Grabbing structure, grabbing device and intelligent terminal

Abstract

The utility model relates to a grabbing structure, a grabbing device and an intelligent terminal. The grabbing structure comprises a first finger section, a second finger section, an elastic piece, a first driving piece and a linear transmission mechanism. The first finger section is rotationally connected to the second finger section around a first axis; the elastic piece is connected with the first finger section and the second finger section and can elastically deform when the first finger section rotates. The first driving piece is connected to the second finger section, and the first driving piece drives the first finger section to rotate through the linear transmission mechanism. When the first finger section of the grabbing structure needs to be driven to rotate relative to the second finger section, the power of the first driving part is transmitted to the first finger section through the linear transmission mechanism, so that the overall weight of the grabbing structure is reduced, and the flexibility of the grabbing structure during working can be improved.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of profiling robot, especially relates to a grabbing structure, grabbing device and intelligent terminal. BACKGROUND

[0002] The grabbing device such as profiling manipulator is widely used in service robot, space robot and special operating robot, and the grabbing device has palm structure and grabbing structure corresponding to human body, and the palm structure and the grabbing structure can realize the gripping of object in cooperation.

[0003] However, the weight of the grabbing structure in the related art is large, and thus the flexibility is poor. UTILITY MODEL CONTENTS

[0004] The utility model solves the technical problems that: aiming at the weight of the grabbing structure in the related art is large in prior art, and the flexibility is poor, provide a kind of grabbing structure, grabbing device and intelligent terminal.

[0005] To solve the above problems, on the one hand, the utility model embodiment provides a kind of grabbing structure, including first finger segment, second finger segment, elastic piece, first driving part and wire transmission mechanism;The first finger segment is rotatably connected to the second finger segment around the first axis;The elastic piece is connected between the first finger segment and the second finger segment, and can be elastically deformed when the first finger segment rotates;The first driving part is connected on the second finger segment, and the first driving part drives the first finger segment to rotate through the wire transmission mechanism.

[0006] Optionally, the wire transmission mechanism includes a pull rope and a winding member;Two ends of the pull rope are connected with the first finger segment and the winding member respectively;The first driving part is connected with the winding member, for driving the winding member to rotate, so that the winding member can wind or unwind the pull rope.

[0007] Optionally, the pull rope includes a first rope and a second rope;The first rope and the second rope are connected with the first finger segment and the winding member;When the winding member unwinds the first rope, the second rope can be wound;When the winding member winds the first rope, the second rope can be unwound;The first axis extends along the first direction of the grabbing structure;The first rope and the second rope are arranged along the second direction of the grabbing structure;The first finger segment and the second finger segment are arranged along the third direction of the grabbing structure;The first direction, the second direction and the third direction are perpendicular to each other.

[0008] Optionally, the wire transmission mechanism further includes a first guide wheel, and the first guide wheel is rotatably connected to the second finger segment, and the middle part of the first rope is wound around the first guide wheel.

[0009] Optionally, the wire transmission mechanism further comprises a second guide wheel, the second guide wheel is rotationally connected to the second finger segment, and the middle portion of the second rope is wound around the second guide wheel; the second guide wheel and the first guide wheel are arranged along the second direction of the grabbing structure.

[0010] Optionally, the winding member is provided with a first wire groove and a second wire groove, the first wire groove and the second wire groove are arranged along the axis of the winding member; the first wire groove and the second wire groove are annular grooves; the first rope is connected to the inner wall of the first wire groove and can be wound in the first wire groove; the second rope is connected to the inner wall of the second wire groove and can be wound in the second wire groove.

[0011] Optionally, the axis of the winding member extends along the second direction of the grabbing structure.

[0012] Optionally, the first finger segment comprises a finger segment, a first connecting plate and a second connecting plate, the first connecting plate and the second connecting plate are arranged along the first axis on the finger segment; the first connecting plate and the second connecting plate are rotationally connected to the second finger segment, so that the first finger segment can rotate relative to the second finger segment around the first axis.

[0013] Optionally, the second finger segment comprises a first support portion, a third connecting plate and a fourth connecting plate; the first support portion is connected to the first driving member; the third connecting plate and the fourth connecting plate are arranged along the first axis on the first support portion; the third connecting plate and the fourth connecting plate are rotationally connected to the first finger segment, so that the first finger segment can rotate relative to the second finger segment around the first axis.

[0014] Optionally, the first support portion, the third connecting plate and the fourth connecting plate enclose a first mounting groove, and the first driving member is arranged in the first mounting groove.

[0015] Optionally, the back surface of the second finger segment is provided with a first mounting groove, and the first driving member is arranged in the first mounting groove.

