Robot finger, robot hand and humanoid robot
By designing the finger linkage unit and transmission unit, and combining them with a parallel motor, the problem of objects getting stuck or damaged in the gaps during the gripping process of the robotic hand was solved, achieving a high degree of freedom and low cost robotic finger design.
Patent Information
- Application Number
- CN202422758518.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-12
- Publication Date
- 2025-11-07
- Estimated Expiration
- 2034-11-12
AI Technical Summary
Existing robotic arms are prone to getting stuck in gaps or damaging objects during the gripping process. They are also complex in structure, have high manufacturing costs, and are difficult to control.
By employing a finger linkage unit and a transmission unit, and by setting the rotational shaft connection positions of the proximal segment housing, middle segment housing, and distal segment housing, combined with the connection structure of the parallel motor and transmission unit, the flexion, extension, forward and backward, left and right, and rocking movements of the fingers are realized, ensuring that the grip surface is continuous without any breaks.
It achieves high degrees of freedom and flexibility in robotic fingers, with a simple structure and low manufacturing cost, avoiding gaps that may get stuck or damage objects during the gripping process.
Smart Images
Figure CN223519683U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to robot technical field especially relates to a kind of robot finger, robot hand and humanoid robot. BACKGROUND
[0002] Foot type robot, mechanical arm etc. are replaced or help human to complete task in industry, scientific research, education etc. Flexible robot hand is essential component for foot type robot or mechanical arm to complete grasping task, robot hand can complete simple action such as lifting up water cup, pushing and pulling article such as opening door, can also complete the function of interacting with people, for example, waving hand to people, shaking hands with people etc. But the existing robot hand, in holding process, since holding surface is composed of multiple mechanical segment surfaces, for the convenience of movement between mechanical segment surface and mechanical segment surface, there will be too large gap, leading to the existence of fracture zone in whole holding surface, so that it is easy to jam the object to be taken, or cause damage to the object to be taken.
[0003] Further, to realize the forward and backward, left and right, swing and bending of robot finger, the existing robot finger has very complex structure, needs to set up complex connecting rod structure and arrange a large number of motors for control, manufacturing cost is high, control difficulty is big, which is not conducive to the popularization and use of robot finger.
[0004] The information disclosed in this background section is only for the purpose of understanding the background of the utility model concept, so it can include information that does not constitute the prior art. UTILITY MODEL CONTENT
[0005] In order to overcome the shortcomings of the prior art, the purpose of the utility model is to provide a kind of robot finger, robot hand and humanoid robot, by setting up finger connecting rod unit and transmission unit, realize the flexion and extension movement of finger, high degree of freedom, can flexibly hold the object to be taken, realize the flexion and extension action of robot finger, and the structure is simple, the required components are few, manufacturing cost is low, and the rotating shaft joint position of finger connecting rod unit is all located on the side close to holding surface, so that the holding surface of finger connecting rod unit is continuous without fracture zone, so there will be no too large gap to jam the object to be taken in holding process.
[0006] In order to overcome the shortcomings of the prior art, the second purpose of the utility model is to provide a kind of robot finger and humanoid robot, the inner surface of the holding surface adjacent to the middle segment rotating shaft and the distal segment rotating shaft is assembled, so that the multiple contact areas of holding surface can keep continuous connection state when moving, so that the holding surface of finger is continuous without fracture zone, only a very small rotating gap needs to be reserved, the related movement of proximal shell, middle shell and distal shell can be realized, so there will be no gap to jam or scratch the object to be taken in holding process, more the foreign matter will not fall into finger from the gap, leading to damage to internal components of finger, simple structure, practical.
[0007] In order to overcome the prior art, the utility model discloses a robot finger, robot hand and humanoid robot, through two parallel motor and independent motion motor, and cooperate with the connecting structure of transmission unit, three motors can realize the front and back, left and right, swing and bending action of robot finger, make robot finger have high degree of freedom and high flexibility, and simple structure, the few components needed, low manufacturing cost.
[0008] In order to realize the above-mentioned one of purposes, the first technical scheme of the utility model is:
[0009] A robot finger, including finger connecting rod unit and transmission unit;
[0010] The finger connecting rod unit includes the proximal shell and the middle shell that are sequentially connected by rotating shafts in the cavity and on the side of the holding surface;
[0011] The proximal shell is provided with a first swing arm rotatably arranged at one end close to the transmission unit, and a second swing arm rotatably arranged at one end close to the middle shell;
[0012] The middle shell is provided with a third swing arm pivoted and swung;
[0013] The third swing arm is rotatably connected with the second swing arm;
[0014] The transmission unit is provided with a first connecting piece rotatably connected with the first swing arm, for sequentially driving the first swing arm, the second swing arm and the third swing arm to reciprocally swing, thereby driving the proximal shell and the middle shell to complete flexion and extension movement.
[0015] The utility model can realize flexion and extension movement of the finger through the finger connecting rod unit and the connecting structure of the transmission unit, so that the finger has high degree of freedom and high flexibility, and has simple structure, few components needed and low manufacturing cost.
[0016] Meanwhile, the rotating shaft connection positions of the finger connecting rod unit are arranged on the side close to the holding surface, so that the holding surface of the finger connecting rod unit is continuous without discontinuous zone, and thus the object to be taken will not be stuck in the large gap during holding, or the object to be taken will not be damaged.
