Robot finger separating and combining mechanism

Abstract

The utility model discloses a robot finger opening and closing mechanism, which can drive a swinging finger to swing in a manner that a track plate is driven to move along a guide structure through linear driving power and a guide piece is driven to rotate by taking a swinging fulcrum piece as a center, so that the robot finger can be opened and closed. The device comprises a linear driving power, a track plate and a guide structure, the track plate is slidably mounted on the guide structure, and a swing track groove is formed in the track plate; the little finger mechanism comprises at least one swinging finger except the thumb, a swinging fulcrum piece and a guiding piece are arranged on the swinging finger, the swinging fulcrum piece is installed between the swinging finger and the shell and can rotate, and the guiding piece is installed in the swinging track groove in a sliding mode; the linear driving power is used for driving the track plate to slide on the guide structure, the track plate drives the guide part to rotate with the swing fulcrum part as the center in the sliding process, and the guide part drives the swing fingers to swing in the rotating process. And the guide structure is mounted on the palm mounting seat.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a mechanism for separating and joining robot fingers. Background Technology

[0002] In the field of robotics, especially humanoid robots, robotic hands play a crucial role. As robotic hands need to adapt to more diverse environments and perform more complex tasks, simple end effectors are no longer sufficient. Therefore, the structural design and functionality of robotic hands must be further optimized. Consequently, humanoid robotic hands have become a hot research topic.

[0003] Because robotic hands need to perform complex actions such as grasping and carrying, they require relatively precise control mechanisms, among which the opening and closing of the fingers is a crucial action. Existing technologies of this kind suffer from structural complexity. For example, patent number 202020705822.0 discloses a robotic hand with a forked palm and a coaxially rotating wrist, which discloses a robotic hand capable of opening and closing the fingers. This robotic hand has a very complex structure, utilizing numerous components such as wires and fixing plates to achieve finger opening and closing, which is not conducive to large-scale production.

[0004] The existing technology has the technical defects described above, which has become a major technical problem that urgently needs to be solved by those skilled in the art. Utility Model Content

[0005] This utility model discloses a robot finger opening and closing mechanism. By driving the track plate to move along the guide structure through linear drive power, the guide component rotates around the swing fulcrum component, thereby driving the swinging of the swinging finger, that is, realizing the opening and closing of the robot finger.

[0006] The robot finger splitting and joining mechanism provided by this utility model is used in a robot hand. The robot hand includes a palm mounting base, a little finger mechanism, and a shell, including: a linear drive power source, a track plate, and a guide structure.

[0007] The track plate is slidably mounted on the guide structure, and a swing track groove is provided on it;

[0008] The little finger mechanism includes at least one swinging finger other than the thumb. The swinging finger is provided with a swing fulcrum and a guide. The swing fulcrum is installed between the swinging finger and the outer shell and can rotate. The guide is slidably installed in the swing trajectory groove.

[0009] The linear drive power is used to drive the track plate to slide on the guide structure. During the sliding process of the track plate, the guide component is driven to rotate around the swing fulcrum component. During the rotation of the guide component, the swing finger is driven to swing.

[0010] The guide structure is mounted on the palm mount.

[0011] Preferred,

[0012] There are two swing fulcrums, which are respectively set on both sides of the swinging fingers facing the palm or the back of the hand, and are mounted on the outer shell.

[0013] Preferred,

[0014] The guide is located on the side of the swinging finger near the back of the hand and is slidably installed in the swing trajectory groove.

[0015] Preferred,

[0016] Both the oscillating pivot and the guide are rollers.

[0017] Preferred,

[0018] The swinging fingers include the knuckles and the knuckle mounts;

[0019] When the robot hand is in an extended position, the knuckles are located away from the palm mount, and the knuckle mount is located close to the palm mount.

[0020] Both the swing fulcrum and the guide are mounted on the knuckle mount, with the guide being closer to the palm mount than the swing fulcrum.

[0021] Preferred,

[0022] The little finger mechanism includes four swinging fingers, and four swinging track slots are provided on the track plate.

[0023] Preferred,

[0024] The linear drive is powered by an electric cylinder or a pneumatic cylinder.

