Dynamic fastening self-locking manipulator finger

Abstract

The utility model relates to a dynamically-fastened self-locking manipulator finger which integrates the advantages that a mechanical self-adaptive structure is simple and a motor direct drive can provide large force, so that the structure is simplified while the self-locking function is realized, and the problem of processing data of multiple sensors is avoided. And meanwhile, the stability and reliability of a heavy object in a grabbing scene are improved, a pressure plate and a connecting rod transmission mechanism are used as mechanical sensing devices, dynamic motor driving force is given to the loose finger sections, and it is guaranteed that the object can be grabbed all the time.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field, concretely relates to a dynamic fastening's self locking mechanical hand finger. BACKGROUND

[0002] Mechanical finger as one of the main parts of anthropomorphic free joint mechanical hand, mainly through the movement and force of multiple joints to complete the target holding action. The number and structure design of mechanical finger and its joints make the mechanical hand have multiple degrees of freedom, and the multidirectional movement of the finger joints can improve the ability to grasp complex objects.

[0003] The Chinese patent with the application number 201510862808.5 provides a self-adaptive self-locking mechanical hand device, which realizes self-adaptive variable force grabbing and locking single joint functions through connecting rods, tendons, lever rods and other mechanisms. Since it can lock a single joint, it has better control and can withstand greater force. However, it has the following disadvantages: multiple transmission mechanisms such as connecting rods, tendons, torsional springs, and lever rods are used, the structure is relatively complex, and the volume is large. Secondly, the self-adaptation is realized through the connecting rod system, the transmittable force is small, and the pressure and gripping force that can be exerted on the object are small; at the same time, due to the limited rotation of the connecting rod, the transmittable torque is small. Finally, the self-locking mechanism used is a lever rod, the transmission is relatively complex, resulting in a decrease in stability.

[0004] The Chinese patent with the application number 2024115335590 provides a direct-drive finger structure, which drives the rotation of three groups of joints through three motors, and is provided with a variety of sensing devices such as rotary encoders and displacement sensors, which can control the finger more flexibly and perform accurate environmental sensing. However, it has the following disadvantages: it uses a large number of electronic devices such as motors and sensors, and the data interaction is complex. More processors and other auxiliary devices are needed, which increases the complexity of the finger and reduces the stability. When it grabs heavy objects, the motor needs to be continuously started to provide grabbing force, which consumes energy and easily wears out parts. Since it uses a variety of mechanical and electronic components, the finger is large in size and cannot adapt to application scenarios that require miniaturization. SUMMARY

[0005] In order to solve the problems of the prior art, the utility model provides a dynamic fastening's self locking mechanical hand finger, which combines the advantages of simple mechanical self-adaptive structure and large force provided by motor direct drive, thereby simplifying the structure while realizing the self-locking function and avoiding the problem of processing multiple sensor data. At the same time, the stability and reliability in the heavy object grabbing scene are increased, the pressure plate and connecting rod transmission mechanism are used as mechanical sensing devices to realize dynamic motor driving force to the loose finger segment, ensuring that the object can be grabbed at any time.

[0006] A kind of dynamic fastening self-locking mechanical hand finger, comprising: main power motor, towrope motor, main transmission mechanism, first finger segment, second finger segment, third finger segment, two groups of belt pulley transmission mechanism, three groups of rotating shafts, three groups of gear sets, two groups of connecting rod mechanisms, two groups of pressure plates, two groups of spring parts, two groups of gear locking parts, two groups of torsional springs, two groups of ratchet pawl self-locking mechanisms and two towrope, wherein:

[0007] The main power motor is connected with the input end of the main transmission mechanism, the output end of the main transmission mechanism is connected with the first gear set sleeved on the first rotating shaft, the first gear set is connected with the second gear set sleeved on the second rotating shaft through the first belt pulley, and the second gear set is connected with the third gear set sleeved on the third rotating shaft through the second belt pulley;

