Rope-controlled elastic bending mechanical finger
The rope-controlled mechanical finger design, which combines traction ropes and spring plates, solves the problems of heavy weight and poor flexibility of traditional mechanical fingers, achieving highly flexible and precise mechanical finger movements, and is suitable for various scenarios.
Patent Information
- Application Number
- CN202520254939.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-02-18
- Publication Date
- 2025-12-30
- Estimated Expiration
- 2035-02-18
AI Technical Summary
Traditional mechanical fingers use a rigid structure, which results in problems such as heavy weight, poor flexibility, and complex control, making it difficult to simulate the flexibility and bending movements of human fingers.
It adopts a combination of traction rope and spring plate. The traction rope compresses the bending plate to make the elastic section bend, realizing elastic bending and straightening, simulating the movement of human fingers. The structure is simple and lightweight, and steel wire rope is used to improve stability and service life.
It achieves high flexibility and high precision control of the mechanical finger, simulates human finger movements, has a simple structure and low cost, is suitable for high-frequency and high-load environments, and extends service life.
Smart Images
Figure CN223734907U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of mechanical finger technology, specifically to a rope-controlled elastic bending mechanical finger. Background Technology
[0002] With the continuous development of science and technology, the concepts of mechanization and automation are increasingly penetrating people's production and lives. End effectors are widely used in industrial production, especially in large-scale assembly line operations. End effectors are not only an important component of industrial and service robots, but also serve as prostheses for the disabled and can replace human hands in many dangerous areas to perform grasping and other operations, possessing significant social application value. Among these, robotic hands occupy a relatively important position. Robotic hands typically consist of multiple robotic fingers, each requiring a certain degree of flexibility. Traditional robotic fingers mostly employ rigid structures and complex drive systems, resulting in problems such as heavy weight, poor flexibility, and complex control. While rigid structures offer high load-bearing capacity, they are insufficient in terms of flexible operation and adaptability. Especially when simulating the flexibility and bending movements of human fingers, rigid robotic fingers struggle to meet the requirements. Therefore, developing a simple, lightweight robotic finger with elastic bending capabilities has become an important technological direction. Utility Model Content
[0003] This application provides a rope-controlled elastic bending mechanical finger that achieves simplified, lightweight, and highly flexible elastic bending motion through the combination of a traction rope and a spring plate, thereby improving or solving at least one technical problem existing in the prior art.
[0004] The technical solution adopted in this application is as follows:
[0005] A rope-controlled elastic bending mechanical finger includes a base segment, a tip segment, a traction rope, and an elastic segment made of a spring sheet. The elastic segment has a first connecting piece connecting the base segment, a second connecting piece connecting the tip segment, and a bent piece with its two ends respectively connected to the first connecting piece and the second connecting piece. The bent piece is bent, and one end of the second connecting piece is provided with a traction part. The traction rope passes through the traction part. The traction rope can compress the bent piece by pulling the traction part so that one end of the second connecting piece is directed toward the first connecting piece, thereby causing the elastic segment to bend.
[0006] In this technical solution, the root segment and the tip segment serve as the fixed end and movable end of the mechanical finger, respectively, providing stable support and flexible movement. The elastic segment is made of spring sheet, which has elastic deformation capability and can achieve elastic bending and straightening under the action of the traction rope, improving its flexibility and adaptability, and enabling it to better simulate the movements of human fingers. The traction rope pulls the traction part, causing the second connecting piece to compress the bending piece, thereby realizing the switching of the mechanical finger from a straight state to a bent state. When the traction rope releases the traction force on the traction part, the elastic segment can rebound and reset itself, allowing the mechanical finger to return to the straight state. This structure is simple, low-cost, and lightweight, and is suitable for scenarios requiring high flexibility and high-precision control.
[0007] The bending piece includes multiple elastic parts with a V-shaped structure. The multiple elastic parts are connected in sequence to make the bending piece reciprocate between the first connecting piece and the second connecting piece. The traction rope is threaded through each of the elastic parts.
