Joint tendon rope routing device, finger structure and robot

Abstract

The utility model provides a joint tendon rope routing device, a finger structure and a robot, and the device comprises a support which is fixed on a base, the support can rotate relative to the base, the rotation center of the support is coaxial with the rotation center of a third knuckle, and the support is of a frame structure; the first rotating shaft is located in the frame structure, the two ends of the first rotating shaft are connected to the two opposite side walls of the support respectively, and a first pulley is arranged on the first rotating shaft and rotates relative to the first rotating shaft; the second rotating shaft is located in the frame structure, the two ends of the second rotating shaft are connected to the two opposite side walls of the support respectively, the second rotating shaft and the first rotating shaft are arranged in parallel, and a second pulley is arranged on the second rotating shaft and rotates relative to the second rotating shaft; a wiring area is formed between the first pulley and the second pulley, and the tendon rope can penetrate through the wiring area. According to the utility model, the tendon rope can be effectively prevented from falling off from the pulley, other joints can be prevented from being mistakenly driven when the tendon rope is tensioned, the bending of the tendon rope can be reduced, and the transmission efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of finger robots, and in particular to a joint tendon rope routing device, a finger structure 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. They have high flexibility, precise control and adaptability, and can handle objects of various shapes and sizes. Finger robots 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] In the prior art, the tendon rope drive of the finger joint uses a device that provides a pre-tightening force to prevent the tendon rope from falling off the pulley. This pre-tightening force device takes up space and is not conducive to the miniaturization design of the finger. In addition, when the tendon rope drives the joint to rotate, since the tendon rope does not pass the axis of the subsequent joint, it will generate a torque on the subsequent joint after being tightened, which may drive the subsequent joint by mistake. Utility Model Content

[0004] In view of the defects in the prior art, the purpose of the utility model is to provide a joint tendon rope routing device, a finger structure 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 joint tendon rope routing device is provided, the device comprising:

[0007] A bracket is fixed on a base, wherein the base is fixed on the rotation axis of the third knuckle, and the third knuckle is close to the palm; the bracket can rotate relative to the base, the rotation center of the bracket is coaxial with the rotation center of the third knuckle, and the bracket is a frame structure;

[0008] A first rotating shaft, which is located inside the frame structure and has two ends respectively connected to two opposite side walls of the bracket, the first rotating shaft is provided with a first pulley, and the first pulley rotates relative to the first rotating shaft;

[0009] A second rotating shaft is located inside the frame structure and has two ends respectively connected to two opposite side walls of the bracket. The second rotating shaft is arranged parallel to the first rotating shaft. A second pulley is provided on the second rotating shaft, and the second pulley rotates relative to the second rotating shaft. A wiring area is formed between the first pulley and the second pulley, and the wiring area is for the tendon rope to pass through.

[0010] Furthermore, one end of the tendon rope is connected to the driving mechanism, and the other end is connected to the rotation axis of the second knuckle. The tendon rope of the second knuckle passes through the routing area and the rotation axis of the third knuckle.

[0011] Furthermore, the bracket is provided with connecting shafts on both sides, the base is provided with a bracket mounting hole for mounting the bracket, and the connecting shaft is installed in the bracket mounting hole to realize the free rotation of the bracket relative to the base.

[0012] Furthermore, the base is connected to the third finger joint through a T-shaped pin, and the third finger joint can rotate around the base.

[0013] Furthermore, the frame structure of the bracket is provided with a bracket hole for installing the first rotating shaft and the second rotating shaft, the two ends of the first rotating shaft and the second rotating shaft are tightly fitted with the bracket hole respectively, the pulley hole of the first pulley is loosely fitted with the first rotating shaft, and the pulley hole of the second pulley is loosely fitted with the second rotating shaft.

[0014] Furthermore, the first rotating shaft and / or the second rotating shaft is a metal shaft.

[0015] Furthermore, grooves are provided on the surfaces of the first pulley and the second pulley, and the diameter of a whole circle formed by merging the grooves of the first pulley and the grooves of the second pulley is slightly larger than the diameter of the tendon rope.

