Finger structure assembly and manipulator

Abstract

The utility model provides a finger structure assembly, and relates to the field of machinery. According to the specific implementation scheme, the finger structure assembly comprises a horizontal rotating support and a horizontal line control tendon rope; the horizontal rotating bracket is movably connected to the palm structure; one end of the horizontal line-controlled tendon rope is connected with a horizontal driving device, and when the horizontal driving device drives the horizontal line-controlled tendon rope, the horizontal line-controlled tendon rope drives the horizontal rotating support to rotate.

Description

Technical Field

[0001] The present application relates to the field of machinery, and specifically relates to a finger structure assembly and a manipulator. Background Art

[0002] The drive system of a robotic finger consists of two parts: a driver and a transmission system. The driver is the core component of the drive system, used to generate motion and force; the transmission system transmits the motion and force from the driver to the joints of the robotic finger.

[0003] The drive methods of robotic fingers are divided into flexible drive and rigid drive. Among them, flexible drive includes: pneumatic type, hydraulic type, tendon type, etc., and rigid drive includes: gear-link drive type, link drive type, joint motor drive type, etc.

[0004] The tendon-type robotic finger controls the movement of a single finger through a tendon rope. The tendon-driven humanoid five-finger dexterous hand has fingers designed with bending joints and articulated structures, and is formed using 3D printing technology. Its finger drive system consists of five DC motors, and each motor controls the movement of the finger through a tendon rope fixed to it. The force of each finger of the robot is determined by the driving force of the motor.

[0005] Furthermore, the following tendon rope control structures can be adopted for the drive system of the tendon-type robotic finger: one is that there is only one tendon rope, which is fixed on the finger to pull the finger for pitching motion, or indirectly drives the finger motion through a driving wheel.

[0006] Another is that there are two tendon ropes. One tendon rope is used to control the pitching motion of the finger, and the other tendon rope is used to achieve the raising motion of the finger.

[0007] Still another is that there is one tendon rope. Pulling one end of the tendon rope realizes the pitching motion of the finger, and pulling the other end of the tendon rope realizes the raising motion of the finger.

[0008] The existing finger drive system can only achieve the pitching degree of freedom of the finger and cannot achieve the horizontal degree of freedom of the finger. Utility Model Content

[0009] The present application provides a finger structure assembly and a manipulator.

[0010] According to the first aspect, a finger structure assembly is provided. The finger structure assembly includes: a horizontal rotation bracket, which is movably connected to the palm structure; a horizontal wire-controlled tendon rope, one end of the horizontal wire-controlled tendon rope is connected to a horizontal driving device, and when the horizontal driving device drives the horizontal wire-controlled tendon rope, the horizontal wire-controlled tendon rope drives the horizontal rotation bracket to rotate.

[0011] According to a second aspect, a manipulator is provided, which includes: a palm structure; a finger structure assembly movably connected to the palm structure, and the finger structure assembly is the finger structure assembly described in any implementation manner of the first aspect; a horizontal driving device connected to the finger structure assembly for driving the finger structure assembly to rotate on the palm structure.

[0012] The finger structure assembly provided in the embodiment of the present application includes: a horizontal rotation bracket and a horizontal wire-controlled tendon rope. The horizontal rotation bracket is movably connected to the palm structure; one end of the horizontal wire-controlled tendon rope is connected to the horizontal driving device. When the horizontal driving device drives the horizontal wire-controlled tendon rope, the horizontal wire-controlled tendon rope drives the horizontal rotation bracket to rotate. Thus, when the finger of the robot is fixed on the finger structure assembly, the finger can be horizontally rotated on the palm structure through the horizontal wire-controlled tendon rope, providing a horizontal degree of freedom of movement for the finger of the robot; the finger structure assembly has a horizontal rotation bracket and a horizontal wire-controlled tendon rope, with a simple implementation and improved finger control flexibility.

[0013] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present application, nor is it used to limit the scope of the present application. Other features of the present application will become easily understood through the following description. Description of the Drawings

[0014] The drawings are used to better understand the solution and do not constitute a limitation to the present application. Among them:

[0015] Figure 1 is a schematic structural diagram of an embodiment of the finger structure assembly according to the present application;

[0016] Figure 2 is Figure 1 the exploded view of the finger structure assembly in

[0017] Figure 3 is a schematic structural diagram of another embodiment of the finger structure assembly according to the present application;

[0018] Figure 4a is Figure 3 the left view of

[0019] Figure 4b is Figure 3 the top view of

[0020] Figure 4c is Figure 3 the right view of

[0021] Figure 4d is Figure 3 the bottom view of

[0022] Figure 5 isFigure 3 Exploded view of the middle finger structure assembly Specific implementation manners

[0023] The exemplary embodiments of the present application will be described below in conjunction with the accompanying drawings. Various details of the embodiments of the present application are included to facilitate understanding, and they should be considered merely exemplary. Therefore, those of ordinary skill in the art should recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present application. Similarly, descriptions of well-known functions and structures are omitted below for clarity and conciseness.

[0024] The present application provides a finger structure assembly, which can achieve the degrees of freedom of finger control, such as Figure 1 As shown, it is a schematic structural diagram of an embodiment of the finger structure assembly according to the present application. The finger structure assembly includes: a horizontal rotation bracket 1 and a horizontal wire control tendon rope 2. Among them, the horizontal rotation bracket 1 is movably connected to the palm structure 3; one end of the horizontal wire control tendon rope 2 is connected to a horizontal driving device (not shown in the figure). When the horizontal driving device drives the horizontal wire control tendon rope 2, the horizontal wire control tendon rope 2 drives the horizontal rotation bracket 1 to rotate.

[0025] In this embodiment, the horizontal rotation bracket 1 is a bracket that can rotate circumferentially along its own axis. For one surface of the palm structure 3, the rotation axis of the horizontal rotation bracket 1 is perpendicular to this surface of the palm structure. The horizontal rotation bracket includes a support portion and a rotation portion fixedly connected to the support portion. Among them, the support portion can be used to support the main body such as the finger body, and the shape of the support portion is not limited, and it can be circular or square; the rotation portion can be a component that makes a circular motion around its axis.