[0025] Preferred,

[0026] The guide structure consists of two parallel guide rods;

[0027] The track plate is equipped with guide blocks, and the track plate is mounted on the guide rod through the guide blocks.

[0028] Preferred,

[0029] The track board is a rectangular plate with multiple swing track grooves evenly arranged on the rectangular plate.

[0030] The track board has two rows of guide blocks.

[0031] Preferred,

[0032] The outer casing includes a palm cover and a back cover, the palm cover having a mounting groove for accommodating the installation of the swing fulcrum component, and / or the back cover having a mounting groove for accommodating the installation of the swing fulcrum component.

[0033] This utility model discloses a robot finger opening and closing mechanism for use in a robot hand. The robot hand includes a palm mounting base, a little finger mechanism, and a shell. It comprises: a linear drive power source, a track plate, and a guide structure. The track plate is slidably mounted on the guide structure and has a swing track groove. The little finger mechanism includes at least one swinging finger (excluding the thumb), with a swing fulcrum and a guide on each swinging finger. The swing fulcrum is mounted between the swinging finger and the shell and is rotatable. The guide is slidably mounted within the swing track groove. The linear drive power drives the track plate to slide on the guide structure. During the sliding process, the track plate drives the guide to rotate around the swing fulcrum, which in turn drives the swinging finger to swing. The guide structure is mounted on the palm mounting base. By driving the track plate along the guide structure with the linear drive power, which in turn drives the guide to rotate around the swing fulcrum, this robot finger opening and closing mechanism enables the swinging finger to swing, thus achieving the opening and closing of the robot finger. Attached Figure Description

[0034] Figure 1 An exploded view of the robot finger splitting and joining mechanism for a robot hand according to an embodiment of this utility model;

[0035] Figure 2 This is another exploded view of the robot finger splitting and joining mechanism for a robot hand according to an embodiment of the present invention;

[0036] Figure 3 This is a schematic diagram of the robot finger splitting and joining mechanism according to an embodiment of the present invention;

[0037] Figure 4 This is a schematic diagram of the robot hand closing mechanism in an embodiment of the present invention.

[0038] Figure 5 This is a schematic diagram of the robot hand opening in the robot finger opening and closing mechanism of this utility model embodiment;

[0039] Figure 6 This is a schematic diagram of the structure of the robot hand in the robot finger opening and closing mechanism of this utility model when it is closed after the hidden shell 3 is concealed;

[0040] Figure 7 This is a schematic diagram of the structure of the robot hand in the robot finger opening and closing mechanism of this utility model embodiment when the robot hand closes after the hidden shell 3 is closed. Detailed Implementation

[0041] This utility model discloses a robot finger opening and closing mechanism. The linear drive power 4 drives the track plate 5 to move along the guide structure 6, which drives the guide member 212 to rotate around the swing fulcrum member 211, thereby driving the swinging finger 21 to swing, that is, to realize the opening and closing of the robot finger.

[0042] The technical solutions of the present utility model will be clearly and thoroughly described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only a part of the embodiments of the present utility model, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the scope of protection of the present utility model. Please refer to... Figures 1 to 7 The present invention provides a robot finger splitting and joining mechanism for use in a robot hand. The robot hand includes a palm mounting base 1, a little finger mechanism 2, and a shell 3, and includes: a linear drive power 4, a track plate 5, and a guide structure 6.

[0043] The track plate 5 is slidably mounted on the guide structure 6, and a swing track groove 51 is provided on it;

[0044] The little finger mechanism 2 includes at least one swinging finger 21 other than the thumb. The swinging finger 21 is provided with a swinging fulcrum 211 and a guide 212. The swinging fulcrum 211 is installed between the swinging finger 21 and the outer shell 3 and can rotate. The guide 212 is slidably installed in the swinging trajectory groove 51.

[0045] The linear drive power 4 is used to drive the track plate 5 to slide on the guide structure 6. During the sliding process of the track plate 5, the guide member 212 is driven to rotate around the swing fulcrum member 211. During the rotation of the guide member 212, the swing finger 21 is driven to swing.

[0046] The guide structure 6 is installed on the palm mounting base 1.