[0008] In this technical solution, the bending piece is composed of multiple V-shaped elastic parts, forming a reciprocating bending structure, which enhances the flexibility and deformability of the elastic section; the traction rope is threaded through each elastic part to ensure that the traction force is evenly distributed, avoid local stress concentration, improve the service life of the mechanical finger, and also ensure the structural strength of the mechanical finger in the bending state, increasing the pressure resistance of the mechanical finger.
[0009] The traction part, the elastic part, and the first connecting piece are each provided with at least two traction connection holes. The traction rope passes through the traction connection holes, and the two free ends of the traction rope constitute the operating ends for pulling the traction rope.
[0010] In this technical solution, the traction part, the elastic part, and the first connecting piece are all provided with at least two traction connection holes. The traction rope is passed through these holes to ensure that the transmission of traction force is more stable and uniform. The two free ends of the traction rope constitute the operating end, which facilitates the control of the mechanical finger by an external drive device (such as a motor or manual operation).
[0011] The finger root segment is provided with a guide protrusion, and the guide protrusion is provided with a guide hole. The traction rope passes through the guide hole and is limited by the guide protrusion.
[0012] In this technical solution, the finger root segment is provided with a guide protrusion, and the guide hole on the guide protrusion limits the traction rope to ensure that the traction rope can move along the predetermined path during the traction process, prevent the traction rope from deviating or getting tangled during the movement, and ensure the movement accuracy and stability of the mechanical finger.
[0013] The elastic part is provided with weight reduction holes.
[0014] In this technical solution, the weight-reducing hole reduces the weight of the elastic segment while maintaining its elastic properties, further improving the flexibility and response speed of the robotic finger.
[0015] The rope-controlled elastic bending mechanical finger also includes a limiting rope, which is threaded through the elastic segment. The two free ends of the limiting rope are fixedly connected to the finger root segment. The limiting rope and the traction rope are located on opposite sides of the elastic segment.
[0016] In this technical solution, the limiting rope is threaded through the elastic segment and fixedly connected to the finger root segment. The limiting rope and the traction rope are located on opposite sides of the elastic segment, forming a unilateral control of bending by the traction rope and a unilateral limitation by the limiting rope. The function of the limiting rope is to restrict excessive deformation of the elastic segment, prevent damage to the mechanical finger during bending, and improve the controllability and stability of the movement.
[0017] The first connecting piece, the elastic segment, and the second connecting piece are each provided with at least two limiting connecting holes. The limiting rope passes through the limiting connecting holes. The finger root segment is provided with a positioning protrusion. The two free ends of the limiting rope are fixedly connected to the positioning protrusion.
[0018] In this technical solution, the limiting rope is threaded through these limiting connection holes to ensure the uniform distribution of the limiting force; the finger root section is provided with a positioning protrusion, and the two free ends of the limiting rope are fixedly connected to the positioning protrusion, which further enhances the stability and reliability of the limiting rope.
[0019] The traction rope is a steel wire rope; and / or the limiting rope is a steel wire rope.
[0020] In this technical solution, both the traction rope and the limiting rope are made of steel wire rope, which has the characteristics of high strength, wear resistance and corrosion resistance. It can withstand large tensile force and repeated bending, and is suitable for high-frequency and high-load working environments, which extends the service life of the robotic finger and improves its reliability.
[0021] The root segment is connected to the first connecting piece via a root bevel, and the tip segment is connected to the second connecting piece via a tip bevel. The root bevel is inclined in the direction in which the elastic segment is pulled and bent, and the tip bevel is inclined in the direction away from the direction in which the elastic segment is pulled and bent.
[0022] In this technical solution, the design of the root bevel and the tip bevel allows the mechanical finger to transition more naturally when bending, improving the smoothness and comfort of its operation. Moreover, the bending motion trajectory of the mechanical finger is optimized, improving the smoothness and precision of the movement. In addition, after the mechanical finger bends, the force on the elastic segment is more stable, and the bending action is more reliable and stable.
