Finger device for preventing steel wire from falling off

Abstract

The utility model provides a finger device capable of preventing a steel wire from falling off. The finger device comprises a finger body, wherein the finger body comprises a first finger section, a second finger section and a third finger section which are sequentially connected; the first steel wire pull rope drives the first finger section to move; the second steel wire pull rope drives the second finger section to move; the rotating shaft drives the third finger section to move; the driving winch is located behind the end, far away from the finger body, of the rotating shaft. The first steel wire pull rope and the second steel wire pull rope are arranged on the driving winch in a coiled mode. The multiple guide wheels are distributed in the finger body and guide the first steel wire pull rope or the second steel wire pull rope to start from the driving winch to be gradually transited to the corresponding first finger section or the corresponding second finger section. And the limiting piece is used for limiting the first steel wire pull rope or the second steel wire pull rope from sliding out of the guide wheel. The finger can prevent the steel wire from being separated from the guide groove after the steel wire is loosened in the working process, the space size of the whole finger is small, and the flexible operability is high.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, and in particular to a steel wire finger-preventing device. Background Art

[0002] As the key operating tool at the end of the robot system, the gripping ability, operating performance and reliability of the robot finger are of great importance to the overall working performance of the robot. In the field of robotics, especially for the design of dexterous hands that imitate the capabilities of human hands, the manipulator part usually adopts a wire rope drive mechanism. However, this driving method faces a significant problem in practical applications, that is, the wire may slip out of the wire guide groove due to looseness during use, thereby affecting the operational stability and safety of the robot. Although some designs have tried to solve this problem by increasing the pre-tensioning of the wire, this approach often leads to an increase in the overall size of the dexterous hand, thereby reducing the convenience and flexibility of finger operation. Utility Model Content

[0003] In view of the defects in the prior art, the utility model aims to provide a finger-preventing device for preventing a steel wire from falling off.

[0004] According to one aspect of the utility model, a steel wire anti-falling finger device is provided, comprising:

[0005] A finger body, the finger body comprising a first finger segment, a second finger segment and a third finger segment connected in sequence;

[0006] a first steel wire pull rope, the first steel wire pull rope driving the first finger segment to move;

[0007] a second steel wire pull rope, wherein the second steel wire pull rope drives the second finger segment to move;

[0008] A rotating shaft, wherein the rotating shaft drives the third finger segment to move;

[0009] A driving winch, the driving winch is located behind an end of the rotating shaft that is farther from the finger body, and the first steel wire rope and the second steel wire rope are respectively coiled on the driving winch;

[0010] A guide wheel, wherein a plurality of the guide wheels are distributed in the finger body, and guide the first steel wire rope or the second steel wire rope to gradually transition from the driving winch to the corresponding first finger segment or the second finger segment;

[0011] A limiting member, wherein the limiting member limits the first steel wire pull rope or the second steel wire pull rope from sliding out of the guide wheel.

[0012] Preferably, the tail end of the first finger segment and the head end of the second finger segment are hinged via a first rotating shaft; the first steel wire rope passes around the first rotating shaft and is fixed to the first finger segment; tightening or loosening the first steel wire rope causes the first finger segment to rotate around the first rotating shaft;

[0013] The tail end of the second finger segment is hinged to the head end of the third finger segment via a second rotating shaft; a chuck is provided on the outside of the second rotating shaft; the second steel wire rope is fixed at the chuck; tightening or loosening the second steel wire rope drives the second rotating shaft to rotate, so that the second finger segment produces a rotating motion.

[0014] Preferably, the tail end of the third finger segment is connected to the rotating shaft; the rotating shaft is perpendicular to the first rotating shaft and the second rotating shaft; the rotating shaft is a hollow shaft, and the first steel wire rope and the second steel wire rope pass through the inside thereof.

[0015] Preferably, the driving winch comprises a first winch and a second winch which share a rotating shaft; the first steel wire rope drum is arranged on the first winch, and the second steel wire rope drum is arranged on the second winch.

