Finger module mounting structure and manipulator
By introducing a sliding mounting part and circuit connection structure into the robotic hand, the problem of adjusting the number and position of fingers is solved, improving the adaptability and stability of the robotic hand, and reducing the cost of use and installation complexity.
Patent Information
- Application Number
- CN202423314911.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-31
- Publication Date
- 2025-11-25
- Estimated Expiration
- 2034-12-31
AI Technical Summary
The existing structures for adjusting the number and position of fingers in robotic or dexterous hands are insufficient to meet the requirements of complex working environments, and the fixed position of the fingers leads to insufficient stability and flexibility.
A finger module mounting structure is designed. By setting a sliding mounting part and a circuit connection structure between the palm and the first finger, the number and position of the fingers can be flexibly adjusted, realizing the relative sliding mounting of the fingers and the palm, and realizing electrical connection through a sliding contact plate.
It enables flexible adjustment of the number and position of fingers, improving the adaptability and stability of the robotic arm, and reducing the cost of use and installation complexity.
Smart Images
Figure CN223589453U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to robot technical field especially, relate to a finger module installation structure and mechanical hand. BACKGROUND
[0002] With the development of robots, as the end effector - the claw, the mechanical hand matched with the robot, generally designs the 5 finger structure similar to the human hand structure. But aiming at different grabbing targets, the 5 finger structure of dexterous hand is not needed to use all, for many working conditions, 5 finger structure is redundant, even in some cases, the use of 5 fingers all has the possibility to have certain influence on the stability of grabbing target.
[0003] In the prior art, there are also some claws, mechanical hands or dexterous hands that can freely increase or decrease the number of fingers, but the positions of the fingers of these mechanical hands or dexterous hands are fixed, and the number of fingers can only be adjusted by simple disassembly and assembly, and the positions of the fingers cannot be adjusted according to actual conditions, so it is difficult to meet the requirements of more complex working environments. UTILITY MODEL CONTENT
[0004] The utility model embodiment provides a finger module installation structure and mechanical hand to solve the problem that the number of fingers and the finger position adjustment structure of the mechanical hand or dexterous hand in the prior art are difficult to meet the requirements of complex working environments.
[0005] According to the first aspect of the utility model, a finger module installation structure is provided, which is arranged between the palm and the first finger and includes a first sliding installation part arranged on the palm and a second sliding installation part arranged on the first finger. The second sliding installation part is slidingly installed on the first sliding installation part. The first sliding installation part is used to install at least one first finger provided with the second sliding installation part. A fixing structure for limiting the sliding of the second sliding installation part is arranged between the second sliding installation part and the first sliding installation part.
[0006] The utility model further includes a circuit connection structure arranged between the palm and the first finger. The circuit connection structure is used to electrically connect the palm and the first finger when the second sliding installation part is installed on the first sliding installation part.
[0007] The finger module installation structure of the utility model can adjust the number of the first fingers installed on the palm according to the actual situation, and the first fingers can be installed in the most suitable position for work, so that the installation position of the first fingers does not need to be adjusted, and the first fingers can be directly used normally; when the number of the first fingers is small, the first fingers can be adjusted to the most suitable position for work in the current working environment, so that the whole mechanical hand can better adapt to the working environment and meet the requirements of the working environment.
[0008] In some embodiments, the circuit connection structure comprises a slide contact line plate arranged on the palm and a slide contact line arranged on the first finger, and the slide contact line plate and the slide contact line are electrically connected when the second sliding installation part is installed on the first sliding installation part.
[0009] Therefore, by such arrangement, the circuit connection between the palm and the first finger can be realized by the slide contact line plate, and when the first finger is slidably installed on the palm, the first finger and the palm can be electrically connected by the slide contact line plate, and when multiple first fingers are installed on the palm, the circuit connection can also be realized by the slide contact line plate, so that the complexity of the circuit connection between the first finger and the palm can be greatly simplified, the use cost is effectively reduced, and the installation is more convenient.
[0010] In some embodiments, one of the first sliding installation part and the second sliding installation part is arranged as a slide rail, and the other is arranged as a sliding block.
