Finger module

Abstract

The utility model discloses a finger module. Comprising a first finger part, a second finger part and a first rotating device used for driving the first finger part and the second finger part to turn over together. The second rotating driving device is arranged on the first rotating device and is used for synchronously and relatively rotating the first finger part and the second finger part; and the first driving device and the second driving device are arranged on the first rotating device and are respectively used for driving the first finger part and the second finger part to bend and unbend. The first rotating device is adopted to drive the first finger part and the second finger part to turn over integrally, and the first driving device and the second driving device are adopted to drive the first finger part and the second finger part to bend and unbend respectively, so that actions such as silk thread knotting of two fingers are simulated; and the first finger part and the second finger part are driven by the second rotation driving device to rotate independently at the same time, so that the operation is more flexible than human fingers, actions which cannot be completed by the human fingers can be completed, and the overall structure is simpler.

Description

Technical Field

[0001] This utility model relates to the field of automated production technology, and specifically to a finger module. Background Technology

[0002] Currently, mechanisms such as mechanical grippers, pneumatic suction cups, electromagnetic clamps, and flexible adaptive clamps, which replace manual labor, have limitations, such as the lack of flexibility in mechanical grippers. However, with the continuous development of industrial automation, many industries are using simulated mechanisms to replace manual labor for some heavy tasks. For example, in the packaging industry, thread knotting is used to bind and secure items; in the food production industry, products such as rice noodles, konjac noodles, and kelp strips often need to be knotted during production for easy sorting, storage, and transportation. These actions require simulating human hand operations, which traditional mechanical grippers and other mechanisms cannot achieve. Furthermore, existing technologies that simulate finger knotting still have limitations. For instance, the anthropomorphic two-finger knotter disclosed in Chinese Patent Publication No. CN102124874B, while capable of bundling and knotting, has a complex structure and poor flexibility, limiting its application to bundling straw and dry green hay on balers and preventing its use in other fields for thread knotting.

[0003] In view of the above, the inventors propose the following technical solution. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a finger module.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: a finger module, comprising: a first finger part and a second finger part, a first rotating device for driving the first finger part and the second finger part to rotate together, a second rotating drive device disposed on the first rotating device for synchronous relative rotation of the first finger part and the second finger part, and a first drive device and a second drive device disposed on the first rotating device for driving the first finger part and the second finger part to bend and straighten respectively, wherein the first finger part and the second finger part are mounted side by side on the first rotating device in a manner that allows them to rotate independently.

[0006] Furthermore, in the above technical solution, the first rotating device includes a vertical rotating seat that is rotatably mounted on the third support arm and used to support the mounting of the first finger and the second finger, and a first motor for driving the vertical rotating seat to rotate, wherein the second rotating drive device, the first drive device, and the second drive device are all mounted on the vertical rotating seat.

[0007] Furthermore, in the above technical solution, both the first finger and the second finger include at least two movable joints that can swing and bend.

[0008] Furthermore, in the above technical solution, the first finger portion includes a first movable joint, a second movable joint, and a third movable joint hinged together. The first movable joint is rotatably mounted on a vertical rotating base, the first gear portion is located on the first movable joint, and the two ends of the second movable joint are respectively hinged to the first movable joint and the third movable joint. The second finger portion has the same structure as the first finger portion.

[0009] Furthermore, in the above technical solution, the first driving device includes a power unit, a first driving rod connecting the power unit and the second movable joint, and a second driving rod connecting the second movable joint and the third movable joint. The second driving device has the same structure as the first driving device.

[0010] Furthermore, in the above technical solution, the first rotating device is mounted on a multi-axis manipulator, which includes a third rotating device, a three-section movable arm hinged to the third rotating device, a fourth rotating device located at the end of the three-section movable arm and used to support the first rotating device, and a fifth rotating drive device located on the third rotating device and used to drive the three-section movable arm to extend. The third rotating device and the fourth rotating device are horizontally rotating modules, and the first rotating device is a vertically rotating module.

