Manipulator

Abstract

The utility model discloses a manipulator which comprises a palm support, a bionic finger and a traction assembly, the bionic finger is provided with a finger pulp face, a finger back face and two finger side faces located between the finger pulp face and the finger back face, and the bionic finger is movably connected to the palm support and at least can swing in the facing direction of the two finger side faces. The traction assembly is arranged on the palm support, a traction rope of the traction assembly is in transmission connection with the bionic fingers, and the traction assembly is used for driving the bionic fingers to swing towards the two finger side faces. It can be understood that under the action of the traction rope of the traction assembly, the bionic fingers can swing in the facing direction of the side face of one finger relative to the palm support and can also swing in the facing direction of the side face of the other finger relative to the palm support. Therefore, the degree of freedom of the bionic finger is more flexible when the bionic finger is applied, and correspondingly, the bionic finger can more flexibly imitate the action of the finger of the human body when the bionic finger is applied, so that the bionic finger can be suitable for various complex working environments.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators. Background Art

[0002] With the development of artificial intelligence, various intelligent devices have been rapidly developed, especially intelligent robots, which have been widely developed in various fields. Among them, the bionic fingers of the manipulator are the key components of the robot, and their design requirements are of utmost importance.

[0003] In related technologies, the joints of a bionic finger are connected by a traction rope, and the actuator drives the traction rope bidirectionally to achieve synchronized movement of the bionic finger joints. However, this arrangement makes the bionic finger less flexible when used. In more complex application environments, the robotic arm needs to perform more complex movements to compensate for this deficiency, resulting in a relatively slow robot arm. Utility Model Content

[0004] The utility model is intended to solve at least one of the technical problems existing in the prior art. For this reason, the utility model proposes a manipulator whose bionic fingers can swing flexibly to adapt to various more complicated environments.

[0005] The present invention provides a robot arm, comprising:

[0006] Palm support;

[0007] A bionic finger, the bionic finger having a finger web, a finger back, and two finger side surfaces located between the finger web and the finger back, the bionic finger being movably connected to the palm support and capable of swinging at least toward the two finger side surfaces;

[0008] A traction component is provided on the palm support, a traction rope of the traction component is transmission-connected with the bionic finger, and the traction component is used to drive the bionic finger to swing toward the sides of the two fingers.

[0009] According to some embodiments of the present invention, the robotic arm further includes a first rotary spring, which is connected to the palm support and the bionic finger, and is used to restore the bionic finger to a corrected posture when the traction assembly does not act on the bionic finger.

[0010] According to some embodiments of the present invention, the bionic finger can also swing toward the facing direction of the fingertip surface, and the traction assembly is further used to drive the bionic finger to swing toward the facing direction of the fingertip surface.

[0011] According to some embodiments of the present invention, the traction assembly is provided with two groups, and the traction ropes of the two groups of the traction assembly are respectively connected to the edge of the finger web close to the finger side surface;

[0012] When the two groups of traction components pull the bionic fingers simultaneously, the bionic fingers are swung toward the facing direction of the finger pulp surface; when the two groups of traction components pull the bionic fingers separately, the bionic fingers are swung toward the facing directions of the two finger sides.

[0013] According to some embodiments of the present invention, the robotic arm also includes a connecting joint, one end of the connecting joint is rotatably connected to the palm support around a first preset axis, and the other end is rotatably connected to the bionic finger around a second preset axis, the two ends of the first preset axis are respectively set toward the facing directions of the finger pulp and the back of the finger, and the two ends of the second preset axis are respectively set toward the facing directions of the side surfaces of the two fingers, and the first rotary spring is connected to the palm support and the connecting joint.

[0014] According to some embodiments of the present invention, the manipulator further includes a second rotary spring, which is connected to the connecting joint and the bionic finger, and is used to restore the bionic finger to a straight position when the traction assembly does not act on the bionic finger.

[0015] According to some embodiments of the present invention, the elastic force of the second return spring is greater than the elastic force of the first return spring.

[0016] According to some embodiments of the present invention, a guide protrusion is provided on the surface on the same side of the connecting joint and the fingertip surface, and the guide protrusion is provided with a guide hole, and the traction ropes of the two traction assemblies are respectively passed through the guide holes.

