High-precision mechanical finger, manipulator and robot

Abstract

The utility model discloses a high-precision mechanical finger, a manipulator and a robot, the high-precision mechanical finger comprises a finger base and at least one knuckle, and the knuckle is rotatably connected with the finger base; the finger base is provided with a connecting rod in transmission connection with the knuckles and further provided with a driving mechanism for driving the connecting rod to drive the knuckles to rotate relative to the finger base. The driving mechanism comprises a driving piece and a transmission assembly, and the transmission assembly comprises a worm connected with an output shaft of the driving piece and a worm gear connected with the worm in a meshed mode. The rotating range of the connecting rod can be accurately controlled by controlling the number of rotating teeth of the worm gear and the worm, then the rotating angle of the knuckles is controlled, and the flexibility and the operation precision of the mechanical finger can be improved; according to the high-precision mechanical finger and the mechanical hand, various high-difficulty and high-requirement grabbing and operation tasks can be better completed.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of mechanical hand, especially relates to a high-precision mechanical finger, mechanical hand and robot. BACKGROUND

[0002] Mechanical hand is a kind of equipment widely used in various fields, and mechanical hand is often used to replace hand to realize the work such as grabbing, operation, has the characteristics such as precision, flexibility, this kind of equipment not only long working time, high working efficiency and its action is more accurate and stable relative to people, therefore also plays an increasingly important role.The structure of existing mechanical hand is usually fixed, and the operation of the mechanical finger completely depends on the driving of the linear driver at the palm, the position and angle of the finger cannot be accurately adjusted, and there are problems of insufficient action precision and unsatisfactory gripping effect. SUMMARY

[0003] The utility model provides a high-precision mechanical finger, mechanical hand and robot, aims at solving the problem of insufficient control precision of existing mechanical finger and low working sensitivity.

[0004] To achieve the above object, the utility model provides a high-precision mechanical finger, comprising:

[0005] Finger base and at least one knuckle, the knuckle is rotatably connected with the finger base;

[0006] The finger base is provided with a connecting rod in transmission connection with the knuckle, and a driving mechanism for driving the connecting rod to drive the knuckle to rotate relative to the finger base is further provided;

[0007] The driving mechanism includes a driving member and a transmission assembly, the transmission assembly includes a worm shaft connected with the output shaft of the driving member, and a worm wheel in meshing connection with the worm.

[0008] In some embodiments, the knuckle has two, and they are first knuckle and second knuckle respectively;The first knuckle is arranged on the finger base, and the second knuckle is rotatably connected with the first knuckle.

[0009] In some embodiments, one end of the connecting rod is in transmission connection with the worm wheel, and the other end of the connecting rod is in transmission connection with the second knuckle, for driving the first knuckle to rotate relative to the finger base and driving the second knuckle to rotate relative to the first knuckle under the driving of the driving mechanism.

[0010] In some embodiments, the first knuckle is provided with a receiving cavity, and the two ends of the first knuckle along the length direction are both provided with openings in communication with the receiving cavity;

[0011] The connecting rod is inserted into the accommodating cavity through the opening and is rotatably connected to the second knuckle through a first rotating shaft, and the other end of the connecting rod is inserted into the finger base.

[0012] In some embodiments, a limiting slot is arranged on the finger base, and a slot opening is arranged on the limiting slot; the connecting rod is inserted into the slot opening and is rotatably connected to the finger base through a second rotating shaft.

[0013] In some embodiments, two limiting end faces are arranged on opposite ends of the limiting slot along the rotating direction of the connecting rod, and the limiting end faces are used for limiting the rotating range of the connecting rod.

[0014] In some embodiments, a mounting slot for mounting the driving member is arranged on the finger base, the worm sleeve is arranged on the output shaft of the driving member, and the worm is arranged in the mounting slot; the mounting slot is arranged on the side of the second rotating shaft away from the limiting slot.