[0023] The base of the finger is detachably connected to the first connecting piece; and / or, the tip of the finger is detachably connected to the second connecting piece.
[0024] In this technical solution, when any one of the finger root segment, fingertip segment, or elastic segment is damaged, it can be replaced individually without scrapping the entire mechanical finger, thus reducing maintenance costs.
[0025] Due to the adoption of the above technical solution, the technical effects achieved by this application include at least the following: the root segment and the tip segment serve as the fixed end and movable end of the mechanical finger, respectively, providing stable support and flexible movement; the elastic segment is made of spring sheet, which has elastic deformation capability and can achieve elastic bending and straightening under the action of the traction rope, improving its flexibility and adaptability, and enabling it to better simulate the movement of human fingers; the traction rope, through the traction part, causes the second connecting piece to compress the bending piece, thereby realizing the switching of the mechanical finger from a straight state to a bent state; when the traction rope releases the traction force on the traction part, the elastic segment can rebound and reset itself, allowing the mechanical finger to return to a straight state; this structure is simple, low in cost, and lightweight, and is suitable for scenarios requiring high flexibility and high precision control. Attached Figure Description
[0026] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:
[0027] Figure 1 Assembly of the rope-controlled elastic bending mechanical finger provided in the embodiments of this application Figure 1 ;
[0028] Figure 2 Assembly of the rope-controlled elastic bending mechanical finger provided in the embodiments of this application Figure 2 ;
[0029] Figure 3 Assembly of the rope-controlled elastic bending mechanical finger provided in the embodiments of this application Figure 3 It shows the mechanical finger in an extended state;
[0030] Figure 4 Assembly of the rope-controlled elastic bending mechanical finger provided in the embodiments of this application Figure 4 It shows the mechanical finger in a bent state;
[0031] Figure 5 This is a schematic diagram of the structure of the elastic segment provided in the embodiments of this application;
[0032] Figure 6 This is a schematic diagram of the structure of the finger root segment and fingertip segment provided in the embodiments of this application.
[0033] List of components and reference numerals:
[0034] 1. Finger root segment; 11. Guide protrusion; 12. Positioning protrusion; 13. Finger root inclined surface;
[0035] 2 fingertip segments, 21 fingertip bevels;
[0036] 3. Towing rope;
[0037] 4. Elastic section, 41. First connecting piece, 42. Second connecting piece, 421. Traction part, 43. Bending piece, 431. Elastic part, 44. Traction connection hole, 45. Weight reduction hole, 46. Limiting connection hole.
[0038] 5. Limiting rope. Detailed Implementation
[0039] To more clearly illustrate the overall concept of this application, a detailed explanation is provided below with reference to the accompanying drawings.
[0040] Many specific details are set forth in the following description in order to provide a full understanding of this application. However, this application may also be implemented in other ways different from those described herein. Therefore, the scope of protection of this application is not limited to the specific embodiments disclosed below.
[0041] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a communication connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.
[0042] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.
[0043] In the embodiments of this application, a rope-controlled elastic bending mechanical finger is provided. For ease of explanation and understanding, the following content provided in this application is based on the illustrated product structure. Of course, those skilled in the art will understand that the above structure is only a specific example and illustrative illustration, and does not constitute a specific limitation on the technical solution provided in this application.
[0044] like Figures 1 to 6 As shown, the present application provides a rope-controlled elastic bending mechanical finger, including a base segment 1, a tip segment 2, a traction rope 3, and an elastic segment 4 made of a spring sheet. The elastic segment 4 has a first connecting piece 41 connecting the base segment 1, a second connecting piece 42 connecting the tip segment 2, and a bending piece 43 with its two ends respectively connected to the first connecting piece 41 and the second connecting piece 42. The bending piece 43 is bent. One end of the second connecting piece 42 is provided with a traction part 421. The traction rope 3 passes through the traction part 421. The traction rope 3 can compress the bending piece 43 by pulling the traction part 421 so that one end of the second connecting piece 42 is directed toward the first connecting piece 41, thereby causing the elastic segment 4 to bend.