[0016] Preferably, there are three guide wheels, namely a first guide wheel, a second guide wheel and a third guide wheel;

[0017] The first guide wheel is located at the head end of the third finger segment, the second guide wheel is located at the tail end of the second finger segment, and the third guide wheel is located at the head end of the second finger segment;

[0018] The first steel wire rope extends from the driving winch, passes through the first guide wheel to the second guide wheel, and is then guided by the third guide wheel to bypass the first rotating shaft and fixed to the first finger segment;

[0019] The second steel wire rope extends from the driving winch and is guided to the chuck of the second rotating shaft through the first guide wheel.

[0020] Preferably, the surface of the guide wheel is provided with a groove arranged along the circumferential direction, and the first steel wire rope or the second steel wire rope is embedded in the groove to prevent the steel wire from slipping out of the guide wheel.

[0021] Preferably, a self-lubricating material is provided between the groove and the first steel wire rope or the second steel wire rope.

[0022] Preferably, the limiting member comprises a steel rod; the steel rod is parallel to the axial direction of the guide wheel and is fixed outside the guide wheel, and the gap between the steel rod and the guide wheel is smaller than the diameter of the first steel wire rope or the second steel wire rope.

[0023] Preferably, the limiting member includes an arc-shaped portion; the arc-shaped portion is fixed to the outside of the guide wheel and maintained in the same plane therewith, and the gap between the arc-shaped portion and the guide wheel is smaller than the diameter of the first steel wire rope or the second steel wire rope.

[0024] Preferably, the arc portion has the same arc as that of the guide wheel.

[0025] Compared with the prior art, the embodiment of the utility model has at least one of the following beneficial effects:

[0026] The wire anti-falling finger device in the embodiment of the utility model can effectively prevent the wire from falling off from the guide groove when it is affected by external force or wear. At the same time, the spatial volume of the entire finger device is optimized, so that it has a smaller volume while ensuring functionality, thereby significantly improving its flexibility and operability. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Other features, objects and advantages of the present invention will become more apparent by reading the detailed description of non-limiting embodiments with reference to the following drawings:

[0028] Figure 1 This is a schematic structural diagram of a steel wire anti-falling finger device in one embodiment of the utility model;

[0029] Figure 2 It is a schematic diagram of the driving winch structure in one embodiment of the utility model.

[0030] In the figure: 1 is the first finger segment, 2 is the third guide wheel, 3 is the second finger segment, 4 is the first guide wheel, 5 is the steel rod, 6 is the first steel wire rope, 7 is the third finger segment, 8 is the rotating shaft, 9 is the driving winch, 10 is the second guide wheel, 11 is the arc portion, 12 is the second steel wire rope, 13-spring, 90-shared rotating rod, 91-first winch, 92-second winch, 93-first turbine, 94-second turbine. DETAILED DESCRIPTION

[0031] The utility model is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the utility model, but do not limit the utility model in any form. It should be pointed out that for those of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the utility model. These all fall within the scope of protection of the utility model.

[0032] In one embodiment of the utility model, a steel wire anti-falling finger device is provided, which mainly includes a finger body, a first steel wire rope, a second steel wire rope, a rotating shaft, a driving winch, a guide wheel and a limiting member. The finger body includes a first finger segment 1, a second finger segment 3 and a third finger segment 7 connected in sequence; the first steel wire rope 6 drives the first finger segment 1 to move; the second steel wire rope 12 drives the second finger segment 3 to move; the rotating shaft 8 drives the third finger segment 7 to move; the driving winch 9 is located behind the end of the rotating shaft 7 far from the finger body, and the first steel wire rope 6 and the second steel wire rope 12 are respectively coiled on the driving winch 9; a plurality of guide wheels are distributed in the finger body, guiding the first steel wire rope 6 or the second steel wire rope 12 to gradually transition from the driving winch to the corresponding first finger segment 1 or the second finger segment 3; the limiting member limits the first steel wire rope 6 or the second steel wire rope 12 from sliding out of the guide wheel.