[0026] In this embodiment, the horizontal rotation bracket can be a turntable that realizes horizontal movement. Therefore, for the structure of the horizontal rotation bracket, as long as the structure can achieve the turntable effect, it can be within the protection scope of the present application.

[0027] In this embodiment, the horizontal rotation bracket 1 can be directly fixedly connected to one end of the horizontal wire control tendon rope 2, and the other end of the horizontal wire control tendon rope 2 is connected to the horizontal driving device. Optionally, in order to reduce the friction effect between the horizontal rotation bracket and the horizontal wire control tendon rope, an intermediate force transmission member can also be provided between the horizontal rotation bracket and the horizontal wire control tendon rope, and the horizontal rotation bracket is connected to one end of the horizontal wire control tendon rope through the intermediate force transmission member.

[0028] The finger structure assembly provided by the embodiments of the present application includes: a horizontal rotation bracket and a horizontal wire-controlled tendon rope. The horizontal rotation bracket is movably connected to the palm structure; one end of the horizontal wire-controlled tendon rope is connected to a horizontal driving device. When the horizontal driving device drives the horizontal wire-controlled tendon rope, the horizontal wire-controlled tendon rope drives the horizontal rotation bracket to rotate. Thus, when the finger of the robot is fixed to this finger structure assembly, the finger can be horizontally rotated on the palm structure through the horizontal wire-controlled tendon rope, providing a horizontal degree of freedom of movement for the finger of the robot; this finger structure assembly has a horizontal rotation bracket and a horizontal wire-controlled tendon rope, with a simple implementation and improved finger control flexibility.

[0029] In some alternative implementation manners of the present application, the horizontal rotation bracket includes: a horizontal wire groove; the horizontal wire groove is parallel to the rotation direction of the horizontal rotation bracket, and one end of the horizontal wire-controlled tendon rope is fixed in the horizontal wire groove.

[0030] In this alternative implementation manner, one end of the horizontal wire-controlled tendon rope is fixed in the horizontal wire groove, and the horizontal wire-controlled tendon rope is located in the horizontal wire groove and can move along the groove body of the horizontal wire groove. Since the horizontal wire groove is parallel to the rotation direction of the horizontal rotation bracket, the movement direction of the horizontal wire-controlled tendon rope is also parallel to the rotation direction of the horizontal rotation bracket.

[0031] For the horizontal rotation bracket provided by this alternative implementation manner, a horizontal wire groove is provided in the area where the horizontal rotation bracket cooperates with the horizontal wire-controlled tendon rope, and the horizontal wire-controlled tendon rope moves in the horizontal wire groove, improving the smoothness of the movement of the horizontal rotation bracket.

[0032] Optionally, the horizontal rotation bracket includes: a horizontal wire post; one end of the horizontal wire-controlled tendon rope is fixed on the horizontal wire post, and the horizontal wire-controlled tendon rope drives the horizontal rotation bracket to rotate by winding or unwinding around the horizontal wire post.

[0033] Optionally, the finger structure assembly further includes: a horizontal bearing structure. The horizontal rotation bracket is movably connected to the palm structure through the horizontal bearing structure.

[0034] In this embodiment, the horizontal bearing structure is a bearing structure, and the horizontal bearing structure can be a roller bearing. The roller bearing includes: an inner ring, an outer ring, rolling elements, and a cage. The inner ring and the outer ring are respectively installed on the horizontal rotation mechanism and the palm structure, and the rolling elements are located between the inner ring and the outer ring, and transmission is achieved through rolling. The function of the cage is to maintain the position of the rolling elements and make them evenly distributed in the bearing.

[0035] In this embodiment, a horizontal bearing structure is installed between the horizontal rotating bracket and the palm structure. When an external force acts on the horizontal bearing, the rolling elements will roll between the inner ring and the outer ring, thereby reducing friction and energy loss. This working principle of rolling friction enables the roller bearing to have a lower friction coefficient and a higher transmission efficiency.

[0036] For the finger structure assembly provided in this embodiment, a horizontal bearing structure is arranged between the horizontal rotating bracket and the palm structure. Through the working principle of rolling friction of the horizontal bearing structure, the transmission efficiency of the components in the finger structure assembly is improved.

[0037] In some alternative implementation manners of the present application, as Figure 2 shown, the finger structure assembly further includes: a horizontal drive wheel a; the horizontal rotating bracket 1 is movably connected to the palm structure 3; the horizontal rotating bracket 1 is fixedly connected to the horizontal drive wheel a; when the horizontal drive device drives the horizontal wire control tendon 2, the horizontal wire control tendon 2 drives the horizontal drive wheel a to rotate, and the horizontal drive wheel a drives the horizontal rotating bracket 1 to rotate.

[0038] In this alternative implementation manner, when the finger of the robot is installed on the horizontal rotating bracket 1, the horizontal rotating bracket 1 is a component that can drive the finger to rotate horizontally, and the outer shape of the horizontal rotating bracket can also be set based on the requirements of the robot finger type.

[0039] In this alternative implementation manner, the horizontal rotating bracket 1 and the horizontal drive wheel a can be fixedly connected by bolts.

[0040] In this alternative implementation manner, one end of the horizontal drive wheel a is fixedly connected to the horizontal wire control tendon 2, and the horizontal wire control tendon 2 is wound around the horizontal drive wheel a, and the other end of the horizontal wire control tendon 2 is connected to the horizontal drive device.

[0041] In this alternative implementation manner, one surface of the horizontal drive wheel a and the horizontal rotating bracket 1 can be arranged parallel to the palm structure 3. Therefore, relative to the palm structure 3, the horizontal drive wheel moves horizontally. Thus, when different components (such as robot fingers) are installed on the horizontal rotating bracket, the horizontal drive wheel can drive the component to move horizontally.

[0042] In this alternative implementation manner, when the horizontal drive device drives the horizontal wire control tendon, it drives the horizontal drive wheel a to rotate. Since the horizontal drive wheel a is fixedly connected to the horizontal rotating bracket 1, the horizontal rotating bracket 1 is driven by the horizontal drive wheel a to rotate horizontally relative to the palm structure 3.

