Robot finger mechanism

Abstract

The utility model discloses a robot finger mechanism which is used in a robot, a power unit is used for controlling a near-end connecting rod to rotate so as to control the bending and straightening mode of the robot finger mechanism, the stroke needed by finger bending is converted into the rotation of the near-end connecting rod, the stroke needed by finger bending can be shortened, and therefore the needed space is reduced. The finger joint comprises a far-end finger joint unit, a near-end finger joint unit, a power unit and a finger joint seat, the far-end knuckle unit, the near-end knuckle unit and the knuckle seat are arranged in sequence; the near-end knuckle unit comprises a near-end knuckle, a near-end connecting rod and a far-end control connecting rod; one end of the near-end connecting rod is rotationally connected with the near-end knuckle, and the other end of the near-end connecting rod is rotationally connected with the power unit or the knuckle seat; one end of the far-end control connecting rod is rotationally connected with the knuckle seat, and the other end is connected with the far-end knuckle unit; the power unit is arranged in the knuckle base and used for controlling rotation of the near-end connecting rod, and bending and straightening of the robot finger mechanism are controlled through rotation of the near-end connecting rod.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to a robotic finger mechanism. 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 a relatively precise control mechanism. At the same time, robotic hands need to be small in size and light in weight. However, although existing technologies have enough joints and drives to perform complex actions such as grasping and carrying, their structures are complex and their sizes are large.

[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 mechanism that controls the bending and straightening of the robot finger mechanism by using a power unit to control the rotation of the proximal link. This transforms the stroke required for finger bending into the rotation of the proximal link, which can shorten the stroke required for finger bending, thereby reducing the required space and solving the defects of the prior art.

[0006] The robot finger mechanism provided by this utility model includes: a distal phalanx unit, a proximal phalanx unit, a power unit, and a phalanx base;

[0007] The distal phalanx unit, the proximal phalanx unit, and the phalanx seat are arranged in sequence;

[0008] The proximal phalanx unit includes a proximal phalanx, a proximal link, and a distal control link;

[0009] One end of the proximal link is rotatably connected to the proximal phalanx, and the other end is rotatably connected to the power unit or phalanx seat;

[0010] One end of the remote control linkage is rotatably connected to the knuckle seat, and the other end is connected to the remote knuckle unit;

[0011] The power unit is located inside the knuckle seat and is used to control the rotation of the proximal link. The rotation of the proximal link controls the bending and straightening of the robot finger mechanism.

[0012] Preferred,

[0013] The proximal link includes a first link and a second link arranged in an L-shape, wherein the two ends of the first link are rotatably connected to the proximal phalanx and the second link, respectively, and the two ends of the second link are rotatably connected to the first link and the phalanx seat, respectively.

[0014] Preferred,

[0015] The power unit is a linear drive power unit, with its drive end rotatably connected to the second link and its power tail end rotatably connected to the finger joint seat.

[0016] The second connecting rod has a through hole in the middle, and the drive end extends into the through hole for installation.

[0017] Preferred,

[0018] The linear drive power is an electric cylinder or a pneumatic cylinder.

[0019] Preferred,

[0020] The proximal phalanx is hollow inside;

[0021] One end of the remote control linkage is rotatably connected to the knuckle seat, and the other end passes through the inside of the proximal knuckle and is rotatably connected to the remote knuckle unit.

[0022] Preferred,

[0023] The distal phalanx unit includes a first phalanx, and the first phalanx, proximal phalanx, and phalanx seat are rotatably connected in sequence.

[0024] The remote control linkage is rotatably connected to the first finger joint.

[0025] Preferred,

[0026] The distal phalanx unit includes a first phalanx, a second phalanx, and an intermediate link;

[0027] The first phalanx, second phalanx, proximal phalanx, and phalanx seat are sequentially rotated and connected.

[0028] The two ends of the intermediate connecting rod are rotatably connected to the first phalanx and the proximal phalanx, respectively;

[0029] The remote control linkage is rotatably connected to the second knuckle.

[0030] Preferred,

[0031] The second phalanx is hollow inside;

[0032] One end of the intermediate link is rotatably connected to the proximal phalanx, and the other end passes through the inside of the second phalanx and is rotatably connected to the first phalanx.

