Finger joint structure of dexterous hand, dexterous finger and robot

Abstract

The utility model provides a finger joint structure of a dexterous hand, a dexterous finger and a robot, the finger joint structure comprises a first finger joint and a second finger joint which are adjacent to each other, and the first finger joint and the second finger joint are both made of self-lubricating materials; the end, connected with the second knuckle, of the first knuckle is provided with two protruding first connecting parts, the end of the second knuckle is provided with two protruding second connecting parts, and the first connecting parts are located on the two sides of the second connecting parts; a first mounting hole is formed in the first connecting part, a second mounting hole is formed in the second connecting part, and the second mounting hole corresponds to the first mounting hole in position; the rotating shaft I sequentially penetrates through the mounting hole I and the mounting hole II in one side; the second rotating shaft sequentially penetrates through the first mounting hole and the second mounting hole in the other side, and a hollow area is formed between the first rotating shaft and the second rotating shaft. The size of the joint can be reduced, the hollow area is formed between the two rotating shafts of the knuckle, parts can be conveniently arranged in the hollow area, and therefore it is guaranteed that the structure is compact and efficient.

Description

Technical Field

[0001] The utility model relates to the technical field of finger robots, in particular to a finger joint structure of a dexterous hand, a dexterous finger and a robot. Background Art

[0002] Finger robots are high-precision end effectors that simulate the movement and operation of human fingers to achieve functions such as grabbing, holding and placing objects. Finger robots have high flexibility, control accuracy and adaptability, and can handle objects of various shapes and sizes. They have shown broad application prospects in many fields such as industrial manufacturing, medical care, aerospace, etc. With the continuous development of artificial intelligence technology, finger robots are expected to achieve more intelligent and autonomous operations in the future.

[0003] The fingers of finger robots usually contain multiple joints, which allow the fingers to perform a variety of movements, such as bending, stretching, and rotation. The design of the finger joints should meet the flexibility and stability requirements of the fingers to ensure that the robot can accurately perform various tasks. The current finger joints are composed of shafts, bearings, outer rings, etc. The shaft is a solid structure with a large size. In order to prevent interference, the axis of the shaft must be avoided when arranging the connecting rods, tendons, sensors and other components, resulting in an increase in the size of the connecting rods, an increase in the length of the tendons, and the exposure of the sensors, which in turn leads to a series of problems such as reduced strength of the connecting rods, reduced tendon driving efficiency, and increased size of the fingers. Utility Model Content

[0004] In view of the defects in the prior art, the purpose of the utility model is to provide a finger joint structure of a dexterous hand, a dexterous finger and a robot.

[0005] The utility model is realized by the following technical solutions:

[0006] According to a first aspect of the utility model, a finger joint structure of a dexterous hand is provided, the finger joint structure comprising adjacent first finger joints and second finger joints, the first finger joints and the second finger joints are both made of self-lubricating material;

[0007] The first finger joint is provided with two protruding first connecting parts at the connecting end with the second finger joint, and the end of the second finger joint is provided with two protruding second connecting parts, and the first connecting parts are located on both sides of the second connecting parts;

[0008] The first connecting portion is provided with a first mounting hole, the second connecting portion is provided with a second mounting hole, and the second mounting hole corresponds to the position of the first mounting hole;

[0009] A rotating shaft 1 passes through the mounting hole 1 and the mounting hole 2 on one side in sequence;

[0010] The second rotating shaft passes through the first mounting hole and the second mounting hole on the other side in sequence, and a hollow area is formed between the first rotating shaft and the second rotating shaft.

[0011] Optionally, both the first rotating shaft and the second rotating shaft are pins.

[0012] Optionally, the rotating shaft 1 and the rotating shaft 2 are respectively tightly matched with the mounting hole 1.

[0013] Optionally, the first rotating shaft and the second rotating shaft are loosely matched with the second mounting hole respectively.

[0014] Optionally, the first rotating shaft and the second rotating shaft are both made of metal material.

[0015] Optionally, the self-lubricating plastic material is any one of POM, PEEK, PPS, PA, PI, PTFE and UHMWPE.

[0016] According to a second aspect of the utility model, a dexterous finger is provided, wherein the dexterous finger comprises the finger joint structure of the dexterous hand of the first aspect.

[0017] According to a third aspect of the utility model, a robot is provided, comprising the dexterous finger of the second aspect.