[0043] In the finger structure assembly provided by this alternative implementation, when the horizontal drive wheel is driven by the horizontal wire-controlled tendon rope to move horizontally, the horizontal rotation bracket fixedly connected to the horizontal drive wheel moves horizontally accordingly, simply and conveniently achieving the horizontal movement effect of the horizontal rotation bracket and the components mounted on the horizontal rotation bracket.

[0044] In some alternative implementations of the present disclosure, the horizontal drive wheel is fixedly connected to the horizontal bracket coaxially.

[0045] In this alternative implementation, the coaxial fixed connection between the horizontal drive wheel and the horizontal bracket means that the horizontal drive wheel and the horizontal bracket are connected, and the horizontal drive wheel and the horizontal bracket have the same axis.

[0046] In the finger structure assembly provided by this alternative implementation, fixedly connecting the horizontal drive wheel and the horizontal bracket coaxially can ensure that when the horizontal drive wheel moves horizontally, the horizontal bracket moves coaxially with the horizontal drive wheel, improving the horizontal movement effect of the horizontal drive wheel and the horizontal bracket.

[0047] In some embodiments of the present application, as Figure 3 , Figure 4a , Figure 4b , Figure 4c , Figure 4d shown, the above-mentioned finger structure assembly further includes: a pitching rotation structure 4 and a pitching wire-controlled tendon rope 5; wherein, the pitching rotation structure 4 is movably connected to the horizontal rotation bracket 1. One end of the pitching wire-controlled tendon rope 5 is connected to a pitching drive device (not shown in the figure). When the pitching drive device drives the pitching wire-controlled tendon rope 5, the pitching wire-controlled tendon rope 5 drives the pitching rotation structure 4 to rotate.

[0048] In this embodiment, the pitching rotation structure 4 is a rotatable structure. Relative to the horizontal rotation bracket 1, the rotation plane of the pitching rotation structure 4 is perpendicular to the rotation plane of the horizontal rotation bracket 1.

[0049] In this embodiment, the pitching rotation structure may be a fixed seat that cooperates with the horizontal rotation bracket. The horizontal rotation bracket has a receiving groove for receiving the fixed seat. When the pitching drive device drives the pitching wire-controlled tendon rope, when the pitching wire-controlled tendon rope drives the fixed seat to rotate, the fixed seat moves within a certain range of motion in the receiving groove of the horizontal rotation bracket.

[0050] In this embodiment, the pitching rotation structure 4 may be fixedly connected to one end of the pitching wire-controlled tendon rope 5, and the other end of the pitching wire-controlled tendon rope 5 is connected to the pitching drive device.

[0051] The finger structure assembly provided by the embodiments of the present application includes: a horizontal rotation bracket, a horizontal wire-controlled tendon rope, a pitch rotation structure, and a pitch wire-controlled tendon rope. The horizontal rotation bracket is movably connected to the palm structure. One end of the horizontal wire-controlled tendon rope is connected to a horizontal driving device. When the horizontal driving device drives the horizontal wire-controlled tendon rope, the horizontal wire-controlled tendon rope drives the horizontal rotation bracket to rotate. The pitch rotation structure is movably connected to the horizontal rotation bracket. One end of the pitch wire-controlled tendon rope is connected to a pitch driving device. When the pitch driving device drives the pitch wire-controlled tendon rope, the pitch wire-controlled tendon rope drives the pitch rotation structure to rotate. Thus, when the finger of the robot is fixed to this finger structure assembly, the finger can be horizontally rotated on the palm structure through the horizontal wire-controlled tendon rope, providing a horizontal degree of freedom of movement for the finger of the robot. The finger can perform a pitching motion on the palm structure through the pitch wire-controlled tendon rope, providing a pitching degree of freedom of movement for the finger of the robot. This finger structure assembly has a horizontal rotation bracket, a horizontal wire-controlled tendon rope, a pitch rotation structure, and a pitch wire-controlled tendon rope, with a simple structure implementation and improved finger control flexibility.

[0052] In some embodiments of the present application, the above-mentioned pitch rotation structure includes: a pitch wire routing groove; the pitch wire routing groove is perpendicular to the rotation direction of the horizontal rotation bracket, and one end of the pitch wire-controlled tendon rope is fixed in the pitch wire routing groove.

[0053] In this optional implementation, one end of the pitch wire-controlled tendon rope is fixed in the pitch wire routing groove, and the pitch wire-controlled tendon rope is located in the pitch wire routing groove and can move along the groove body of the pitch wire routing groove. Since the pitch wire routing groove is perpendicular to the rotation direction of the horizontal rotation bracket, the movement direction of the pitch wire-controlled tendon rope is also perpendicular to the rotation direction of the horizontal rotation bracket.

[0054] For the pitch rotation structure provided by this optional implementation, a pitch wire routing groove is provided in the area where the pitch rotation structure cooperates with the pitch wire-controlled tendon rope, and the pitch wire-controlled tendon rope moves in the pitch wire routing groove, improving the smoothness of the movement of the pitch rotation structure.

[0055] Optionally, the pitch rotation structure includes: a pitch wire routing post; one end of the pitch wire-controlled tendon rope is fixed on the pitch wire routing post, and the pitch wire-controlled tendon rope drives the pitch rotation structure to rotate by winding or unwinding around the pitch wire routing post.

[0056] Optionally, the above-mentioned finger structure assembly further includes: a pitch bearing structure; the pitch rotation structure is connected to the horizontal rotation bracket through the pitch bearing structure.

[0057] In this embodiment, the pitching bearing structure is a kind of bearing structure, and this pitching bearing structure can be a roller bearing. The roller bearing includes: an inner ring, an outer ring, rolling elements and a cage. The inner ring and the outer ring are respectively installed on the pitching rotation structure and the horizontal rotation bracket, and the rolling elements are located between the inner ring and the outer ring to achieve transmission through rolling. The function of the cage is to hold the positions of the rolling elements and make them evenly distributed in the bearing.