[0016] Optionally, the grabbing structure further comprises a third finger segment, a second driving member and a worm and gear mechanism; the third finger segment is connected to one end of the second finger segment away from the first finger segment, the second finger segment can rotate relative to the third finger segment around a second axis, and the second axis is parallel to the first axis; the second driving member is connected to the third finger segment; the second driving member is connected to the worm of the worm and gear mechanism, and the worm wheel of the worm and gear mechanism is connected to the second finger segment.

[0017] Optionally, the second finger section comprises a first support part, a fifth connecting plate and a sixth connecting plate; the first support part is connected with the first driving member; the fifth connecting plate and the sixth connecting plate are arranged on the first support part along the first axis and are spaced apart; the fifth connecting plate and the sixth connecting plate are both connected with the third finger section, so that the second finger section can rotate relative to the third finger section around the second axis.

[0018] To solve the above problems, on the other hand, the utility model embodiment provides a kind of grabbing device, including any one described above grabbing structure.

[0019] Optionally, the grabbing device further comprises a palm structure; the grabbing structure further comprises a third finger section, the third finger section is rotatably connected with one end of the second finger section away from the first finger section, and the one end of the third finger section away from the second finger section is connected with the palm structure.

[0020] To solve the above problems, on the other hand, the utility model embodiment provides a kind of intelligent terminal, including the grabbing device described above.

[0021] In the grabbing structure, grabbing device and intelligent terminal provided by the embodiment of the utility model, when the first finger section of the grabbing structure needs to be driven to rotate relative to the second finger section, the power of the first driving member is transmitted to the first finger section by the line transmission mechanism, and such arrangement is conducive to reducing the overall weight of the grabbing structure, and thus the flexibility of the grabbing structure during operation can be improved.

[0022] In addition, the first finger section and the second finger section are rotatably connected to form a joint structure, which is similar to imitating human finger joints. In the embodiment, an elastic member is arranged between the first finger section and the second finger section, and when the first finger section and / or the second finger section is impacted, the spring will bear and offset part of the impact force. Only when the external impact force is greater than the elastic force of the spring, the first finger section will rotate relative to the second finger section, so that the damage of the line transmission mechanism caused by external impact force can be effectively avoided.

[0023] In addition, the line transmission mechanism is used for power transmission, which can also realize high-precision position control, so that the grabbing structure can more accurately position and operate target objects during task execution. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 is the structure diagram of the grabbing structure provided by the embodiment of the utility model Figure One ;

[0025] Figure 2 is the structure diagram of the grabbing structure provided by the embodiment of the utility model Figure Two ;

[0026] Figure 3 is a cross-sectional view of the grabbing structure provided by an embodiment of the utility model;

[0027] Figure 4 is a winding part structure schematic view of the grabbing structure provided by an embodiment of the utility model.

[0028] Reference signs:

[0029] 100, grabbing structure;

[0030] 1, first finger segment; 11, knuckle; 12, first connecting plate; 13, second connecting plate; 14, first reinforcing plate;

[0031] 2, second finger segment; 21, first support part; 22, third connecting plate; 23, fourth connecting plate; 24, first mounting slot; 25, fifth connecting plate; 26, sixth connecting plate; 27, second reinforcing plate;

[0032] 3, elastic member;

[0033] 4, first driving member; 5, wire transmission mechanism; 51, pull rope; 511, first rope; 512, second rope; 52, winding part; 521, first wire slot; 522, second wire slot; 53, first guide wheel; 54, second guide wheel; 55, first connecting shaft; 56, second connecting shaft;

[0034] 61, first rotating shaft; 62, second rotating shaft 62;

[0035] 7, third finger segment; 71, second support part; 72, seventh connecting plate; 73, eighth connecting plate; 74, second mounting slot; 75, ninth connecting plate;

[0036] 8, second driving member;

[0037] 9, worm and gear mechanism. DETAILED DESCRIPTION

[0038] In order to make the technical problems, technical schemes and beneficial effects solved by the utility model more clearly understood, the utility model is further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the utility model, and are not used to limit the utility model.

[0039] As Figure 1 and Figure 2As shown, in an embodiment, the grabbing structure 100 comprises a first finger segment 1, a second finger segment 2, an elastic member 3, a first driving member 4, and a wire transmission mechanism 5; the first finger segment 1 is connected with the second finger segment 2 and can rotate relative to the second finger segment 2 around a first axis; the elastic member 3 is connected between the first finger segment 1 and the second finger segment 2 and can be elastically deformed when the first finger segment 1 rotates; the first driving member 4 is connected on the second finger segment 2, and the first driving member 4 drives the first finger segment 1 to rotate through the wire transmission mechanism 5.