[0018] Compared with the prior art, the utility model has at least one of the following beneficial effects:

[0019] The finger joints of the utility model are made of self-lubricating material, which can provide lubrication effect by itself during the friction process to reduce friction and wear. Therefore, it can replace the bearing design of the finger joints in the prior art and can reduce the size of the joints. By arranging rotating shaft one and rotating shaft two on both sides of the finger joints, a hollow area is formed between the two rotating shafts of the finger joints, which is convenient for arranging connecting rods, tendons, pulleys, sensors and other parts in the hollow area. Each part does not need to avoid the axis of the rotating shaft, and the structure is compact and efficient, thereby solving the problems of reduced strength of the connecting rod, reduced tendon driving efficiency, and increased finger size in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] 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:

[0021] Figure 1 It is a structural schematic diagram of various components of the finger joint structure of the dexterous hand in one embodiment of the utility model;

[0022] Figure 2 It is a structural schematic diagram of the finger joint structure of the dexterous hand in one embodiment of the utility model.

[0023] The corresponding reference numerals are: 1 is the first finger joint, 2 is the second finger joint, 3 is the first rotating shaft, 4 is the second rotating shaft, 5 is the first mounting hole, 6 is the second mounting hole, and 7 is the hollow area. DETAILED DESCRIPTION

[0024] 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.

[0025] It should be noted that the terms "first", "second", etc. 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. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. Moreover, the terms "first", "second", etc. are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0026] Reference Figure 1 and Figure 2 The utility model provides a finger joint structure of a dexterous hand, comprising a first finger joint 1 and a second finger joint 2, a first rotating shaft 3 and a second rotating shaft 4, wherein the first finger joint 1 and the second finger joint 2 are both made of self-lubricating material, and can provide lubrication effect by themselves during the friction process to reduce friction and wear; the first finger joint 1 is provided with two protruding first connecting parts at the connecting end with the second finger joint 2, and the end of the second finger joint 2 is provided with two protruding second connecting parts, and the first connecting part is located on both sides of the second connecting part; the first connecting part is provided with a mounting hole 1 5, the second connecting part is provided with a mounting hole 2 6, and the mounting hole 2 6 Corresponding to the position of the mounting hole 15; the rotating shaft 13 passes through the mounting hole 15 and the mounting hole 26 on one side in sequence; the rotating shaft 24 passes through the mounting hole 15 and the mounting hole 26 on the other side in sequence, and a hollow area 7 is formed between the rotating shaft 13 and the rotating shaft 24, and connecting rods, tendons, pulleys, sensors and other parts can be arranged in the hollow area 7. Each part does not need to avoid the axis of the rotating shaft. The structure is compact and efficient, and self-lubricating materials are used instead of bearings. The self-lubricating material is integrated with the finger, which saves more space and is conducive to the miniaturization of the finger, thereby solving the problems of reduced strength of the connecting rod, reduced tendon driving efficiency, and increased finger size in the prior art.

[0027] In some embodiments, the rotating shaft adopts a pin, which can transmit a large torque, has the advantages of strong torque transmission capacity, allows axial adjustment, and is easy to disassemble, and is also conducive to the miniaturization design of the product. For example, a T-shaped pin or a cylindrical pin is used. The rotating shaft formed by the two pins is a hollow structure, which is conducive to the internal arrangement of tendons and sensors, etc. Compared with the finger joint structure in the prior art, it is more compact and achieves a higher space utilization rate.

[0028] In some embodiments, the first shaft 3 and the second shaft 4 are respectively tightly matched with the first mounting hole 5, and the clearance between the two shafts and the first finger joint 1 is small, and the connection is tight, which can effectively prevent loosening and ensure reliable connection; the tight fit can also reduce friction and wear between parts, extend the service life of the product, and effectively improve the product's bearing capacity and wear resistance. The first shaft 3 and the second shaft 4 are respectively loosely matched with the second mounting hole 6, which is convenient for assembly and disassembly, thereby facilitating maintenance and replacement.

[0029] like Figure 1 As shown, when the rotating shaft 1 3 is installed, it is first tightly matched with the mounting hole 1 5 of the first finger joint 1, and then loosely matched with the mounting hole 2 6 of the second finger joint 2. The rotating shaft 2 4 on the other side is installed in the same way.

[0030] Figure 2 A hollow area 7 is formed in the middle of the shaft, and parts such as connecting rods, tendons, pulleys, sensors, etc. can be arranged in the hollow area 7 without avoiding the axis of the shaft, thereby ensuring a compact and efficient structure.