[0058] In this embodiment, the pitching bearing structure is installed between the pitching rotation structure and the horizontal rotation bracket. When an external force acts on the pitching bearing, the rolling elements will roll between the inner ring and the outer ring, thereby reducing the friction force and energy loss. This working principle of rolling friction makes the roller bearing have a lower friction coefficient and a higher transmission efficiency.

[0059] The finger structure assembly provided in this embodiment sets a pitching bearing structure between the pitching rotation structure and the palm structure. Through the working principle of rolling friction of the pitching bearing structure, the transmission efficiency of the components in the finger structure assembly is improved.

[0060] In some alternative implementation manners of the present application, as Figure 5 shown, the above-mentioned pitching rotation structure 4 includes a pitching drive wheel 41 and a fixed seat 42; the pitching drive wheel 41 is fixedly connected to the fixed seat 42; the pitching drive wheel 41 is movably connected to the horizontal rotation bracket 1; when the pitching drive device drives the pitching wire control tendon 5, the pitching wire control tendon 5 drives the pitching drive wheel 41 to rotate, and the pitching drive wheel 41 drives the fixed seat 42 to rotate.

[0061] In this alternative implementation manner, the fixed seat 42 is a component that can drive the finger body to perform pitching rotation, and the shape of the fixed seat 42 can be set based on the requirements of the robot finger type. Generally, there are angle requirements for the pitching of the finger. By setting a corresponding rotation groove on the fixed seat 42, the finger body can rotate 360° in this rotation groove, so that different surfaces of the finger body can correspond to the pitching drive wheel 41. Further, after the finger body is relatively fixed to the fixed seat 42, when the pitching drive device drives the pitching wire control tendon 5, the pitching wire control tendon 5 drives the pitching drive wheel 41 to rotate, and the pitching drive wheel 41 drives the fixed seat 42 to rotate, and the finger body performs pitching motion in the groove formed by the horizontal rotation bracket 1, and the pitching angle of the finger body can be set based on the shape of the horizontal rotation bracket 1.

[0062] In this alternative implementation manner, the pitching drive wheel 41 is fixedly connected to one end of the pitching wire control tendon 5, and the pitching wire control tendon 5 is wound around the pitching drive wheel 41, and the other end of the pitching wire control tendon 5 is connected to the pitching drive device.

[0063] In this optional implementation, the pitch drive wheel 41 and one surface of the fixed seat 42 can be arranged in parallel, so that the pitch drive wheel 41 performs a pitch motion relative to the fixed seat 42. Therefore, when different components are installed on the fixed seat 42, the pitch drive wheel can drive the component to perform a pitch motion.

[0064] In this optional implementation, when the pitch drive device drives the pitch wire-controlled tendon 5, it drives the pitch drive wheel 41 to rotate. Since the pitch drive wheel 41 is fixedly connected to the fixed seat 42, the fixed seat 42 is driven by the pitch drive wheel 41 to pitch and rotate relative to the palm structure 3.

[0065] The finger structure assembly provided by this optional implementation method is configured to have a pitch rotation structure including: a pitch drive wheel and a fixed seat. When the pitch drive wheel is driven by the pitch wire-controlled tendon to perform pitch movement, the fixed seat fixedly connected to the pitch drive wheel performs pitch movement accordingly, thereby simply and conveniently realizing the pitch movement effect of the pitch bracket and the pitch bracket mounting components.

[0066] In some optional implementations of the present disclosure, the pitch driving wheel is coaxially fixedly connected to the fixing seat.

[0067] In this optional implementation, the coaxial fixed connection between the pitch driving wheel and the fixed seat means that the pitch driving wheel and the fixed seat are connected, and the pitch driving wheel and the fixed seat have the same axis.

[0068] The finger structure assembly provided by this optional implementation method coaxially fixes the pitch drive wheel and the fixed seat, which can ensure that when the pitch drive wheel performs pitch movement, the fixed seat and the pitch drive wheel perform coaxial movement, thereby improving the pitch movement effect of the pitch drive wheel and the fixed seat.

[0069] In some embodiments of the present application, Figure 3 As shown, the above-mentioned finger structure assembly also includes: a finger body 6; the finger body 6 is fixedly connected to the pitch rotation structure 4; when the pitch drive device (not shown in the figure) drives the pitch wire control tendon 5, the pitch rotation structure 4 drives the finger body 6 to perform pitch movement.

[0070] In this embodiment, the finger body 6 is the main body of the robot's finger, and the robot's finger can be any one of the robot's thumb, index finger, middle finger, ring finger, and little finger, wherein: Figures 3 to 5The finger body 6 shown in the figure is the main body of the thumb. By setting different components on or in the finger body, the purpose of driving the finger body can be achieved. For different types of manipulators, the finger body 6 can be an integral part. For example, for a robot finger with a flexible structure, the finger body 6 can be a finger of a robot composed of elastic materials such as rubber; for a robot finger with a rigid structure, the finger body 6 can be an assembly formed by combining multiple joints.

[0071] In this embodiment, the finger body 6 is fixedly connected to the pitch rotation structure 4, and the pitch rotation structure 4 is also movably connected to the horizontal rotation bracket 1, enabling the finger body 6 to move relative to the pitch rotation structure 4 and simultaneously perform horizontal rotation with the pitch rotation structure. Specifically, by setting different types of finger bodies of the robot on the pitch rotation structure, various fingers can perform pitch movements on the palm structure; further, since the pitch rotation structure is movably connected to the horizontal rotation bracket, when the horizontal wire-controlled tendon drives the horizontal rotation bracket to perform horizontal rotation, the pitch rotation structure can move horizontally with the horizontal rotation bracket.

[0072] The finger structure assembly provided in this embodiment further includes a finger body 6, and the finger body 6 is fixedly connected to the pitch rotation structure 4; when the pitch driving device drives the pitch wire-controlled tendon 5, the pitch rotation structure 4 drives the finger body 6 to perform pitch movement. The horizontal rotation of the finger body on the palm structure is realized through the horizontal wire-controlled tendon, providing a horizontal movement degree of freedom for the robot finger; the pitch movement of the finger body is realized through the pitch wire-controlled tendon, providing a pitch movement degree of freedom for the robot finger. Thus, the robot finger body has two degrees of freedom of movement, improving the flexibility of the finger body movement.