[0017] According to some embodiments of the present invention, a universal joint is provided between the bionic finger and the palm support.

[0018] As can be seen from the above technical solutions, the embodiments of the present application have the following advantages: in specific applications, under the action of the traction rope of the traction assembly, the bionic finger can swing relative to the palm support toward the direction facing one finger side, and can also swing relative to the palm support toward the direction facing the other finger side. As can be seen, the bionic finger can move in the direction facing the two finger sides, and the bionic finger has more flexible degrees of freedom when used. Accordingly, the bionic finger can more flexibly imitate the movements of the human finger when used. Therefore, the robot hand can be more flexibly applied to various complex working environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1This is a schematic diagram of the overall structure of the manipulator according to an embodiment of the present utility model;

[0020] Figure 2 This is a schematic structural diagram of a bionic finger and connecting joints according to an embodiment of the present utility model;

[0021] Figure 3 This is a schematic diagram of the exploded structure of the bionic finger and the connecting joints according to an embodiment of the utility model;

[0022] Figure 4 This is a schematic structural diagram of a connecting joint according to an embodiment of the present invention.

[0023] The meanings of the reference numerals are as follows:

[0024] 100. Palm support; 110. Raised rib; 200. Bionic finger; 210. Finger pulp; 220. Finger side; 230. Finger back; 300. Traction assembly; 310. Traction rope; 400. First rotary spring; 500. Connecting joint; 510. Guide protrusion; 511. Guide hole; 520. First preset axis; 530. Second preset axis; 600. Second rotary spring; 700. Connecting seat. DETAILED DESCRIPTION

[0025] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0026] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, upper, lower, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention.

[0027] In the description of this utility model, "several" means more than one, "plurality" means more than two, "greater than," "less than," and "exceed" are understood to exclude the number itself, while "above," "below," and "within" are understood to include the number itself. The use of the terms "first" and "second" is solely for the purpose of distinguishing technical features and is not to be construed as indicating or implying relative importance, implicitly specifying the number of the indicated technical features, or implicitly specifying the order of the indicated technical features.

[0028] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, and connecting should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0029] In the description of the present invention, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the exemplary expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0030] The present invention will be further described in detail below with reference to the accompanying drawings.

[0031] See also Figures 1 to 2 , a robotic hand 10 provided in an embodiment of the present invention, comprises a palm support 100, a bionic finger 200, and a traction assembly 300. The bionic finger 200 comprises a finger web 210, a finger back 230, and two finger side surfaces 220 located between the finger web 210 and the finger back 230. The bionic finger 200 is movably connected to the palm support 100 and can swing at least in the direction in which the two finger side surfaces 220 face. The traction assembly 300 is disposed on the palm support 100. The traction rope 310 of the traction assembly 300 is in transmission connection with the bionic finger 200. The traction assembly 300 is used to drive the bionic finger 200 to swing in the direction in which the two finger side surfaces 220 face.

[0032] The bionic finger 200 is movably connected to the palm support 100. Specifically, the bionic finger 200 and the palm support 100 can be connected in a variety of ways, for example, the bionic finger 200 is connected via a hinge, a rotating shaft structure, a universal structure, or other methods. In addition, the traction assembly 300 includes a driver 320 and a traction rope 310. The traction rope 310 is connected to the bionic finger 200. During use, the driver 320 pulls the traction rope 310, and the traction rope 310 pulls the bionic finger 200 to rotate. Specifically, a rib 110 is provided on the outer surface of the palm support 100. One end of the rib 110 is located near the bionic finger 200, and the other end is located near the tail of the palm support 100. A wire groove is formed on the inner side of the rib 110, so that the traction rope 310 can be neatly stored inside the palm support 100.

[0033] In specific applications, under the action of the traction rope 310 of the traction assembly 300, the bionic finger 200 can swing relative to the palm support 100 toward the direction facing one finger side surface 220, or toward the direction facing the other finger side surface 220. Thus, the bionic finger 200 can move in the direction facing both finger side surfaces 220, providing greater flexibility in application. Accordingly, the bionic finger 200 can more flexibly mimic the movements of a human finger during application, thereby enabling the manipulator 10 to more flexibly adapt to various complex working environments.

