Modularized finger of robot
Through the worm gear and worm transmission structure of the base knuckle unit and the last knuckle unit, combined with three driving modules, the high flexibility and stability of the robot's modular fingers are achieved, and the problems of inflexible movement and poor stability in the prior art are solved, preventing the workpiece from falling and saving energy consumption.
Patent Information
- Application Number
- CN202422529978.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-20
- Publication Date
- 2025-07-04
- Estimated Expiration
- 2034-10-20
AI Technical Summary
Existing robotic modular fingers have shortcomings in flexibility and stability, especially the tendon rope transmission load capacity is weak and the stability is poor, the connecting rod transmission space is small and the size and mass are large, resulting in inflexible movement.
The worm gear and worm transmission structure using the base knuckle unit and the last knuckle unit is combined with three driving modules to achieve three degrees of freedom and enhance stability through the self-locking mechanism of the worm gear and worm.
Improves the movement flexibility of the robot's modular fingers, prevents workpieces from falling or damage, and saves energy consumption.
Smart Images
Figure CN223057753U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of robotics, and particularly to a modular finger for a robot. Background Art
[0002] Common transmission methods for modular fingers of robots include tendon drive, link drive, gear drive, and belt drive. Among them, tendon drive is the most widely used solution at present. However, these transmission methods have certain drawbacks. For example, the grasping space of link drive is small, and at the same time, the size and mass are large, resulting in difficult problems in inflexible movement; the load-bearing capacity of belt drive is limited; the load capacity of tendon drive is weak and the stability is poor.
[0003] Based on this, how to design a modular finger for a robot that takes into account high flexibility and strong stability has become an urgent problem in the industry. Summary of the Invention
[0004] In order to solve at least one problem existing in the prior art, the purpose of this application is to provide a modular finger for a robot. By setting three degrees of freedom of the modular finger for the robot, the movement flexibility is effectively improved; and through the self-locking mechanism of the worm and worm gear, not only the operation stability is enhanced, preventing the dropped or damaged of the clamped workpiece, but also it helps to save energy consumption.
[0005] To achieve the above object, the modular finger for a robot provided by this application includes:
[0006] A base phalanx unit, including a base phalanx body, a first worm gear, and a second worm gear; the first worm gear is fixedly arranged at the base of the base phalanx body, and the second worm gear is rotatably arranged at the base of the base phalanx body; the first worm gear and the second worm gear are coaxial; a fingertip phalanx unit, including a fingertip phalanx body and a terminal link; the fingertip phalanx body is rotatably connected to the end of the base phalanx body; one end of the terminal link is connected to the link rotating shaft eccentrically arranged on the second worm gear, and the other end is rotatably connected to the fingertip phalanx body;
[0007] A first driving module, the output end of which has a first worm for driving the base phalanx body to rotate around the base rotating shaft;
[0008] A second driving module, the output end of which has a second worm for driving the fingertip phalanx body to rotate;
[0009] A third driving module for driving the base phalanx unit, the fingertip phalanx unit, the first driving module, and the second driving module to rotate as a whole.
[0010] Optionally, the output ends of the first driving module and the second driving module are arranged in the same direction, and are arranged in the opposite direction to the output end of the third driving module.
[0011] Optionally, bearing supports are respectively provided at both ends of the first worm and / or both ends of the second worm.
[0012] Optionally, the modular finger further comprises:
[0013] a first bearing and a second bearing;
[0014] a motor flange fixedly connected to the first motor in the first drive module, the second motor in the second drive module, and the third motor in the third drive module; and one end of the motor flange is fitted and connected to the inner ring portion of the first bearing, and the other end is fitted and connected to the inner ring portion of the second bearing.
[0015] Further optionally, the modular finger further comprises an outer sleeve; one end of the outer sleeve is fitted and connected to the outer ring portion of the first bearing, and the other end is fitted and connected to the outer ring portion of the second bearing.
[0016] Further optionally, the distance between the first bearing and the second bearing in the axial direction of the outer sleeve is greater than a threshold value.
[0017] Optionally, the modular finger further comprises:
[0018] a bottom plate fixedly connected to the outer sleeve; a gear ring is provided on the bottom plate, and the gear ring is meshed with the gear of the third motor;
[0019] a circuit board mounted on the bottom plate.
[0020] Optionally, the first drive module, the second drive module, and the third drive module are respectively provided with corresponding motion sensors; the motion sensors are used to obtain the motion information of the corresponding drive module in real time;
[0021] wherein the motion information includes motion parameter information and motion state information.
[0022] Optionally, the base phalanx body and the end phalanx body are respectively provided with corresponding tactile sensors for collecting force control information.
[0023] Optionally, a limiting groove is provided on the base phalanx body to limit the rotation angle of the base phalanx body; and / or, a limiting groove is provided on the end link to limit the rotation angle of the end link.