[0040] The grabbing structure 100 of the embodiment is used in combination with a palm structure to form a mechanical hand, wherein the grabbing structure 100 is a finger structure of the mechanical hand, and in operation, the grabbing structure 100 cooperates with the palm structure to realize gripping of an object. When the grabbing device applying the grabbing structure 100 of the embodiment grips an object, the first driving member 4 can drive the first finger segment 1 to rotate relative to the second finger segment 2 to press the object tightly on the palm structure.

[0041] The power of the first driving member 4 is transmitted to the first finger segment 1 through the wire transmission mechanism 5, and such an arrangement is conducive to reducing the overall weight of the grabbing structure 100, and thus the flexibility of the grabbing structure in operation can be improved.

[0042] In addition, the first finger segment 1 and the second finger segment 2 are rotationally connected to form a joint structure, which is similar to a human finger joint. In the embodiment, the elastic member 3 is arranged between the first finger segment 1 and the second finger segment 2, and when the first finger segment 1 and / or the second finger segment 2 is impacted, the spring will bear and offset part of the impact force, and only when the external impact force is greater than the elastic force of the spring, the first finger segment 1 will rotate relative to the second finger segment 2, which can effectively avoid damage to the wire transmission mechanism caused by the external impact force.

[0043] In addition, the use of the wire transmission mechanism 5 for power transmission can also realize high-precision position control, so that the grabbing structure 100 can more accurately position and operate the target object when performing a task.

[0044] In actual scenarios, the first axis can extend along a first direction of the grabbing structure, and the first finger segment 1 rotates in a second direction of the grabbing structure. The first direction and the second direction intersect, and preferably, the first direction and the second direction are perpendicular. In addition, the first direction can be a left-right direction, and the second direction can be a front-rear direction.

[0045] Initially, the grabbing structure is in a straightened state, at which time the first finger segment 1 and the second finger segment 2 are arranged along a third direction of the grabbing structure. The first direction, the second direction, and the third direction intersect with each other, and preferably, the first direction, the second direction, and the third direction are perpendicular to each other, i.e., the first direction, the second direction, and the third direction are perpendicular to each other.

[0046] In a scenario where the first direction refers to the left-right direction, the second direction refers to the front-rear direction, and the third direction refers to the up-down direction, the first finger segment 1 is located above the second finger segment 2.

[0047] The front surface of the first finger segment 1 and the front surface of the second finger segment 2 belong to the front surface of the gripping structure 100, and the back surface of the first finger segment 1 and the back surface of the second finger segment 2 belong to the back surface of the gripping structure 100. The first driving member 4 can apply force to the first finger segment 1 through the wire transmission mechanism 5, so that the end of the first finger segment 1 away from the second finger segment 2 moves towards the front surface of the second finger segment 2.

[0048] In an embodiment, the elastic member 3 can be a spring or any other object capable of elastic deformation.

[0049] In some scenarios, the first finger segment 1 can be reset under the action of the elastic deformation force of the elastic member 3 after rotation. Specifically, when the first driving member 4 drives the first finger segment 1 to rotate, the first finger segment 1 can apply force to the elastic member 3, causing the elastic member 3 to elastically deform. When the first driving member 4 unwinds the wire transmission mechanism 5, the first driving member 4 can not apply force to the wire transmission mechanism 5. At this time, the first finger segment 1 can be reset under the action of the elastic deformation force of the elastic member 3. In fact, the first driving member 4 drives the first finger segment 1 to rotate around the first axis through the wire transmission mechanism 5.

[0050] Initially, the gripping structure 100 is in a straightened state. When the first driving member 4 applies force to the first finger segment 1 through the wire transmission mechanism 5, the first finger segment 1 rotates. Subsequently, the first finger segment 1 can be reset to the initial state under the action of the elastic member 3.

[0051] In Figure 1 and Figure 2 In the direction shown, the first axis is parallel to the X axis, the first finger segment 1 and the second finger segment 2 are arranged along the Z axis direction in sequence, and the front-rear direction of the gripping structure 100 is parallel to the Y axis. Any two of the X axis, the Y axis, and the Z axis are perpendicular to each other. In addition, the arrangement direction of the first finger segment 1 and the second finger segment 2 here refers to the arrangement direction of the relative positions of the first finger segment 1 and the second finger segment 2 in the initial state. Figure 1 and Figure 2 The state shown is that the relative positions of the first finger segment 1 and the second finger segment 2 are in the initial state. At this time, the gripping structure 100 is in a straightened state.

[0052] As Figure 1As shown, in one embodiment, the wire drive mechanism 5 includes a pull rope 51 and a winding member 52; the two ends of the pull rope 51 are respectively connected to a first finger segment 1 and the winding member 52; the first drive member 4 is connected to the winding member 52 and is used to drive the winding member 52 to rotate, so that the winding member 52 can wind or unwind the pull rope 51. By winding the pull rope 51 with the winding member 52, the entire gripping structure 100 can be made neater, and the pull rope 51 can be prevented from getting tangled with other objects, thereby improving the working effect of the gripping structure 100.