[0045] Specifically, such as Figures 1 to 3 The image shows the mechanical finger in an extended position, as shown. Figure 4 The diagram shows a robotic finger in a bent state under the traction of a traction rope 3. In this technical solution, the root segment 1 and the tip segment 2 serve as the fixed and movable ends of the robotic finger, respectively, providing stable support and flexible movement. The elastic segment 4 is made of a spring sheet, possessing elastic deformation capability, enabling it to bend and straighten elastically under the action of the traction rope 3, thus improving its flexibility and adaptability and allowing it to better simulate the movements of a human finger. The traction rope 3 pulls the traction part 421, causing the second connecting piece 42 to compress the bending piece 43, thereby achieving the switching of the robotic finger from a straight to a bent state. When the traction rope 3 releases the traction force on the traction part 421, the elastic segment 4 can rebound and self-reset, allowing the robotic finger to automatically return to a straight state. This structure is simple, low-cost, and lightweight, suitable for scenarios requiring high flexibility and high-precision control, and can be widely used in fields such as robotics, prostheses, and medical devices.
[0046] Regarding the structure of the bent piece 43, as a preferred embodiment, such as Figure 4As shown, the bending piece 43 includes multiple V-shaped elastic portions 431. These elastic portions 431 are sequentially connected, causing the bending piece 43 to reciprocate between the first connecting piece 41 and the second connecting piece 42. The traction rope 3 passes through each elastic portion 431. In this technical solution, the bending piece 43 is composed of multiple V-shaped elastic portions 431, forming a reciprocating bending structure, which enhances the flexibility and deformability of the elastic segment 4. The traction rope 3 passes through each elastic portion 431, ensuring uniform distribution of traction force, avoiding local stress concentration, improving the service life of the robotic finger, ensuring the structural strength of the robotic finger in a bent state, and increasing the pressure-bearing capacity of the robotic finger. In other embodiments, the bending piece can also be a bending structure of other types, such as an S-shaped structure.
[0047] In a preferred embodiment, such as Figure 1 and Figure 4 As shown, the traction part 421, the elastic part 431, and the first connecting piece 41 are each provided with at least two traction connection holes 44. The traction rope 3 passes through the traction connection holes 44, and the two free ends of the traction rope 3 constitute the operating end for pulling the traction rope 3. In this technical solution, the traction part 421, the elastic part 431, and the first connecting piece 41 are each provided with at least two traction connection holes 44. The traction rope 3 passes through these holes to ensure that the transmission of traction force is more stable and uniform. The two free ends of the traction rope 3 constitute the operating end, which facilitates the external drive device (such as a motor or manual control) to control the bending of the mechanical finger by controlling these two free ends. Specifically, one free end of the traction rope 3 can be passed sequentially from the traction connection hole 44 on one side of the first connecting piece 41 through the traction connection holes 44 of the elastic part 431 and the traction connection hole 44 of the traction part 421. After passing through the traction part 421, it can be turned around and passed sequentially from the other traction connection hole 44 on the traction part 421 through the traction connection hole 44 on the other side of the elastic part 431 and the traction connection hole 44 on the other side of the first connecting piece 41.
[0048] Furthermore, as shown in the figure, the finger root segment 1 is provided with a guide protrusion 11, and the guide protrusion 11 is provided with a guide hole. The traction rope 3 passes through the guide hole and is limited by the guide protrusion 11. The guide hole on the guide protrusion 11 limits the traction rope 3, ensuring that the traction rope 3 can move along a predetermined path during traction, preventing the traction rope 3 from deviating or tangling during movement, and ensuring the movement accuracy and stability of the mechanical finger.
[0049] In a preferred embodiment, such as Figure 4As shown, the elastic part 431 is provided with a weight-reducing hole 45. In this technical solution, the weight-reducing hole 45 reduces the weight of the elastic segment 4 while maintaining its elastic properties, further improving the flexibility and response speed of the mechanical finger. Furthermore, without affecting the connection between the first connecting piece 41 and the finger root segment 1, and the connection between the second connecting piece 42 and the fingertip segment 2, weight-reducing holes 45 can also be provided on both the first connecting piece 41 and the second connecting piece 42.