[0024] A modular finger of a robot according to the present application matches the structure of the base phalanx unit through a first driving module, so that the rotation of the first driving module drives the rotation of the first worm, the rotation of the first worm drives the rotation of the first worm gear, and the rotation of the first worm gear drives the rotation of the base phalanx body; and matches the structure of the end phalanx unit through a second driving module, so that the rotation of the second driving module drives the rotation of the second worm, the rotation of the second worm drives the rotation of the second worm gear, and the rotation of the second worm gear drives the rotation of the end link, and the rotation of the end link drives the base phalanx body to swing around the end rotating shaft; and drives the base phalanx unit, the end phalanx unit, the first driving module and the second driving module to rotate integrally through a third driving module. On the one hand, through the three-degree-of-freedom setting of the modular finger of the robot, the movement flexibility is effectively improved; on the other hand, through the self-locking mechanism of the worm and worm gear, not only the operation stability is enhanced, preventing the clamped workpiece from falling or being damaged, but also the energy consumption is saved.
[0025] Other features and advantages of the present application will be described in the following specification, and, in part, will be apparent from the specification, or will be understood by implementing the present application. BRIEF DESCRIPTION OF THE DRAWINGS
[0026] The drawings are used to provide a further understanding of the present application, and constitute a part of the specification, and together with the embodiments of the present application, are used to explain the present application, and do not constitute a limitation to the present application. In the drawings:
[0027] Figure 1 is a schematic structural diagram of a modular finger of a robot according to an embodiment of the present application;
[0028] Figure 2 is Figure 1 a schematic internal structure diagram of the modular finger of the robot in;
[0029] Figure 3 is Figure 1 another schematic internal structure diagram of the modular finger of the robot in.
[0030] Among them, the specific reference numerals include the following:
[0031] Modular finger of robot - 100; Base phalanx body - 11; First worm gear - 12; Second worm gear - 13; Worm flange - 14; Base rotating shaft - 15; End phalanx body - 21; End link - 22; First end rotating shaft - 23; Link rotating shaft - 24; Second end rotating shaft - 25; First worm - 31; First motor - 32; Second worm - 41; Second motor - 42; Gear - 51; Third motor - 52; First bearing - 61; Second bearing - 62; Motor flange - 63; Outer sleeve - 64; Bottom cover - 65; Top cover - 66; Bottom plate - 71; Circuit board - 72; Motion sensor - 73. DETAILED DESCRIPTION OF THE EMBODIMENTS
[0032] Embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present application are shown in the drawings, it should be understood that the present application can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. On the contrary, these embodiments are provided to more thoroughly and completely understand the present application. It should be understood that the drawings and embodiments of the present application are only for exemplary purposes and are not used to limit the protection scope of the present application.
[0033] As used herein, the term "comprising" and its variations are open-ended, i.e., "including but not limited to". The term "based on" means "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". The relevant definitions of other terms will be given in the following description.
[0034] Hereinafter, embodiments of the present application will be described in detail with reference to the accompanying drawings.
[0035] As Figures 1 - 3 shown, the robotic modular finger 100 includes: a base phalanx unit, a distal phalanx unit, a first drive module, a second drive module, and a third drive module.
[0036] Among them, the base phalanx unit includes a base phalanx body 11, a first worm gear 12, and a second worm gear 13. The first worm gear 12 is fixedly arranged at the base of the base phalanx body 11, and the second worm gear 13 is rotatably arranged at the base of the base phalanx body 11. The first worm gear 12 and the second worm gear 13 are coaxial with the base rotating shaft 15, and this coaxial arrangement reduces the number of parts and improves the structural compactness.
[0037] The distal phalanx unit includes a distal phalanx body 21 and a distal link 22. The distal phalanx body 21 is rotatably connected to the end of the base phalanx body 11 and can swing around the first distal rotating shaft 23. One end of the distal link 22 is connected to a link rotating shaft 24 eccentrically arranged on the second worm gear 13; the other end is rotatably connected to the distal phalanx body 21 through a second distal rotating shaft 25.
[0038] The first drive module has a first worm 31 at its output end for driving the base phalanx body 11 to rotate around the base rotating shaft 15. The second drive module has a second worm 41 at its output end for driving the distal phalanx body 21 to rotate. The third drive module is used to drive the base phalanx unit, the distal phalanx unit, the first drive module, and the second drive module to rotate as a whole.
[0039] In a specific example, the first worm 31 is fixedly connected to the output shaft of the first driving module and meshed with the first worm gear 12. The second worm 41 is fixedly connected to the output shaft of the second driving module and meshed with the second worm gear 13. A gear 51 is provided on the output shaft of the third driving module, and through gear cooperation, the base phalanx unit, the end phalanx unit, the first driving module, and the second driving module are driven to rotate around the finger central axis.