[0053] In one embodiment, the axis of the winding member 52 extends along the second direction of the gripping structure 100, which makes it easier to wind and unwind the pull rope 51.

[0054] In one embodiment, the first driving member 4 includes a motor, the main shaft of which is connected to the winding member 52 for driving the winding member 52 to rotate.

[0055] like Figure 3 As shown, in one embodiment, the pull cord 51 includes a first cord 511 and a second cord 512; wherein, the first cord 511 and the second cord 512 are both connected to the first finger segment 1 and the winding member 52; when the winding member 52 unwinds the first cord 511, it can wind up the second cord 512; when the winding member 52 winds up the first cord 511, it can unwind the second cord 512; the first axis extends along the first direction of the gripping structure 100; the first cord 511 and the second cord 512 are spaced apart along the second direction of the gripping structure 100; the first finger segment 1 and the second finger segment 2 are arranged along the third direction of the gripping structure 100.

[0056] In this embodiment, in the front-rear direction of the gripping structure 100, the first pull rope 51 may be located in front of the second pull rope 51. When the winding member 52 winds up the first rope 511, force can be applied to the first finger segment 1 through the first rope 511, thereby causing the end of the first finger segment 1 away from the second finger segment 2 to rotate toward the front of the second finger segment 2 (this rotation direction is defined as forward rotation); when the winding member 52 winds up the second rope 512, force can be applied to the first finger segment 1 through the second rope 512, thereby causing the end of the first finger segment 1 away from the second finger segment 2 to rotate and reset toward the back of the second finger segment 2 (this rotation direction is defined as reverse rotation).

[0057] In addition, when winding the first rope 511, unwinding the second rope 512 can prevent the second rope 512 from interfering with the forward rotation of the first finger segment 1; when winding the second rope 512, unwinding the first rope 511 can prevent the first rope 511 from interfering with the reverse rotation of the first finger segment 1.

[0058] In an embodiment, the winding member 52 is a unitary structure, and the first rope 511 and the second rope 512 can be wound in opposite directions around the winding member 52, so that the winding member 52 can wind the first rope 511 while unwinding the second rope 512, and the winding member 52 can unwind the first rope 511 while winding the second rope 512.

[0059] As shown in the drawings, Figure 3 In an embodiment, the wire transmission mechanism 5 further comprises a first guide wheel 53 rotatably connected to the second finger segment 2, and the middle portion of the first rope 511 is wound around the first guide wheel 53. By arranging the first guide wheel 53, the first rope 511 and the second rope 512 can be isolated, so as to avoid being wound together.

[0060] In an embodiment, the middle portion of the first rope 511 refers to the portion of the first rope 511 between the end of the first rope 511 connected to the first finger segment 1 and the end of the first rope 511 connected to the winding member 52. Specifically, in the Z-axis direction, the first guide wheel 53 can be located between the winding member 52 and the first finger segment 1, and the three are arranged at intervals.

[0061] In addition, by mounting the first guide wheel 53 on the second finger segment 2, the total weight of the first finger segment 1 and the components thereon can be reduced, which can reduce the load of the first driving member 4 and improve the control accuracy of the first finger segment 1.

[0062] In addition, the first guide wheel 53 can rotate relative to the second finger segment 2 about its own axis, and the axis of the first guide wheel 53 is parallel to the first axis, which can reduce the friction between the first rope 511 and the first guide wheel 53.

[0063] As shown in the drawings, Figure 3 In an embodiment, the wire transmission mechanism 5 further comprises a second guide wheel 54 rotatably connected to the second finger segment 2, and the middle portion of the second rope 512 is wound around the second guide wheel 54; the second guide wheel 54 and the first guide wheel 53 are arranged at intervals along the second direction of the gripping structure 100; such arrangement is more conducive to isolating the first rope 511 and the second rope 512, and mounting the second guide wheel 54 on the second finger segment 2 can also reduce the total weight of the first finger segment 1 and the components thereon.

[0064] In an embodiment, the middle portion of the second rope 512 refers to the portion of the second rope 512 between the end of the second rope 512 connected to the first finger segment 1 and the end of the second rope 512 connected to the winding member 52. Specifically, in the Z-axis direction, the second guide wheel 54 can be located between the winding member 52 and the first finger segment 1, and the three are arranged at intervals.

[0065] In addition, the second guide wheel 54 is capable of rotating about its own axis relative to the second finger segment 2, and the axis of the second guide wheel 54 is parallel to the first axis, so as to reduce the friction between the second rope 512 and the second guide wheel 54.