[0031] In some embodiments, the rotating shaft 1 3 and the rotating shaft 2 4 are both made of metal materials. For example, metal materials with smooth surfaces can be used, such as carbon steel, alloy steel, aluminum alloy, copper alloy, or other fast-cutting steel nickel-plated. The metal shaft is a high-strength and high-precision basic part of the finger. The diameter accuracy of the metal shaft under light load can help the finger meet the movement accuracy. Under high load, it can serve as a load support for the finger, with slight deformation and long-term wear resistance.

[0032] It should be noted that, in some other embodiments, the rotating shaft 1 3 and the rotating shaft 2 4 may also be made of high-strength and high-wear-resistant plastic, as long as the same functions as mentioned above can be achieved.

[0033] The first finger joint 1 and the second finger joint 2 are both made of self-lubricating materials to reduce friction and wear between surfaces. They can replace the bearing design of the finger joints in the prior art and can reduce the size of the joints. In some embodiments, the self-lubricating plastic material uses any one of POM, PEEK, PPS, PA, PI, PTFE and UHMWPE. The above materials have good self-lubricating properties. Compared with metal materials, self-lubricating materials have better fatigue resistance, can resist corrosion from a variety of chemical substances, and are easy to process into various shapes and sizes. Therefore, they also have the advantages of fatigue resistance, corrosion resistance, and easy processing.

[0034] It should be noted that, in some other embodiments, the first finger joint 1 and the second finger joint 2 may also adopt other types of self-lubricating materials, as long as they can achieve the same function as mentioned above, and the embodiments of the present utility model do not make specific limitations on this.

[0035] Based on the same concept, another embodiment of the present invention provides a dexterous finger, which includes the finger joint structure of the dexterous hand mentioned above.

[0036] Based on the same concept, another embodiment of the present invention provides a robot, which includes the above-mentioned dexterous fingers.

[0037] The finger joints provided in the above-mentioned embodiments of the utility model are made of self-lubricating material, which can provide lubrication effect by itself during the friction process to reduce friction and wear. Therefore, the bearing design of the finger joints in the prior art can be replaced without adding additional bearings, which can save the use of parts and reduce the size of the joints. By arranging rotating shaft one and rotating shaft two on both sides of the finger joints, a hollow area is formed between the two rotating shafts of the finger joints, which is convenient for arranging connecting rods, tendons, pulleys, sensors and other parts in the hollow area. Each part does not need to avoid the axis of the rotating shaft, and the structure is compact and efficient, thereby solving the problems of reduced strength of the connecting rod, reduced tendon driving efficiency, and increased finger size in the prior art.

[0038] 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 finger joint structure of a dexterous hand, characterized in that: It comprises a first finger joint and a second finger joint adjacent to each other, wherein the first finger joint and the second finger joint are both made of self-lubricating material; The first finger joint is provided with two protruding first connecting parts at the connecting end with the second finger joint, and the end of the second finger joint is provided with two protruding second connecting parts, and the first connecting parts are located on both sides of the second connecting parts; The first connecting portion is provided with a first mounting hole, the second connecting portion is provided with a second mounting hole, and the second mounting hole corresponds to the position of the first mounting hole; A rotating shaft 1 passes through the mounting hole 1 and the mounting hole 2 on one side in sequence; The second rotating shaft passes through the first mounting hole and the second mounting hole on the other side in sequence, and a hollow area is formed between the first rotating shaft and the second rotating shaft.

2. The finger joint structure of the dexterous hand according to claim 1, characterized in that: The first rotating shaft and the second rotating shaft both adopt pins.

3. The finger joint structure of the dexterous hand according to claim 1, characterized in that: The first rotating shaft and the second rotating shaft are respectively tightly matched with the first mounting hole.

4. The finger joint structure of the dexterous hand according to claim 1, characterized in that: The first rotating shaft and the second rotating shaft are loosely matched with the second mounting hole respectively.

5. The finger joint structure of the dexterous hand according to claim 1, characterized in that: The first rotating shaft and the second rotating shaft are both made of metal material.

6. The finger joint structure of the dexterous hand according to claim 1, characterized in that: The self-lubricating material is any one of POM, PEEK, PPS, PA, PI, PTFE and UHMWPE.

7. A dexterous finger, characterized in that: A finger joint structure of a dexterous hand comprising the structure described in any one of claims 1-6.

8. A robot, characterized in that: Including the dexterous fingers described in claim 7.

Images