[0017] The meaning of holding in the application is one or more of holding, clamping, taking, clutching and holding.
[0018] As a preferred technical measure:
[0019] The finger connecting rod unit further includes a distal shell.
[0020] The fourth rocker arm is arranged in the distal shell;
[0021] The fourth rocker arm is rotatably connected with the end of the third rocker arm;
[0022] Or / and, the transmission unit comprises a transmission base, a first linear mechanism, a second linear mechanism and a third linear mechanism arranged on the transmission base, the first linear mechanism drives the first connecting piece, and the second linear mechanism and the third linear mechanism can drive the finger linkage unit to swing forward, backward, left and right around the transmission base;
[0023] Or / and, the first rocker arm, the second rocker arm, the third rocker arm and the fourth rocker arm are respectively arc-shaped structures or bent structures or square structures, which are made of sheet materials or block materials;
[0024] Or / and, the proximal shell, the middle shell and the distal shell are respectively arc-shaped structures or square structures or bionic structures;
[0025] Or / and, the proximal shell, the middle shell and the distal shell are rotatably connected in sequence to form a gripping surface with multiple contact areas, the proximal rotation shaft is arranged between the finger root and the proximal shell of the gripping surface, the middle rotation shaft is arranged between the proximal shell and the middle shell of the gripping surface, and the distal rotation shaft is arranged between the middle shell and the distal shell of the gripping surface; the inner surfaces of the adjacent gripping surfaces of the middle rotation shaft and the distal rotation shaft are assembled, so that the multiple contact areas of the gripping surface can maintain a continuous connection state during operation.
[0026] As a preferred technical measure:
[0027] The first linear mechanism comprises a first screw rod shaft and a first screw rod nut matched with each other, and the first connecting piece is rotatably connected with the first screw rod nut;
[0028] Or / and, the second linear mechanism comprises a second connecting piece, a second screw rod shaft and a second screw rod nut matched with each other, one end of the second connecting piece is rotatably connected with the second screw rod nut, and the other end is rotatably connected with the proximal shell;
[0029] Or / and, the third linear mechanism comprises a third connecting piece, a third screw rod shaft and a third screw rod nut matched with each other, one end of the third connecting piece is rotatably connected with the third screw rod nut, and the other end is rotatably connected with the proximal shell;
[0030] The first connecting piece, the second connecting piece and the third connecting piece are respectively circular rod structures or square rod structures or strip structures, and the ends of the three are respectively provided with knuckle ball bearings.
[0031] As a preferred technical measure: the transmission base side is provided with a motor unit, the motor unit includes a first motor for driving the first linear mechanism, a second motor for driving the second linear mechanism, and a third motor for driving the third linear mechanism; a one-stage or multi-stage speed reduction gear is arranged between the first motor and the first linear mechanism, between the second motor and the second linear mechanism, and between the third motor and the third linear mechanism.
[0032] The motor arrangement form of the utility model, cooperation transmission unit's connecting structure, three motors can realize robot finger's front and back, left and right, swing and bending action, make the utility model finger has high degree of freedom and high flexibility, and simple structure, need few components, low manufacturing cost.
[0033] To realize one of the above purposes, the second technical scheme of the utility model is:
[0034] A robot finger is provided with a thumb unit;
[0035] The thumb unit includes a thumb middle shell and a thumb far shell which are sequentially connected by rotating shafts on one side of a holding surface,
[0036] The thumb middle shell and the thumb far shell are connected by rotating shafts, forming a holding surface with multiple contact areas;
[0037] The holding surface is provided with a bionic skin, and the multiple contact areas form a connection structure which does not overlap and stagger with each other.
[0038] The utility model realizes the flexion and extension movement of the thumb through the relative movement of the thumb middle shell and the thumb far shell, so that the utility model thumb has high degree of freedom and high flexibility, and simple structure, need few components, low manufacturing cost.
[0039] Meanwhile, the shaft connection position of the thumb middle shell and the thumb far shell of the utility model is arranged on the side close to the holding surface, so that the multiple contact areas form a connection structure which does not overlap and stagger with each other, thereby ensuring that the holding surface of the thumb is continuous without rupture, so that the object to be taken cannot be stuck in a large gap during holding, or the object to be taken can be damaged.
[0040] As a preferred technical measure:
[0041] The thumb unit further includes a finger root micro joint driver, a double-headed rudder arm driven by the finger root micro joint driver, and a palm base;
[0042] Or / and, the double-headed rudder arm is provided with a third connecting rod, one end of the third connecting rod is connected with the double-headed rudder arm by rotating shaft;
[0043] Or / and, the palm base is provided with a palm micro joint driver, the palm micro joint driver is assembled with the finger root micro joint driver at the palm position of the robot hand, a fourth connecting rod is rotationally arranged between the two, and the palm micro joint driver drives the finger root micro joint driver to rotate through the fourth connecting rod, so as to drive the thumb unit to rotate on the palm base.
[0044] Or / and, the shapes of the thumb middle shell and the thumb distal shell are respectively arc structures or square structures or bionic structures.
[0045] To achieve one of the above purposes, the third technical scheme of the utility model is:
[0046] A robot finger,
[0047] The proximal shell and the middle shell are connected to form a gripping surface with multiple contact areas.
[0048] The proximal shell and the middle shell are connected to form a gripping surface with multiple contact areas.
