Finger mechanism, hand structure and robot

Abstract

The utility model discloses a finger mechanism, a hand structure and a robot, the finger mechanism comprises a first finger section and a second finger section, the first finger section is rotatably connected with the second finger section; the rotating assembly is rotationally connected with the first finger section, and the rotating assembly is connected with the second finger section; the driving assembly comprises a rope and a connecting piece, the rope is connected with the connecting piece and the rotating assembly, and the connecting piece can rotate in the first direction so that the rotating assembly and the second finger section can be driven to rotate in the first direction through the rope. According to the technical scheme, the finger mechanism can be prevented from being damaged by external force, and therefore the operation performance of the finger mechanism can be prevented from being affected.

Description

Technical Field

[0001] This application belongs to the field of robotics technology, and in particular relates to a finger mechanism, hand structure and robot. Background Technology

[0002] In robotics, the design of fingers is crucial for enabling complex and delicate operations.

[0003] In related technologies, when the motor is self-locking, the finger segments of the finger mechanism will also self-lock. When the finger mechanism is impacted by external force, it cannot move freely to achieve protection, which will cause damage to the finger mechanism and thus affect its operational performance. Utility Model Content

[0004] The purpose of this application is to provide a finger mechanism, a hand structure, and a robot.

[0005] According to a first aspect of the embodiments of this application, a finger mechanism is provided, comprising:

[0006] The first finger segment and the second finger segment are rotatably connected;

[0007] A rotating assembly, which is rotatably connected to the first finger segment and also connected to the second finger segment;

[0008] A drive assembly, comprising a rope and a connector, the rope connecting the connector and the rotating assembly, the connector being rotatable about a first direction to drive the rotating assembly and the second finger segment to rotate about the first direction via the rope.

[0009] Optionally, a limiting protrusion is provided at one end of the second finger segment near the first finger segment;

[0010] The rotating assembly includes a rotating part and a connecting part. The rotating part is disposed on the connecting part and is rotatably connected to the first finger segment. The connecting part abuts against the limiting protrusion, and the rope is connected to the connecting part.

[0011] Optionally, the second finger segment includes a first sub-finger segment and a second sub-finger segment, with one end of the first sub-finger segment rotatably connected to the first finger segment and the other end of the first sub-finger segment rotatably connected to the second finger segment.

[0012] Optionally, the first sub-finger segment includes a connecting rod and a housing, the connecting rod being located inside the housing, one end of the housing being rotatably connected to the first finger segment, the other end of the housing being rotatably connected to the second sub-finger segment, one end of the connecting rod being rotatably connected to the first finger segment, and the other end of the connecting rod being rotatably connected to the second sub-finger segment.

[0013] Optionally, a torsion spring is provided at the connection between the connecting rod and the second sub-finger segment.

[0014] Optionally, the second sub-finger segment includes a first mounting plate and a second mounting plate spaced apart along a first direction;

[0015] The connecting rod includes a third mounting plate and a fourth mounting plate spaced apart along a first direction, with the first mounting plate and the second mounting plate located between the third mounting plate and the fourth mounting plate, and the torsion spring located between the first mounting plate and the second mounting plate.

[0016] Optionally, the driving component further includes a driving element disposed on the first finger segment, and the connecting element is connected to the driving end of the driving element.

[0017] Optionally, the driving component includes a motor, a first gear, a second gear, and a gear set. The first gear is connected to the output shaft of the motor, the second gear meshes with the first gear, the gear set is coaxially arranged with the second gear, and the connecting member is coaxially arranged with the gear set.

[0018] According to a second aspect of the embodiments of this application, a hand structure is provided, including a plurality of the above-described finger mechanisms.

[0019] According to a third aspect of the embodiments of this application, a robot is provided, comprising:

[0020] Multiple of the aforementioned finger mechanisms; or

[0021] The aforementioned hand structure.

[0022] One technical advantage of this application embodiment is that when the second finger segment is subjected to external force, it can continue to rotate through the rotating component to prevent damage, thereby avoiding affecting the operational performance of the finger mechanism.

[0023] Other features and advantages of this application will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0024] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments of the present application and, together with their description, serve to explain the principles of the present application.

[0025] Figure 1 This is a schematic diagram of the finger mechanism in the embodiments of this application;

[0026] Figure 2 for Figure 1 Sectional view at point AA;

[0027] Figure 3 This is a schematic diagram of the finger mechanism in the embodiments of this application;

[0028] Figure 4 for Figure 3 Sectional view at BB in the middle;

[0029] Figure 5 This is a schematic diagram of the finger mechanism in an embodiment of this application.