[0015] In some embodiments, the first knuckle is pin-coupled to the finger base; and / or,

[0016] the connecting rod is pin-coupled to the finger base; and / or,

[0017] the connecting rod is pin-coupled to the second knuckle; and / or,

[0018] the second knuckle is pin-coupled to the first knuckle.

[0019] Further, the utility model also proposes a mechanical hand, including palm and setting up the mechanical finger on palm, the mechanical finger is above-mentioned high accuracy mechanical finger.

[0020] Further, the utility model also proposes a robot, including robot body and setting up the mechanical hand on robot body, the mechanical hand is above-mentioned mechanical hand.

[0021] The utility model discloses technical scheme's beneficial effect lies in: in the utility model, driving mechanism drives connecting rod to rotate, and the action of the unfolding and retraction of the finger is realized by the connecting rod to promote knuckle swing to swing;Driving mechanism driving member and including transmission assembly, wherein transmission assembly is the meshed connection of worm wheel and worm, when driving member receives control signal, produces power and transmits power to transmission assembly, through the tooth number of the rotation of worm wheel and worm, can according to certain proportion accurate control the rotating range of connecting rod, and then control knuckle rotating angle;The flexibility and operation precision of mechanical finger are improved, and various high-difficulty, high-requirement gripping and operation tasks are better completed. BRIEF DESCRIPTION OF DRAWINGS

[0022] Fig. 1The utility model provides a high accuracy mechanical finger's overall structure schematic diagram provided by the embodiment of the utility model,

[0023] Fig. 2 The utility model provides a high accuracy mechanical finger's sectional view provided by the embodiment of the utility model,

[0024] Fig. 3 The utility model provides a high accuracy mechanical finger's local explosion view provided by the embodiment of the utility model,

[0025] Fig. 4 The utility model provides a high accuracy mechanical finger's finger base structure schematic diagram provided by the embodiment of the utility model,

[0026] In the drawing: 100, high accuracy mechanical finger;1, finger base;11, limit slot;111, slot mouth;112, limit end face;12, installation slot;2, connecting rod;21, mounting hole;22, pivot;3, driving mechanism;31, driving piece;32, transmission assembly;321, worm;322, worm wheel;4, first knuckle;41, accommodation cavity;42, opening;5, second knuckle;6, first rotary shaft;7, second rotary shaft;8, first connecting position;9, fourth connecting position. DETAILED DESCRIPTION

[0027] The utility model embodiments will be clearly and completely described below in combination with the drawings in the utility model embodiments. Obviously, the described embodiments are only some of the embodiments in the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the utility model.

[0028] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the utility model are only used to explain the relative positional relationship, movement condition, etc. between components in a certain specific posture (as shown in the drawings). If the specific posture changes, the directional indications will also change accordingly.

[0029] It should also be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or can have a middle element. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or can have a middle element.

[0030] In addition, the description of "first", "second" and the like in the present application is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implying the number of the indicated technical features. Therefore, the features limited by "first" and "second" can be explicitly or implicitly included at least one of the features. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of ordinary skilled in the art, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, nor in the protection scope required by the present application.

[0031] The embodiment provides a high-precision mechanical finger 100, which refers to Figs. 1 to 4 , comprising:

[0032] The finger base 1 and at least one knuckle are rotatably connected with the finger base 1;

[0033] The finger base 1 is provided with a connecting rod 2 connected with the knuckle in transmission, and is further provided with a driving mechanism 3 for driving the connecting rod 2 to drive the knuckle to rotate relative to the finger base 1;

[0034] The driving mechanism 3 comprises a driving member 31 and a transmission assembly 32, and the transmission assembly 32 comprises a worm 321 connected with the output shaft of the driving member 31, and a worm wheel 322 meshed with the worm 321.