[0066] As shown in Figure 4 In an embodiment, the winding member 52 is provided with a first wire slot 521 and a second wire slot 522, and the first wire slot 521 and the second wire slot 522 are spaced along the axis of the winding member 52; both the first wire slot 521 and the second wire slot 522 are annular slots; the first rope 511 is connected to the inner wall of the first wire slot 521 and can be wound in the first wire slot 521; and the second rope 512 is connected to the inner wall of the second wire slot 522 and can be wound in the second wire slot 522.

[0067] In the embodiment, the first wire slot 521 and the second wire slot 522 are coaxial with the winding member 52, so as to realize the winding of the first rope 511 in the first wire slot 521 and the winding of the second rope 512 in the second wire slot 522.

[0068] The first wire slot 521 can limit the winding position of the first rope 511, so as to avoid the entanglement of the first rope 511 with the second rope 512. Similarly, the second wire slot 522 can limit the winding position of the second rope 512, so as to avoid the entanglement of the second rope 512 with the first rope 511. Especially for the winding member 52 in an integrated structure, the first wire slot 521 and the second wire slot 522 can effectively avoid the entanglement of the first rope 511 and the second rope 512.

[0069] As shown in Figure 1 and Figure 2 In an embodiment, the first finger segment 1 includes a finger joint 11, a first connecting plate 12 and a second connecting plate 13, and the first connecting plate 12 and the second connecting plate 13 are spaced along the first axis on the finger joint 11; the first connecting plate 12 and the second connecting plate 13 are both rotationally connected with the second finger segment 2, so as to enable the first finger segment 1 to rotate about the first axis relative to the second finger segment 2. Such a design can reduce the weight of the first finger segment 1, and the finger joint 11 can be used to press the target object on the palm during work.

[0070] In the embodiment, the first connecting plate 12 and the second connecting plate 13 both protrude from the side of the finger joint 11 close to the second finger segment 2, and the portions protruding from the finger joint 11 are connected with the second finger segment 2.

[0071] It should be understood that the axis about which the first connecting plate 12 rotates relative to the second finger segment 2 and the axis about which the second connecting plate 13 rotates relative to the second finger segment 2 are both the first axis.

[0072] As shown in Figure 1 and Figure 2As shown, the first finger segment 1 further comprises a first reinforcing plate 14, two ends of the first reinforcing plate 14 are connected with the first connecting plate 12 and the second connecting plate 13 respectively, and in addition, the first reinforcing plate 14 is spaced apart from the knuckle 11. When the first connecting plate 12 and the second connecting plate 13 have a large length, the first finger segment 1 can have a higher strength by the arrangement of the first reinforcing plate 14. In addition, the first reinforcing plate 14 is connected to the back surface of the first connecting plate 12 and the back surface of the second connecting plate 13 respectively, and the back surface of the first connecting plate 12 and the back surface of the second connecting plate 13 both belong to the back surface of the first finger segment 1.

[0073] As shown in the drawings, Figure 1 In an embodiment, the second finger segment 2 comprises a first support part 21, a third connecting plate 22 and a fourth connecting plate 23; the first support part 21 is connected with the first driving member 4; the third connecting plate 22 and the fourth connecting plate 23 are spaced apart on the first support part 21 along the first axis; the third connecting plate 22 and the fourth connecting plate 23 are both rotationally connected with the first finger segment 1, so that the first finger segment 1 can rotate relative to the second finger segment 2 about the first axis. Such an arrangement can reduce the weight of the second finger segment 2. Among them, the third connecting plate 22 and the fourth connecting plate 23 both protrude from the side of the first support part 21 close to the first finger segment 1.

[0074] In an implementable embodiment, the first connecting plate 12, the second connecting plate 13, the third connecting plate 22 and the fourth connecting plate 23 are connected together through a rotating shaft (defined as a first rotating shaft 61), thereby realizing that the first finger segment 1 can rotate relative to the second finger segment 2 about the first axis. Among them, the first rotating shaft 61 can rotate relative to the third connecting plate 22 about its own axis, and can rotate relative to the fourth connecting plate 23 about its own axis, and the first connecting plate 12 and the second connecting plate 13 are fixedly connected with the first rotating shaft 61.

[0075] In addition, the first connecting plate 12 and the second connecting plate 13 can be located between the third connecting plate 22 and the fourth connecting plate 23, so that the size of the first finger segment 1 in the left-right direction of the gripping structure 100 can be set smaller. In addition, the elastic member 3 can be sleeved on the first rotating shaft 61.

[0076] In an embodiment, the first support part 21 can be a plate structure.