[0049] The gripping surface is provided with a middle rotation shaft between the proximal shell and the middle shell.
[0050] The inner surface of the middle rotation shaft adjacent to the gripping surface is assembled, so that the multiple contact areas of the gripping surface can maintain a continuous connection state during operation.
[0051] The utility model discloses through continuous exploration and test, the inner surface of the middle rotation shaft adjacent to the gripping surface is assembled, so that the multiple contact areas of the gripping surface can maintain a continuous connection state during operation, so that the gripping surface of the finger is continuous and unbroken, only needs to retain very small rotation interval, can realize the relative movement of the proximal shell and the middle shell, so that the gap is not stuck or scratched in the gripping process, and the object is not fallen into the finger from the gap, so that the internal components of the finger are damaged, and the structure is simple and practical.
[0052] As a preferred technical measure:
[0053] Further comprising a distal shell.
[0054] The inner surface of the distal rotation shaft adjacent to the gripping surface of the distal shell is assembled, so that the multiple contact areas of the gripping surface can maintain a continuous connection state during operation.
[0055] Or / and, the gripping surface is provided with a proximal rotation shaft between the finger root and the proximal shell.
[0056] Or / and, the multiple is two or more than two.
[0057] Or / and, the shapes of the proximal shell, the middle shell and the distal shell are respectively arc structures or square structures or bionic structures.
[0058] Or / and, the robot finger is a thumb, an index finger, a middle finger, a ring finger or a little finger.
[0059] The utility model discloses the proximal segment rotating shaft, the middle segment rotating shaft and the distal segment rotating shaft are all assembled to the inner surface of the adjacent holding surface, so that the multiple contact areas of the holding surface can keep the continuous connection state when moving, thereby making the holding surface of the finger continuous without breaking, only a small rotating gap needs to be reserved, the relative movement of the proximal shell, the middle shell and the distal shell can be realized, and therefore the gap will not be stuck or scratched in the holding process, the object to be taken will not fall into the finger from the gap, the internal components of the finger will not be damaged, and the structure is simple and practical.
[0060] As a preferred technical measure:
[0061] The proximal shell, the middle shell and the distal shell are assembled to realize the transmission unit for realizing the front-back movement, the left-right movement, the swing movement and the bending movement of the robot finger.
[0062] Or / and, the proximal shell is provided with a first contact surface, the middle shell is provided with a second contact surface, the distal shell is provided with a third contact surface, the inner surfaces of the adjacent holding surfaces of the middle segment rotating shaft and the distal segment rotating shaft are assembled, and are away from the transmission unit, so that the first contact surface, the second contact surface and the third contact surface are tightly laid together in the form of a small gap.
[0063] Or / and, a first swing arm is rotatably arranged at one end of the proximal shell close to the transmission unit, a second swing arm is rotatably arranged at one end of the proximal shell close to the middle shell, and a first connecting rod is arranged between the first swing arm and the second swing arm.
[0064] A third swing arm is arranged in the middle shell and swings around a pivot shaft.
[0065] A fourth swing arm is arranged in the distal shell.
[0066] One end of the third swing arm is rotatably connected with the second swing arm, and the other end is rotatably connected with the fourth swing arm.
[0067] The transmission unit is provided with a first connecting piece, a transmission base, a first linear mechanism, a second linear mechanism and a third linear mechanism arranged on the transmission base, the first linear mechanism drives the first connecting piece, and the second linear mechanism and the third linear mechanism drive the finger connecting rod unit to swing forward and backward and left and right around the transmission base.
[0068] The first connecting piece is rotatably connected with the first swing arm, and sequentially drives the first swing arm, the second swing arm, the third swing arm and the fourth swing arm to reciprocally swing, so as to drive the proximal shell, the middle shell and the distal shell to complete the flexion and extension movement.
[0069] The transmission base side is provided with a motor unit, the motor unit includes a first motor for driving the first linear mechanism, a second motor for driving the second linear mechanism, a third motor for driving the third linear mechanism; The first motor and the first linear mechanism, the second motor and the second linear mechanism, the third motor and the third linear mechanism are provided with one or more stages of speed reduction gear;
[0070] The second motor and the third motor form a parallel driving structure, and cooperate with the first motor and the transmission unit to realize the forward and backward, left and right, swing and bending movements of the robot fingers.
[0071] The utility model discloses a two parallel motor and independent motion motor, and cooperate with the connecting structure of transmission unit, and three motors can realize the forward and backward, left and right, swing and bending action of robot finger, make robot finger have high degree of freedom and high flexibility, and simple structure, and the required component is few, and the manufacturing cost is low.
[0072] To realize one of the above purposes, the fourth technical scheme of the utility model is:
[0073] A robot hand comprises:
[0074] A palm base;
[0075] A plurality of the above-mentioned robot fingers with proximal shell and middle shell are arranged on the palm base;
[0076] Or / and the above-mentioned robot finger with thumb unit is arranged on the palm base.
[0077] To realize one of the above purposes, the fifth technical scheme of the utility model is:
[0078] A humanoid robot comprises the above-mentioned robot hand.
[0079] Compared with the prior art, the utility model has the beneficial effects that:
[0080] The utility model discloses a finger connecting rod unit and the connecting structure of cooperation transmission unit, can realize the flexion and extension movement of finger, makes the utility model finger have high degree of freedom and high flexibility, and simple structure, and the required component is few, and the manufacturing cost is low.