[0011] In some embodiments, one side of the palm is provided with an installation opening for the first finger to pass through, and the first end of the first sliding installation part extends to the installation opening and communicates with the installation opening.
[0012] Therefore, by such arrangement, the first finger can slide the second sliding installation part to the first sliding installation part through the installation opening to realize the installation of the first finger on the palm.
[0013] In some embodiments, the palm includes a palm upper shell and a palm lower shell, and the first sliding mounting portion is mounted on the inner side of the palm upper shell and / or the palm lower shell.
[0014] In some embodiments, the mounting opening includes a first notch provided on the palm upper shell and / or a second notch provided on the palm lower shell.
[0015] In some embodiments, the fixing structure includes a strip-shaped through slot provided on the palm, a screw hole provided on the first finger, and a fixing screw threadedly connected with the screw hole through the strip-shaped through slot to abut against the palm, thereby limiting the sliding of the second sliding mounting portion.
[0016] In this way, by such arrangement, the first finger can be clamped and fixed on the palm by the fixing screw passing through the strip-shaped through slot, thereby limiting the sliding of the first finger to achieve mounting and fixing the first finger at a desired position.
[0017] According to the second aspect of the present application, a mechanical hand is provided, comprising:
[0018] a palm configured to be connected with a limb;
[0019] at least one first finger, which is detachably mounted on the palm;
[0020] a finger module mounting structure according to the first aspect is arranged between the palm and the first finger.
[0021] The mechanical hand of the present application is provided with the finger module mounting structure according to the first aspect, so that the mechanical hand of the present application can freely adjust the number of first fingers to be mounted and the mounting position of the first fingers on the palm according to the actual working environment, thereby flexibly increasing the number of fingers to obtain a mechanical hand with more degrees of freedom, i.e. a dexterous hand, so that the overall dexterous hand can meet the requirements of the current working environment. Alternatively, the number of fingers of the mechanical hand-dexterous hand of the present application can be reduced to become a mechanical hand with fewer fingers and degrees of freedom, such as a two-finger or three-finger gripper, so as to adapt to different industrial, agricultural, household and other scenes. Compared with the structure of the mechanical hand capable of adjusting the number of finger modules in the prior art, the mechanical hand of the present application can freely adjust the arrangement position of the finger module, and has high stability, low use cost, convenient installation and use, and other advantages.
[0022] In some embodiments, a second finger is further included, the working mode of the second finger is different from that of the first finger, and the second finger is mounted on one side of the first finger on the palm.
[0023] Therefore, by such arrangement, the finger module of the whole manipulator is composed of the first finger and the second finger with different working modes, and the arrangement position, movement mode and structure of the first finger which can be freely disassembled and adjusted in number and position are relatively similar, so that the number and type of the finger module with different function types on the manipulator can be increased by additionally arranging the second finger, so that the manipulator can better adapt to various different working environment requirements.
[0024] In some embodiments, the second finger is one of an index finger, a thumb and a little finger.
[0025] Therefore, by such arrangement, the second finger can be arranged as an index finger type finger module, a thumb type finger module or a little finger type finger module, so that the work types that can be completed by the manipulator are improved, and the requirements of more different working environments are met.
[0026] In some embodiments, a third finger is further included, the working mode of the third finger is different from the working modes of the first finger and the second finger, and the third finger is arranged on the side of the second finger away from the first finger.
[0027] Therefore, by such arrangement, the manipulator can further have a third finger with a working mode different from those of the first finger and the second finger, so that the work types that can be completed by the manipulator are further improved, and the requirements of more different working environments are met.
[0028] In some embodiments, the second finger is an index finger, and the third finger is a thumb.
[0029] Therefore, by such arrangement, the second finger can be arranged as an index finger type finger, and the third finger can be arranged as a thumb type finger, so that the work types that can be completed by the manipulator are further improved, and the requirements of more different working environments are met.
[0030] In some embodiments, the second finger meets a yawing function.
[0031] Therefore, by such arrangement, the second finger can perform a lateral yawing action to improve the flexibility of the second finger, the flexibility of the whole manipulator and the operation mode of the whole manipulator. BRIEF DESCRIPTION OF DRAWINGS
[0032] In order to more clearly illustrate the technical scheme of the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced as follows. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can obtain other drawings according to these drawings without creative labor.