[0016] According to a second aspect of the utility model, a finger structure is provided, wherein the finger structure comprises the joint tendon rope routing device described in the first aspect.

[0017] According to a third aspect of the utility model, a robot is provided, the robot comprising the joint tendon rope routing device described in the first aspect, or the finger structure described in the second aspect.

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

[0019] The utility model forms a routing area between the first pulley and the second pulley, and the tendon rope passes through the routing area. When the tendon rope is tightened or relaxed, the tendon rope can be effectively prevented from falling off the pulley. Compared with the prior art method of using a preload device, space and cost can be saved; because the tendon rope passes through the rotation axis of the subsequent joint, when the tendon rope is tightened to drive the joint to rotate, no torque is generated on the subsequent joint, thereby avoiding accidental driving of other joints; moreover, the use of a pulley assembly with a bracket can better adapt to the state of the tendon rope, and adaptively rotate with the state of the tendon rope, which can reduce the bending of the tendon rope, thereby improving transmission efficiency. 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 This is a structural schematic diagram of a joint tendon rope routing device in one embodiment of the utility model;

[0022] Figure 2 It is a structural schematic diagram of a tendon rope passing through a joint tendon rope routing device in one embodiment of the utility model;

[0023] Figure 3 This is a schematic structural diagram of a finger structure in one embodiment of the utility model;

[0024] Figure 4 It is a structural schematic diagram of the finger structure when the knuckle rotates in one embodiment of the utility model.

[0025] In the figure: 1-base, 2-bracket, 3-first rotating shaft, 4-first pulley, 5-second rotating shaft, 6-second pulley, 7-routing area, 8-tendon rope, 9-first knuckle, 10-second knuckle, 11-third knuckle. DETAILED DESCRIPTION

[0026] 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.

[0027] 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.

[0028] Reference Figure 1 and Figure 2, an embodiment of the utility model provides a joint tendon rope routing device. The device includes a bracket 2, a first rotating shaft 3, a second rotating shaft 5, a first pulley 4, and a second pulley 6, wherein: the bracket 2 is fixed on the base 1, the base 1 is located at the root of the third finger joint 11, and is used to install the third finger joint 11. Specifically, the base 1 is fixed on the rotation axis of the third finger joint 11, and the finger structure includes the first finger joint 9, the second finger joint 10 and the third finger joint 11 in sequence, and the third finger joint 11 is close to the palm; the bracket 2 can rotate relative to the base 1, and the rotation center of the bracket 2 is coaxial with the rotation center of the third finger joint 11 (that is, the rotation center of the base 1), and the bracket 2 is a frame structure. Structure; the first rotating shaft 3 is located inside the frame structure and its two ends are respectively connected to the two opposite side walls of the bracket 2, the first rotating shaft 3 is provided with a first pulley 4, and the first pulley 4 can rotate relative to the first rotating shaft 3; the second rotating shaft 5 is located inside the frame structure and its two ends are respectively connected to the two opposite side walls of the bracket 2, the second rotating shaft 5 is arranged parallel to the first rotating shaft 3, the second rotating shaft 5 is provided with a second pulley 6, and the second pulley 6 can rotate relative to the second rotating shaft 5; a routing area 7 is formed between the first pulley 4 and the second pulley 6, and the routing area 7 is a full circle, and the routing area 7 is for the tendon rope 8 to pass through.

[0029] In the embodiment of the utility model, a routing area 7 is formed between the first pulley 4 and the second pulley 6, and the tendon 8 passes through the routing area 7. When the tendon 8 is tightened or relaxed, the tendon 8 can be effectively prevented from falling off the pulley, which can save space and cost compared to the prior art method of using a preload device; since the tendon 8 passes through the rotation axis of the subsequent joint, when the tendon 8 is tightened to drive the joint to rotate, it will not generate torque on the subsequent joint, thereby avoiding accidental driving of other joints; moreover, the pulley assembly is fixed by the bracket 2, and the rotation center of the bracket 2 is coaxial with the rotation center of the third finger joint 11, thereby realizing the free rotation of the pulley assembly. When the tendon 8 pulls the second finger joint 10 to rotate, the bracket 2 also rotates, and adapts to various positions of the tendon 8, which can reduce the bending of the tendon, thereby improving the transmission efficiency.