[0081] Meanwhile, the rotating shaft connecting positions of the finger connecting rod unit are arranged on the side close to the holding surface, so that the holding surface of the finger connecting rod unit is continuous without a broken belt, so that it can be ensured that the holding surfaces will not be staggered and overlapped with each other, and will not be staggered with each other, and obvious gaps are generated, so that the holding process will not be stuck in the object to be taken, or damage to the object to be taken.
[0082] Further, the present utility model through the relative movement of thumb middle shell and thumb far shell, namely can realize the flexion and extension movement of thumb, make the present utility model thumb has high degree of freedom and high flexibility, and simple structure, the required component is few, the manufacturing cost is low.
[0083] Further, the present utility model through the relative movement of thumb middle shell and thumb far shell, namely can realize the flexion and extension movement of thumb, make the present utility model thumb has high degree of freedom and high flexibility, and simple structure, the required component is few, the manufacturing cost is low.
[0084] Further, the present utility model through the relative movement of thumb middle shell and thumb far shell, namely can realize the flexion and extension movement of thumb, make the present utility model thumb has high degree of freedom and high flexibility, and simple structure, the required component is few, the manufacturing cost is low.
[0085] Further, the present utility model through the relative movement of thumb middle shell and thumb far shell, namely can realize the flexion and extension movement of thumb, make the present utility model thumb has high degree of freedom and high flexibility, and simple structure, the required component is few, the manufacturing cost is low.
[0086] The present utility model will be further explained in detail in combination with the drawings and specific embodiments. BRIEF DESCRIPTION OF DRAWINGS
[0087] Figure 1 It is a whole structure schematic view of the robot finger provided by the present utility model (two sections);
[0088] Figure 2It is an assembly drawing (two sections) of the robot finger provided by the utility model;
[0089] Figure 3 It is a partial assembly drawing (two sections) of the robot finger provided by the utility model;
[0090] Figure 4 It is a partial structure schematic view (two sections) of the robot finger provided by the utility model
[0091] Figure 5 It is a structure schematic view (two sections) of the robot finger provided by the utility model;
[0092] Figure 6 It is a bending posture view (two sections) of the robot finger provided by the utility model;
[0093] Figure 7 It is another bending posture view (two sections) of the robot finger provided by the utility model;
[0094] Figure 8 It is a whole structure schematic view (three sections) of the robot finger provided by the utility model;
[0095] Figure 9 It is an assembly drawing (three sections) of the robot finger provided by the utility model
[0096] Figure 10 It is a structure schematic view (three sections) of the robot finger provided by the utility model;
[0097] Figure 11 It is a bending posture view (three sections) of the robot finger provided by the utility model;
[0098] Figure 12 It is a connecting rod mechanism sketch (three sections) of the finger connecting rod unit of the robot finger provided by the utility model;
[0099] Figure 13 It is a structure schematic view (thumb) of the robot finger provided by the utility model;
[0100] Figure 14 It is a driving module assembly drawing of the thumb unit of the robot hand provided by the utility model;
[0101] Figure 15 It is a partial structure view of the robot hand provided by the utility model; Figure 16 It is a partial structure view of the robot hand provided by the utility model;
[0102] Figure 17 It is a whole structure view of the robot hand provided by the utility model.
[0103] Explanation of reference numerals in the attached figures:
[0104] 1. Finger linkage unit; 101. Proximal segment housing; 102. Middle segment housing; 103. Distal segment housing; 104. Proximal segment rotation shaft; 105. Middle segment rotation shaft; 106. Distal segment rotation shaft; 20. First rocker arm; 21. Second rocker arm; 22. First connecting rod; 23. Third rocker arm; 231. Pivot shaft; 24. Fourth rocker arm; 3. First connecting member; 31. Second connecting member; 32. Third connecting member; 4. Transmission base; 41. First lead screw shaft; 42. First lead screw nut; 43. Second lead screw shaft; 44. Second lead screw nut; 45. Third lead screw shaft; 46. Third lead screw nut; 4 7. Fourth lead screw shaft; 48. Fourth lead screw nut; 49. Fifth lead screw shaft; 50. Fifth lead screw nut; 51. First motor; 52. Second motor; 53. Third motor; 54. Fourth motor; 55. Fifth motor; 6. Hand base; 61. Hand micro-joint actuator; 7. Finger root micro-joint actuator; 71. Double-headed rudder arm; 72. Thumb middle housing; 73. Thumb distal housing; 74. Drive base; 75. Second link; 76. Fifth rocker arm; 77. Sixth rocker arm; 78. Seventh rocker arm; 79. Third link; 8. Fourth link; 9. Transmission unit; 10. Motor unit. Detailed Implementation
[0105] The present invention will be further described below with reference to the accompanying drawings and specific embodiments. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.
[0106] It should be noted that when two elements are "rotatably connected," the two elements can be directly connected or there may be an intermediate element. Conversely, when an element is said to be "directly on" another element, there is no intermediate element. The terms "front," "back," "left," "right," "up," "down," and similar expressions used in this document are for illustrative purposes only.
[0107] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "or / and" as used herein includes any and all combinations of one or more of the associated listed items.