[0033] Figure 1 Fig. 1 is a schematic view of the overall structure of a finger module mounting structure according to an embodiment of the present application;
[0034] Figure 2 Fig. 2 is a schematic view of the structure of a portion of the finger module mounting structure according to an embodiment of the present application, which is provided on a first finger;
[0035] Figure 3 Fig. 3 is a schematic view of the structure of a mechanical hand according to an embodiment of the present application, which is provided with two first fingers;
[0036] Figure 4 Fig. 4 is a schematic view of the structure of a mechanical hand according to an embodiment of the present application, which is provided with three first fingers;
[0037] The reference signs are as follows: 1, third finger; 2, second finger; 3, first finger; 3A, screw hole; 3B, second sliding mounting portion; 4, palm lower shell; 5, palm upper shell; 5A, first sliding mounting portion; 5B, strip-shaped through slot; 5C, first notch; 6, slide contact line plate; 7, fixing screw; 8, mounting port. DETAILED DESCRIPTION
[0038] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme of the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are some embodiments but not all embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of the present application.
[0039] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.
[0040] Finally, it should also be noted that, in this document, relationship terms such as first and second are used only to distinguish one entity or operation from another, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. Moreover, the terms "include", "contain", not only include those elements, but also include other elements not explicitly listed, or include elements inherent to the process, method, article or device. Without more limitations, the elements defined by the statement "include" do not exclude the presence of other identical elements in the process, method, article or device including the described elements.
[0041] The present application will be described in further detail below in conjunction with the drawings.
[0042] Figures 1 to 3 The overall structure schematic diagram of the finger module installation structure of an embodiment of the utility model is schematically shown, and the finger module installation structure can be applicable to the connection between the finger module and the palm of various mechanical hands, bionic hands and mechanical hands. Figure 1 The finger module installation structure of the utility model comprises a first sliding installation part 5A arranged on the palm and a second sliding installation part 3B arranged on the first finger 3, and a circuit connection structure is further arranged between the palm and the first finger 3, so that the first finger 3 can realize the electrical connection between the palm and the first finger 3 through the circuit connection structure when being installed on the palm. Specifically, the second sliding installation part 3B is arranged on the first finger 3 and is used for being slidably installed on the first sliding installation part 5A, so that the first finger 3 can freely slide on the palm along the sliding direction thereof, so as to adjust the installation position of the first finger 3 on the palm. The first sliding installation part 5A is arranged on the palm and is used for installing at least one first finger 3 provided with the second sliding installation part 3B. That is to say, a plurality of first fingers 3 can be installed on the palm according to actual conditions by arranging the first sliding installation part 5A on the palm. Meanwhile, in order to fix the installation position of the first finger 3 installed on the palm, a fixing structure for limiting the sliding of the second sliding installation part 3B is further arranged between the second sliding installation part 3B and the first sliding installation part 5A.
[0043] For the first sliding installation part 5A arranged on the palm and the second sliding installation part 3B arranged on the first finger 3, the first sliding installation part 5A and the second sliding installation part 3B can be arranged in the structure of a slide and a sliding block to realize the sliding connection therebetween because of the sliding connection therebetween. Specifically, one of the first sliding installation part 5A and the second sliding installation part 3B can be arranged as a slide, and the other one is arranged as a sliding block, so that the two can slide with each other. The cross-sectional shape of the slide and the sliding block can be arranged as a square, a triangle, a T-shaped regular shape, or can be designed as a special irregular shape according to the cooperation between the structures, and the utility model is not limited in this regard.