[0030] Explanation of reference numerals in the attached drawings: Finger mechanism 100; First finger segment 1; Second finger segment 2; First sub-finger segment 21; Housing 211; Connecting rod 212; Third mounting plate 212a; Fourth mounting plate 212b; Second sub-finger segment 22; First mounting plate 221; Second mounting plate 222; Limiting protrusion 23; Rotating assembly 3; Rotating part 31; Connecting part 32; Drive assembly 4; Drive component 41; Motor 411; First gear 412; Second gear 413; Gear set 414; Third gear 4141; Connecting component 42; Rope 43. Detailed Implementation

[0031] Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the present application.

[0032] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the scope of this application and its application or use.

[0033] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0034] In all the examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0035] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0036] First, it should be noted that the first direction mentioned in the embodiments of this application is referred to in the appendix. Figure 1 and Figure 3 The marked direction.

[0037] like Figures 1-5As shown, according to a first aspect of the embodiments of this application, a finger mechanism 100 is provided, including a first finger segment 1, a second finger segment 2, a rotating component 3, and a driving component 4; the first finger segment 1 and the second finger segment 2 are rotatably connected; the rotating component 3 is rotatably connected to the first finger segment 1 and connected to the second finger segment 2; the driving component 4 includes a rope 43 and a connector 42, the rope 43 connects the connector 42 and the rotating component 3, and the connector 42 is rotatable about a first direction, so as to drive the rotating component 3 and the second finger segment 2 to rotate about the first direction through the rope 43.

[0038] like Figure 1 and Figure 2 As shown, the finger mechanism 100 includes a first finger segment 1, a second finger segment 2, a rotating component 3, and a driving component 4; wherein, the first finger segment 1 and the second finger segment 2 are rotatably connected, and the connection point between the first finger segment 1 and the second finger segment 2 is a joint, that is, the second finger segment 2 can rotate relative to the first finger segment 1. By rotating the first finger segment 1 and the second finger segment 2 relative to each other, the angle between the first finger segment 1 and the second finger segment 2 can be adjusted so that the first finger segment 1 and the second finger segment 2 cooperate to perform a grasping operation.

[0039] To further explain, the drive assembly 4 includes a connector 42 and a rope 43. The rotating assembly 3 is rotatably connected to the first finger segment 1 and the second finger segment 2. One end of the rope 43 is connected to the connector 42, and the other end of the rope 43 is connected to the rotating assembly 3. Specifically, the rope 43 includes a first connecting end and a second connecting end. The first connecting end is connected to the connector 42, and the second connecting end is connected to the rotating assembly 3. The connector 42 can rotate around a first direction. Therefore, when the connector 42 rotates around the first direction, the rope 43 will drive the rotating assembly 3 to rotate around the first direction. The rotating assembly 3 is connected to the second finger segment 2, and the second finger segment 2 will also rotate around the first direction. An angle is generated between the second finger segment 2 and the first finger segment 1, thereby enabling the first finger segment 1 and the second finger segment 2 to cooperate in grasping operations.

[0040] In the embodiments of this application, when the connector 42 stops rotating, the second finger segment 2 remains in its current position. If the second finger segment 2 is impacted by an external force, the rotating component 3 continues to rotate relative to the first finger segment 1 in a first direction, and the second finger segment 2 also rotates in the first direction, causing the rope 43 to become slack. When the external force on the second finger segment 2 disappears, the second finger segment 2 returns to its previously held position, and the rope 43 becomes taut. Therefore, in the finger mechanism 100 of the embodiments of this application, when the second finger segment 2 is subjected to an external force, it can continue to rotate through the rotating component 3 to prevent damage, thereby avoiding affecting the operational performance of the finger mechanism 100.

[0041] In this application, the first finger segment 1 and the second finger segment 2 are driven by a rope 43, which can increase the bending angle between the first finger segment 1 and the second finger segment 2, thereby improving the flexibility of the finger mechanism 100 and making the finger mechanism 100 applicable to more application scenarios.

[0042] In one optional embodiment, a limiting protrusion 23 is provided at one end of the second finger segment 2 near the first finger segment 1; the rotating assembly 3 includes a rotating part 31 and a connecting part 32, the rotating part 31 is disposed on the connecting part 32, the rotating part 31 is rotatably connected to the first finger segment 1, the connecting part 32 abuts against the limiting protrusion 23, and the rope 43 is connected to the connecting part 32.