[0108] like Figures 1-7 As shown, the first specific embodiment of the robot finger of this utility model is as follows:
[0109] A robotic finger includes a finger linkage unit 1 and a transmission unit 9;
[0110] The finger connecting rod unit 1 comprises a proximal shell 101 and a middle shell 102 which are connected in sequence by rotating shafts on the side of the holding surface and have cavities inside;
[0111] The proximal shell 101 is provided with a first rocker arm 20 which is rotatable at one end close to the transmission unit, and is provided with a second rocker arm 21 which is rotatable at one end close to the middle shell 102, and a first connecting rod 22 is arranged between the first rocker arm 20 and the second rocker arm 21;
[0112] The middle shell 102 is provided with a third rocker arm 23 which swings around a pivot shaft 231;
[0113] The third rocker arm 23 is rotatably connected with the second rocker arm 21;
[0114] The transmission unit is provided with a first connecting piece 3 which is rotatably connected with the first rocker arm 20 and sequentially drives the first rocker arm 20, the second rocker arm 21 and the third rocker arm 23 to swing reciprocally, so as to drive the proximal shell 101 and the middle shell 102 to complete flexion and extension movements.
[0115] The robot finger can be a thumb, an index finger, a middle finger, a ring finger or a little finger.
[0116] The second specific embodiment of the robot finger of the utility model:
[0117] A robot finger comprises a proximal shell 101 and a middle shell 102;
[0118] The proximal shell 101 and the middle shell 102 are rotatably connected to form a holding surface with multiple contact areas;
[0119] The holding surface is provided with a middle rotating shaft 105 between the proximal shell 101 and the middle shell 102;
[0120] The inner surface of the middle rotating shaft 105 is assembled adjacent to the holding surface, so that the multiple contact areas of the holding surface can keep a continuous connection state when in action.
[0121] As shown in Figures 8-12 The third specific embodiment of the robot finger of the utility model:
[0122] A robot finger, comprising a finger linkage unit 1 and a transmission unit; the finger linkage unit 1 comprises a proximal shell 101, a middle shell 102 and a distal shell 103 which are sequentially connected by rotating shafts on one side of a gripping surface and are internally provided with cavities; a first rocker arm 20 is rotatably arranged at one end of the proximal shell 101 close to the transmission unit; a second rocker arm 21 is rotatably arranged at one end of the proximal shell 101 close to the middle shell 102; a first linkage 22 is arranged between the first rocker arm 20 and the second rocker arm 21; a third rocker arm 23 is arranged in the middle shell 102 and swings around a pivot shaft 231; a fourth rocker arm 24 is arranged in the distal shell 103; one end of the third rocker arm 23 is rotatably connected with the second rocker arm 21 and the other end is rotatably connected with the fourth rocker arm 24; the transmission unit is provided with a first connecting piece 3 which is rotatably connected with the first rocker arm 20 and sequentially drives the first rocker arm 20, the second rocker arm 21, the third rocker arm 23 and the fourth rocker arm 24 to swing back and forth, thereby driving the proximal shell 101, the middle shell 102 and the distal shell 103 to complete flexion and extension movements.
[0123] The robot finger has high degrees of freedom, can flexibly hold objects to be taken, realizes flexion and extension movements of the robot finger, has simple structure, requires few components, has low manufacturing cost, and the rotating shaft connection positions of the finger linkage unit 1 are arranged on the side close to the gripping surface, so that the gripping surface of the finger linkage unit 1 is continuous without discontinuous bands, and thus the robot finger will not be stuck by large gaps in the holding process.
[0124] In the embodiment, the transmission unit comprises a transmission base 4, a first linear mechanism, a second linear mechanism and a third linear mechanism which are arranged on the transmission base 4, the first linear mechanism drives the first connecting piece 3, and the second linear mechanism and the third linear mechanism can drive the finger linkage unit 1 to swing back and forth around the transmission base 4.
[0125] In the embodiment, the first linear mechanism comprises a first screw shaft 41 and a first screw nut 42 which are matched with each other, and the first connecting piece 3 is rotatably connected with the first screw nut 42;
[0126] The second linear mechanism comprises a second connecting piece 31, a second screw shaft 43 and a second screw nut 44 which are matched with each other, one end of the second connecting piece 31 is rotatably connected with the second screw nut 44, and the other end is rotatably connected with the proximal shell 101;
[0127] The third linear mechanism comprises a third connecting piece 32, a third screw rod shaft 45 and a third screw rod nut 46, one end of the third connecting piece 32 is rotationally connected with the third screw rod nut 46, and the other end is rotationally connected with the proximal shell 101.
[0128] In the embodiment, the rotating base side is provided with a motor unit 10, the motor unit 10 comprises a first motor 51 for driving the first linear mechanism, a second motor 52 for driving the second linear mechanism, and a third motor 53 for driving the third linear mechanism; a first-stage or multi-stage speed reduction gear is arranged between the first motor 51 and the first linear mechanism, between the second motor 52 and the second linear mechanism, and between the third motor 53 and the third linear mechanism.