[0034] To enable the bionic finger 200 to return to the corrected posture, more specifically, the position of the bionic finger 200 when not rotating toward the finger side surface 220, in some embodiments, the finger assembly further includes a first return spring 400. The first return spring 400 can be a tension spring, a torsion spring, or other elastic member. The first return spring 400 is connected to the palm support 100 and the bionic finger 200. Therefore, when the traction assembly 300 is not acting on the bionic finger 200, the first return spring 400 is used to return the bionic finger 200 to the corrected posture.

[0035] Specifically, after the bionic finger 200 completes its rotation toward the two-finger side 220, the traction assembly 300 no longer applies external force to the bionic finger 200. At this point, the first rebound spring uses its elastic force to restore the bionic finger 200 to its original shape, and the bionic finger 200 returns from a deflected state to a non-deflected state, thereby correcting its posture. Thus, the provision of the first return spring 400 simplifies the overall structure, allowing the bionic finger 200 to automatically return to its non-deflected position after swinging, thus making the bionic finger 200 more flexible and convenient in use.

[0036] In other possible embodiments, the present application may also use the traction component 300 to restore the bionic finger 200 to a non-deflected position, that is, to a corrected position, which will not be described in detail.

[0037] In some embodiments, reference Figure 1 and Figure 2 The bionic finger 200 can also rotate toward the facing direction of the finger pulp surface 210 , and the traction component 300 is further used to pull the bionic finger 200 to rotate toward the facing direction of the finger pulp surface 210 .

[0038] It is understood that the bionic finger 200 can not only swing in the direction of the two side surfaces 220, but also swing in the direction of the finger pad surface 210, just like a human finger. In this way, the bionic finger 200 can fully imitate the various movements of a human finger when used, so that it can work in various complex environments.

[0039] In addition, the traction component 300 is not only used to drive the bionic finger 200 to swing toward the facing direction of the two finger side surfaces 220, but also used to pull the bionic finger 200 to swing toward the facing direction of the fingertip surface 210. With this arrangement, there is no need to set up a separate traction component 300 or other driving module to drive the bionic finger 200 to swing toward the facing direction of the fingertip surface 210, and the overall structure is relatively simple.

[0040] In order to enable the traction assembly 300 to drive the bionic finger 200 to swing in the facing direction of the two finger side surfaces 220 and the facing direction of the finger pulp surface 210, in one possible embodiment, the traction assembly 300 can be provided in one, two, three or four groups, etc., and here the traction assembly 300 is provided with two groups as an example for explanation. The traction assembly 300 is provided with two groups, and the traction rope 310 of one group of traction assemblies 300 is connected to the left edge of the finger pulp surface 210 near the finger side surface 220, and the traction rope 310 of the other group of traction assemblies 300 is connected to the right edge of the finger pulp surface 210 near the finger side surface 220. For example, the traction rope 310 passes through the back of the bionic finger 200, and a limiter is provided at the end of the traction rope 310 to ensure the connection between the two. Thus, in the direction of the fingertip surface 210, the two sets of traction assemblies 300 simultaneously pull the bionic finger 200. Under the action of the two sets of traction assemblies 300, the bionic finger 200 rotates in the direction of the fingertip surface 210, and the bionic finger 200 does not yaw in the direction of the fingertip surface 220. For ease of explanation, the two sets of traction assemblies 300 are divided into left and right sets of traction assemblies 300. When the left traction assembly 300 pulls the bionic finger 200, it provides a leftward traction force for the bionic finger 200, and the bionic finger 200 rotates to the left under the action of the left traction assembly 300. When the right traction assembly 300 pulls the bionic finger 200, it provides a rightward traction force for the bionic finger 200, and the bionic finger 200 rotates to the right under the action of the right traction assembly 300. It should be noted that when the two groups of traction components 300 pull the bionic finger 200 respectively, although the traction component 300 provides a force in the direction of the fingertip surface 210 of the bionic finger 200, the force provided cannot overcome the force of the bionic finger 200 facing the fingertip surface 210 (the elastic force of the second rotary spring 600 described below). Therefore, when the bionic finger 200 is pulled by a group of traction components 300, the bionic finger 200 only swings to the left or right, and does not rotate in the direction facing the fingertip surface 210.