[0077] As shown in the drawings, Figure 1 and Figure 2 In an embodiment, the first guide wheel 53 and the second guide wheel 54 are both arranged between the third connecting plate 22 and the fourth connecting plate 23. Among them, the wire transmission mechanism 5 comprises a first connecting shaft 55 and a second connecting shaft 56, both ends of the first connecting shaft 55 and the second connecting shaft 56 are connected with the third connecting plate 22 and the fourth connecting plate 23, the first guide wheel 53 is installed on the first connecting shaft 55, and the second guide wheel 54 is installed on the second connecting shaft 56.

[0078] In this configuration, the first connecting shaft 55 is fixedly connected to at least one of the third connecting plate 22 and the fourth connecting plate 23. In this case, the first guide wheel 53 can rotate relative to the first connecting shaft 55 about its own axis. Alternatively, the first connecting shaft 55 can rotate relative to the third connecting plate 22 and the fourth connecting plate 23 about its own axis, and the first guide wheel 53 is fixedly mounted on the first connecting shaft 55. In this case, the axis of the first connecting shaft 55 is parallel to the first axis.

[0079] Similarly, the second connecting shaft 56 is fixedly connected to at least one of the third connecting plate 22 and the fourth connecting plate 23. In this case, the second guide wheel 54 can rotate relative to the second connecting shaft 56 about its own axis. Alternatively, the second connecting shaft 56 can rotate relative to the third connecting plate 22 and the fourth connecting plate 23 about its own axis, and the second guide wheel 54 is fixedly mounted on the second connecting shaft 56. In this case, the axis of the second connecting shaft 56 is parallel to the first axis.

[0080] In addition, both the first connecting shaft 55 and the second connecting shaft 56 are located between the first rotating shaft 61 and the first support portion 21.

[0081] like Figure 1 As shown, in one embodiment, the back of the second finger segment 2 is provided with a first mounting groove 24, and the first driving member 4 is disposed in the first mounting groove 24. This can reduce the size of the gripping structure 100 and reduce the weight of the gripping structure 100.

[0082] In one embodiment, the first support portion 21, the third connecting plate 22, and the fourth connecting plate 23 surround to form a first mounting groove 24. When the first mounting groove 24 is located on the back side of the second finger segment 2, the third connecting plate 22 and the fourth connecting plate 23 both protrude from the back side of the first support portion 21, thereby forming the first mounting groove 24 on the back side of the second finger segment 2.

[0083] like Figure 1 and Figure 2 As shown, the second finger segment 2 also includes a second reinforcing plate 27. The two ends of the second reinforcing plate 27 are respectively connected to the third connecting plate 22 and the fourth connecting plate 23. Furthermore, the second reinforcing plate 27 is spaced apart from the first support portion 21. When the lengths of the third connecting plate 22 and the fourth connecting plate 23 are large, the strength of the second finger segment 2 can be increased by the inclusion of the second reinforcing plate 27. Additionally, the second reinforcing plate 27 is connected to the back surfaces of both the third connecting plate 22 and the fourth connecting plate 23, and both the back surfaces of the third connecting plate 22 and the fourth connecting plate 23 belong to the back surfaces of the second finger segment 2. After assembly, the first reinforcing plate 14 and the second reinforcing plate 27 are spaced apart.

[0084] In an embodiment, the grabbing structure 100 further comprises a third finger segment 7, a second driving member 8, and a worm and gear mechanism 9; the third finger segment 7 is connected with the second end of the second finger segment 2 away from the first finger segment 1, the second finger segment 2 is capable of rotating relative to the third finger segment 7 around a second axis, the second axis is parallel to the first axis; the second driving member 8 is connected with the third finger segment 7; the second driving member 8 is connected with the worm of the worm and gear mechanism 9, the gear of the worm and gear mechanism is connected with the second finger segment 2. When the grabbing structure 100 is applied to the grabbing device, the end of the third finger segment 7 away from the second finger segment 2 is connected with the palm structure, the second driving member 8 drives the second finger segment 2 to rotate through the worm and gear mechanism 9, which can provide greater torque and load energy for the grabbing structure 100.

[0085] As shown in Figure 1 In an embodiment, the second finger segment 2 comprises a first support part 21, a fifth connecting plate 25, and a sixth connecting plate 26; the first support part 21 is connected with the first driving member 4; the fifth connecting plate 25 and the sixth connecting plate 26 are arranged on the first support part 21 along the first axis; the fifth connecting plate 25 and the sixth connecting plate 26 are both connected with the third finger segment 7, so that the second finger segment 2 is capable of rotating relative to the third finger segment 7 around the second axis. In this way, the weight of the second finger segment 2 can be reduced.

[0086] In an embodiment, the third connecting plate 22 and the fifth connecting plate 25 are an integral structure, and the fourth connecting plate 23 and the sixth connecting plate 26 are an integral structure. At this time, it can be considered that both ends of the third connecting plate 22 protrude from the first support part 21 in the up-down direction of the grabbing structure 100, and both ends of the fourth connecting plate 23 protrude from the first support part 21.