[0011] After adopting the above technical solution, the present invention has the following beneficial effects compared with the prior art: In the present invention, the first rotating device drives the first finger and the second finger to rotate as a whole, simulating the wrist joint rotation of the hand. The first driving device and the second driving device drive the first finger and the second finger to bend and straighten respectively, thereby simulating the two fingers to perform actions such as knotting silk threads. The second rotating driving device drives the first finger and the second finger to rotate independently at the same time, achieving greater flexibility than human fingers and being able to complete actions that human fingers cannot complete, making the knotting action more flexible and efficient, and the overall structure simpler. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the present utility model;

[0013] Figure 2 In the embodiments of this utility model, Figure 1 The diagram at point G is a magnified view of the knot-tying steps;

[0014] Figure 3 This is a schematic diagram of the structure of this utility model. Figure 1 ;

[0015] Figure 4 This is a schematic diagram of the internal structure of an embodiment of the present utility model. Figure 2;

[0016] Figure 5 This is a schematic diagram of the internal structure of an embodiment of the present utility model. Figure 3 ·;

[0017] Figure 6 This is a schematic diagram of the internal structure of an embodiment of the present utility model. Figure 4 ;

[0018] Figure 7 This is a schematic diagram of the structure of this utility model;

[0019] Figure 8 This is a schematic diagram of the structure of the second rotary drive device in this utility model;

[0020] Figure 9 This is a schematic diagram of the structure of the first finger portion in this utility model;

[0021] Figure 10 This is a schematic diagram of the structure of the multi-axis manipulator in this utility model;

[0022] Figure 11 This is a schematic diagram of the structure for adjusting motion in an embodiment of this utility model. Figure 1 ;

[0023] Figure 12 This is a schematic diagram of the structure of the adjustable motion module in an embodiment of this utility model. Figure 2 . Detailed Implementation

[0024] The present invention will be further described below with reference to specific embodiments and accompanying drawings.

[0025] See Figures 7 to 10As shown, a finger module includes: a first finger portion 3 and a second finger portion 4; a first rotating device 52 for driving the first finger portion 3 and the second finger portion 4 to rotate together; a second rotating drive device 53 disposed on the first rotating device 52 for synchronous relative rotation of the first finger portion 3 and the second finger portion 4; and a first drive device 54 and a second drive device 55 disposed on the first rotating device 52 for driving the first finger portion 3 and the second finger portion 4 to bend and straighten, respectively. The first finger portion 3 and the second finger portion 4 are mounted side by side on the first rotating device 52 in a manner that allows them to rotate independently. The first rotating device 52 drives the first finger part 3 and the second finger part 4 to rotate as a whole, simulating the wrist joint rotation of the hand. The first driving device 54 and the second driving device 55 drive the first finger part 3 and the second finger part 4 to bend and straighten respectively, thereby simulating the two fingers to tie a knot in the thread A. The second rotating driving device 53 drives the first finger part 3 and the second finger part 4 to rotate independently at the same time, achieving greater flexibility than human fingers and being able to complete actions that human fingers cannot complete, making the knotting action more flexible and efficient, and the overall structure simpler.

[0026] The first rotating device 52 includes a vertical rotating seat 521 that is rotatably mounted on the third support arm 512C and is used to support the mounting of the first finger portion 3 and the second finger portion 4, and a first motor 522 for driving the vertical rotating seat 521 to rotate. The second rotating drive device 53, the first drive device 54, and the second drive device 55 are all mounted on the vertical rotating seat 521.

[0027] Both the first finger portion 3 and the second finger portion 4 include at least two movable joints capable of swinging and bending. The first finger portion 3 includes a first movable joint 31, a second movable joint 32, and a third movable joint 33 hinged together. The first movable joint 31 is rotatably mounted on a vertical rotating base 521, and a first gear portion 534 is located on the first movable joint 31. The two ends of the second movable joint 32 are respectively hinged to the first movable joint 31 and the third movable joint 33. The second finger portion 4 has the same structure as the first finger portion 3.

[0028] The first drive device 54 includes a power unit 541, a first drive rod 542 connecting the power unit 541 and the second movable joint 32, and a second drive rod 543 connecting the second movable joint 32 and the third movable joint 33. The second drive device 55 has the same structure as the first drive device 54.

[0029] The first rotating device 52 is installed on the multi-axis manipulator 51, which includes a third rotating device 511, a three-section movable arm 512 hinged to the third rotating device 511, a fourth rotating device 513 provided at the end of the three-section movable arm 512 and used to support the first rotating device 52, and a fifth rotating drive device 514 provided on the third rotating device 511 and used to drive the three-section movable arm 512 to extend. Among them, the third rotating device 511 and the fourth rotating device 513 are horizontal rotating modules, and the first rotating device 52 is a vertical rotating module.