[0044] Since the first sliding mounting part 5A is designed to cooperate with the second sliding mounting part 3B on the first finger 3 to mount the first finger 3 onto the palm, and when multiple first fingers 3 need to be mounted, the second sliding mounting parts 3B of all the first fingers 3 need to be mounted on the first sliding mounting part 5A, the design of the first sliding mounting part 5A will affect the mounting position of the first finger 3 after it is mounted onto the palm. The first sliding mounting part 5A can be located at a pre-reserved position on the palm for mounting the first finger 3, such as inside the palm, and near the edge of the protruding part of the first finger 3 on the palm, so that the first finger 3 can move freely after being mounted onto the palm without affecting its movement. The second sliding mounting part 3B can be located on the non-operating joint segment of the first finger 3, thereby avoiding affecting the movement of the first finger 3 after it is mounted onto the palm. The first sliding mounting part 5A can be designed in a wave shape. In this case, the peaks of the wave can be used as indicators of the working position of the first finger 3, or the height difference between the peaks and troughs can be used to adjust the length of the first finger 3 extending out of the palm, allowing the first finger 3 to be adjusted in various working positions. Alternatively, the first sliding mounting part 5A can be designed as a straight line. In this case, after the first finger 3 is installed on the palm, there is no need to consider the influence of the shape of the first sliding mounting part 5A on the working state of the first finger 3, making it easier to adjust the installation position of the first finger 3 on the palm.
[0045] For example, refer to Figure 1 As shown, in Figure 1 In the illustrated embodiment, the first sliding mounting portion 5A on the palm is configured as a slide rail, and the second sliding mounting portion 3B on the first finger 3 is configured as a slider. Both the slide rail and the slider have square cross-sections. The first sliding mounting portion 5A is configured as a straight slide rail, allowing the first finger 3 to be freely adjusted in its mounting position on the palm without affecting its operation. The first sliding mounting portion 5A is located on the inner side of the palm at the upper end, so that after the first finger 3 is mounted on the palm, all joints of the first finger 3 can extend out of the palm without affecting its movement. In this embodiment, the first finger 3 has two working joints and one mounting joint, and the second sliding mounting portion 3B is located on the mounting joint of the first finger 3. Additionally, refer to... Figure 4As shown, in the embodiment, the preset maximum installation number of the first fingers 3 is three, at this time, the length of the first sliding installation part 5A corresponds to the second sliding installation part 3B on the three first fingers 3, so that when the three first fingers 3 are simultaneously installed on the palm, the positions of the three first fingers 3 are all located at the optimal working positions on the palm, and the positions of the first fingers 3 cannot be adjusted any more, which can more conveniently install the first fingers 3 of the mechanical hand of the first finger 3 installation structure of the utility model in the general working state (the first finger 3 is in the full installation state), and can also make the stability of the mechanical hand in the general working state higher, and the working stability cannot be lowered due to the installation position error of the first fingers 3.
[0046] For the circuit connection structure arranged between the palm and the first fingers 3, it can be arranged as the slide wire plate 6 arranged on the palm and the slide wire arranged on the first fingers 3. The slide wire plate 6 is a slide wire connection plate structure for electrically connecting with the slide wire current collector on at least one first finger 3, and the slide wire arranged on the first finger 3 is a current collector structure for connecting with the conductive track on the slide wire plate 6. At this time, by designing the position of the slide wire plate 6 on the palm, when the first finger 3 is installed on the palm through the first sliding installation part 5A and the second sliding installation part 3B, the slide wire on the first finger 3 can be electrically connected with the slide wire plate 6 on the palm, so that the electrical connection between the first finger 3 and the palm can be quickly connected. Similar to the first sliding installation part 5A, the slide wire plate 6 on the palm is used for installing at least one first finger 3 provided with the slide wire. That is, when multiple first fingers 3 are installed on the palm, the slide wires on the multiple first fingers 3 can all be connected with the slide wire plate 6 arranged on the palm, so that the electrical connection between the multiple first fingers 3 and the palm can be quickly completed.
[0047] Exemplarily, with reference to Figure 1 As shown, in the embodiment, Figure 1 In the embodiment shown, the slide wire plate 6 arranged on the palm is located on the inner side of the palm and is arranged in parallel with the first sliding installation part 5A, and the length is equivalent to that of the first sliding installation part 5A, so that when multiple first fingers 3 are installed on the palm, the multiple first fingers 3 can all be electrically connected with the palm through the slide wire plate 6 and the slide wire. The slide wire is arranged on the joint for installation on the first finger 3, and the position corresponds to that of the slide wire plate 6 arranged on the palm, so that when the first finger 3 is installed on the palm through the first sliding installation part 5A and the second sliding installation part 3B, the first finger 3 can form electrical connection with the palm.