[0087] As shown in Figure 1 In an embodiment, the third finger segment 7 comprises a second support part 71, a seventh connecting plate 72, and an eighth connecting plate 73, wherein the seventh connecting plate 72 and the eighth connecting plate 73 are arranged on the second support part 71 along the first axis, and the seventh connecting plate 72 and the eighth connecting plate 73 are both connected with the second finger segment 2, so that the second finger segment 2 is capable of rotating relative to the third finger segment 7 around the second axis.

[0088] The seventh connecting plate 72 and the eighth connecting plate 73 both protrude from the end of the second support part 71 close to the second finger segment 2. The second support part 71 can be a plate structure.

[0089] In addition, the fifth connecting plate 25, the sixth connecting plate 26, the seventh connecting plate 72 and the eighth connecting plate 73 can be connected together through the second rotating shaft 62, so that the second finger segment 2 can rotate relative to the third finger segment 7 around the second axis. The axis of the second rotating shaft 62 is the second axis. The second rotating shaft 62 can rotate relative to the seventh connecting plate 72 around the axis of the second rotating shaft 62, and can rotate relative to the eighth connecting plate 73 around the axis of the second rotating shaft 62. The fifth connecting plate 25 and the sixth connecting plate 26 are fixedly connected with the second rotating shaft 62.

[0090] In an embodiment, the fifth connecting plate 25 and the sixth connecting plate 26 are located between the seventh connecting plate 72 and the eighth connecting plate 73.

[0091] In addition, the second driving member 8 is installed on the second supporting part 71, the worm gear of the worm and gear mechanism 9 is installed on the second rotating shaft 62, and when the second driving member 8 drives the worm to rotate, the worm can drive the worm gear to rotate, and then the second rotating shaft 62 can be driven to rotate, so that the second finger segment 2 can be driven to rotate.

[0092] As shown in Figure 1 , the third finger segment 7 is provided with a second installation slot 74, and the second driving member 8 is installed in the second installation slot 74. In addition, the second installation slot 74 is located on the back of the third finger segment 7. The back of the third finger segment 7 also belongs to the back of the grabbing structure 100.

[0093] As shown in Figure 1 , the third finger segment 7 further includes a ninth connecting plate 75, the ninth connecting plate 75 is connected to the second supporting part 71 and is connected to the seventh connecting plate 72 and the eighth connecting plate 73 respectively, and the second supporting part 71, the seventh connecting plate 72, the eighth connecting plate 73 and the ninth connecting plate 75 enclose the second installation slot 74.

[0094] In an embodiment, the second driving member 8 includes a motor, a main shaft of the motor is connected with the worm, and the motor is used for driving the worm to rotate. The main shaft of the motor and the worm can be coaxially connected.

[0095] The embodiment of the utility model further provides a kind of grabbing device, and the grabbing device includes the grabbing structure 100 described in any one of the above embodiments.

[0096] In an embodiment, the grabbing device further includes a palm structure, so that the grabbing device can be a mechanical hand; the grabbing structure 100 further includes a third finger segment 7, and one end of the third finger segment 7 away from the second finger segment 2 is connected to the palm structure. When working, the grabbing structure 100 and the palm structure can cooperate to realize the gripping of objects.

[0097] The embodiment of the utility model further provides a kind of intelligent terminal, and the intelligent terminal includes the grabbing device described in any one of the above embodiments.

[0098] It should be understood that the above-mentioned related settings can also be replaced in other ways, such as:

[0099] In other embodiments, the winding member 52 can also be a split structure, at this time, the winding member 52 comprises a first winding part and a second winding part, wherein the first driving member 4 can drive the first winding part to rotate, and also can drive the second winding part to rotate, the first rope 511 is connected with the first finger segment 1 and the first winding part, and the second rope 512 is connected with the second finger segment 2 and the second winding part. In work, the first driving member 4 can drive the first winding part to rotate clockwise, and drive the second winding part to rotate counterclockwise, thereby realizing that the first winding part winds the first rope 511, and the second winding part unwinds the second rope 512; at the same time, the first driving member 4 can drive the second winding part to rotate clockwise, and drive the first winding part to rotate counterclockwise, thereby realizing that the second winding part winds the second rope 512, and the first winding part unwinds the first rope 511.

[0100] The technical features of the above-mentioned embodiments can be combined arbitrarily, in order to make the description simple, all possible combinations of the technical features in the above-mentioned embodiments are not described, however, as long as the combination of the technical features does not exist contradictory, it should be considered that it is within the scope of the present application.