[0043] like Figure 2 and Figure 4 As shown, a limiting protrusion 23 is provided at the end of the second finger segment 2 near the first finger segment 1. Specifically, the limiting protrusion 23 is provided at the end of the second finger segment 2.

[0044] The rotating assembly 3 includes a rotating part 31 and a connecting part 32. The connecting part 32 is integrally formed with the rotating part 31. The rotating part 31 is rotatably connected to the first finger segment 1 and can rotate relative to the first finger segment 1 in a first direction. The connecting part 32 is located on the side of the limiting protrusion 23 away from the first finger segment 1 and abuts against the limiting protrusion 23. The rope 43 is connected to the connecting part 32. When the connecting part 42 rotates in the first direction, the rope 43 can drive the rotating assembly 3 to rotate. Its rotating part 31 rotates relative to the first finger segment 1, and the connecting part 32 abuts against the limiting protrusion 23 and drives the second finger segment 2 to rotate, thereby realizing the rotation of the second finger segment 2 relative to the first finger segment 1. In this embodiment, it is convenient to install the rotating assembly 3 and the second finger segment 2. If the installation stability of the rotating assembly 3 and the second finger segment 2 is to be improved, the connecting part 32 can be fixedly connected to the limiting protrusion 23.

[0045] In one specific embodiment, the second finger segment 2 includes a second sub-finger segment 22, and the first finger segment 1 is rotatably connected to the second sub-finger segment 22. In this embodiment, the finger mechanism 100 has two finger segments, through which predetermined actions and tasks are performed.

[0046] In another specific embodiment, the second finger segment 2 includes a first sub-finger segment 21 and a second sub-finger segment 22, one end of the first sub-finger segment 21 is rotatably connected to the first finger segment 1, and one end of the first sub-finger segment 21 is rotatably connected to the second sub-finger segment 22.

[0047] like Figure 1As shown, the second finger segment 2 includes a first sub-finger segment 21 and a second sub-finger segment 22; in this embodiment, the finger mechanism 100 includes three finger segments, namely a first finger segment 1, a first sub-finger segment 21, and a second sub-finger segment 22. Specifically, one end of the first sub-finger segment 21 is rotatably connected to the first finger segment 1, and the connection between the first sub-finger segment 21 and the first finger segment 1 is a joint. The first sub-finger segment 21 and the first finger segment 1 can rotate relative to each other to adjust the angle between the first sub-finger segment 21 and the first finger segment 1; the other end of the first sub-finger segment 21 is connected to the second sub-finger segment 22. The sub-finger segment 22 is rotatably connected, and the connection between the first sub-finger segment 21 and the second sub-finger segment 22 is a joint. The first sub-finger segment 21 and the second sub-finger segment 22 can rotate relative to each other to adjust the angle between the first sub-finger segment 21 and the second sub-finger segment 22. In this embodiment, the first finger segment 1, the first sub-finger segment 21 and the second sub-finger segment 22 are set up in accordance with the three segments of the human finger so as to perform predetermined actions and tasks through the first finger segment 1, the first sub-finger segment 21 and the second sub-finger segment 22. The finger mechanism 100 has a larger working range and higher precision.

[0048] In one specific implementation, the second sub-finger segment 22 is driven to rotate relative to the first sub-finger segment 21 by a separate driving mechanism.

[0049] In another specific embodiment, the first sub-finger segment 21 includes a connecting rod 212 and a housing 211. The connecting rod 212 is located inside the housing 211. One end of the housing 211 is rotatably connected to the first finger segment 1, and the other end of the housing 211 is rotatably connected to the second sub-finger segment 22. One end of the connecting rod 212 is rotatably connected to the first finger segment 1, and the other end of the connecting rod 212 is rotatably connected to the second sub-finger segment 22.