[0050] As a preferred embodiment of this application, such as Figure 1 and Figure 2 As shown, the rope-controlled elastic bending mechanical finger also includes a limiting rope 5. The limiting rope 5 is threaded through the elastic segment 4, and its two free ends are fixedly connected to the finger root segment 1. The limiting rope 5 and the traction rope 3 are located on opposite sides of the elastic segment 4. In this technical solution, the limiting rope 5 is threaded through the elastic segment 4 and fixedly connected to the finger root segment 1. The limiting rope 5 and the traction rope 3 are located on opposite sides of the elastic segment 4, forming a unilateral bending control by the traction rope 3 and a unilateral limiting by the limiting rope 5. The function of the limiting rope 5 is to limit excessive deformation of the elastic segment 4, prevent damage to the mechanical finger during bending, and improve the controllability and stability of the movement.
[0051] In a preferred embodiment, such as Figure 2 and Figure 5 As shown, the first connecting piece 41, the elastic segment 4, and the second connecting piece 42 are each provided with at least two limiting connecting holes 46. The limiting rope 5 passes through the limiting connecting holes 46, and the finger root segment 1 is provided with a positioning protrusion 12. The two free ends of the limiting rope 5 are fixedly connected to the positioning protrusion 12. Specifically, each elastic segment 431 can be provided with a limiting connecting hole 46. The limiting rope 5 passes through these limiting connecting holes 46 to ensure a uniform distribution of the limiting force; the finger root segment 1 is provided with a positioning protrusion 12, and the two free ends of the limiting rope 5 are fixedly connected to the positioning protrusion 12, further enhancing the stability and reliability of the limiting rope 5. Specifically, the two free ends of the limiting rope 5 can be fixedly connected to the positioning protrusion 12 by welding, binding, or other methods.
[0052] In a preferred embodiment, the traction rope 3 and the limiting rope 5 are steel wire ropes. Steel wire ropes have high strength, wear resistance, and corrosion resistance, and can withstand large tensile forces and repeated bending. They are suitable for high-frequency, high-load working environments, extending the service life of the robotic finger and improving its reliability.
[0053] In a preferred embodiment, such as Figure 3 , Figure 4 and Figure 6As shown, the root segment 1 is connected to the first connecting piece 41 via the root inclined surface 13, and the tip segment 2 is connected to the second connecting piece 42 via the tip inclined surface 21. The root inclined surface 13 is inclined along the direction in which the elastic segment 4 is pulled and bent, and the tip inclined surface 21 is inclined away from the direction in which the elastic segment 4 is pulled and bent. In this technical solution, the design of the root inclined surface 13 and the tip inclined surface 21 allows the mechanical finger to transition more naturally when bending, improving the smoothness and comfort of its operation. Moreover, it optimizes the bending trajectory of the mechanical finger, improving the smoothness and precision of the movement. In addition, after the mechanical finger bends, the direction of the traction force of the traction rope 3 tends to be perpendicular to the root inclined surface 13, and the second connecting piece 42 can also more stably support the tip inclined surface 21, making the force on the elastic segment 4 more stable and the bending action of the mechanical finger more reliable and stable.
[0054] In a preferred embodiment, the base segment 1 is detachably connected to the first connecting piece 41; the tip segment 2 is detachably connected to the second connecting piece 42. In this technical solution, when any one of the base segment 1, tip segment 2, or elastic segment 4 is damaged, it can be replaced individually without scrapping the entire mechanical finger, thus reducing maintenance costs. Specifically, the base segment 1 and the first connecting piece 41, as well as the tip segment 2 and the second connecting piece 42, can be detachably connected by screws, bolts, riveting, or other methods.