[0048] For the installation of the first finger 3, the palm can be provided with an installation opening 8 for sliding the first finger 3 into the palm. The installation opening 8 is located on one side of the palm and communicates with the inside of the palm. One end of the first sliding mounting part 5A on the palm extends to and communicates with the installation opening 8, so that the first finger 3 can be directly installed into the palm through the installation opening 8, thus completing the installation of the first finger 3. It is understood that since the first finger 3 needs to be installed into the palm through the installation opening 8, the size of the installation opening 8 should be at least the same as the size of the joint on the first finger 3 used for installation, and slightly larger than the size of the joint on the first finger 3 used for installation, so that the first finger 3 can be smoothly installed into the palm through the installation opening 8. The palm can specifically be composed of an upper palm shell 5 and a lower palm shell 4, which facilitates observation and adjustment of the internal structure of the palm. At this time, the mounting opening 8 can be formed by a first notch 5C provided on the upper palm shell 5, or by a second notch provided on the lower palm shell 4. Alternatively, the mounting opening 8 can be partially provided on the upper palm shell 5 and partially provided on the lower palm shell 4, that is, the mounting opening 8 is formed by the first notch 5C and the second notch assembled together. Similarly, the first sliding mounting part 5A on the palm can also be provided on the upper palm shell 5, or on the lower palm shell 4, or simultaneously on both the upper palm shell 5 and the lower palm shell 4, so that there are two first sliding mounting parts 5A on the palm.
[0049] For example, refer to Figure 1 and Figure 3 As shown, in Figure 1 and Figure 3 In the illustrated embodiment, the palm includes an upper palm shell 5 and a lower palm shell 4. A first sliding mounting portion 5A is disposed on the inner side of the upper palm shell 5, and a sliding contact plate 6 is also disposed on the inner side of the upper palm shell 5. A mounting opening 8 is provided... Figure 3 In the illustrated embodiment, a first notch 5C is provided on the upper palm shell 5 and a second notch is provided on the lower palm shell 4. When the upper palm shell 5 and the lower palm shell 4 are assembled, an installation opening 8 is formed on the right side of the palm. The size of the installation opening 8 is approximately the same as the size of the joint on the first finger 3 to be installed on the palm. The first sliding mounting part 5A extends to the first notch 5C to connect to the outside of the palm, so that the first finger 3 can be directly installed on the palm through the installation opening 8.
[0050] The fixing structure arranged between the second sliding mounting part 3B and the first sliding mounting part 5A needs to limit the second sliding mounting part 3B from sliding relative to the first sliding mounting part 5A, and further the fixing structure can limit the sliding of the second sliding mounting part 3B by abutting the first sliding mounting part 5A and the second sliding mounting part 3B, and by the structure therebetween or by friction force and the like. The fixing structure can be designed as a stepped adjustment fixing structure, or can be arranged as a stepless adjustment fixing structure. The stepped adjustment fixing structure can be arranged as a way of limiting the sliding of the second sliding mounting part 3B by tooth engagement. In the tooth engagement way, the more dense the tooth, the more accurate the adjustment of the position of the first finger 3 on the palm. And the stepless adjustment fixing structure can be arranged by abutting the first sliding mounting part 5A and the second sliding mounting part 3B by a screw to increase the friction therebetween, thereby realizing stepless adjustment. Taking the stepless adjustment fixing structure as an example, the fixing structure can be arranged to include a strip-shaped through slot 5B arranged on the palm, a screw hole 3A arranged on the first finger 3, and a fixing screw 7. The strip-shaped through slot 5B arranged on the palm should correspond to the first sliding mounting part 5A, such as the strip-shaped through slot 5B can be directly arranged on the first sliding mounting part 5A, or can be arranged near the first sliding mounting part 5A and arranged in parallel with the first sliding mounting part 5A, thereby ensuring that the second sliding mounting part 3B on the first finger 3 can be seen outside the palm through the strip-shaped through slot 5B. And the screw hole 3A can be arranged according to the position of the strip-shaped through slot 5B, such as when the strip-shaped through slot 5B can be directly arranged on the first sliding mounting part 5A, the screw hole 3A can be arranged on the second sliding mounting part 3B, and when the strip-shaped through slot 5B is arranged near the first sliding mounting part 5A, the screw hole 3A can be arranged on the joint for mounting on the first finger 3.