[0030] In some embodiments, one end of the tendon 8 is connected to the driving mechanism, and the other end is connected to the rotation axis of the second knuckle 10. The tendon 8 of the second knuckle 10 passes through the routing area 7 and the rotation axis of the third knuckle 11. When the tendon 8 is tightened to drive the second knuckle 10 to move, since the tendon 8 passes through the rotation center of the third knuckle 11, no torque is generated on the third knuckle 11, thereby preventing the subsequent joints from being driven by mistake.

[0031] In order to achieve the coaxiality of the rotation center of the bracket 2 and the rotation center of the base 1 (the rotation center of the third phalanx), in some embodiments, the bracket 2 is provided with connecting shafts on both sides, and the base 1 is provided with a bracket mounting hole for mounting the bracket 2, and the connecting shaft is installed in the bracket mounting hole to achieve the free rotation of the bracket 2 relative to the base 1. Since the connecting shaft arranged on the outside is installed in the bracket mounting hole of the base 1, and this bracket mounting hole is coaxial with the rotation center of the third phalanx 11, the force of the tendon 8 always passes through the rotation center of the third phalanx 11.

[0032] For example, the connecting shaft is a cylindrical structure, the bracket mounting hole is a circular hole, and the cylindrical structure protruding from the outer side of the bracket 2 is installed in the circular hole of the base 1, and the bracket 2 can rotate freely in the base 1, such as Figure 2 shown.

[0033] In some embodiments, the base 1 is connected to the third finger joint 11 via a T-shaped pin, and the third finger joint 11 can rotate around the base 1.

[0034] In some embodiments, the frame structure of the bracket 2 is provided with a bracket hole for installing the first rotating shaft 3 and the second rotating shaft 5, the two ends of the first rotating shaft 3 and the second rotating shaft 5 are respectively tightly matched with the bracket hole, the pulley hole of the first pulley 4 is loosely matched with the first rotating shaft 3, and the pulley hole of the second pulley 6 is loosely matched with the second rotating shaft 5. Exemplarily, the first rotating shaft 3 and the second rotating shaft 5 are cylindrical pins. Preferably, the first rotating shaft 3 and / or the second rotating shaft 5 are metal shafts, the metal material has high strength and stable diameter, the pulley is formed of self-lubricating material, the friction coefficient between the metal shaft and the pulley is small, so that the pulley can rotate freely on the rotating shaft.

[0035] In some embodiments, grooves are provided on the surfaces of the first pulley 4 and the second pulley 6, and the diameter of the whole circle formed by the grooves of the first pulley 4 and the grooves of the second pulley 6 is slightly larger than the diameter of the tendon. For example, the diameter of the tendon is 0.8 mm, and the diameter of the whole circle formed by the grooves is 0.9 mm. The gap between the two grooves is as small as possible, about 0.1 mm, to ensure that the rotation of the two pulleys does not interfere with each other, and to effectively prevent the tendon 8 from falling off.

[0036] exist Figure 1 and Figure 2 In the embodiment, two pulleys and two rotating shafts are installed in the bracket 2 to form a pulley assembly, which is installed on the base 1 and can rotate freely. The semicircles of the two pulleys form a full-circle routing area 7, and the tendon 8 passes through the routing area 7. When the tendon 8 is tightened or relaxed, it cannot fall off from the area.

[0037] like Figure 3 When the tendon rope 8 is tightened to drive the first finger joint 9 and the second finger joint 10, the second finger joint 10 rotates to Figure 4The position of the tendon 8 is shown by the arrow in the figure. Due to the tension on the tendon rope 8, if the tendon rope 8 does not pass through the axis of the third finger joint 11, a torque will be generated on the finger joint, thereby driving the third finger joint 11 by mistake. This design passes the tendon rope 8 through the rotation axis of the third finger joint 11, and the force arm is 0, so that there is no torque on the third finger joint 11, avoiding the third finger joint 11 from being driven by mistake. A pulley block with a bracket is used. When the tendon rope 8 pulls the second finger joint 10 to rotate, the pulley assembly can rotate freely and rotate adaptively with the state of the tendon rope 8, and the position and state of the tendon rope, thereby preventing the tendon rope from bending and improving the transmission efficiency of the tendon rope.