[0073] In some embodiments of the present application, as Figure 3 shown, the finger structure assembly further includes: a flexion and extension driving structure 7 and a flexion and extension wire-controlled tendon 8. Among them, the flexion and extension driving structure 7 is fixedly connected to the finger body 6; the flexion and extension wire-controlled tendon 8 is movably connected to the flexion and extension driving structure 7, and one end of the flexion and extension wire-controlled tendon 8 is connected to a flexion and extension driving device (not shown in the figure). When the flexion and extension driving device drives the flexion and extension wire-controlled tendon 8, the flexion and extension driving device drives the finger body 6 to perform flexion or extension actions.

[0074] In this embodiment, the flexion and extension driving structure 7 is a structure that can drive the finger body 6 to bend and extend. Relative to the pitch rotation structure 4, the flexion and extension driving structure 7 is used to perform bending or extension processing on the finger body 6, while the pitch rotation structure 4 rotates the entire finger body 6 at a certain angle.

[0075] In this embodiment, the finger body fixedly connected to the flexion and extension drive structure can be any one of the thumb, index finger, middle finger, ring finger, and little finger of the manipulator. When designing the manipulator, generally, the thumb needs to be provided with a flexion and extension drive structure and a flexion and extension wire control tendon rope to ensure the flexibility of the thumb's flexion and extension. Whether the other fingers on the manipulator are provided with corresponding flexion and extension drive structures and flexion and extension wire control tendon ropes can be set according to the space for accommodating the drive device in the arm.

[0076] In this embodiment, the flexion and extension drive structure 7 is fixedly connected to one end of the flexion and extension wire control tendon rope 8, and the other end of the flexion and extension wire control tendon rope 8 is connected to the flexion and extension drive device.

[0077] The finger structure assembly provided by the embodiment of the present application includes: a finger body 6, a horizontal rotation bracket 1, a horizontal wire control tendon rope 2, a pitch rotation structure 4, a pitch wire control tendon rope 5, a flexion and extension drive structure 7, and a flexion and extension wire control tendon rope 8. The horizontal rotation bracket 1 is movably connected to the palm structure 3; one end of the horizontal wire control tendon rope 2 is connected to the horizontal drive device. When the horizontal drive device drives the horizontal wire control tendon rope 2, the horizontal wire control tendon rope 2 drives the horizontal rotation bracket 1 to rotate; the pitch rotation structure 4 is movably connected to the horizontal rotation bracket 1. One end of the pitch wire control tendon rope 5 is connected to the pitch drive device. When the pitch drive device drives the pitch wire control tendon rope 5, the pitch wire control tendon rope 5 drives the pitch rotation structure 4 to rotate; the flexion and extension drive structure 7 is fixedly connected to the finger body 6, the flexion and extension wire control tendon rope 8 is movably connected to the flexion and extension drive structure 7, and one end of the flexion and extension wire control tendon rope 8 is connected to the flexion and extension drive device. When the flexion and extension drive device drives the flexion and extension wire control tendon rope 8, the flexion and extension drive device drives the finger body 6 to perform flexion or extension actions. Thus, the finger body is fixedly connected to the pitch rotation structure and the flexion and extension drive structure respectively. The finger body can be horizontally rotated on the palm structure through the horizontal wire control tendon rope, providing a horizontal movement degree of freedom for the robot's finger; the finger body can perform pitch movement on the pitch rotation structure through the pitch wire control tendon rope, providing a pitch movement degree of freedom for the robot's finger; the finger body can be flexed and extended through the flexion and extension wire control tendon rope, providing a flexion and extension movement degree of freedom for the robot's finger. The present application adopts a horizontal drive tendon rope and a pitch drive tendon rope (the material can be a steel wire rope, etc.) and a drive wheel structure to realize the horizontal and pitch movements of the finger. The flexion and extension drive tendon rope is used to connect the finger body to realize the bending and stretching of the finger body; an electric motor or a hydraulic device can be used to drive the horizontal drive tendon rope, the pitch drive tendon rope, and the flexion and extension drive tendon rope to expand and contract, thereby realizing the movement of the finger structure assembly.

[0078] In some optional implementations of the present application, the flexion and extension driving structure 7 includes: a movable pulley 71, which is fixed to the first end of the finger body 6; a flexion and extension wire-controlled tendon rope 8 is wound around the movable pulley 71, the first end of the flexion and extension wire-controlled tendon rope 8 is fixed to the second end of the finger body 6, and the second end of the flexion and extension wire-controlled tendon rope 8 is connected to the flexion and extension driving device, and the flexion and extension driving device pulls the flexion and extension wire-controlled tendon rope 8 to make the first end of the finger body 6 approach or move away from the second end of the finger body.

[0079] like Figure 3 As shown, the movable pulley is fixed to the first end of the finger body 6, the flexion and extension wire-controlled tendon rope 8 is wound on the movable pulley 71, the first end of the flexion and extension wire-controlled tendon rope 8 is fixed to the second end of the finger body 6, and the second end of the flexion and extension wire-controlled tendon rope 8 is connected to the flexion and extension driving device (not shown in the figure), and the flexion and extension driving device pulls the flexion and extension wire-controlled tendon rope 8 to make the first end of the finger body 6 approach or move away from the second end of the finger body 6.

[0080] In this embodiment, the flexion and extension driving device is used to drive the finger body to perform flexion or extension movements.

[0081] In this embodiment, the flexion-extension wire-controlled tendon rope 8 bears the force of the driving device and transmits the force to the flexion-extension wire-controlled tendon rope 8 on the movable pulley. The material of the flexion-extension wire-controlled tendon rope 8 can be a steel wire rope. Furthermore, for a robot finger with a rigid structure, the flexion-extension wire-controlled tendon rope 8 can also play the role of connecting various joints in the finger body.

[0082] In this embodiment, the flexion-extension driving device is a device that outputs force to the force-bearing object, such as a motor, a hydraulic pump, etc. The flexion-extension driving device is connected to the second end of the flexion-extension wire-controlled tendon rope 8 to drive the flexion-extension wire-controlled tendon rope 8 to extend and retract, thereby realizing the movement of the entire finger structure assembly.