[0051] Exemplarily, referring to Figure 1 and Figure 2 shown in the embodiments shown in Figure 1 and Figure 2 , the strip-shaped through slot 5B is arranged on the first sliding mounting part 5A on the palm shell 5, the strip-shaped through slot 5B is arranged as a waist-shaped slot, and the screw hole 3A is arranged on the second sliding mounting part 3B on the first finger 3, when the second sliding mounting part 3B is mounted on the first sliding mounting part 5A, the screw hole 3A on the first finger 3 can be observed outside the palm through the strip-shaped through slot 5B. When the mounting position of the first finger 3 on the palm is determined, only the fixing screw 7 needs to be mounted into the screw hole 3A, so that the fixing screw 7 clamps the palm shell 5 with the second sliding mounting part 3B, thereby completing the limitation of the sliding of the second sliding mounting part 3B.
[0052] When installing the first finger 3 onto the palm, the finger module mounting structure of this utility model simply requires aligning the second sliding mounting part 3B on the first finger 3 with the first sliding mounting part 5A at the mounting opening 8 on the palm. This allows the first finger 3 to slide onto the palm, connecting the sliding contact line on the first finger 3 to the sliding contact line plate 6 on the palm, thus electrically connecting the first finger 3 to the palm. Finally, tightening the fixing screw 7 completes the installation of the first finger 3. When multiple first fingers 3 need to be installed, the above steps are repeated to install multiple first fingers 3 side-by-side onto the palm. When the number of first fingers 3 reaches the maximum limit, each first finger 3 will be in its optimal working position, eliminating the need for further adjustment. When the number of first fingers 3 is less than the maximum limit, each first finger 3 can slide on the first sliding mounting part 5A via the second sliding mounting part 3B to adjust its position on the palm. After adjusting the position of each first finger 3, tightening the fixing screw 7 completes the installation of the first finger 3.
[0053] The finger module mounting structure of this utility model achieves the installation of the first finger 3 onto the palm through a relatively sliding mounting structure between the first sliding mounting part 5A on the palm and the second sliding mounting part 3B on the first finger 3. Simultaneously, multiple detachable first fingers 3 that need to be installed on the palm can be mounted onto the palm via the first sliding mounting part 5A, thus allowing the number of first fingers 3 mounted on the palm to be adjusted according to actual needs. Furthermore, because the second sliding mounting part 3B slides relative to the first sliding mounting part 5A, when a large number of first fingers 3 are set, due to the restriction of the first sliding mounting part 5A, each first finger 3 will be arranged adjacently to achieve the most suitable working position, thus eliminating the need to adjust the installation position of the first finger 3 for direct normal use. Conversely, when a small number of first fingers 3 are set, the first finger 3 can slide on the first sliding mounting part 5A, thereby precisely adjusting the first finger 3 to the most suitable working position required by the current working environment, allowing the overall robotic arm to better adapt to the working environment and meet its requirements. Compared with the existing robotic arm structure that can adjust the number of finger modules, the finger module installation structure of this utility model can freely adjust the setting position of the finger modules. At the same time, it has low structural complexity, high stability, and has the advantages of low operating cost and convenient installation and use.
[0054] Figure 3 and Figure 4 The illustration schematically depicts a robotic hand according to one embodiment of the present invention. This robotic hand is applicable as a robotic hand for various types of robots, especially biomimetic robots. (See reference...) Figure 3 andFigure 4 As shown, the mechanical hand comprises a palm and at least one first finger 3 detachably mounted on the palm. Among them, the first finger 3 and the palm are provided with the finger module mounting structure of any one of the above-mentioned embodiments. Specifically, the number of first fingers 3 detachably mounted on the palm can be multiple, and since each first finger 3 and the palm are connected through the finger module mounting structure of the above-mentioned embodiment, the mechanical hand can adjust the number of first fingers 3 provided on the palm according to actual needs, and adjust the installation position of each first finger 3 on the palm according to actual needs, confirm the installation position of each first finger 3 on the palm according to the number of first fingers 3, to adapt to various different working environment requirements.