[0040] In a specific example, as Figure 1 shown, the robotic modular finger 100 further includes a worm flange 14 for supporting and fixing the worm and worm gear assembly.
[0041] It should be noted that for the mechanism formed by the above worm gear combined with the connecting rod, the cooperation of motors is required to complete specific actions. Specifically, when the first motor 32 of the first driving module moves and the second motor 42 of the second driving module is stationary, the base phalanx body 11 swings, and the end phalanx body 21 remains stationary relative to the base phalanx body 11; when the first motor 32 is stationary and the second motor 42 moves, both the base phalanx body 11 and the end phalanx body 21 move; when the first motor 32 moves and the second motor 42 moves, that is, in the case of differential motion, it is possible to make the base phalanx body 11 stationary relative to the frame and the end phalanx body 21 swing.
[0042] According to the robotic modular finger 100 of the embodiment of the present application, by matching the base phalanx unit structure with the first driving module, the rotation of the output end of the first motor 32 drives the rotation of the first worm 31, the rotation of the first worm 31 drives the rotation of the first worm gear 12, and the rotation of the first worm gear 12 drives the rotation of the base phalanx body 11; and by matching the end phalanx unit structure with the second driving module, the rotation of the output end of the second motor 42 drives the rotation of the second worm 41, the rotation of the second worm 41 drives the rotation of the second worm gear 13, the rotation of the second worm gear 13 drives the rotation of the end link 22, and the rotation of the end link 22 drives the base phalanx body 11 to swing around the end rotating shaft; and the output end of the third motor 52 drives the base phalanx unit, the end phalanx unit, the first driving module, and the second driving module to perform overall rotation. Thus, on the one hand, each modular finger has three degrees of freedom. Through the individual actions or cooperative actions of the corresponding motors, not only can the individual movements and simultaneous movements of the base phalanx body and the end phalanx body be realized, but also the modular finger as a whole can rotate around its central axis, greatly increasing the movement flexibility of the modular finger and expanding the grasping range; on the other hand, the joints are driven in the form of worm gears, which can realize the self-locking of the mechanism, that is, when the motor does not continue to output torque, each phalanx can still maintain its current posture unchanged. This not only enhances the stability of the operation, prevents the clamped workpiece from falling or being damaged, but also helps to save energy consumption.
[0043] In the embodiments of the present application, the output ends of the first driving module and the second driving module are arranged in the same direction, and are arranged in the opposite direction to the output end of the third driving module, which helps to improve the compactness of the structure.
[0044] In the embodiments of the present application, with reference to Figure 2 As shown, bearings are provided at both ends of the first worm 31, or bearings are provided at both ends of the second worm 41, or bearings are provided at both ends of the first worm 31 and the second worm 41 respectively. The bearings are used to bear the axial force generated during the corresponding worm transmission, and prevent this force from directly acting on the corresponding motor and reducer, resulting in damage to the corresponding motor assembly, thereby helping to improve the service life.
[0045] In the embodiments of the present application, as Figure 2 shown, the modular finger 100 further includes: a first bearing 61, a second bearing 62, and a motor flange 63. Among them, the motor flange 63 is fixedly connected to the first motor 32 in the first driving module, the second motor 42 in the second driving module, and the third motor 52 in the third driving module; and one end of the motor flange 63 is fitted and connected to the inner ring part of the first bearing 61, and the other end is fitted and connected to the inner ring part of the second bearing 62. The modular finger 100 further includes an outer sleeve 64; one end of the outer sleeve 64 is fitted and connected to the outer ring part of the first bearing 61, and the other end is fitted and connected to the outer ring part of the second bearing 62. In a specific example, a bottom cover 65 is matched and provided at the bottom end of the outer sleeve 64, and a top cover 66 is matched and provided at the top end to protect the internal structure.
[0046] Optionally, the distance between the first bearing 61 and the second bearing 62 in the axial direction of the outer sleeve 64 is greater than a threshold value, that is, to ensure a certain distance between the two bearings, which can enhance the stability of the support, bear the radial force generated by the meshing of the gear tooth ring, make the overall structure stable, and avoid situations such as yaw.
[0047] In the embodiments of the present application, as Figure 3 shown, the modular finger 100 further includes: a bottom plate 71 and a circuit board 72. Among them, the bottom plate 71 is fixedly connected to the outer sleeve 64; a tooth ring is provided on the bottom plate 71, and the tooth ring is meshed with the gear 51 of the third motor 52. The circuit board 72 is installed on the bottom plate 71.
[0048] In the embodiments of the present application, as Figure 3 shown, motion sensors 73 are respectively provided for the first driving module, the second driving module, and the third driving module; the motion sensors 73 are used to obtain the motion information of the corresponding driving module in real time. The motion information therein includes motion parameter information and motion state information.