[0008] The two groups of springs are respectively sleeved between the cylindrical protrusions on the two groups of pressure plates and the cylindrical protrusions on the first finger segment and the second finger segment, the two groups of pressure plates are fixedly connected with the input ends of the two groups of connecting rod mechanisms, and the output ends of the two groups of connecting rod mechanisms are respectively sleeved with the gear locking parts;

[0009] The transmission shafts on the first finger segment and the second finger segment are respectively fixedly connected with the two groups of ratchet pawl self-locking mechanisms, the two groups of pawls are respectively fixedly connected with the towrope, and the towrope is fixedly connected with the towrope motor, so that the reset action of the towrope and the torsional spring is realized by the rotation of the towrope motor to realize the switching of the self-locking function.

[0010] The utility model brings the beneficial technical effect:

[0011] 1) under the premise of ensuring self-adaptation, the power provided by the motor can be directly transmitted to the terminal finger segment, the self-locking function is realized, the motor is not continuously powered on when an object is gripped, and energy is saved.

[0012] 2) the utility model realizes the dynamic fastening function, that is, when a finger segment is loose, the pressure plate and the gear fixing part can be automatically fed back through the transmission to pause the transmission of the motor driving force to the finger segment above the loose finger segment, and the loose finger segment is driven to rotate to grip the object again. BRIEF DESCRIPTION OF DRAWINGS

[0013] Figure 1 is the structure diagram of the dynamic fastening self-locking mechanical hand finger;

[0014] Figure 2is a working state example diagram when single finger grasps larger and heavier objects.

[0015] Reference signs:

[0016] 1 - first ratchet, 2 - second ratchet, 3 - first pawl, 4 - second pawl, 5 - traction rope, 6 - first gear set, 7 - second gear set, 8 - third gear set, 9 - first pulley, 10 - second pulley, 11 - first linkage mechanism, 12 - second linkage mechanism, 13 - first gear lock, 14 - second gear lock, 15 - first pressure plate, 16 - second pressure plate, 17 - first spring member, 18 - second spring member, 19 - first finger segment, 20 - second finger segment, 21 - third finger segment, 22 - first torsion spring, 23 - second torsion spring. DETAILED DESCRIPTION

[0017] The dynamic fastening self-locking mechanical hand finger of the utility model will be further explained in detail below in combination with the drawings and specific embodiments: EMBODIMENT

[0018] A dynamic fastening self-locking mechanical hand finger, comprising: a main power motor, a traction motor, a main transmission mechanism, a first finger segment 19, a second finger segment 20, a third finger segment 21, two groups of pulley transmission mechanisms, three groups of rotating shafts, three groups of gear sets, two groups of linkage mechanisms, two groups of pressure plates, two groups of spring members, two groups of gear locks, two groups of torsion springs, two groups of ratchet and pawl self-locking mechanisms and two traction ropes.

[0019] The main power motor is connected with the input end of the main transmission mechanism, the output end of the main transmission mechanism is connected with the first gear set 6 sleeved on the first rotating shaft, the first gear set 6 is connected with the second gear set 7 sleeved on the second rotating shaft through the first pulley 9, and the second gear set 7 is connected with the third gear set 8 sleeved on the third rotating shaft through the second pulley 10.

[0020] The two groups of springs are respectively sleeved between the cylindrical protrusions on the two groups of pressure plates and the cylindrical protrusions on the first finger segment 19 and the second finger segment 20, the two groups of pressure plates are fixedly connected with the input ends of the two groups of linkage mechanisms, and the output ends of the two groups of linkage mechanisms are respectively sleeved with the gear locks.

[0021] The transmission shafts on the first finger segment 19 and the second finger segment 20 are respectively fixedly connected with the two groups of ratchet and pawl self-locking mechanisms, the first pawl 3 and the second pawl 4 are respectively fixedly connected with the traction ropes, the traction ropes are fixedly connected with the traction motor, and the self-locking function is switched through the reset action of the traction ropes and the torsion springs driven by the rotation of the traction motor.