[0055] In addition, in some possible embodiments, a second finger 2 can also be provided on the palm, wherein the second finger 2 is a finger with a different working mode from the first finger 3. The difference in working mode here refers to the difference in movement trajectory or movement mode that the finger can perform. This difference in working mode can be due to different operation control strategies for controlling the movement of the finger, so that the two are not synchronized during work, the movement trajectory is different, or it can be due to the structure of the finger. It can be understood that the installation mode and circuit connection mode between each first finger 3 and the palm are the same, and the structure is also the same, so the movement trajectory and movement mode of these first fingers 3 during actual work movement are similar or even the same. Since the working mode of the second finger 2 is different from that of the first finger 3, by additionally providing the second finger 2, the operation mode of the finger module on the palm can be diversified, so as to be more suitable for more different working scenes.
[0056] It can be understood that the second finger 2 provided on the palm and the palm can also be provided with the finger module mounting structure of any one of the above-mentioned embodiments, but it should be noted that the finger module mounting structure between the second finger 2 and the palm and the finger module mounting structure between the first finger 3 and the palm support need to be provided as different finger module mounting structures to ensure that the working mode of the second finger 2 is different from that of the first finger 3. In addition, the second finger 2 and the palm can also not be provided with a finger module mounting structure. At this time, the second finger 2 is a finger module that cannot be detached and adjusted in position at any time after being mounted on the palm. The above-mentioned cannot be detached and cannot be adjusted in position does not mean that it cannot be detached and cannot be adjusted in position, but in general, the installation position of these finger modules on the palm is fixed, and these finger modules can only be detached or installed when the entire mechanical hand is disassembled or installed.
[0057] The number of the second fingers 2 arranged on the palm can be one or more, which are arranged on one side of the first fingers 3 on the palm. The arrangement position of the second fingers 2 can be different according to whether the palm is a left hand palm or a right hand palm, or according to the type of the arranged second fingers 2. For example, the second fingers 2 can be a finger module of index finger type, a finger module of thumb type, or a finger module of little thumb type. According to the type of the second fingers 2, the second fingers 2 can be arranged on different sides of the first fingers 3 on the palm.
[0058] In some other possible embodiments, a third finger 1 can also be arranged on the palm, which has a working mode different from the working modes of the first fingers 3 and the second fingers 2. In this way, the operation mode of the finger modules on the palm can be diversified, so as to be more suitable for more different working scenarios. Specifically, in this embodiment, the third finger 1 is arranged on the side of the second finger 2 away from the first finger 3. For example, the second finger 2 can be a finger module of index finger type, and the third finger 1 can be a finger module of thumb type. In this way, the operation mode of the finger modules on the palm can be further increased by adding a finger module of thumb type. The finger module of thumb type is generally arranged on the side of the palm, which is completely different from the arrangement position of the other finger modules, and thus the movement mode thereof is also greatly different, so as to greatly improve the flexibility of the whole mechanical hand and increase the operation mode of the whole mechanical hand. In this embodiment, the second finger 2 is a finger module of index finger type, and the second finger 2 can be a finger module with a yawing function, so as to enable the second finger 2 to perform a lateral yawing action, thereby improving the flexibility of the second finger 2, improving the flexibility of the whole mechanical hand, and increasing the operation mode of the whole mechanical hand.
[0059] For example, referring to the embodiments shown in Figure 3 and Figure 4 , in the embodiments shown in Figure 3 and Figure 4 , the palm is provided with a third finger 1, a second finger 2 and a plurality of first fingers 3. The third finger 1 is arranged on the left side of the palm in Figure 3 and Figure 4 , the second finger 2 is arranged on the leftmost side above the palm, and the first fingers 3 are arranged on the right side of the second finger 2 above the palm and are installed from the right side of the palm. In this way, in this example, a mechanical hand, i.e. a dexterous hand, is formed, in which the third finger 1 is a thumb, the second finger 2 is an index finger, and the plurality of first fingers 3 are middle fingers, ring fingers and little thumbs.