[0047] In this invention, it should first be noted that, generally speaking, a robotic hand includes a thumb mechanism, an index finger mechanism, a middle finger mechanism, a ring finger mechanism, and a little finger mechanism. Since the structures of the index finger, middle finger, ring finger, and little finger mechanisms are similar, this invention collectively refers to them as the little finger mechanism 2. Next, when the fingers need to be opened or closed, the linear drive 4 operates, driving the track plate 5 to rise or fall along the guide structure 6. Since the guide member 212 is slidably installed within the swing track groove 51 and the swing fulcrum member 211 is installed between the swinging finger 21 and the outer shell 3, as the drive track plate 5 rises or falls, the guide member 212 rotates forward or backward around the swing fulcrum member 211, simultaneously driving the swinging finger 21 to swing, thus completing the opening or closing of the fingers. It should be noted that the setting of the swing track groove 51 on the track plate 5 is crucial, as it affects the degree of finger opening and smoothness. In actual design, it can be designed according to the needs and various requirements such as finger length, and is not limited here.

[0048] Preferred,

[0049] There are two swing fulcrums 211, which are respectively set on both sides of the swinging finger 21 facing the palm or the back of the hand, and are mounted on the outer shell 3.

[0050] It should be noted that when there is one swing fulcrum 211, it can be installed on the side facing the palm or the back of the hand. When there are two, they can be set on the sides of the swing finger 21 facing the palm or the back of the hand respectively. The two is the preferred solution, in which case the swing of the swing finger 21 is more stable.

[0051] Preferred,

[0052] The guide 212 is located on the side of the swinging finger 21 near the back of the hand and is slidably installed in the swinging trajectory groove 51.

[0053] Preferred,

[0054] Both the swing fulcrum 211 and the guide 212 are rollers.

[0055] It should be noted that the swing fulcrum 211 is able to rotate in a fixed position, while the guide 212 is able to change position and rotate.

[0056] Preferred,

[0057] The swinging finger 21 includes a knuckle 213 and a knuckle mounting base 214;

[0058] When the robot hand is in an extended state, the knuckles 213 are located away from the palm mounting base 1, and the knuckle mounting base 214 is located close to the palm mounting base 1.

[0059] Both the swing fulcrum 211 and the guide 212 are mounted on the knuckle mounting base 214, and the guide 212 is closer to the palm mounting base 1 than the swing fulcrum 211.

[0060] Preferred,

[0061] The little finger mechanism 2 includes four swinging fingers 21, and the track plate 5 has four swinging track grooves 51.

[0062] Preferred,

[0063] The linear drive power source 4 is either an electric cylinder or a pneumatic cylinder.

[0064] Preferred,

[0065] The guide structure 6 consists of two parallel guide rods 61;

[0066] The track plate 5 is equipped with a guide block 52, and the track plate 5 is mounted on the guide rod 61 through the guide block 52.

[0067] Preferred,

[0068] The track plate 5 is a rectangular plate, and multiple swing track grooves 51 are evenly arranged on the rectangular plate.

[0069] The track board 5 is equipped with two rows of guide blocks 52.

[0070] Preferred,

[0071] The outer casing 3 includes a palm cover plate 31 and a back cover plate 32. The palm cover plate 31 has an installation groove for accommodating the swing fulcrum member 211, and / or the back cover plate 32 has an installation groove for accommodating the swing fulcrum member 211.

[0072] This utility model discloses a robot finger splitting and joining mechanism for use in a robot hand. The robot hand includes a palm mounting base 1, a little finger mechanism 2, and a shell 3. It comprises: a linear drive power source 4, a track plate 5, and a guide structure 6. The track plate 5 is slidably mounted on the guide structure 6 and has a swing track groove 51. The little finger mechanism 2 includes at least one swinging finger 21 excluding the thumb. The swinging finger 21 has a swing fulcrum 211 and a guide 212. The swing fulcrum 211 is mounted between the swinging finger 21 and the shell 3 and is rotatable. The guide 212 is slidably mounted in the swing track groove 51. The linear drive power source 4 drives the track plate 5 to slide on the guide structure 6. During the sliding process, the track plate 5 drives the guide 212 to rotate around the swing fulcrum 211. During the rotation of the guide 212, the swinging finger 21 swings. The guide structure 6 is mounted on the palm mounting base 1. By driving the track plate 5 along the guide structure 6 through the linear drive power 4, and driving the guide member 212 to rotate around the swing fulcrum member 211, the robot finger opening and closing mechanism of this utility model can drive the swinging finger 21 to swing, that is, realize the opening and closing of the robot finger.