[0050] like Figure 3 , Figure 4 and Figure 5As shown, the first sub-finger segment 21 includes a housing 211 and a connecting rod 212. The housing 211 has an internal cavity, and a limiting protrusion 23 is located on the side of the housing 211 near the first finger segment 1. The connecting portion 32 of the rotating assembly 3 is located within the cavity and abuts against the limiting protrusion 23. One end of the housing 211 is rotatably connected to the first finger segment 1, and the other end is rotatably connected to the second sub-finger segment 22, thereby improving the connection stability of the housing 211. The connecting rod 212 is located within the cavity, with one end rotatably connected to the first finger segment 1 and the other end rotatably connected to the second sub-finger segment 22. Specifically, the housing 211 can rotate relative to the first finger segment 1 about a first direction, and the housing 211 can also rotate relative to the first sub-finger segment 21 about a first direction. Link 212 can rotate relative to the first finger segment 1 about a first direction, and link 212 can also rotate relative to the second sub-finger segment 22 about the first direction. When the rotating component 3 drives the housing 211 to rotate about the first direction, since link 212 is located in the cavity inside the housing 211, it can drive link 212 to rotate. Both link 212 and housing 211 are rotatably connected to the second sub-finger segment 22. Therefore, during the rotation of link 212 and housing 211, the second sub-finger segment 22 will rotate relative to link 212 and housing 211. That is, the second sub-finger segment 22 can rotate relative to the first sub-finger segment 21 to adjust the angle between the second sub-finger segment 22 and the first sub-finger segment 21, thereby improving the flexibility of the finger mechanism 100 and making it suitable for more scenarios. In this embodiment, the second sub-finger segment 22 is indirectly driven to rotate by the driving component 4, thereby simplifying the structure of the finger mechanism 100.

[0051] Furthermore, the first finger segment 1 and the first sub-finger segment 21 are driven by a rope 43, which can indirectly increase the rotation angle between the second sub-finger segment 22 and the first sub-finger segment 21, thereby improving the flexibility of the finger mechanism 100.

[0052] In one optional embodiment, a torsion spring is provided at the connection between the connecting rod 212 and the second sub-finger segment 22. The torsion spring can provide a preload force to the connecting rod 212 and the second sub-finger segment 22 so that the second sub-finger segment 22 is raised. Specifically, when the connecting member 42 drives the rotating assembly 3 to rotate through the rope 43, so as to drive the first sub-finger segment 21 to rotate around the first direction, the connecting rod 212 can overcome the preload force of the torsion spring to drive the second sub-finger segment 22 to rotate around the first direction when rotating. When the finger mechanism 100 maintains the preset position, the first sub-finger segment 21 can still continue to rotate around the first direction under the action of external force. After the external force disappears, the torsion spring can provide a reset function.

[0053] In one optional embodiment, the second sub-finger segment 22 includes a first mounting plate 221 and a second mounting plate 222 spaced apart along a first direction; the connecting rod 212 includes a third mounting plate 212a and a fourth mounting plate 212b spaced apart along a first direction, the first mounting plate 221 and the second mounting plate 222 being located between the third mounting plate 212a and the fourth mounting plate 212b, and the torsion spring being located between the first mounting plate 221 and the second mounting plate 222.

[0054] like Figure 3 and Figure 5 As shown, the second sub-finger segment 22 is provided with a first mounting plate 221 and a second mounting plate 222 at one end near the first sub-finger segment 21. The first mounting plate 221 and the second mounting plate 222 are spaced apart along the first direction, which can be understood as forming a gap between the first mounting plate 221 and the second mounting plate 222. The connecting rod 212 is provided with a third mounting plate 212a and a fourth mounting plate 212b at one end near the second sub-finger segment 22. The third mounting plate 212a and the fourth mounting plate 212b are spaced apart along the first direction, which can be understood as forming a gap between the third mounting plate 212a and the fourth mounting plate 212b.

[0055] To further explain, the first mounting plate 221 and the second mounting plate 222 are located within the gap between the third mounting plate 212a and the fourth mounting plate 212b. The first mounting plate 221 is closer to the third mounting plate 212a, and the second mounting plate 222 is closer to the fourth mounting plate 212b. The first mounting plate 221, the third mounting plate 212a, the second mounting plate 222, and the fourth mounting plate 212b are connected by a pivot, thereby achieving a rotational connection between the connecting rod 212 and the second sub-finger segment 22. The torsion spring is located within the gap between the first mounting plate 221 and the second mounting plate 222, and the pivot passes through the torsion spring. When the connecting rod 212 rotates relative to the second sub-finger segment 22, it compresses the torsion spring. In this embodiment, placing the torsion spring between the first mounting plate 221 and the second mounting plate 222 provides a mounting position for the torsion spring and also improves the rotational stability between the connecting rod 212 and the second sub-finger segment 22.

[0056] In an optional embodiment, the driving assembly 4 further includes a driving member 41, which is disposed on the first finger segment 1, and the connecting member 42 is connected to the driving end of the driving member 41; specifically, the driving member 41 can drive the connecting member 42 to rotate around a first direction, thereby realizing the rotation of the rotating assembly 3 and the second finger segment 2 around the first direction through the rope 43.

[0057] In one optional embodiment, the drive member 41 includes a motor 411, a first gear 412, a second gear 413, and a gear set 414. The first gear 412 is connected to the output shaft of the motor 411, the second gear 413 meshes with the first gear 412, the gear set 414 is coaxially arranged with the second gear 413, and the connecting member 42 is coaxially arranged with the gear set 414.