[0035] In the embodiment, the finger base 1 is the basic support part of the whole high-precision mechanical finger 100, the knuckle is rotatably connected with the finger base 1, so that the knuckle can rotate relative to the finger base 1, simulating the bending, stretching and other actions of human fingers; The connecting rod 2 on the finger base 1 is in transmission connection with the knuckle, which plays a role in transmitting power between the driving mechanism 3 and the knuckle; the driving member 31 is a motor;

[0036] The meshing connection mode of the worm 321 and the worm wheel 322 in the transmission assembly 32 has a specific transmission ratio, the spiral structure of the worm 321 cooperates with the tooth shape of the worm wheel 322, so that a larger transmission ratio change can be realized in the transmission process; the rotation speed of the output shaft of the driving member 31 is reduced or adjusted according to the set proportion, which is helpful to realize the fine control of the rotation speed of the knuckle and improve the action precision of the high-precision mechanical finger 100; in addition, the worm wheel 322 and the worm 321 transmission assembly 32 are relatively compact, which can realize efficient power transmission in a smaller space, and is beneficial to the miniaturization design of the high-precision mechanical finger 100 as a whole.

[0037] Further, the phalange has two, namely the first phalange 4 and the second phalange 5; the first phalange 4 is arranged on the finger base 1, and the second phalange 5 is rotationally connected with the first phalange 4; in some embodiments, by dividing the phalange into the first phalange 4 and the second phalange 5, the precision of the overall action of the high-precision mechanical finger 100 can be improved, and more delicate and accurate operation can be achieved.

[0038] Further, one end of the connecting rod 2 is in transmission connection with the worm wheel 322, and the other end of the connecting rod 2 is in transmission connection with the second phalange 5, for driving the first phalange 4 to rotate relative to the finger base 1 and driving the second phalange 5 to rotate relative to the first phalange 4 under the driving of the driving mechanism 3.

[0039] When the driving mechanism 3 works, the connecting rod 2 can simultaneously affect the movement of the first phalange 4 and the second phalange 5; specifically, the finger base 1 is rotationally connected with the first phalange 4, the first phalange 4 is rotationally connected with the second phalange 5, and the connecting rod 2 is arranged on the finger base 1 and rotationally connected with the second phalange 5; when the connecting rod 2 rotates, the connecting rod 2 pushes the second phalange 5 to rotate, thereby driving the first phalange 4 to rotate; this connection mode makes the movement of the first phalange 4 and the second phalange 5 interrelated, avoids the incoordination of the movement of the two phalanges, and the coherent movement can enhance the stability of the high-precision mechanical finger 100.

[0040] Further, the first phalange 4 is internally provided with a receiving cavity 41, and both ends of the first phalange 4 along the length direction are provided with openings 42 in communication with the receiving cavity 41.

[0041] One end of the connecting rod 2 penetrates through the opening 42 and extends into the receiving cavity 41 and is rotationally connected with the second phalange 5 through the first rotation shaft 6, and the other end of the connecting rod 2 extends into the finger base 1.

[0042] By internally providing the receiving cavity 41 in the first phalange 4 and allowing the connecting rod 2 to penetrate through the opening 42 and connect with the second phalange 5, the space inside the first phalange 4 is fully utilized, and the rotational connection between the connecting rod 2 and the second phalange 5 is achieved without the need for additional connection structure arranged outside the phalange, so that the structure of the high-precision mechanical finger 100 is more compact; from the appearance, the connection part of the connecting rod 2 and the second phalange 5 is hidden inside the first phalange 4, so that the overall appearance of the high-precision mechanical finger 100 is more compact and neat; in addition, a relatively complete and direct power transmission path is formed inside the first phalange 4, which ensures the coherence and coordination of the movement of the phalanges of the high-precision mechanical finger 100 in power transmission.

[0043] The connecting rod 2 is rotationally connected with the second knuckle 5 in the accommodating cavity 41 through the first rotation shaft 6. The relatively closed and space-occupying environment provides relatively stable conditions for the rotation connection. The accommodating cavity 41 provides a space for the connecting rod 2, so that part of the connecting rod 2 is hidden inside the finger shell, and the connecting rod 2 is protected from external environmental factors.