[0041] It should be noted that the present application utilizes two sets of traction assemblies 300, which cooperate with each other to achieve the swinging of the bionic finger 200 in the facing direction of the two finger lateral surfaces 220, as well as the swinging of the finger web surface 210 in the facing direction. This arrangement eliminates the need for a corresponding actuator 320 for each swinging direction of the bionic finger 200, reducing the structural and control difficulties of the manipulator 10, making the manipulator 10 more convenient to use, and effectively reducing manufacturing costs and weight.

[0042] In other possible embodiments, the traction components 300 may be provided in one, two, three, or four groups. Here, an example of three groups of traction components 300 is used for explanation. One group of traction components 300 is used to pull the bionic finger 200 toward the direction facing one finger side surface 220, one group of traction components 300 is used to pull the bionic finger 200 toward the direction facing another finger side surface 220, and the remaining group of traction components 300 is used to pull the bionic finger 200 toward the direction facing the finger web surface 210.

[0043] In order to realize the swing of the bionic finger 200 in multiple directions, in one possible embodiment, referring to Figure 2 and Figure 3 The manipulator 10 further includes a connecting joint 500, one end of which is rotatably connected to the connecting base 700 of the palm support 100 around a first preset axis 520, and the other end of which is rotatably connected to the bionic finger 200 around a second preset axis 530. The two ends of the first preset axis 520 are respectively arranged in the facing direction of the finger pulp surface 210 and the finger back surface 230, and the two ends of the second preset axis 530 are respectively arranged in the facing direction of the two finger side surfaces 220. Thus, the bionic finger 200 can swing in the facing direction of the finger pulp surface 210 and the facing direction of the two finger side surfaces 220 through the arrangement of the connecting joint 500. At the same time, the first rotary spring 400 can be a torsion spring. The first rotary spring 400 is mounted on the rotating shaft between the connecting joint 500 and the palm support 100, and is respectively connected to the palm support 100 and the connecting joint 500. Therefore, when the bionic finger 200 rotates toward the facing direction of the two finger sides 220 through the connecting joint 500, the first rotary spring 400 is compressed in the circumferential direction. When the restriction on the bionic finger 200 is released, the first rotary spring 400 acts on the bionic finger 200 through the connecting joint 500 to restore the bionic finger 200 to a non-swinging posture.

[0044] It should be noted that, in actual design, the two ends of the first preset axis 520 can also be arranged in the direction facing the two finger side surfaces 220, and the two ends of the second preset axis 530 can be arranged in the direction facing the finger web surface 210 and the finger back surface 230. In this arrangement, the bionic finger 200 can also swing in the direction facing the finger web surface 210 and the direction facing the two finger side surfaces 220 through the arrangement of the connection joint 500. The first rotary spring 400 needs to be arranged between the connection joint 500 and the bionic finger 200.

[0045] Furthermore, the manipulator 10 further includes a second return spring 600. After the bionic finger 200 rotates toward the direction facing the finger web 210, the traction assembly 300 ceases to act on the bionic finger 200. The second return spring 600 is used to rotate the bionic finger 200 toward the direction facing its finger back 230. More specifically, the second return spring 600 resets the bionic finger 200 to a straightened position. Of course, other drive modules can also be used to reset the bionic finger 200 toward the finger back 230. For example, the present application provides another set of traction assemblies 300 to pull the bionic hand toward the direction facing the finger back 230.

[0046] Among them, if the first rotary spring 400 is connected between the palm support 100 and the connecting joint 500, correspondingly, the second rotary spring 600 is connected between the connecting joint 500 and the bionic finger 200; if the first rotary spring 400 is connected between the bionic finger 200 and the connecting joint 500, correspondingly, the second rotary spring 600 is connected between the connecting joint 500 and the palm support 100.

[0047] As can be seen from the above, the first rotary spring 400 and the second rotary spring 600 are arranged in conjunction with the two sets of traction components 300 to realize the facing direction rotation of the bionic finger 200 toward the two finger side surfaces 220 and the reset to the middle position (the non-swaying position), as well as the facing direction rotation and reset toward the fingertip surface 210. Therefore, the bionic finger 200 of the manipulator 10 can more flexibly imitate various movements of the human palm, so that it can be used to work in more complex environments.