[0049] In the embodiments of the present application, corresponding tactile sensors are respectively provided on the base phalanx body 11 and the distal phalanx body 21 for collecting force control information.
[0050] In the embodiment of the present application, a limiting groove is provided on the proximal phalanx body 11 to limit the rotation angle of the proximal phalanx body 11. Optionally, a limiting groove is also provided on the distal link 22 to limit the rotation angle of the distal link 22. Thus, when rotated to the limit position, its groove contacts and abuts against the corresponding rotating shaft, preventing it from continuing to advance to the dead point of the mechanism and avoiding getting stuck at the dead point. Moreover, using the outer shape for limiting can reduce the number of parts and contribute to a compact structure.
[0051] It should be noted that the concepts such as "first" and "second" mentioned in the present application are only used to distinguish different modules or structures, and are not used to limit the order of the functions executed by these modules or structures, or their interdependent relationships or relative importance.
[0052] It should be noted that the modification of "one" and "multiple" mentioned in the present application is illustrative rather than restrictive. Those skilled in the art should understand that unless otherwise clearly specified in the context, it should be understood as "one or more"; "multiple" should be understood as two or more.
[0053] In the description of the present application, it should be noted that the relationship between structures should be understood in a broad sense. For example, the orientation or positional relationship indicated by "upper", "lower", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present application.
[0054] Moreover, unless otherwise clearly specified and defined, the term "connection" can be a fixed connection, a detachable connection; it can be directly connected, or indirectly connected through an intermediate medium, and can also be the communication inside two elements.
[0055] Those of ordinary skill in the art can understand that the above is only the preferred embodiment of the present application and is not used to limit the present application. Although the present application has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the protection scope of the present application.
Claims
1. A modular robot finger, characterized in that, Comprising: A proximal phalanx unit, including a proximal phalanx body, a first worm gear, and a second worm gear; the first worm gear is fixedly arranged at the base of the proximal phalanx body, and the second worm gear is rotatably arranged at the base of the proximal phalanx body; the first worm gear and the second worm gear are coaxial; A distal phalanx unit, including a distal phalanx body and a distal link; the distal phalanx body is rotatably connected to the end of the proximal phalanx body; one end of the distal link is connected to a link rotating shaft eccentrically arranged on the second worm gear, and the other end is rotatably connected to the distal phalanx body; A first driving module, the output end of which has a first worm, for driving the proximal phalanx body to rotate around a proximal rotating shaft; A second driving module, the output end of which has a second worm, for driving the distal phalanx body to rotate; A third driving module, for driving the proximal phalanx unit, the distal phalanx unit, the first driving module, and the second driving module to rotate integrally.
2. The modular finger of the robot according to claim 1, characterized in that, The output ends of the first driving module and the second driving module are arranged in the same direction, and are arranged in the opposite direction to the output end of the third driving module.
3. The modular robot finger according to claim 1, characterized in that, Bearings are respectively provided at both ends of the first worm and / or both ends of the second worm.
4. The robot modular finger according to claim 1, characterized in that, The modular finger further includes: A first bearing and a second bearing; A motor flange, fixedly connected to the first motor in the first driving module, the second motor in the second driving module, and the third motor in the third driving module; and one end of the motor flange is fitted and connected to the inner ring part of the first bearing, and the other end is fitted and connected to the inner ring part of the second bearing.
5. The modular robot finger according to claim 4, characterized in that, The modular finger further includes an outer sleeve; one end of the outer sleeve is fitted and connected to the outer ring part of the first bearing, and the other end is fitted and connected to the outer ring part of the second bearing.
6. The modular robot finger according to claim 5, characterized in that, The distance between the first bearing and the second bearing in the axial direction of the outer sleeve is greater than a threshold value.
7. The modular robot finger according to claim 5, characterized in that, The modular finger further includes: A bottom plate fixedly connected to the outer sleeve; a toothed ring is provided on the bottom plate, and the toothed ring is meshed with the gear of the third motor; A circuit board is installed on the bottom plate.
8. The modular robot finger according to claim 1, characterized in that, The first driving module, the second driving module, and the third driving module are respectively provided with corresponding motion sensors; the motion sensors are used to obtain the motion information of the corresponding driving module in real time; Wherein, the motion information includes motion parameter information and motion state information.
9. The robot modular finger according to claim 1, wherein The proximal phalanx body and the distal phalanx body are respectively provided with corresponding tactile sensors for collecting force control information.
10. The robotic modular finger according to any one of claims 1-9, characterized in that, A limiting groove is provided on the proximal phalanx body for limiting the rotation angle of the proximal phalanx body; and / or, a limiting groove is provided on the distal link for limiting the rotation angle of the distal link.