[0044] Further, the finger base 1 is provided with a limiting groove 11, and a slot 111 is formed in the limiting groove 11. The connecting rod 2 extends into the slot 111 and is rotationally connected with the finger base 1 through the second rotation shaft 7.

[0045] The connecting rod 2 needs to rotate around the second rotation shaft 7, and the limiting groove 11 on the finger base 1 provides a space for the rotation of the connecting rod 2, so as to ensure that the connecting rod 2 does not interfere with other parts of the finger base 1 when rotating. Specifically, the slot 111 on the limiting groove 11 is in communication with the outside, and the connecting rod 2 is rotationally connected with the second rotation shaft 7 through the slot 111.

[0046] In some embodiments, the limiting groove 11 is an arc-shaped groove, and the angle range of the connecting rod 2 relative to the finger base 1 in the limiting groove 11 is 0° to 90°.

[0047] Further, the limiting groove 11 is formed with two limiting end faces 112 at opposite ends along the rotation direction of the connecting rod 2, and the limiting end faces 112 are used to limit the rotation range of the connecting rod 2.

[0048] The two limiting end faces 112 are respectively located at opposite ends of the limiting groove 11 along the rotation direction of the connecting rod 2. By limiting the rotation range of the connecting rod 2, the swing angle of the knuckle can be accurately controlled, so as to accurately adjust the opening and closing degree of the high-precision mechanical finger 100. On the other hand, the limiting end faces 112 can also prevent the connecting rod 2 from rotating excessively, avoid damaging the entire high-precision mechanical finger 100 due to the connecting rod 2 exceeding the normal rotation range, and improve the stability of the structure of the high-precision mechanical finger 100.

[0049] Further, the finger base 1 is provided with a mounting groove 12 for mounting the driving member 31, and the worm 321 is sleeved on the output shaft of the driving member 31, and the worm 321 is located in the mounting groove 12. The mounting groove 12 is located on the side of the second rotation shaft 7 away from the limiting groove 11.

[0050] By providing the mounting groove 12 on the finger base 1 to mount the driving member 31, and making the worm 321 also located in the mounting groove 12, the high integration of the driving component is realized.

[0051] In some embodiments, the connecting rod 2 is provided with a mounting hole 21 at one end of a slot 111, the limiting slot 11 is communicated with the mounting slot 12 through the slot 111, the worm gear 322 is drivingly connected with the connecting rod 2 through a rotating shaft 22 penetrating the mounting hole 21, and an end of the worm gear 322 away from the connecting rod 2 is meshingly connected with the worm 321; the worm 321 and the worm gear 322 are both located in the mounting slot 12, so that the worm 321 has a more stable positional relationship during meshing transmission with the worm gear 322.

[0052] The mounting slot 12 and the limiting slot 11 are respectively arranged on both sides of the second rotating shaft 7, which helps to realize the balanced layout of the structure on the finger base 1, and the driving member 31 and the connecting rod 2 are respectively located in the mounting slot 12 and the limiting slot 11 to work, which can reduce the mutual interference therebetween and provide convenience for the installation, disassembly and maintenance of the driving member 31 and the connecting rod 2.

[0053] Further, in some embodiments, the first phalange 4 is pin-coupled with the finger base 1; and / or,

[0054] the connecting rod 2 is pin-coupled with the finger base 1; and / or,

[0055] the connecting rod 2 is pin-coupled with the second phalange 5; and / or,

[0056] the second phalange 5 is pin-coupled with the first phalange 4; the pin-coupling can realize high connection accuracy through precisely machining shafts and corresponding connecting holes, and can withstand certain axial force and radial force during work to ensure the reliability and stability of rotation;