[0038] Based on the same concept, another embodiment of the utility model provides a finger structure, which includes the above-mentioned joint tendon rope routing device.

[0039] Based on the same concept, another embodiment of the utility model provides a robot, which includes the above-mentioned joint tendon rope routing device, or the above-mentioned finger structure.

[0040] The above-mentioned embodiment of the utility model forms a routing area between the first pulley and the second pulley, and the tendon rope passes through the routing area. When the tendon rope is tightened or relaxed, the tendon rope can be effectively prevented from falling off the pulley, which can save space and cost compared to the prior art method of using a preload device; because the tendon rope passes through the rotation axis of the subsequent joint, when the tendon rope is tightened to drive the joint to rotate, it will not generate torque on the subsequent joint, thereby avoiding accidental driving of other joints; moreover, the embodiment of the utility model adopts a pulley group with a bracket, when the tendon rope pulls the knuckle to rotate, the pulley assembly can rotate freely, adapt to the position and state of the tendon rope, and can reduce the bending of the tendon rope, thereby improving the transmission efficiency.

[0041] 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 joint tendon rope routing device, characterized in that: include: A bracket is fixed on a base, wherein the base is fixed on the rotation axis of the third knuckle, and the third knuckle is close to the palm; the bracket can rotate relative to the base, the rotation center of the bracket is coaxial with the rotation center of the third knuckle, and the bracket is a frame structure; A first rotating shaft, which is located inside the frame structure and has two ends respectively connected to two opposite side walls of the bracket, the first rotating shaft is provided with a first pulley, and the first pulley rotates relative to the first rotating shaft; A second rotating shaft is located inside the frame structure and has two ends respectively connected to two opposite side walls of the bracket. The second rotating shaft is arranged parallel to the first rotating shaft. A second pulley is provided on the second rotating shaft, and the second pulley rotates relative to the second rotating shaft. A wiring area is formed between the first pulley and the second pulley, and the wiring area is for the tendon rope to pass through.

2. The joint tendon cable routing device according to claim 1, characterized in that: One end of the tendon rope is connected to the driving mechanism, and the other end is connected to the rotation axis of the second knuckle. The tendon rope of the second knuckle passes through the routing area and the rotation axis of the third knuckle.

3. The joint tendon cable routing device according to claim 1, characterized in that: The bracket is provided with connecting shafts on both sides, and the base is provided with a bracket mounting hole for mounting the bracket. The connecting shaft is installed in the bracket mounting hole to realize the free rotation of the bracket relative to the base.

4. The joint tendon cable routing device according to claim 1, characterized in that: The base is connected to the third finger joint via a T-shaped pin, and the third finger joint can rotate around the base.

5. The joint tendon cable routing device according to claim 1, characterized in that: The frame structure of the bracket is provided with a bracket hole for installing the first rotating shaft and the second rotating shaft, the two ends of the first rotating shaft and the second rotating shaft are tightly fitted with the bracket hole respectively, the pulley hole of the first pulley is loosely fitted with the first rotating shaft, and the pulley hole of the second pulley is loosely fitted with the second rotating shaft.

6. The joint tendon cable routing device according to claim 1, characterized in that: The first rotating shaft and / or the second rotating shaft is a metal shaft.

7. The joint tendon cable routing device according to claim 1, characterized in that: Grooves are provided on the surfaces of the first pulley and the second pulley, and the diameter of the whole circle after the grooves of the first pulley and the grooves of the second pulley are combined is slightly larger than the diameter of the tendon rope.

8. A finger structure, characterized in that: A joint tendon rope routing device comprising the device described in any one of claims 1-7.

9. A robot, characterized in that: It comprises the joint tendon rope routing device as described in any one of claims 1 to 7, or the finger structure as described in claim 8.

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