[0060] The mechanical hand of the utility model is provided with the finger module mounting structure described in each of the above embodiments, and the number of the first fingers 3 to be installed and the installation position of the first fingers 3 on the palm can be freely adjusted according to the actual working environment, so that the overall mechanical hand can meet the requirements of the current working environment. In combination with the third fingers 1 of the finger module set as the thumb type and the second fingers 2 of the finger module set as the index finger type and meeting the deflection function, the utility model can be applicable to various complex scenes, so that the number and installation position of the first fingers 3 can be set according to the actual situation, and different working motion modes can be realized. Compared with the structure of the mechanical hand capable of adjusting the number of finger modules in the prior art, the mechanical hand of the utility model can freely adjust the installation position of the finger module, and has the advantages of high complexity, high stability, low use cost, convenient installation and use and the like.
[0061] Finally, it should be noted that: the above examples are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing examples, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing examples, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.
Claims
1. A finger module mounting structure, disposed between the palm and the first finger (3), characterized in that, The device includes a first sliding mounting portion (5A) disposed on the palm and a second sliding mounting portion (3B) disposed on a first finger (3). The second sliding mounting portion (3B) is slidably mounted on the first sliding mounting portion (5A). The first sliding mounting portion (5A) is used to mount at least one first finger (3) on which the second sliding mounting portion (3B) is disposed. A fixing structure is provided between the second sliding mounting portion (3B) and the first sliding mounting portion (5A) to restrict the sliding of the second sliding mounting portion (3B). It also includes a circuit connection structure disposed between the palm and the first finger (3), the circuit connection structure being used to electrically connect the palm and the first finger (3) when the second sliding mounting part (3B) is mounted on the first sliding mounting part (5A).
2. The finger module mounting structure according to claim 1, characterized in that, The circuit connection structure includes a sliding contact plate (6) disposed on the palm and a sliding contact line disposed on the first finger (3). When the second sliding mounting part (3B) is mounted on the first sliding mounting part (5A), the sliding contact plate (6) and the sliding contact line are electrically connected.
3. The finger module mounting structure according to claim 1, characterized in that, One of the first sliding mounting part (5A) and the second sliding mounting part (3B) is configured as a slide rail, and the other is configured as a slider.
4. The finger module mounting structure according to claim 1, characterized in that, One side of the palm is provided with an installation port (8) for the first finger (3) to pass through, and the first end of the first sliding mounting part (5A) extends to the installation port (8) and communicates with the installation port (8).
5. The finger module mounting structure according to claim 4, characterized in that, The palm includes an upper palm shell (5) and a lower palm shell (4), and the first sliding mounting part (5A) is mounted on the inner side of the upper palm shell (5) and / or the lower palm shell (4).
6. The finger module mounting structure according to claim 5, characterized in that, The mounting port (8) includes a first notch (5C) on the upper shell of the palm (5) and / or a second notch on the lower shell of the palm (4).
7. The finger module mounting structure according to any one of claims 1 to 6, characterized in that, The fixing structure includes a strip groove (5B) on the palm, a screw hole (3A) on the first finger (3) and a fixing screw (7). The fixing screw (7) passes through the strip groove (5B) and is threadedly connected to the screw hole (3A) to abut against the palm, thereby restricting the sliding of the second sliding mounting part (3B).
8. A robotic arm, characterized in that, include: The palm is used to connect with the limbs; At least one first finger (3), the first finger (3) being detachably mounted on the palm; A finger module mounting structure as described in any one of claims 1 to 7 is provided between the palm and the first finger (3).
9. The robotic arm according to claim 8, characterized in that, It also includes a second finger (2), which works differently from the first finger (3). The second finger (2) is mounted on the side of the first finger (3) on the palm.
10. The robotic arm according to claim 9, characterized in that, The second finger (2) is one of the index finger, thumb, or little finger.
11. The robotic arm according to claim 9, characterized in that, It also includes a third finger (1), the working mode of which is different from the working mode of the first finger (3) and the working mode of the second finger (2). The third finger (1) is located on the side of the second finger (2) away from the first finger (3).
12. The robotic arm according to claim 11, characterized in that, The second finger (2) is the index finger, and the third finger (1) is the thumb.
13. The robotic arm according to claim 12, characterized in that, The second finger (2) satisfies the swaying function.