[0129] In the embodiment, the linkage action relationship of the finger linkage unit can be seen from the AB segment in the figure, wherein the AB segment represents the proximal shell, the BC segment represents the middle shell, the CD segment represents the distal shell, KJ represents the first linkage 22, IH represents the second rocker arm 21, and HG represents the third rocker arm 23. Figure 12 , Figure 12
[0130] A fourth specific embodiment of the robot finger of the utility model:
[0131] A robot finger, comprising a proximal shell 101, a middle shell 102 and a distal shell 103;
[0132] The proximal shell 101, the middle shell 102 and the distal shell 103 are rotationally connected in sequence to form a gripping surface with multiple contact areas;
[0133] The gripping surface is provided with a proximal rotation shaft 104 between the finger root and the proximal shell 101;
[0134] The gripping surface is provided with a middle rotation shaft 105 between the proximal shell 101 and the middle shell 102, and is provided with a distal rotation shaft 106 between the middle shell 102 and the distal shell 103;
[0135] The middle rotation shaft 105 and the distal rotation shaft 106 are assembled to the inner surfaces of the adjacent gripping surfaces, so that the multiple contact areas of the gripping surface can keep a continuous connection state during action.
[0136] A fifth specific embodiment of the robot finger of the utility model:
[0137] A robot finger, comprising a thumb unit;
[0138] The thumb unit comprises a thumb middle shell and a thumb distal shell which are rotationally connected in sequence on one side of the gripping surface,
[0139] The thumb middle shell and the thumb distal shell are rotationally connected to form a holding surface with multiple contact areas;
[0140] The holding surface is provided with bionic skin, and the multiple contact areas form a connection structure without mutual interlacing and mutual staggering.
[0141] In the embodiment, the thumb unit further comprises a finger root micro joint driver, a double-headed rudder arm driven by the finger root micro joint driver, and a palm base;
[0142] The double-headed rudder arm is provided with a third connecting rod, one end of the third connecting rod being rotationally connected with the double-headed rudder arm;
[0143] In the embodiment, the palm base is provided with a palm micro joint driver, the palm micro joint driver and the finger root micro joint driver being assembled at the palm position of the robot hand, a fourth connecting rod being rotationally arranged between the two, the palm micro joint driver driving the finger root micro joint driver to rotate through the fourth connecting rod, so as to drive the thumb unit to rotate on the palm base;
[0144] In the embodiment, the shapes of the thumb middle shell and the thumb distal shell are respectively arc structures or square structures or bionic structures.
[0145] As shown in Figure 13 , Figure 14 the sixth specific embodiment of the robot finger of the utility model is shown as follows:
[0146] A robot finger is provided with a thumb unit.
[0147] The thumb unit comprises a thumb middle shell 72 and a thumb distal shell 73 rotationally connected in sequence on one side of a holding surface, the thumb middle shell 72 and the thumb distal shell 73 are provided with a connecting rod mechanism inside, and the connecting rod mechanism drives the thumb middle shell 72 and the thumb distal shell 73 to rotate relatively.
[0148] As shown in Figures 15-17 , a specific embodiment of the robot hand of the utility model is shown as follows:
[0149] A robot hand comprises a palm base 6, multiple robot fingers as described above arranged on the palm base 6, and a thumb unit arranged on the palm base 6.
[0150] The utility model provides a kind of robot hand, its finger is connected by rotating successively first rocker arm 20, first connecting rod 22, second rocker arm 21, third rocker arm 23 and fourth rocker arm 24 comprising connecting rod mechanism, drive is held by the finger connecting rod unit 1 consisting of proximal shell, middle shell 102 and distal shell 103, rotating shaft is all arranged in the side close to holding surface, so that the holding surface of finger connecting rod unit 1 is continuous without rupture zone, so there is no excessive gap to be taken object in holding process.
[0151] In the embodiment, the thumb unit includes a finger root micro joint driver 7, a double-headed rudder arm 71 driven by the finger root micro joint driver 7, a driving module, a thumb middle shell 72 and a thumb distal shell 73 rotatably connected in sequence on the holding surface side, the thumb middle shell 72 and the thumb distal shell 73 are provided with a connecting rod mechanism, and the connecting rod mechanism drives the thumb middle shell 72 and the thumb distal shell 73 to rotate relative to each other.
[0152] The driving module includes a driving base 74, a fourth motor 54 arranged in the driving base 74, a fourth screw shaft 47 and a fourth screw nut 48 driven by the fourth motor 54, a fifth motor 55 arranged in the driving base 74, a fifth screw shaft 49 and a fifth screw nut 50 driven by the fifth motor 55, and the driving base 74 is rotatably connected with the double-headed rudder arm 71.
[0153] The connecting rod mechanism includes a second connecting rod 75, a fifth rocker arm 76, a sixth rocker arm 77 and a seventh rocker arm 78 rotatably connected in sequence, the second connecting rod 75 is rotatably connected with the fourth screw nut 48, the fifth rocker arm 76 is rotatably arranged in the driving base 74, the sixth rocker arm 77 is rotatably arranged in the thumb middle shell 72, the seventh rocker arm 78 is rotatably arranged in the thumb distal shell 73, and the fourth motor 54 drives the connecting rod mechanism through the fourth screw shaft 47 and the fourth screw nut 48.
[0154] A third connecting rod 79 is arranged between the double-headed rudder arm 71 and the driving base 74, one end of the third connecting rod 79 is rotatably connected with the double-headed rudder arm 71, the other end is rotatably connected with the fifth screw nut 50, and the fifth motor 55 drives the driving module to rotate relative to the double-headed rudder arm 71 through the fifth screw shaft 49 and the fifth screw nut 50.