[0033] Preferred,

[0034] It also includes a reset unit consisting of a reset shaft and a reset element;

[0035] The reset pivot is installed on the joint rotation fulcrum between the first and second phalanges;

[0036] One end of the reset element is installed at the position where the middle connecting rod connects to the proximal phalanx, and the other end passes through the interior of the middle phalanx and is installed on the reset shaft.

[0037] Preferred,

[0038] The reset element is a spring.

[0039] This invention relates to a robotic finger mechanism, comprising: a distal phalanx unit, a proximal phalanx unit, a power unit, and a phalanx seat; the distal phalanx unit, proximal phalanx unit, and phalanx seat are arranged sequentially; the proximal phalanx unit includes a proximal phalanx, a proximal connecting rod, and a distal control connecting rod; one end of the proximal connecting rod is rotatably connected to the proximal phalanx, and the other end is rotatably connected to the power unit or the phalanx seat; one end of the distal control connecting rod is rotatably connected to the phalanx seat, and the other end is connected to the distal phalanx unit; the power unit is disposed within the phalanx seat and is used to control the rotation of the proximal connecting rod, which controls the bending and straightening of the robotic finger mechanism. By utilizing the power unit to control the rotation of the proximal connecting rod to control the bending and straightening of the robotic finger mechanism, this invention converts the stroke required for finger bending into the rotation of the proximal connecting rod, thereby shortening the stroke required for finger bending, reducing the required space, and thus overcoming the shortcomings of existing technologies. Attached Figure Description

[0040] Figure 1 This is a cross-sectional view of one embodiment of the robot finger mechanism of this utility model;

[0041] Figure 2 This is a perspective view of one embodiment of the robot finger mechanism of this utility model;

[0042] Figure 3 This is an exploded view of one embodiment of the robot finger mechanism of this utility model;

[0043] Figure 4 This is a perspective view of another embodiment of the robot finger mechanism of this utility model;

[0044] Figure 5 This is another perspective view of another embodiment of the robot finger mechanism of this utility model;

[0045] Figure 6 This is a cross-sectional view of the robot finger mechanism in another embodiment of the present invention, showing the finger in a straightened state;

[0046] Figure 7This is a cross-sectional view of the robot finger mechanism in another embodiment of the present invention, showing the finger in a bent state;

[0047] Figure 8 This is an exploded view of another embodiment of the robot finger mechanism of this utility model. Detailed Implementation

[0048] This utility model discloses a robot finger mechanism. By using the power unit 3 to control the rotation of the proximal link to control the bending and straightening of the robot finger mechanism, the stroke required for finger bending is converted into the rotation of the proximal link 22, which can shorten the stroke required for finger bending, thereby reducing the required space and solving the defects of the prior art.

[0049] 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 8 The robot finger mechanism provided by this utility model includes: a distal phalanx unit 1, a proximal phalanx unit 2, a power unit 3, and a phalanx base 4;

[0050] The distal phalanx unit 1, the proximal phalanx unit 2, and the phalanx seat 4 are arranged in sequence;

[0051] The proximal phalanx unit 2 includes a proximal phalanx 21, a proximal link 22, and a distal control link 23;

[0052] One end of the proximal link 22 is rotatably connected to the proximal phalanx 21, and the other end is rotatably connected to the power unit 3 or the phalanx seat 4.

[0053] One end of the remote control linkage 23 is rotatably connected to the knuckle seat 4, and the other end is connected to the remote knuckle unit 1;

[0054] The power unit 3 is located inside the knuckle seat 4 and is used to control the rotation of the proximal link 22. The rotation of the proximal link 22 controls the bending and straightening of the robot finger mechanism.

[0055] In this invention, the power unit 3 can be a rotary power source or a linear drive power source, that is, a power component capable of directly performing lifting and lowering movements, such as an electric cylinder or a pneumatic cylinder. Assuming the robot's finger mechanism is currently in an extended state, i.e. Figure 6As shown, the state is explained using the power unit 3 as the linear drive force. When it is necessary to bend the finger, the drive end 31 of the linear drive force descends, causing the proximal link 22 to move downwards. As the proximal link 22 moves downwards, it causes the proximal phalanx 21 directly connected to it to bend. When the proximal phalanx 21 bends, it causes the distal phalanx unit 1 directly connected to it to move. During the movement of the distal phalanx unit 1, it is pulled and bent by the distal control link 23. That is, as the drive end 31 descends, the entire finger begins to bend; conversely, when the drive end 31 rises, the entire finger begins to straighten.