[0030] See Figures 1 to 12 As shown in the figure, for better illustration of the embodiments of the present invention, a silk knotting device is taken as an example for further explanation. The silk knotting device includes: a first limiting point 1 and a second limiting point 2 for limiting both ends of the silk thread A, and a finger module B for pulling the silk thread A to form a knot. The finger module B includes a first finger part 3 and a second finger part 4, and a motion module 5 for driving the first finger part 3 and the second finger part 4 to perform multi-axis movement. The knotting method is as follows:

[0031] In the first step, the motion module 5 sends the first finger part 3 and the second finger part 4 between the first limiting point 1 and the second limiting point 2.

[0032] In the second step, the motion module 5 drives the first finger part 3 and the second finger part 4 to hook the silk thread A and pull the silk thread A into a "U" shape.

[0033] In the third step, the motion module 5 drives the first finger part 3 and the second finger part 4 to flip at least 180°, so that the silk thread A is twisted into a "fork" shape.

[0034] In the fourth step, the motion module 5 drives the first finger part 3 and the second finger part 4 to perform a relative pinching action to hook one side of the silk thread A.

[0035] In the fifth step, the motion module 5 drives the first finger part 3 and the second finger part 4 to hook one side of the silk thread A to bypass the other side, pass through the central hole of the "fork" shape, and pull the central hole of the "fork" shaped silk thread A to shrink to form a knot, thereby completing the knotting of the silk thread A.

[0036] The first finger part 3 and the second finger part 4 are used to simulate two human fingers. The motion module 5 drives the first finger part 3 and the second finger part 4 to perform actions such as horizontal movement, vertical flipping, independent rotation, bending and straightening. With the cooperation of the first limiting point 1 and the second limiting point 2, the first finger part 3 and the second finger part 4 can twist, knot and bundle a bunch of silk threads A together, thus replacing manual knotting, reducing labor intensity and improving knotting efficiency.

[0037] The motion module 5 includes a multi-axis manipulator 51 for driving the first finger 3 and the second finger 4 to simultaneously extend or retract between the first limiting point 1 and the second limiting point 2, a first rotating device 52 disposed at the end of the multi-axis manipulator 51 for driving the first finger 3 and the second finger 4 to rotate together, and a second rotating drive device 53 disposed on the first rotating device 52 for the first finger 3 and the second finger 4 to rotate synchronously relative to each other. The first finger 3 and the second finger 4 are mounted side by side on the first rotating device 52 in a manner that allows them to rotate independently.

[0038] The multi-axis manipulator 51 includes a third rotating device 511, a three-section movable arm 512 hinged to the third rotating device 511, a fourth rotating device 513 located at the end of the three-section movable arm 512 and used to support the first rotating device 52, and a fifth rotating drive device 514 located on the third rotating device 511 and used to drive the three-section movable arm 512 to extend. The third rotating device 511 and the fourth rotating device 513 are horizontally rotating modules, while the first rotating device 52 is a vertically rotating module. The third rotating device 511 includes a U-shaped rotating base 511A and a third motor 511B for driving the U-shaped rotating base 511A to rotate. Two fifth rotating drive devices 514 are provided, symmetrically located on both sides of the U-shaped rotating base 511A, and can simultaneously drive the three-section movable arm 512 to swing. Of course, the multi-axis manipulator 51 can also be other mechanisms, including but not limited to any one of orthogonal axis structures, articulated axis structures, and virtual axis mechanisms.

[0039] The three-section movable arm 512 includes a first support arm 512A, a second support arm 512B, a third support arm 512C, a first drive arm 512D, a second drive arm 512E, a first connecting arm 512F, a second connecting arm 512G, and a connecting member 512H. The connecting member 512H is located between the first support arm 512A and the second support arm 512B and is hinged to one end of both arms. The middle part of the connecting member 512H is hinged to one end of the first connecting arm 512F and the second connecting arm 512G. The first support arm 512... The other end of A is hinged to the third rotating device 511. The other end of the second support arm 512B is hinged to one end of the third support arm 512C. The other end of the first drive arm 512D is connected to the fifth rotating drive device 514. The other end of the second drive arm 512E is hinged to the middle of the third support arm 512C, and one end of the second drive arm 512E extends and is hinged to one end of the first connecting arm 512F. The other end of the first connecting arm 512F is hinged to one end of the second connecting arm 512G. The other end of the second connecting arm 512G is connected to the fifth rotating drive device 514.