[0155] In the embodiment, the palm base 6 is provided with a palm micro joint driver 61, the palm micro joint driver 61 and the finger root micro joint driver 7 are assembled at the palm position of the robot hand, the fourth connecting rod 8 is rotatably arranged between the palm micro joint driver 61 and the finger root micro joint driver 7, the palm micro joint driver 61 drives the finger root micro joint driver 7 to rotate through the fourth connecting rod 8, so as to drive the thumb unit to rotate on the palm base 6.
[0156] A specific embodiment of the humanoid robot:
[0157] The humanoid robot comprises the robot finger and / or the robot hand.
[0158] The humanoid robot provided by the utility model, the fingers of the hand are driven to hold the object to be taken by the finger connecting rod unit 1 composed of the proximal shell, the middle shell 102 and the distal shell 103 through the connecting rod mechanism composed of the first rocker arm 20, the first connecting rod 22, the second rocker arm 21, the third rocker arm 23 and the fourth rocker arm 24 which are connected in sequence, the rotating shafts are all arranged on the side close to the holding surface, the holding surface of the finger connecting rod unit 1 is continuous without breakage, so that the object to be taken is not clamped by the too large gap in the holding process.
[0159] The above-mentioned embodiment is only the preferred embodiment of the utility model, cannot be used to limit the range of the utility model protection, any non-essential change and replacement of the person skilled in the art on the basis of the utility model all belong to the range of the utility model claimed for protection.
Claims
1. A robotic finger, comprising: The finger linkage unit (1) and the transmission unit (9) are included. The finger linkage unit (1) includes a proximal shell (101) and a middle shell (102) which are connected in turn by rotating shafts on the side of the gripping surface. The proximal shell (101) is provided with a first rocker arm (20) near the end of the transmission unit (9) in a rotatable manner, and a second rocker arm (21) near the end of the middle shell (102) in a rotatable manner. The middle shell (102) is provided with a third rocker arm (23) which swings around a pivot shaft (231). The third rocker arm (23) is connected with the second rocker arm (21) in a rotatable manner. The transmission unit (9) is provided with a first connecting piece (3) which is connected with the first rocker arm (20) in a rotatable manner, and is used to drive the first rocker arm (20), the second rocker arm (21) and the third rocker arm (23) to swing back and forth, so as to drive the proximal shell (101) and the middle shell (102) to complete the flexion and extension movement.
2. The robot finger according to claim 1, wherein The finger linkage unit (1) further includes a distal shell (103). The distal shell (103) is provided with a fourth rocker arm (24). The fourth rocker arm (24) is connected with the end of the third rocker arm (23) in a rotatable manner. Or / and, the transmission unit includes a transmission base (4), a first linear mechanism, a second linear mechanism and a third linear mechanism which are arranged on the transmission base (4), the first linear mechanism drives the first connecting piece (3), and the second linear mechanism and the third linear mechanism can drive the finger linkage unit (1) to swing around the transmission base (4) in front and back and left and right directions. Or / and, the first rocker arm (20), the second rocker arm (21), the third rocker arm (23) and the fourth rocker arm (24) are respectively in arc-shaped structure or bent structure or square structure, and are made of sheet material or block material. Or / and, the proximal shell (101), the middle shell (102) and the distal shell (103) are respectively in arc-shaped structure or square structure or bionic structure. Or / and, the proximal shell (101), the middle shell (102) and the distal shell (103) are connected in turn by rotating shafts, forming a gripping surface with multiple contact areas, the gripping surface is provided with a proximal rotating shaft (104) between the finger root and the proximal shell (101), a middle rotating shaft (105) between the proximal shell (101) and the middle shell (102), and a distal rotating shaft (106) between the middle shell (102) and the distal shell (103), and the inner surfaces of the adjacent gripping surfaces of the middle rotating shaft (105) and the distal rotating shaft (106) are assembled, so that the multiple contact areas of the gripping surface can maintain a continuous connection state during operation.
3. The robot finger of claim 2, wherein the first linear mechanism comprises a first screw shaft (41) and a first screw nut (42) that are adapted to each other, and the first connecting member (3) is rotatably connected to the first screw nut (42). Or / and, the second linear mechanism comprises a second connecting member (31), a second screw shaft (43) and a second screw nut (44) that are adapted to each other, and one end of the second connecting member (31) is rotatably connected to the second screw nut (44), and the other end is rotatably connected to the proximal shell (101). Or / and, the third linear mechanism comprises a third connecting member (32), a third screw shaft (45) and a third screw nut (46) that are adapted to each other, and one end of the third connecting member (32) is rotatably connected to the third screw nut (46), and the other end is rotatably connected to the proximal shell (101). The first connecting member (3), the second connecting member (31) and the third connecting member (32) are respectively in the shape of a round rod, a square rod or a strip, and each end is provided with a joint ball bearing. The transmission base (4) is provided with a motor unit (10) on one side, which comprises a first motor (51) for driving the first linear mechanism, a second motor (52) for driving the second linear mechanism, and a third motor (53) for driving the third linear mechanism. One or more stages of speed reduction gears are arranged between the first motor (51) and the first linear mechanism, between the second motor (52) and the second linear mechanism, and between the third motor (53) and the third linear mechanism.