[0022] First, the main motor is started, and the power is transmitted to the first gear set 6 through the main transmission mechanism. Since the first gear set 6 is clamped by the first gear locking member 13 at this time, it is equivalent to being fixedly connected with the first finger segment 19, so that the rotation of the first gear set 6 drives the rotation of the first finger segment 19. When the first finger segment 19 collides with the object to be gripped, the contact force gradually increases, the first pressure plate 15 compresses the first spring 17 inward, and the first gear locking member 13 is disengaged from the first gear set 6 through the connecting rod transmission mechanism. When the first gear locking member 13 is disengaged from the first gear set 6, the first gear set 6 is no longer fixedly connected with the first finger segment 19, and the power is transmitted to the second finger segment 20 through the first belt pulley.

[0023] Since the second pressure plate 16 on the second finger segment 20 does not collide with the object, the second gear locking member 14 fixes the second gear set 7 with the second finger segment 20, so that the first belt pulley drives the rotation of the second finger segment 20. When the second finger segment 20 touches the object, the second pressure plate 16 compresses the second compression spring 18 inward, the second gear locking member 14 is released, and the power of the second gear set 7 is transmitted to the terminal tooth segment, i.e. the third finger segment 21 through the second belt pulley. Since the third gear set 8 is fixedly connected with the third finger segment 21, the second belt pulley drives the rotation of the third finger segment 21, so as to wrap the object. At the same time, when the second and third finger segments rotate, the corresponding ratchet pawl self-locking mechanism makes the finger segments self-lock. When it is necessary to open the self-lock, the self-locking device is released by pulling the traction rope through the second motor, and is restored by the elastic force of the torsional spring.

[0024] In particular, if the object is heavy and the self-locking mechanism cannot provide sufficient force, the main motor can be continuously powered. At this time, if the contact force of a finger end with the object is insufficient, the pressure plate will protrude outward and drive the corresponding gear locking member to lock the gear, so that the gear set on the finger segment is fixedly connected with the finger segment. The power transmitted by the belt pulley is used for the rotation of the finger segment, so as to increase the contact force again and prevent the object from falling off. In this way, the function of dynamic fastening is also realized.

[0025] The above describes the embodiments of the utility model in detail, but the utility model is not limited to the above embodiments. Within the knowledge range of ordinary skilled persons in the art, various changes can be made without departing from the purpose of the utility model, which should also be considered as the protection range of the utility model.

Claims

1. A dynamically fastened self-locking robotic hand finger comprising: The main power motor, the rope motor, the main transmission mechanism, the first finger segment, the second finger segment, the third finger segment, the two groups of belt wheel transmission mechanisms, the three groups of rotating shafts, the three groups of gear sets, the two groups of connecting rod mechanisms, the two groups of pressure plates, the two groups of spring members, the two groups of gear locking members, the two groups of torsional springs, the two groups of ratchet pawl self-locking mechanisms and the two traction ropes are characterized in that: The main power motor is connected with the input end of the main transmission mechanism, the output end of the main transmission mechanism is connected with the first gear set sleeved on the first rotating shaft, the first gear set is connected with the second gear set sleeved on the second rotating shaft through the first belt wheel, and the second gear set is connected with the third gear set sleeved on the third rotating shaft through the second belt wheel. The two groups of springs are respectively sleeved between the cylindrical protrusions on the two groups of pressure plates and the cylindrical protrusions on the first finger segment and the second finger segment, the two groups of pressure plates are fixedly connected with the input ends of the two groups of connecting rod mechanisms, the output ends of the two groups of connecting rod mechanisms are respectively sleeved with the gear locking members, the transmission shafts on the first finger segment and the second finger segment are respectively fixedly connected with the two groups of ratchet pawl self-locking mechanisms, the two groups of pawls are respectively fixedly connected with the traction ropes, and the traction ropes are fixedly connected with the traction motor to realize the opening and closing of the self-locking function through the reset movement of the traction ropes and the torsional springs driven by the rotation of the traction motor.

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