[0055] The assembly process of this solution is as follows: connect the first connecting piece 41 of the elastic segment 4 to the finger root segment 1, and connect the second connecting piece 42 to the fingertip segment 2; pass the traction rope 3 through the traction connection hole 44 of the traction part 421, the elastic piece, and the first connecting piece 41, and limit it through the guide hole of the guide protrusion 11; pass the limiting rope 5 through the limiting connection hole 46 of the first connecting piece 41, the elastic segment 4, and the second connecting piece 42, and fix it to the positioning protrusion 12.
[0056] The working process of this solution is as follows: The traction rope 3 is pulled manually or electrically, which drives the traction part 421 to compress the bending plate 43, so that the elastic segment 4 changes from a straight state to a bent state; when the traction rope 3 is released, the elastic restoring force of the elastic segment 4 causes the mechanical finger to return to a straight state; the limiting rope 5 restricts the excessive deformation of the elastic segment 4 during the bending process, ensuring the stability and safety of the movement.
[0057] For any parts not mentioned in this application, existing technologies may be used or referenced.
[0058] The various embodiments in this specification are described in a progressive manner. The same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on describing the differences from other embodiments.
[0059] The above description is merely an embodiment of this application and is not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.
Claims
1. A rope-controlled elastic bending mechanical finger, characterized by, The elastic segment is made of spring sheet and has a first connecting sheet connected with the finger root segment, a second connecting sheet connected with the finger tip segment, and a bending sheet connected with the first connecting sheet and the second connecting sheet respectively at two ends, the bending sheet is arranged in a zigzag manner, one end of the second connecting sheet is provided with a traction part, the traction rope is arranged in the traction part, the traction rope can compress the bending sheet by pulling the traction part to make the second connecting sheet one end compress the bending sheet towards the first connecting sheet, and then make the elastic segment bend.
2. The rope-controlled elastic bending mechanical finger according to claim 1, wherein the bending sheet comprises a plurality of elastic parts in V-shaped structure, the plurality of elastic parts are connected in sequence to make the bending sheet present a reciprocating bending structure between the first connecting sheet and the second connecting sheet, and the traction rope is arranged in each elastic part.
3. The rope-controlled elastic bending mechanical finger according to claim 2, wherein the traction part, the elastic part and the first connecting sheet are each provided with at least two traction connecting holes, the traction rope is arranged in the traction connecting holes, and two free ends of the traction rope constitute operation ends for pulling the traction rope.
4. The rope-controlled elastic bending mechanical finger according to claim 3, wherein the finger root segment is provided with a guide protrusion, the guide protrusion is provided with a guide hole, and the traction rope is limited by the guide protrusion by passing through the guide hole.
5. The rope-controlled elastic bending mechanical finger according to claim 2, wherein the elastic part is provided with a weight-reducing hole.
6. The rope-controlled elastic bending mechanical finger according to claim 1, further comprising a limiting rope, the limiting rope is arranged in the elastic segment, two free ends of the limiting rope are fixedly connected with the finger root segment, and the limiting rope and the traction rope are respectively located on opposite sides of the elastic segment.
7. The rope-controlled elastic bending mechanical finger according to claim 6, wherein the first connecting sheet, the elastic segment and the second connecting sheet are each provided with at least two limiting connecting holes, the limiting rope is arranged in the limiting connecting holes, the finger root segment is provided with a positioning protrusion, and two free ends of the limiting rope are fixedly connected with the positioning protrusion.
8. The rope-controlled elastic bending mechanical finger according to claim 6, wherein the traction rope is a steel wire rope, and / or the limiting rope is a steel wire rope.
9. The rope-controlled elastic bending mechanical finger according to claim 1, wherein the finger root segment is connected with the first connecting sheet through a finger root inclined surface, the finger tip segment is connected with the second connecting sheet through a finger tip inclined surface, the finger root inclined surface is inclined along a direction in which the elastic segment is bent by traction, and the finger tip inclined surface is inclined away from the direction in which the elastic segment is bent by traction.
10. The rope-controlled elastic bending mechanical finger according to claim 9, wherein the finger root segment is detachably connected with the first connecting sheet, and / or the finger tip segment is detachably connected with the second connecting sheet.