4. A robotic finger as claimed in claim 3, wherein, A thumb unit is provided.
5. A robotic finger, comprising: The thumb unit comprises a thumb middle shell (72) and a thumb distal shell (73) that are rotatably connected in sequence on one side of the gripping surface, The thumb middle shell (72) and the thumb distal shell (73) are rotatably connected to form a gripping surface with multiple contact areas. The gripping surface is provided with bionic skin, and the multiple contact areas form a kind of connection structure that does not overlap and stagger with each other.
6. The robot finger of claim 5, wherein the thumb unit further comprises a proximal phalanx micro-joint driver (7), a double-headed rudder arm (71) driven by the proximal phalanx micro-joint driver (7), and a palm base (6); Or / and, the double-headed rudder arm (71) is provided with a third connecting rod (79) rotatably connected to one end of the double-headed rudder arm (71); Or / and, the palm base (6) is provided with a palm micro-joint driver (61), which is assembled with the proximal phalanx micro-joint driver (7) at the palm position of the robot hand, and a fourth connecting rod (8) is rotatably arranged between them. The palm micro-joint driver (61) drives the proximal phalanx micro-joint driver (7) to rotate through the fourth connecting rod (8), thereby driving the thumb unit to rotate on the palm base (6); Or / and, the shapes of the thumb middle shell (72) and the thumb distal shell (73) are respectively arc-shaped structures, square structures or bionic structures. 7. A robot finger, characterized in that, a proximal shell (101) and a middle shell (102) are included; the proximal shell (101) and the middle shell (102) are rotatably connected to form a gripping surface with multiple contact areas; a middle rotation shaft (105) is arranged between the proximal shell (101) and the middle shell (102) on the inner surface adjacent to the gripping surface; the middle rotation shaft (105) is arranged on the inner surface adjacent to the gripping surface, so that the multiple contact areas of the gripping surface can maintain a continuous connection state during operation.
8. The robot finger of claim 7, characterized in that, a distal shell (103) is further included; a distal rotation shaft (106) is arranged on the inner surface adjacent to the gripping surface of the distal shell (103), so that the multiple contact areas of the gripping surface can maintain a continuous connection state during operation; or / and, a proximal rotation shaft (104) is arranged between the proximal shell (101) and the middle shell (102) at the root of the finger; or / and, the multiple contact areas are two or more; or / and, the proximal shell (101), the middle shell (102), and the distal shell (103) are respectively in arc-shaped structure or square structure or bionic structure; or / and, the robot finger is a thumb, an index finger, a middle finger, a ring finger, or a little finger.
9. The robot finger of claim 8, characterized in that, the proximal shell (101), the middle shell (102), and the distal shell (103) are arranged with a transmission unit for realizing forward and backward movement, left and right movement, swinging movement, and bending movement of the robot finger; or / and, the proximal shell (101) is provided with a first contact surface; the middle shell (102) is provided with a second contact surface; the distal shell (103) is provided with a third contact surface; the middle rotation shaft (105) and the distal rotation shaft (106) are arranged on the inner surface adjacent to the gripping surface and away from the transmission unit, so that the first contact surface, the second contact surface, and the third contact surface are closely laid together in a small gap state; or / and, a first swing arm (20) is rotatably arranged at one end of the proximal shell (101) close to the transmission unit; a second swing arm (21) is rotatably arranged at one end of the proximal shell (101) close to the middle shell (102); a first connecting rod (22) is arranged between the first swing arm (20) and the second swing arm (21); a third swing arm (23) is arranged in the middle shell (102) to swing around a pivot shaft; a fourth swing arm (24) is arranged in the distal shell (103); one end of the third swing arm (23) is rotatably connected with the second swing arm (21), and the other end is rotatably connected with the fourth swing arm (24); the transmission unit is provided with a first connecting piece (3), a transmission base (4), a first linear mechanism, a second linear mechanism, and a third linear mechanism arranged on the transmission base (4); the first linear mechanism drives the first connecting piece (3); the second linear mechanism and the third linear mechanism drive the finger connecting rod unit (1) to swing forward and backward and left and right around the transmission base (4). The first connecting piece (3) is rotatably connected with the first rocker arm (20), and sequentially drives the first rocker arm (20), the second rocker arm (21), the third rocker arm (23) and the fourth rocker arm (24) to reciprocating swing, so as to drive the proximal shell (101), the middle shell (102) and the distal shell (103) to complete flexion and extension movement. The transmission base (4) is provided with a motor unit on the side, the motor unit comprises a first motor (51) for driving the first linear mechanism, a second motor (52) for driving the second linear mechanism, and a third motor (53) for driving the third linear mechanism; a first motor (51) and the first linear mechanism, the second motor (52) and the second linear mechanism, the third motor (53) and the third linear mechanism are provided with one or more stages of speed reduction gear; The second motor (52) and the third motor (53) form a parallel driving structure, and cooperate with the first motor (51) and the transmission unit to realize the forward and backward, left and right, swing and bending movement of the robot finger.
10. A robot hand, characterized in that, It comprises: A palm base (6); A plurality of robot fingers as claimed in any one of claims 1-4 or a plurality of robot fingers as claimed in any one of claims 7-9 are arranged on the palm base (6); Or / and a robot finger as claimed in any one of claims 5-6 is arranged on the palm base (6).
11. A humanoid robot, characterized by It comprises a robot hand as claimed in claim 10.