[0033] The above embodiment can effectively prevent the steel wire from falling out of the guide groove when it is affected by external force or wear. At the same time, the spatial volume of the entire finger device is optimized, so that it has a smaller volume while ensuring functionality, thereby significantly improving its flexibility and operability.

[0034] In a preferred embodiment of the utility model, a preferred structure of the finger body is provided. The finger body is mainly composed of three finger segments, namely the first finger segment 1, the second finger segment 3 and the third finger segment 7. The tail end of the first finger segment 1 and the head end of the second finger segment 3 are hinged through the first rotating shaft; the first steel wire rope 6 passes around the first rotating shaft and fixes the end to the first finger segment 1; when the first steel wire rope is tightened, the first finger segment rotates with the first rotating shaft as the axis to perform the finger closing action; since the reset spring 13 is installed on the top of the first finger segment and the second finger segment, when the first steel wire rope is relaxed, the first finger segment and the second finger segment are directly reset.

[0035] The tail end of the second finger segment is hinged to the head end of the third finger segment through a second rotating shaft; a chuck is provided on the outside of the second rotating shaft. The chuck is fixedly connected to the second rotating shaft through a D-shaped surface, and can transmit torque. The end of the second steel wire rope is fixed at the chuck. When the second steel wire rope is tightened, the chuck rotates, driving the second rotating shaft to rotate, thereby driving the second finger segment to perform a finger closing action. Similarly, a reset spring is also installed on the top of the second finger segment and the third finger segment. When the second steel wire rope is relaxed, the second finger segment and the third finger segment are directly reset.

[0036] In a preferred embodiment of the present invention, a preferred driving method of the third finger segment is provided. Specifically, the tail end of the third finger segment 7 is connected to the rotating shaft 8. The direction of the rotating shaft 8 is perpendicular to the first rotating shaft and the second rotating shaft.

[0037] Furthermore, the rotating shaft 8 is set as a hollow shaft, and the first steel wire rope 6 and the second steel wire rope 12 pass through the inside. This structural design helps to save layout space and effectively improve control accuracy. In some specific embodiments, a motor, a worm and a turbine are used to drive the rotating shaft to rotate.

[0038] In order to further save design space, in a preferred embodiment of the present invention, the driving winch 9 is coaxially designed. Figure 2 As shown, two groups of motors, worms and turbines are respectively installed at the two ends of the shared rotating rod; the first capstan 91 and the second capstan 92 are adjacent to each other and are both sleeved at the end of the shared rotating rod 90, wherein the second capstan 92 is located at the outermost layer. The turbine adjacent to the first capstan is defined as the first turbine 93, and the other turbine is the second turbine 94. Specifically, the first turbine 93 and the first capstan 91 are of an integrated design, and the first turbine 93 is sleeved on the shared rotating rod 90 through a transition sleeve. The second turbine 94 is fixed to the shared rotating rod, and the second capstan is fixed to the shared rotating rod. The first wire rope drum is fixed to the first capstan, and the second wire rope drum is fixed to the second capstan. This design enables the two groups of motors, worms and turbines to be independently operated and controlled.

[0039] In order to better arrange the wire rope, in a preferred embodiment of the utility model, there are three guide wheels to guide the wire rope, namely the first guide wheel 4, the second guide wheel 10 and the third guide wheel 2. The first guide wheel 4 is located at the head end of the third finger segment, the second guide wheel 10 is located at the tail end of the second finger segment, and the third guide wheel 2 is located at the head end of the second finger segment; the first wire rope 6 extends from the driving winch, transitions to the second guide wheel 10 through the first guide wheel 4, and is then guided to the first rotating shaft through the third guide wheel 2, bypassing the first rotating shaft and fixed to the first finger segment. The second wire rope 12 extends from the driving winch, is guided to the second rotating shaft through the first guide wheel 4, and is fixed to the chuck of the second rotating shaft.