[0056] Preferred,

[0057] The proximal link 22 includes an L-shaped first link 221 and a second link 222, wherein the two ends of the first link 221 are rotatably connected to the proximal phalanx 21 and the second link 222, respectively, and the two ends of the second link 222 are rotatably connected to the first link 221 and the phalanx seat 4, respectively.

[0058] It should be noted that in this invention, the proximal link 22 adopts a two-link combination, namely, a first link 221 and a second link 222 that are rotatably connected. This is mainly to accommodate the drive system when the power unit 3 is a linear drive and to reduce the stroke. The linear drive power controls the rotation of the second link 222 through lifting, while simultaneously controlling the rotation of the proximal phalanx 21 through the first link 221. Furthermore, by using a lever-driven linkage, the overall structure has better support and more stable drive.

[0059] Preferred,

[0060] The power unit 3 is a linear drive power unit. Its drive end 31 is rotatably connected to the second connecting rod 222, and its power tail end 32 is rotatably connected to the finger joint seat 4.

[0061] The second connecting rod 222 has a through hole in the middle, and the driving end 31 extends into the through hole for installation.

[0062] Preferred,

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

[0064] Preferred,

[0065] The proximal phalanx 21 is hollow inside;

[0066] One end of the remote control linkage 23 is rotatably connected to the knuckle seat 4, and the other end passes through the inside of the proximal knuckle 21 and is rotatably connected to the remote knuckle unit 1.

[0067] Preferred,

[0068] The distal phalanx unit 1 includes a first phalanx 11, and the first phalanx 11, the proximal phalanx 21 and the phalanx seat 4 are rotatably connected in sequence.

[0069] The remote control linkage 23 is rotatably connected to the first finger joint 11.

[0070] In this embodiment of the invention, the distal phalanx unit 1 has two configurations: one is a single phalanx, in which case the robot finger is the thumb. Let's assume the robot finger mechanism is currently in an extended state, i.e. Figure 6 As shown, the state is explained using the power unit 3 as the linear drive power. When it is necessary to bend the finger, the drive end 31 of the linear drive power descends, causing the proximal link 22 to move downward. As the proximal link 22 moves downward, it causes the proximal phalanx 21 directly connected to it to bend. When the proximal phalanx 21 bends, it causes the first phalanx 11 directly connected to it to move. During the movement of the first phalanx 11, it is pulled and bent by the distal control link 23. That is, as the drive end 31 descends, the entire thumb begins to bend; conversely, when the drive end 31 rises, the entire first phalanx 11 begins to straighten.

[0071] Preferred,

[0072] The distal phalanx unit 1 includes a first phalanx 11, a second phalanx 12, and an intermediate connecting rod 13;

[0073] The first phalanx 11, the second phalanx 12, the proximal phalanx 21, and the phalanx seat 4 are sequentially rotatably connected;

[0074] The two ends of the intermediate connecting rod 13 are rotatably connected to the first phalanx 11 and the proximal phalanx 21, respectively;

[0075] The remote control linkage 23 is rotatably connected to the second finger joint 12.

[0076] It should be noted that in another case of distal phalanx unit 1, including the first phalanx 11 and the second phalanx 12, the robot's fingers consist of four fingers excluding the thumb. Let's assume the robot's finger mechanism is currently in an extended state, i.e. Figure 6 As shown, the state is explained using the power unit 3 as the linear drive force. When it is necessary to bend the finger, the drive end 31 of the linear drive force descends, causing the proximal link 22 to move downwards. As the proximal link 22 moves downwards, it causes the proximal phalanx 21 directly connected to it to bend. When the proximal phalanx 21 bends, it causes the second phalanx 12 directly connected to it to move. During the movement of the second phalanx 12, it is pulled and bent by the distal control link 23. At the same time, it causes the first phalanx 11 directly connected to it to move. During the movement of the first phalanx 11, it is pulled and bent by the intermediate link 13. That is, as the drive end 31 descends, the entire finger begins to bend; conversely, when the drive end 31 rises, the entire finger begins to straighten.

[0077] Preferred,

[0078] The second phalanx 12 is hollow inside;

[0079] One end of the intermediate connecting rod 13 is rotatably connected to the proximal phalanx 21, and the other end passes through the interior of the second phalanx 12 and is rotatably connected to the first phalanx 11.

