility model, a storage battery plate is provided on the gasket, and an electronic slot is provided on the storage battery plate. It is convenient to insert electronics through the electronic slot, enabling the finger to be controlled independently. An engaging head is provided at the end of the palm, a second ear bracket is provided at the end of the second finger joint, and a second engaging groove is provided inside the second ear bracket. Through the second engaging groove, it can engage seamlessly with the engaging head, facilitating the connection of the finger. Description of the Drawings

[0015] Figure 1Schematic structural diagram of a finger mechanism of a humanoid robot according to the present utility model;

[0016] Figure 2 Top view of the second finger joint of the present utility model;

[0017] Figure 3 Top view of the first finger joint of the present utility model;

[0018] Figure 4 Schematic structural diagram of part A of the present utility model.

[0019] In the figure: 1, fingertip; 2, first finger joint; 3, gasket; 4, second finger joint; 5, meshing head; 6, gland; 7, storage battery plate; 8, palm; 9, first meshing groove; 10, first ear bracket; 11, electronic groove; 12, second ear bracket; 13, second meshing groove; 14, third ear bracket; 15, lug. Specific implementation manners

[0020] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all of the embodiments.

[0021] Please refer to Figures 1-4 , an embodiment provided by the present utility model: a finger mechanism of a humanoid robot, including a fingertip 1, a first finger joint 2 and a second finger joint 4. One end of the second finger joint 4 is provided with the first finger joint 2 in a hinged manner, the end of the first finger joint 2 is provided with the fingertip 1 in a hinged manner, and the other end of the second finger joint 4 is connected to the palm 8 in a hinged manner; the angle adjustment of the second finger joint 4 and the first finger joint 2 can be controlled through the hinged manner, the angle of the fingertip 1 can be adjusted through the hinged manner, and the angle adjustment between the second finger joint 4 and the palm 8 is facilitated through the hinged manner.

[0022] A lug 15 with an integral structure is provided at the bottom end of the fingertip 1. A third ear bracket 14 is provided at one end of the first finger joint 2, and the third ear bracket 14 is hinged to the lug 15, which facilitates the hinging of the fingertip 1 to the third ear bracket 14 at the end of the first finger joint 2; a first meshing groove 9 is provided at the other end of the first finger joint 2, and first ear brackets 10 are provided on both sides of the bottom end of the first meshing groove 9, and the first meshing groove 9 can be meshed and hinged with the end of the second finger joint 4.

[0023] The joint at the end of the second phalanx 4 is provided with an arc-shaped head, and the arc-shaped head engages with the first engagement groove 9 and is hinged to the first ear mount 10 through an ear hole. The arc-shaped head facilitates the engagement of the second phalanx 4 with the first engagement groove 9. The end of the second phalanx 4 is provided with a second ear mount 12, and the inner side of the second ear mount 12 is provided with a second engagement groove 13. The end of the palm 8 is provided with an integral engagement head 5, and the engagement head 5 engages with the second engagement groove 13 and is hinged to the second ear mount 12. The second ear mount 12 is used for hinging with the engagement head 5, and the engagement head 5 can engage with the second engagement groove 13.

[0024] A gasket 3 is provided on the dorsal side of the second phalanx 4, a storage battery 7 is provided on the gasket 3, an electronic slot 11 is provided inside the storage battery 7, and a gland 6 is provided on the electronic slot 11. The gasket 3 facilitates the installation of the storage battery 7, the storage battery 7 is used for supplying power to the finger, the electronic slot 11 can install electronics and supply power to the storage battery 7, and the gland 6 is used for sealing the electronic slot 11.

[0025] Working principle: When in use, the top end of the second phalanx 4 is engaged with the first engagement groove 9 at the end of the first phalanx 2, and the second phalanx 4 is hinged to the first ear mount 10. The top end of the first phalanx 2 is hinged to the lug 15 at the end of the fingertip 1 through the third ear mount 14. The electronic slot 11 is used for installing electronics so that it can supply power to the storage battery 7, the gland 6 can seal the electronic slot 11. The second phalanx 4 is hinged to the engagement head 5 at the end of the palm through the second ear mount 12, and the engagement head 5 is engaged and connected with the second engagement groove 13.

[0026] For those skilled in the art, it is obvious that the present utility model is not limited to the details of the above exemplary embodiments, and can be implemented in other specific forms without departing from the spirit or basic characteristics of the present utility model. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present utility model is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present utility model. Any reference signs in the claims should not be regarded as limiting the claims involved.

Claims

1. A humanoid robot finger mechanism, comprising a fingertip (1), a first finger joint (2) and a second finger joint (4), characterized in that: One end of the second finger joint (4) is provided with a first finger joint (2) in a hinged manner, the end of the first finger joint (2) is provided with a fingertip (1) in a hinged manner, and the other end of the second finger joint (4) is connected to the palm (8) in a hinged manner.

2. The humanoid robot finger mechanism according to claim 1, characterized in that: The bottom end of the fingertip (1) is provided with a lug (15) of an integral structure, one end of the first finger joint (2) is provided with a third ear frame (14), and the third ear frame (14) is hinged to the lug (15).

3. The humanoid robot finger mechanism according to claim 1, characterized in that: The other end of the first finger joint (2) is provided with a first engagement groove (9), and first ear frames (10) are provided on both sides of the bottom end of the first engagement groove (9).

4. The humanoid robot finger mechanism according to claim 1, characterized in that: The joint of the end of the second finger joint (4) is arranged as an arc-shaped head, and the arc-shaped head is engaged with the first engagement groove (9) and is hinged with the first ear frame (10) through the ear hole.

5. The humanoid robot finger mechanism according to claim 1, characterized in that: A gasket (3) is provided on the back side of the second finger joint (4), a power storage plate (7) is provided on the gasket (3), an electronic slot (11) is provided in the power storage plate (7), and a pressure cover (6) is provided on the electronic slot (11).

6. The humanoid robot finger mechanism according to claim 1, characterized in that: A second ear frame (12) is provided at the end of the second finger joint (4), a second engagement groove (13) is provided on the inner side of the second ear frame (12), an integral engagement head (5) is provided at the end of the palm (8), and the engagement head (5) is engaged with the second engagement groove (13) and is hinged to the second ear frame (12).

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