[0101] The above-mentioned is only the preferred embodiment of the present application, and does not limit the present application, any modification, equivalent replacement and improvement within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A gripping structure, characterized by, The first finger segment, the second finger segment, the elastic member, the first driving member and the wire transmission mechanism are provided. The first finger segment is rotatably connected to the second finger segment around a first axis. The elastic member is connected between the first finger segment and the second finger segment and can be elastically deformed when the first finger segment rotates. The first driving member is connected to the second finger segment, and the first driving member drives the first finger segment to rotate through the wire transmission mechanism.

2. The grasping structure of claim 1, wherein The wire transmission mechanism comprises a pull rope and a winding member. Two ends of the pull rope are respectively connected to the first finger segment and the winding member. The first driving member is connected to the winding member to drive the winding member to rotate, so that the winding member can wind or unwind the pull rope.

3. The grasping structure of claim 2, wherein, The pull rope comprises a first rope and a second rope. The first rope and the second rope are both connected to the first finger segment and the winding member. When the winding member unwinds the first rope, the winding member can wind the second rope. When the winding member winds the first rope, the winding member can unwind the second rope. The first axis extends along a first direction of the gripping structure. The first rope and the second rope are arranged along a second direction of the gripping structure.

4. The grasping structure of claim 3, wherein The first finger segment and the second finger segment are arranged along a third direction of the gripping structure.

5. The grasping structure of claim 4, wherein, The first direction, the second direction and the third direction are perpendicular to each other. The wire transmission mechanism further comprises a first guide wheel rotatably connected to the second finger segment, and a middle portion of the first rope is wound around the first guide wheel.

6. The grasping structure of claim 3, wherein, The wire transmission mechanism further comprises a second guide wheel rotatably connected to the second finger segment, and a middle portion of the second rope is wound around the second guide wheel. The second guide wheel and the first guide wheel are arranged along the second direction of the gripping structure. The winding member is provided with a first wire groove and a second wire groove, and the first wire groove and the second wire groove are arranged along an axis of the winding member. The first wire groove and the second wire groove are both annular grooves.

7. The grasping structure of claim 3, wherein The first rope is connected to an inner wall of the first wire groove and can be wound in the first wire groove.

8. The grasping structure of claim 1, wherein, The second rope is connected to an inner wall of the second wire groove and can be wound in the second wire groove. The axis of the winding member extends along the second direction of the gripping structure.

9. The grasping structure of claim 1, wherein, The first finger segment comprises a finger joint, a first connecting plate and a second connecting plate, and the first connecting plate and the second connecting plate are arranged along the first axis on the finger joint. The first connecting plate and the second connecting plate are both rotatably connected to the second finger segment, so that the first finger segment can rotate relative to the second finger segment around the first axis. The second finger segment comprises a first support portion, a third connecting plate and a fourth connecting plate. The first support portion is connected to the first driving member. The third connecting plate and the fourth connecting plate are arranged along the first axis on the first support portion. The third connecting plate and the fourth connecting plate are both rotatably connected to the first finger segment, so that the first finger segment can rotate relative to the second finger segment around the first axis.

10. The grasping structure of claim 9, wherein, The first support part, the third connecting plate and the fourth connecting plate enclose a first mounting slot, and the first driving member is arranged in the first mounting slot.

11. The grasping structure of claim 1, wherein, The back of the second finger segment is provided with a first mounting slot, and the first driving member is arranged in the first mounting slot.

12. The grasping structure of claim 1, wherein, The grabbing structure further comprises a third finger segment, a second driving member and a worm and gear mechanism. The third finger segment is connected to one end of the second finger segment away from the first finger segment, and the second finger segment can rotate relative to the third finger segment about a second axis, which is parallel to the first axis. The second driving member is connected to the third finger segment. The second driving member is connected to the worm of the worm and gear mechanism, and the worm wheel of the worm and gear mechanism is connected to the second finger segment.

13. The grasping structure of claim 12, wherein, The second finger segment comprises a first support part, a fifth connecting plate and a sixth connecting plate. The first support part is connected to the first driving member. The fifth connecting plate and the sixth connecting plate are arranged on the first support part along the first axis. The fifth connecting plate and the sixth connecting plate are both connected to the third finger segment, so that the second finger segment can rotate relative to the third finger segment about the second axis.

14. A gripping device, characterized in that The grabbing structure comprises any one of claims 1-13.

15. The gripping device according to claim 14, characterized in that The grabbing device further comprises a palm structure, and the grabbing structure further comprises a third finger segment, which is rotatably connected to one end of the second finger segment away from the first finger segment, and one end of the third finger segment away from the second finger segment is connected to the palm structure.

16. A smart terminal, characterized by The grabbing device comprises claim 14 or 15. The grabbing device comprises claim 14 or 15.

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