[0083] In this embodiment, the driving device pulls the flexion and extension tendon rope 8 to make the first end of the finger body 6 approach or move away from the second end of the finger body 6, thereby driving the finger body 6 to flex or extend.

[0084] In this optional implementation, the flexion and extension drive device is connected to the flexion and extension wire-controlled tendon rope 8, so that the flexion and extension drive device can directly pull the flexion and extension wire-controlled tendon rope 8; based on the different setting positions of the flexion and extension wire-controlled tendon rope 8, for example, the flexion and extension wire-controlled tendon rope 8 is set on one side of the finger body (such as the finger body is an elastic structure, and the tendon rope is set on one side along the contour of the finger body), when the flexion and extension drive device pulls the flexion and extension wire-controlled tendon rope 8, the finger body can be bent, thereby achieving the flexion action of the finger body; optionally, when the flexion and extension wire-controlled tendon rope is set on the other side of the finger body, when the flexion and extension drive device pulls the flexion and extension wire-controlled tendon rope 8, the finger body can be stretched, thereby achieving the extension action of the finger body.

[0085] In this embodiment, there may be multiple movable pulleys 71. The number of the multiple movable pulleys 71 can be determined based on the force requirements of the finger structure assembly. For example, there is one movable pulley 71, or there may be two movable pulleys 71. In practical applications, there may be three or more movable pulleys 71. When the number of the movable pulleys 71 changes, the routing mode of the flexion and extension wire-controlled tendon rope 8 will also change accordingly, and such a change shall be within the protection scope of this application.

[0086] The finger structure assembly provided in the embodiment of this application includes: a finger body 6, a movable pulley 71, and a flexion and extension wire-controlled tendon rope 8; the movable pulley 71 is fixed at the first end of the finger body 6, the flexion and extension wire-controlled tendon rope 8 is wound around the movable pulley 71, the first end of the flexion and extension wire-controlled tendon rope 8 is fixed at the second end of the finger body 6, the second end of the flexion and extension wire-controlled tendon rope 8 is connected to a driving device, and the driving device drives the finger body 6 to perform flexion or extension actions. A movable pulley is arranged on the finger body, and the force of the driving device is amplified through the movable pulley. Compared with the solution without using a movable pulley, the grip force of the finger structure assembly is increased.

[0087] As Figure 3 、 Figure 4a 、 Figure 4b 、 Figure 4c 、 Figure 4d 、 Figure 5 shown, the finger body 6 includes: a first joint 61, a second joint 62, and a third joint 63.

[0088] The flexion and extension wire-controlled tendon rope 8 is located inside the finger body 6 and connects each joint of the finger body 6 (the finger body 6 in the figure includes 3 joints). Through the movable pulley 71, the bending and stretching of the finger body 6 can be realized; the pitching drive wheel 41 is embedded on one side of the horizontal rotation bracket 1, and is connected to the end of the finger body 6 by using a connecting piece (such as a screw, not marked in the figure). By driving the pitching wire-controlled tendon rope 5, the pitching drive wheel 41 can be driven to rotate, and thus the pitching movement of the finger body 6 can be realized; the horizontal drive wheel a is located at the bottom of the horizontal rotation bracket 1 and is fixedly connected to the horizontal rotation bracket 1 (the horizontal rotation bracket 1 passes through the round hole of the palm structure 3 to realize the connection with the horizontal drive wheel a). By driving the horizontal wire-controlled tendon rope 2, the horizontal drive wheel a can be driven to rotate (that is, drive the horizontal rotation bracket 1 to rotate), and thus the horizontal rotation of the finger body 6 can be realized.

[0089] Since a movable pulley is used at the third joint of the finger body 6, the pulling force received by the finger body 6 can be doubled.

[0090] In Figure 5In this case, taking a three-joint finger as an example, fingers with other numbers of joints such as two or five can adopt the finger structure assembly in this case. Therefore, finger structure assemblies with other numbers of joints having this finger structure assembly should all be within the protection scope of this application.

[0091] In some alternative implementation manners of this application, the above-mentioned flexion and extension wire-controlled tendon ropes include a flexion tendon rope and an extension tendon rope located on both sides of the finger body. The second end of the flexion tendon rope is connected to the flexion and extension driving device, and the second end of the extension tendon rope is connected to the flexion and extension driving device. The first ends of the flexion tendon rope and the extension tendon rope are connected to each other to form a tendon rope and are jointly fixed to the second end of the finger body.

[0092] In this alternative implementation manner, the second end of the flexion tendon rope is connected to the flexion and extension driving device, and the second end of the extension tendon rope is connected to the flexion and extension driving device. The flexion and extension driving device can pull the flexion tendon rope or the extension tendon rope at different time points to achieve the purpose of flexing and extending the finger body. Optionally, the flexion and extension driving device can also include a flexion driving device and an extension driving device; the second end of the flexion tendon rope is connected to the flexion driving device, and the flexion driving device drives the finger body to perform a flexion action; the second end of the extension tendon rope is connected to the extension driving device, and the extension driving device drives the finger body to perform an extension action.

[0093] The finger structure assembly provided by this alternative implementation manner sets the flexion and extension wire-controlled tendon ropes as the flexion tendon rope and the extension tendon rope located on both sides of the finger body, and respectively pulls the flexion tendon rope or the extension tendon rope through the flexion and extension driving device to achieve the actions of respectively driving the finger body to flex or extend, improving the flexibility of controlling the finger body.

[0094] Optionally, the flexion and extension wire-controlled tendon ropes in the finger body are arranged on the palm side or the back side of the finger body.

[0095] In this alternative implementation manner, when the finger body is the main body of the index finger, middle finger, ring finger, and little finger, arranging the flexion and extension wire-controlled tendon ropes outside or inside the finger body and arranging the flexion and extension wire-controlled tendon ropes on the palm side or the back side of the finger body can enable the flexion and extension wire-controlled tendon ropes to flexibly drive the first end of the finger body to approach or move away from the second end of the finger body.