[0058] like Figure 3 , Figure 4 and Figure 5 As shown, the driving component 41 includes a motor 411, a first gear 412, a second gear 413, and a gear set 414; wherein, the output shaft of the motor 411 is connected to the first gear 412, the first gear 412 meshes with the second gear 413, the axis of the first gear 412 intersects the axis of the second gear 413, and the first gear 412 and the second gear 413 rotate in different directions, thereby realizing direction change to meet different transmission requirements.

[0059] The gear set 414 increases the torque transmitted from the motor 411 to the connecting member 42. The gear set 414 includes at least two third gears 4141, but can also have four or six third gears 4141, depending on actual needs. The second gear 413 is coaxially arranged with one of the third gears 4141 of the gear set 414, and the connecting member 42 is coaxially arranged with the other third gear 4141 of the gear set 414. The gear set 414 is used to achieve the speed reduction requirement for the connecting member 42.

[0060] The connector 42 can be a cam or a disc. The first end of the rope 43 is connected to the connector 42. When the connector 42 rotates around the first direction under the driving action of the drive member 41, it can pull the rope 43, thereby pulling the rotating assembly 3 to rotate.

[0061] According to a second aspect of the embodiments of this application, a hand structure is provided, including a plurality of the above-described finger mechanisms 100.

[0062] According to a third aspect of the embodiments of this application, a robot is provided, including a plurality of the above-described finger mechanisms 100; or the above-described hand structure.

[0063] While specific embodiments of this application have been described in detail by way of examples, those skilled in the art should understand that the above examples are for illustrative purposes only and are not intended to limit the scope of this application. Those skilled in the art should understand that modifications can be made to the above embodiments without departing from the scope and spirit of this application. The scope of this application is defined by the appended claims.

Claims

1. A finger mechanism, characterized in that, include: The first finger segment and the second finger segment are rotatably connected; A rotating assembly, which is rotatably connected to the first finger segment and also connected to the second finger segment; A drive assembly, comprising a rope and a connector, the rope connecting the connector and the rotating assembly, the connector being rotatable about a first direction to drive the rotating assembly and the second finger segment to rotate about the first direction via the rope.

2. The finger mechanism according to claim 1, characterized in that, A limiting protrusion is provided at the end of the second finger segment near the first finger segment; The rotating assembly includes a rotating part and a connecting part. The rotating part is disposed on the connecting part and is rotatably connected to the first finger segment. The connecting part abuts against the limiting protrusion, and the rope is connected to the connecting part.

3. The finger mechanism according to claim 2, characterized in that, The second finger segment includes a first sub-finger segment and a second sub-finger segment, one end of the first sub-finger segment is rotatably connected to the first finger segment, and one end of the first sub-finger segment is rotatably connected to the second finger segment.

4. The finger mechanism according to claim 3, characterized in that, The first sub-finger segment includes a connecting rod and a housing. The connecting rod is located inside the housing. One end of the housing is rotatably connected to the first finger segment, and the other end of the housing is rotatably connected to the second sub-finger segment. One end of the connecting rod is rotatably connected to the first finger segment, and the other end of the connecting rod is rotatably connected to the second sub-finger segment.

5. The finger mechanism according to claim 4, characterized in that, A torsion spring is provided at the connection between the connecting rod and the second sub-finger segment.

6. The finger mechanism according to claim 5, characterized in that, The second sub-segment includes a first mounting plate and a second mounting plate spaced apart along a first direction; The connecting rod includes a third mounting plate and a fourth mounting plate spaced apart along a first direction, with the first mounting plate and the second mounting plate located between the third mounting plate and the fourth mounting plate, and the torsion spring located between the first mounting plate and the second mounting plate.

7. The finger mechanism according to claim 1, characterized in that, The driving assembly further includes a driving element, which is disposed on the first finger segment, and the connecting element is connected to the driving end of the driving element.

8. The finger mechanism according to claim 7, characterized in that, The driving component includes a motor, a first gear, a second gear, and a gear set. The first gear is connected to the output shaft of the motor, the second gear meshes with the first gear, the gear set is coaxially arranged with the second gear, and the connecting member is coaxially arranged with the gear set.

9. A hand structure, characterized in that, It includes multiple finger mechanisms as described in any one of claims 1-8.

10. A robot, characterized in that, include: Multiple finger mechanisms as described in any one of claims 1-8; or The hand structure as described in claim 9.

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