[0040] Normally, when driven by a wire rope, the wire may become loose during use and easily slip out of the wire guide wheel. Some designs increase the pre-tightening of the wire, but this increases the overall volume of the dexterous hand, making it inconvenient to operate with fingers. In order to avoid the phenomenon of the wire rope slipping off, the overall volume and ease of operation are also considered. In a preferred embodiment of the utility model, a circumferential groove is provided on the surface of the guide wheel, and the wire rope is embedded in the groove, which can effectively prevent the wire rope from slipping off the guide wheel. In some specific embodiments, two slide grooves are provided on the surface of the first guide wheel 4, which are respectively used to embed the first wire rope and the second wire rope.

[0041] Furthermore, in a preferred embodiment, some self-lubricating material is provided between the groove and the first steel wire rope and the second steel wire rope. The self-lubricating material can be POM, PPS or the above material sprayed on the metal material.

[0042] In another embodiment of the utility model, a steel rod 5 is used as a limiting member. The steel rod is parallel to the axial direction of the guide wheel and is fixed outside the guide wheel. The gap between the steel rod and the guide wheel is smaller than the diameter of the first steel wire rope or the second steel wire rope. In some preferred embodiments, a steel rod 5 with a diameter of 0.15 mm is arranged outside the first guide wheel 4 to limit the first steel wire rope and the second steel wire rope from slipping off the first guide wheel.

[0043] In another embodiment of the utility model, an arc portion 11 is used as a limiting member. The arc portion 11 is fixed to the outside of the guide wheel and maintained in the same plane with the guide wheel. The gap between the arc portion 11 and the guide wheel is smaller than the diameter of the first wire rope or the second wire rope. The arc portion has the same curvature as the guide wheel.

[0044] In some specific embodiments, an arc-shaped portion is fixed on the outer side of the second guide wheel and the third guide wheel respectively. Specifically, the arc-shaped portion on the outer side of the second guide wheel is an arc-shaped baffle as a whole, and the arc-shaped portion on the outer side of the third guide wheel is a block, and the side close to the guide wheel is an arc-shaped surface.

[0045] In other embodiments, the operation process of the entire steel wire anti-falling finger device is also provided, specifically:

[0046] like Figure 1 and Figure 2 As shown, after starting the motor, the transmission worm and the first turbine are linked to drive the first capstan to rotate. When the first capstan rotates clockwise, the first steel wire rope will be tightened. Subsequently, the first steel wire rope passes through the first guide wheel, the second guide wheel, the third guide wheel, and the first rotating shaft to drive its end to be tightened. When tightening, the first finger segment rotates around the first rotating shaft to achieve the bending of the first finger segment; when loosening, under the action of the spring, the first finger segment and the second finger segment are directly reset to achieve the extension of the first finger segment.

[0047] The start of the other motor will drive the transmission worm and the second turbine to rotate, thereby driving the second capstan to rotate. When the second capstan rotates clockwise, the second steel wire rope will be tightened. The second steel wire rope is then guided by the first guide wheel and transmitted to the chuck of the second shaft. The rotation of the chuck drives the clockwise rotation of the second shaft, thereby driving the bending of the second finger segment. When released, under the action of the spring, the second and third finger segments are directly reset to achieve the extension of the second finger segment.

[0048] After starting the motor corresponding to the third finger segment, the mechanical transmission of the worm gear drives the rotating shaft to rotate, thereby driving the rotation of the third finger segment and the entire finger segment. During this process, the first finger segment and the second finger segment can also move at the same time. The first steel wire rope and the second steel wire rope extend from the hollow shaft to ensure the accuracy of the control of the three finger segments.

[0049] During the wire transmission process, the groove design of the guide wheel, the external steel rod and the arc-shaped part work closely together to effectively prevent the wire from detaching from the guide wheel, thereby ensuring that the finger device can be stably and accurately controlled.

[0050] The above describes the specific embodiments of the utility model. It should be understood that the utility model is not limited to the above specific embodiments, and those skilled in the art can make various deformations or modifications within the scope of the claims, which does not affect the essence of the utility model. The above preferred features can be used in any combination without conflicting with each other.