[0073] The above provides a detailed description of the robot finger splitting and joining mechanism provided by this utility model. For those skilled in the art, based on the ideas of the embodiments of this utility model, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this utility model.

Claims

1. A robot finger opening and closing mechanism for use in a robot hand, said robot hand comprising a palm mounting base (1), a small finger mechanism (2) and a housing (3), characterized in that The utility model relates to a robot hand mechanism, including: Linear drive power (4), trajectory plate (5) and guide structure (6); The trajectory plate (5) is slidably installed on the guide structure (6), and a swing trajectory groove (51) is arranged on the trajectory plate (5); The small finger mechanism (2) includes at least one swing finger (21) except the thumb, the swing finger (21) is provided with a swing fulcrum piece (211) and a guide piece (212), wherein the swing fulcrum piece (211) is installed between the swing finger (21) and the shell (3) and can rotate, and the guide piece (212) is slidably installed in the swing trajectory groove (51); The linear drive power (4) is used to drive the trajectory plate (5) to slide on the guide structure (6), and the trajectory plate (5) drives the guide piece (212) to rotate around the swing fulcrum piece (211) during sliding, and the guide piece (212) drives the swing of the swing finger (21) during rotation; The guide structure (6) is installed on the palm mounting seat (1).

2. The robotic finger opening and closing mechanism according to claim 1, wherein The swing fulcrum piece (211) is two, is arranged on the two sides of the swing finger (21) facing the palm or the back of the hand respectively and is installed on the shell (3).

3. The robotic finger opening and closing mechanism according to claim 1, wherein The guide piece (212) is arranged on the side of the swing finger (21) close to the back of the hand and is slidably installed in the swing trajectory groove (51).

4. The robotic finger opening and closing mechanism of claim 1, wherein, The swing fulcrum piece (211) and the guide piece (212) are rollers.

5. The robotic finger opening and closing mechanism of claim 1, wherein, The swing finger (21) includes a knuckle (213) and a knuckle mounting seat (214); When the robot hand is in a straight state, the knuckle (213) is located away from the palm mounting seat (1), and the knuckle mounting seat (214) is located close to the palm mounting seat (1); The swing fulcrum piece (211) and the guide piece (212) are installed on the knuckle mounting seat (214), and the guide piece (212) is closer to the palm mounting seat (1) than the swing fulcrum piece (211).

6. The robotic finger opening and closing mechanism of claim 1, wherein, The small finger mechanism (2) includes four swing fingers (21), and four swing trajectory grooves (51) are formed in the trajectory plate (5).

7. The robotic finger opening and closing mechanism according to any one of claims 1 to 6, characterized in that, The linear drive power (4) is an electric cylinder or a gas cylinder.

8. The robotic finger opening and closing mechanism according to any one of claims 1 to 6, characterized in that, The guide structure (6) is two parallel guide rods (61); The trajectory plate (5) is provided with guide blocks (52), and the trajectory plate (5) is installed on the guide rods (61) through the guide blocks (52).

9. The robotic finger opening and closing mechanism of claim 8, wherein, The trajectory plate (5) is a rectangular plate body, and a plurality of swing trajectory grooves (51) are uniformly arranged on the rectangular plate body; The trajectory plate (5) is provided with two rows of guide blocks (52).

10. The robot finger opening and closing mechanism according to any one of claims 1 to 6, characterized in that, The shell (3) includes a palm cover plate (31) and a back cover plate (32), the palm cover plate (31) is provided with an installation groove for accommodating the swing fulcrum piece (211), and / or the back cover plate (32) is provided with an installation groove for accommodating the swing fulcrum piece (211).

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