[0096] In this alternative implementation manner, the flexion and extension wire-controlled tendon ropes can be fixed outside the finger body, for example, fixedly arranged along the contour of the finger body on the outer side of the finger body. This outer side can be close to the palm side or the back side. When the outer side is close to the palm side, the flexion and extension wire-controlled tendon ropes drive the first end of the finger body to approach the second end of the finger body; when the outer side is close to the back side, the flexion and extension wire-controlled tendon ropes drive the first end of the finger body to move away from the second end of the finger body.

[0097] In this alternative implementation, the flexion-extension wire-controlled tendon rope can also be fixed inside the finger body. For example, relative to the central axis of the finger body, the flexion-extension wire-controlled tendon rope passes through the finger body and is on the side close to the palm of the hand, i.e., the palm side of the finger body, with respect to the central axis; or relative to the central axis of the finger body, the flexion-extension wire-controlled tendon rope passes through the finger body and is on the side close to the back of the hand, i.e., the back side of the finger body, with respect to the central axis. When close to the palm side, the flexion-extension wire-controlled tendon rope drives the first end of the finger body closer to the second end of the finger body; when close to the back side, the flexion-extension wire-controlled tendon rope drives the first end of the finger body away from the second end of the finger body.

[0098] For the finger structure assembly provided in this alternative implementation, by arranging the flexion-extension wire-controlled tendon rope on the palm side or the back side of the finger body, it simply and reliably realizes driving the first end of the finger body closer to or away from the second end of the finger body when passing through the flexion-extension wire-controlled tendon rope, providing a reliable basis for the flexion or extension of the finger structure assembly. Optionally, the finger body includes: a receiving groove; a movable pulley is located in the receiving groove. When the flexion-extension wire-controlled tendon rope passes through the groove wall of the receiving groove and winds around the movable pulley, the movable pulley is fixed on the finger body. Among them, the cross-sectional shape and groove depth of the receiving groove can be set based on the shape and thickness of the pulley. For example, the cross-sectional shape of the receiving groove is circular, and the groove depth of the receiving groove is the thickness of the pulley.

[0099] Optionally, in the finger structure assembly, the finger body includes: a fingertip phalanx, at least one middle finger phalanx; the receiving groove is arranged on the fingertip phalanx; at least one middle finger phalanx is movably connected to the fingertip phalanx, one of the at least one middle finger phalanx is movably connected to the fingertip phalanx, and each of the at least one middle finger phalanx is movably connected to the adjacent middle finger phalanx; the first end a of the finger body is located on the fingertip phalanx, and the second end of the finger body is located on the middle finger phalanx far from the fingertip phalanx.

[0100] In this embodiment, the middle finger phalanx far from the fingertip phalanx is also the middle finger phalanx close to the palm, and the middle finger phalanx far from the fingertip phalanx refers to the middle finger phalanx with the farthest distance from the fingertip phalanx. The fixed seat of the pitch rotation structure has a fixed seat with an installation groove. One end of the middle finger phalanx close to the palm is located in the installation groove, and the fixed shaft on the middle finger phalanx close to the palm is matched with the installation hole on the groove wall of the installation groove to realize the movable connection between the middle finger phalanx close to the palm and the fixed seat.

[0101] By arranging the receiving groove on the fingertip phalanx, the first end of the finger body is the position where the receiving groove is located on the fingertip phalanx. The acting force of the tendon rope on the pulley can fix the pulley in the receiving groove, so as to achieve the purpose of applying an acting force to the finger body.

[0102] Optionally, the finger body can be an elastic column, and the pulley and the tendon rope are arranged inside or outside the finger body. The pulley is connected to the finger body, and by driving the pulley with a driving device, the purpose of driving the finger body to flex or extend can be achieved.

[0103] In some alternative implementation manners of the present application, the horizontal driving device, the flexion / extension driving device, and the pitching driving device are the same device.

[0104] In this alternative implementation manner, the horizontal driving device, the flexion / extension driving device, and the pitching driving device can adopt the same motor or hydraulic device. Based on the control requirements of the horizontal driving device, the flexion / extension driving device, and the pitching driving device, the same device can be controlled to operate at a certain time point or time period to achieve the purpose of controlling the three degrees of freedom of the finger structure assembly simultaneously.

[0105] In this alternative implementation manner, the horizontal driving device, the flexion / extension driving device, and the pitching driving device can be devices for controlling one type of finger. For example, they can control the thumb of a robot. They can also be devices for controlling multiple types of fingers. For example, they can simultaneously control the thumb, index finger, and middle finger of a robot.

[0106] For the finger structure assembly provided in this alternative implementation manner, by setting the horizontal driving device, the flexion / extension driving device, and the pitching driving device as the same device, the same device can be used to control different components of the finger structure, which improves the convenience of controlling the finger structure assembly and saves the mechanical control cost of the finger structure assembly.

[0107] In some alternative implementation manners of the present disclosure, the finger body 6 is the main body of the thumb of a manipulator.

[0108] For the finger structure assembly provided in this alternative implementation manner, a horizontal rotation bracket, a horizontal wire-controlled tendon rope, a pitching rotation structure, a pitching wire-controlled tendon rope, a flexion / extension driving structure, and a flexion / extension wire-controlled tendon rope are provided for the thumb of the manipulator. Thus, the pitching degree of freedom, the horizontal degree of freedom, and the flexion / extension degree of freedom of the thumb are realized through different tendon ropes, which improves the flexibility of controlling the thumb of the manipulator.

[0109] The present application provides a manipulator. Due to the finger structure assembly inside, the manipulator has a degree of freedom of movement in the horizontal rotation aspect compared with traditional manipulators. The manipulator includes: a palm structure, at least one finger structure assembly, and a horizontal driving device. At least one finger structure assembly is movably connected to the palm structure, and each finger structure assembly in at least one finger structure assembly is the finger structure assembly provided in the above embodiments. The horizontal driving device is connected to at least one finger structure assembly and is used to drive the finger structure assembly to rotate on the palm structure.