Claims

1. A wire anti-falling finger device, characterized in that: include: A finger body, the finger body comprising a first finger segment, a second finger segment and a third finger segment connected in sequence; a first steel wire pull rope, the first steel wire pull rope driving the first finger segment to move; a second steel wire pull rope, the second steel wire pull rope driving the second finger segment to move; A rotating shaft, wherein the rotating shaft drives the third finger segment to move; A driving winch, the driving winch is located behind an end of the rotating shaft that is farther from the finger body, and the first steel wire pull rope and the second steel wire pull rope are respectively coiled on the driving winch; A guide wheel, wherein a plurality of the guide wheels are distributed in the finger body, and guide the first steel wire rope or the second steel wire rope to gradually transition from the driving winch to the corresponding first finger segment or the second finger segment; A limiting member, wherein the limiting member limits the first steel wire pull rope or the second steel wire pull rope from sliding out of the guide wheel.

2. A wire anti-falling finger device according to claim 1, characterized in that: The tail end of the first finger segment and the head end of the second finger segment are hinged via a first rotating shaft; the first steel wire rope passes around the first rotating shaft and is fixed to the first finger segment; tightening or loosening the first steel wire rope causes the first finger segment to rotate around the first rotating shaft; The tail end of the second finger segment is hinged to the head end of the third finger segment via a second rotating shaft; a chuck is provided on the outside of the second rotating shaft; the second steel wire rope is fixed at the chuck; tightening or loosening the second steel wire rope drives the second rotating shaft to rotate, so that the second finger segment produces a rotating motion.

3. A wire anti-falling finger device according to claim 2, characterized in that: The tail end of the third finger segment is connected to the rotating shaft; the rotating shaft is perpendicular to the first rotating shaft and the second rotating shaft; the rotating shaft is a hollow shaft, and the first steel wire rope and the second steel wire rope pass through the inside thereof.

4. A wire anti-falling finger device according to claim 1, characterized in that: The driving winch includes a first winch and a second winch that share a rotating shaft; the first steel wire rope drum is arranged on the first winch, and the second steel wire rope drum is arranged on the second winch.

5. A wire anti-falling finger device according to claim 2, characterized in that: There are three guide wheels, namely the first guide wheel, the second guide wheel and the third guide wheel; The first guide wheel is located at the head end of the third finger segment, the second guide wheel is located at the tail end of the second finger segment, and the third guide wheel is located at the head end of the second finger segment; The first steel wire rope extends from the driving winch, passes through the first guide wheel to the second guide wheel, and is then guided by the third guide wheel to bypass the first rotating shaft and fixed to the first finger segment; The second steel wire rope extends from the driving winch and is guided to the chuck of the second rotating shaft through the first guide wheel.

6. A wire anti-falling finger device according to claim 1, characterized in that: The surface of the guide wheel is provided with a groove arranged along the circumferential direction, and the first steel wire rope or the second steel wire rope is embedded in the groove to prevent the steel wire from slipping out of the guide wheel.

7. A wire anti-falling finger device according to claim 6, characterized in that: A self-lubricating material is arranged between the groove and the first steel wire rope or the second steel wire rope.

8. A wire anti-falling finger device according to claim 1, characterized in that: The limiting member includes a steel rod; the steel rod is parallel to the axial direction of the guide wheel and is fixed outside the guide wheel, and the gap between the steel rod and the guide wheel is smaller than the diameter of the first steel wire rope or the second steel wire rope.

9. A wire anti-falling finger device according to claim 1, characterized in that: The limiting member includes an arc portion; the arc portion is fixed to the outside of the guide wheel and maintained in the same plane therewith, and the gap between the arc portion and the guide wheel is smaller than the diameter of the first steel wire rope or the second steel wire rope.

10. A wire anti-falling finger device according to claim 9, characterized in that: The arc portion has the same arc as that of the guide wheel.

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