[0080] Preferred,

[0081] It also includes a reset unit 5 consisting of a reset shaft 51 and a reset element 52;

[0082] The reset pivot 51 is installed on the joint rotation fulcrum between the first phalanx 11 and the second phalanx 12;

[0083] One end of the reset element 52 is installed at the position where the intermediate connecting rod 13 is connected to the proximal phalanx 21, and the other end passes through the interior of the middle phalanx 3 and is installed on the reset shaft 51.

[0084] Preferred,

[0085] The reset element 52 is a spring.

[0086] In addition, the robot finger mechanism of this utility model can also be provided with a reset unit 5 consisting of a reset shaft 51 and a reset element 52. The reset unit 5 can make the movement of the entire finger more taut and not loose.

[0087] The robotic finger mechanism of this utility model includes: a distal phalanx unit 1, a proximal phalanx unit 2, a power unit 3, and a phalanx seat 4; the distal phalanx unit 1, the proximal phalanx unit 2, and the phalanx seat 4 are arranged sequentially; the proximal phalanx unit 2 includes a proximal phalanx 21, a proximal connecting rod 22, and a distal control connecting rod 23; one end of the proximal connecting rod 22 is rotatably connected to the proximal phalanx 21, and the other end is rotatably connected to the power unit 3 or the phalanx seat 4; one end of the distal control connecting rod 23 is rotatably connected to the phalanx seat 4, and the other end is connected to the distal phalanx unit 1; the power unit 3 is disposed in the phalanx seat 4 and is used to control the rotation of the proximal connecting rod 22, and the rotation of the proximal connecting rod 22 controls the bending and straightening of the robotic finger mechanism. By using the power unit 3 to control the rotation of the proximal link to control the bending and straightening of the robot finger mechanism, the robot finger mechanism of this invention converts the stroke required for finger bending into the rotation of the proximal link 22, which can shorten the stroke required for finger bending, thereby reducing the required space and thus solving the defects of the prior art.

[0088] The robot finger mechanism provided by this utility model has been described in detail above. For those skilled in the art, there will be changes in the specific implementation method and application scope based on the idea of ​​the embodiments of this utility model. Therefore, the content of this specification should not be construed as a limitation of this utility model.

Claims

1. A robotic finger mechanism, characterized by, The application relates to a robot finger mechanism. The application relates to a robot finger mechanism. The application relates to a robot finger mechanism. The application relates to a robot finger mechanism. The application relates to a robot finger mechanism. The application relates to a robot finger mechanism. The application relates to a robot finger mechanism.

2. The robotic finger mechanism of claim 1, wherein, The application relates to a robot finger mechanism.

3. The robotic finger mechanism of claim 2, wherein, The application relates to a robot finger mechanism. The application relates to a robot finger mechanism.

4. The robotic finger mechanism of claim 3, wherein, The application relates to a robot finger mechanism.

5. The robotic finger mechanism of claim 1, wherein, The application relates to a robot finger mechanism. The application relates to a robot finger mechanism.

6. The robotic finger mechanism according to any one of claims 1 to 5, wherein, The application relates to a robot finger mechanism. The application relates to a robot finger mechanism.

7. The robotic finger mechanism according to any one of claims 1 to 5, wherein, The application relates to a robot finger mechanism. The application relates to a robot finger mechanism. The application relates to a robot finger mechanism. The application relates to a robot finger mechanism.

8. The robotic finger mechanism of claim 7, wherein, The application relates to a robot finger mechanism. The application relates to a robot finger mechanism.

9. The robotic finger mechanism of claim 7, wherein, The application relates to a robot finger mechanism. The application relates to a robot finger mechanism. The application relates to a robot finger mechanism.

10. The robotic finger mechanism of claim 7, wherein, The application relates to a robot finger mechanism. The application relates to a robot finger mechanism. The application relates to a robot finger mechanism. The application relates to a robot finger mechanism. The application relates to a robot finger mechanism. The application relates to a robot finger mechanism. The application relates to a robot finger mechanism. The application relates to a robot finger mechanism. The application relates to a robot finger mechanism. The application relates to a robot finger mechanism. The application relates to a robot finger mechanism. The application relates to a robot finger mechanism. The application relates to a robot finger mechanism. The application relates to a robot finger mechanism. The application relates to a robot finger mechanism. The application relates to a robot finger mechanism. The application relates to a robot finger mechanism. 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