[0048] Furthermore, the elastic force of the second return spring 600 is greater than the elastic force of the first return spring 400. It is understandable that when one of the two traction assemblies 300 uses the traction rope 310 to pull the bionic finger 200 toward the facing direction of the finger side surface 220, because the elastic force of the second return spring 600 is greater than the elastic force of the first return spring 400, the traction assembly 300 preferentially overcomes the elastic force of the first return spring 400, thereby causing the bionic finger 200 to rotate only toward the facing direction of the finger side surface 220 under the action of the traction assembly 300.

[0049] In order to make the two sets of traction components 300 more effectively pull the rotation of the bionic finger 200, in some embodiments, referring to Figure 3 and Figure 4 Two guide protrusions 510 are provided on the surface on the same side of the connecting joint 500 and the fingertip surface 210. Each of the two guide protrusions 510 has a guide hole 511. The guide hole 511 extends along the axial direction of the rotating joint. The traction ropes 310 of the two traction assemblies 300 are respectively passed through the guide holes 511. With this arrangement, when the driver 320 of the traction assembly 300 pulls the traction rope 310, the traction rope 310, guided by the guide holes 511, pulls the bionic finger 200 along the axial direction of the connecting joint 500. Thus, the traction rope 310 provides axial tension to the bionic finger 200, thereby pulling the bionic finger 200 to rotate in the direction facing the fingertip surface 210 or the direction facing the fingertip surface 220. This solution is preferably implemented.

[0050] In order to achieve multi-directional swinging of the bionic finger 200, in other possible embodiments, a universal joint is provided between the bionic finger 200 and the palm support 100. With this arrangement, the bionic finger 200 can also rotate in the facing direction of the two finger side surfaces 220 and the facing direction of the fingertip surface 210, which will not be described in detail.

[0051] The technical means disclosed in the present invention are not limited to those disclosed in the above-mentioned embodiments, but also include technical solutions composed of any combination of the above-mentioned technical features. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and such improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A robot, characterized in that: include: Palm support; A bionic finger, the bionic finger having a finger web, a finger back, and two finger side surfaces located between the finger web and the finger back, the bionic finger being movably connected to the palm support and capable of swinging at least in a direction facing the two finger side surfaces; A traction component is provided on the palm support, a traction rope of the traction component is transmission-connected with the bionic finger, and the traction component is used to drive the bionic finger to swing toward the sides of the two fingers.

2. The manipulator according to claim 1, characterized in that: The manipulator further includes a first rotary spring connected to the palm support and the bionic finger, and is used to reset the bionic finger to a corrected posture when the traction assembly is not acting on the bionic finger.

3. The manipulator according to claim 1, characterized in that: The bionic finger can also swing toward the facing direction of the finger pulp surface, and the traction component is further used to drive the bionic finger to swing toward the facing direction of the finger pulp surface.

4. The manipulator according to claim 3, characterized in that: The traction assembly is provided with two groups, and the traction ropes of the two groups of the traction assembly are respectively connected to the edge of the finger web close to the finger side surface; When the two groups of traction components pull the bionic fingers simultaneously, the bionic fingers are swung toward the facing direction of the finger pulp surface; when the two groups of traction components pull the bionic fingers separately, the bionic fingers are swung toward the facing directions of the two finger sides.

5. The robot according to claim 2, characterized in that: The robotic arm also includes a connecting joint, one end of which is rotatably connected to the palm support around a first preset axis, and the other end is rotatably connected to the bionic finger around a second preset axis. The two ends of the first preset axis are respectively set toward the facing directions of the finger pulp and the back of the finger, and the two ends of the second preset axis are respectively set toward the facing directions of the side surfaces of the two fingers, and the first rotary spring is connected to the palm support and the connecting joint.

6. The robot according to claim 5, characterized in that: The manipulator further includes a second rotary spring connected to the connecting joint and the bionic finger, and configured to restore the bionic finger to an extended position when the traction assembly is not acting on the bionic finger.

7. The robot according to claim 6, characterized in that: The elastic force of the second return spring is greater than the elastic force of the first return spring.

8. The robot according to claim 5, characterized in that: A guide protrusion is provided on the surface of the connecting joint and the fingertip surface on the same side, and the guide protrusion is provided with a guide hole, and the traction ropes of the two traction components are respectively passed through the guide holes.

9. The robot according to claim 3, characterized in that: A universal joint is provided between the bionic finger and the palm support.

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