[0057] The first phalange 4 and the finger base 1 form a first connecting position 8 at the connection therebetween, the connecting rod 2 and the finger base 1 form a second connecting position at the second rotating shaft 7, the connecting rod 2 and the second phalange 5 form a third connecting position at the first rotating shaft 6, and the second phalange 5 and the first phalange 4 form a fourth connecting position 9 at the connection therebetween; the first connecting position 8, the second connecting position, the third connecting position and the fourth connecting position 9 are arranged in a quadrilateral layout; under this layout, the relative positional relationship of each connecting position is relatively fixed and orderly, the movement path and range of each connecting position are to some extent constrained and affected by other connecting positions, so that the movement of each phalange can be orderly carried out in an expected manner, avoiding the situation that the movement of a certain phalange is too fast or too slow, or the movement direction deviates, etc., leading to uncoordinated movement, thereby improving the precision and fluency of the high-precision mechanical finger 100 when performing tasks such as grabbing and operating; while meeting the functional requirements of the high-precision mechanical finger 100, it also helps to realize the rational use of space and achieve the purpose of compact design.

[0058] The above only describes some or preferred embodiments of the present application, neither the text nor the drawings can limit the scope of protection of the present application, any equivalent structural transformation or direct / indirect application in other related technical fields under the concept of the whole present application and the contents of the present application and the drawings are included in the scope of protection of the present application.

Claims

1. A high precision mechanical finger characterized by, The application relates to a high-precision mechanical finger. The finger base is provided with a connecting rod in transmission connection with the knuckles, and a driving mechanism for driving the connecting rod to drive the knuckles to rotate relative to the finger base. The driving mechanism comprises a driving member and a transmission assembly, the transmission assembly comprising a worm connected with the output shaft of the driving member, and a worm wheel in meshing connection with the worm. The knuckles are two, namely a first knuckle and a second knuckle; the first knuckle is arranged on the finger base, and the second knuckle is in rotary connection with the first knuckle.

2. The high precision mechanical finger of claim 1, wherein, One end of the connecting rod is in transmission connection with the worm wheel, and the other end of the connecting rod is in transmission connection with the second knuckle, for driving the first knuckle to rotate relative to the finger base and driving the second knuckle to rotate relative to the first knuckle under the driving of the driving mechanism.

3. The high precision mechanical finger of claim 2, wherein, The first knuckle is provided with a receiving cavity, and both ends of the first knuckle along the length direction are provided with openings in communication with the receiving cavity.

4. The high precision mechanical finger of claim 3, wherein, One end of the connecting rod extends into the receiving cavity through the opening and is in rotary connection with the second knuckle through a first rotary shaft, and the other end of the connecting rod extends into the finger base. The finger base is provided with a limiting groove, and the limiting groove is provided with a slot; the connecting rod extends into the slot and is in rotary connection with the finger base through a second rotary shaft.

5. The high precision mechanical finger of claim 4, wherein, The limiting groove is formed with two limiting end faces at opposite ends along the rotary direction of the connecting rod, and the limiting end faces are used for limiting the rotary range of the connecting rod.

6. The high precision mechanical finger of claim 5, wherein, The finger base is provided with a mounting groove for mounting the driving member, the worm is sleeved on the output shaft of the driving member, and the worm is located in the mounting groove; the mounting groove is located on the side of the second rotary shaft away from the limiting groove.

7. The high precision mechanical finger of claim 6, wherein, The first knuckle is in pin connection with the finger base; and / or, 8. The high precision mechanical finger according to any one of claims 2 to 7, characterized in that, The connecting rod is in pin connection with the finger base; and / or, The connecting rod is in pin connection with the second knuckle; and / or, The second knuckle is in pin connection with the first knuckle. The mechanical finger is the high-precision mechanical finger as claimed in any one of claims 1 to 8.

9. A robot hand comprising a palm and a robot finger disposed on the palm, wherein The mechanical hand is the mechanical hand as claimed in claim 9.

10. A robot comprising a robot body and a manipulator provided on the robot body, characterized in that: ​

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