[0110] In this embodiment, the number of at least one finger structure assembly can be one or multiple, and the number of at least one finger structure assembly can be set based on development requirements. For example, the number of at least one finger structure assembly is five, and all five finger structure assemblies are controlled by a horizontal driving device.

[0111] The manipulator provided in this embodiment includes a finger structure assembly. The horizontal driving device applies force to the horizontal rotating bracket through a horizontal wire control tendon rope, realizing the horizontal movement freedom degree of the components in the manipulator.

[0112] In some alternative implementation manners of the present application, the above-mentioned horizontal driving device is a motor or a hydraulic device.

[0113] The manipulator provided by this alternative implementation manner drives the horizontal wire control tendon rope in two ways, namely, a motor or a hydraulic device, so that the horizontal wire control tendon rope drives the horizontal rotating bracket to rotate, improving the flexibility of the manipulator control.

Claims

1. A finger structure assembly, characterized in that, The finger structure assembly includes: A horizontal rotation bracket (1), which is movably connected to the palm structure; A horizontal wire-controlled tendon rope (2), one end of which is connected to a horizontal driving device. When the horizontal driving device drives the horizontal wire-controlled tendon rope (2), the horizontal wire-controlled tendon rope (2) drives the horizontal rotation bracket (1) to rotate.

2. The finger structure assembly according to claim 1, wherein, The horizontal rotation bracket includes: a horizontal wire groove; the horizontal wire groove is parallel to the rotation direction of the horizontal rotation bracket, and one end of the horizontal wire-controlled tendon rope is fixed in the horizontal wire groove.

3. The finger structure assembly according to claim 1, characterized in that, The finger structure assembly further includes: a horizontal driving wheel (a); the horizontal rotation bracket (1) is fixedly connected to the horizontal driving wheel (a); When the horizontal driving device drives the horizontal wire-controlled tendon rope (2), the horizontal wire-controlled tendon rope (2) drives the horizontal driving wheel (a) to rotate, and the horizontal driving wheel drives the horizontal rotation bracket (1) to rotate.

4. The finger structure assembly according to claim 3, wherein The horizontal driving wheel (a) is coaxially and fixedly connected to the horizontal rotation bracket (1).

5. The finger structure assembly according to claim 1, wherein The finger structure assembly further includes: A pitch rotation structure (4), which is movably connected to the horizontal rotation bracket (1); A pitch wire-controlled tendon rope (5), one end of which is connected to a pitch driving device. When the pitch driving device drives the pitch wire-controlled tendon rope (5), the pitch wire-controlled tendon rope (5) drives the pitch rotation structure (4) to rotate.

6. The finger structure assembly according to claim 5, characterized in that, The pitch rotation structure includes: a pitch wire groove; the pitch wire groove is perpendicular to the rotation direction of the horizontal rotation bracket, and one end of the pitch wire-controlled tendon rope is fixed in the pitch wire groove.

7. The finger structure assembly according to claim 5, characterized in that, The pitch rotation structure (4) includes a pitch driving wheel (41) and a fixed seat (42); The pitch driving wheel (41) is fixedly connected to the fixed seat (42); The pitch driving wheel (41) is movably connected to the horizontal rotation bracket (1); When the pitch driving device drives the pitch wire-controlled tendon rope (5), the pitch wire-controlled tendon rope (5) drives the pitch driving wheel (41) to rotate, and the pitch driving wheel (41) drives the fixed seat (42) to rotate.

8. The finger structure assembly according to claim 7, wherein, The pitch driving wheel (41) is coaxially and fixedly connected to the fixed seat (42).

9. The finger structure assembly according to any one of claims 5-8, characterized in that, The finger structure assembly further includes: A finger body (6), which is fixedly connected to the pitch rotation structure (4); when the pitch driving device drives the pitch wire-controlled tendon rope (5), the pitch rotation structure (4) drives the finger body (6) to perform a pitching motion.

10. The finger structure assembly according to claim 9, wherein, The finger structure assembly further includes: A flexion and extension driving structure (7), which is fixedly connected to the finger body (6); A flexion and extension wire-controlled tendon rope (8), which is movably connected to the flexion and extension driving structure (7), and one end of the flexion and extension wire-controlled tendon rope (8) is connected to a flexion and extension driving device. When the flexion and extension driving device drives the flexion and extension wire-controlled tendon rope (8), the flexion and extension driving device drives the finger body (6) to perform a flexion or extension action.

11. The finger structure assembly according to claim 10, wherein, The flexion and extension driving structure (7) includes: A movable pulley (71), the movable pulley being fixed to the first end of the finger body (6); the flexion and extension wire-controlled tendon rope (8) is wound around the movable pulley (71), the first end of the flexion and extension wire-controlled tendon rope (8) is fixed to the second end of the finger body (6), and the second end of the flexion and extension wire-controlled tendon rope (8) is connected to the flexion and extension driving device, and the flexion and extension driving device makes the first end of the finger body (6) approach or move away from the second end of the finger body (6) by pulling the flexion and extension wire-controlled tendon rope (8).

12. The finger structure assembly according to claim 11, wherein, The flexion and extension wire-controlled tendon rope includes a flexion tendon rope and an extension tendon rope located on both sides of the finger body. The second end of the flexion tendon rope is connected to the flexion and extension driving device, and the second end of the extension tendon rope is connected to the flexion and extension driving device. The first ends of the flexion tendon rope and the extension tendon rope are connected to each other to form a tendon rope and are jointly fixed to the second end of the finger body.

13. The finger structure assembly according to claim 10, characterized in that, The horizontal driving device, the flexion and extension driving device, and the pitching driving device are the same device.

14. The finger structure assembly according to claim 9, wherein The finger body (6) is the main body of the thumb of the robotic hand.

15. A manipulator, characterized in that, The robotic hand includes: A palm structure; At least one finger structure assembly, movably connected to the palm structure, and each finger structure assembly in the at least one finger structure assembly is the finger structure assembly according to any one of claims 1-14; A horizontal driving device, the horizontal driving device being connected to the at least one finger structure assembly for driving the finger structure assembly to rotate on the palm structure.

16. The manipulator according to claim 15, characterized in that, The horizontal driving device is a motor or a hydraulic device.

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