[0040] In the third step, the first rotating device 52 drives the first finger part 3 and the second finger part 4 to flip together to twist the silk thread A into a "fork" shape. The flipping angle includes but is not limited to any angle among 180°, 270°, 360°, and 450°. In this embodiment, the first rotating device 52 twists the silk thread A into a "fork" shape intersection by driving the first finger part 3 and the second finger part 4 to rotate integrally by 270°. As shown in Figure 2 Step ⑤ in the figure, when the first finger part 3 and the second finger part 4 rotate 270° from horizontal parallel to vertical parallel, both sides of the silk thread A are in a three-dimensional intersection state with the central hole, and both sides of the silk thread A are in the plane between the first finger part 3 and the second finger part 4. When the first finger part 3 and the second finger part 4 are straightened, they can just pass through the central hole of the silk thread A and are on both sides of one side of the silk thread A. As shown in Figure 2 Step ⑥ in the figure, this facilitates the first finger part 3 and the second finger part 4 to pinch and hook one side of the silk thread A.

[0041] In the fourth step, the second rotation driving device 53 drives the first finger part 3 and the second finger part 4 to rotate independently and synchronously, so that the arc-shaped ends of the first finger part 3 and the second finger part 4 swing from the separated state to the pinched state to form a closed space capable of hooking one side of the silk thread A.

[0042] Both the first finger part 3 and the second finger part 4 at least include two movable joints that can swing and bend. The motion module 5 includes a first driving device 54 and a second driving device 55 respectively used to drive the first finger part 3 and the second finger part 4 to bend and straighten.

[0043] The first rotating device 52 includes a vertical rotating seat 521 that is rotatably mounted on the third support arm 512C and is used to support and mount the first finger part 3 and the second finger part 4, and a first motor 522 used to drive the vertical rotating seat 521 to rotate. Among them, the second rotation driving device 53, the first driving device 54, and the second driving device 55 are all mounted on the vertical rotating seat 521.

[0044] The second rotation driving device 53 includes a second motor 531, a driving gear 532 arranged on the output shaft of the second motor 531, and a transmission gear 533 that is rotatably mounted on the vertical rotating seat 521 and meshes with the driving gear 532. The first finger part 3 and the second finger part 4 are respectively provided with a first gear part 534 and a second gear part 535 that are respectively matched and meshed with the driving gear 532 and the transmission gear 533.

[0045] The first finger part 3 includes a first movable joint 31, a second movable joint 32 and a third movable joint 33 that are hinged together. Among them, the first movable joint 31 is installed on the vertical rotating base 521 in a rotatable manner, and the first gear part 534 is located on the first movable joint 31. The two ends of the second movable joint 32 are respectively hinged to the first movable joint 31 and the third movable joint 33; the second finger part 4 has the same structure as the first finger part 3. The first driving device 54 includes a power unit 541, a first driving rod 542 connecting the power unit 541 and the second movable joint 32, and a second driving rod 543 connecting the second movable joint 32 and the third movable joint 33. Among them, the power unit 541 is a motor and a screw module. Of course, the power unit 541 can also be a linear motor.

[0046] In the first step, when the motion module 5 moves the first finger part 3 and the second finger part 4 between the first limit point 1 and the second limit point 2, the first driving device 54 and the second driving device 55 are respectively used to drive the first finger part 3 and the second finger part 4 to bend into a hook shape, so as to hook the silk thread A and pull it into a "U" shape.

[0047] In the fourth step, first, the first driving device 54 and the second driving device 55 are used to drive the first finger part 3 and the second finger part 4 to straighten, so that one side of the silk thread A can be located between the first finger part 3 and the second finger part 4. Then, the second rotation driving device 53 is used to drive the first finger part 3 and the second finger part 4 to rotate 90°, so that the bending directions of the first finger part 3 and the second finger part 4 are opposite. Subsequently, after the first driving device 54 and the second driving device 55 drive the first finger part 3 and the second finger part 4 to bend, the first finger part 3 and the second finger part 4 can fit together to hook one side of the silk thread A.

[0048] In the fifth step, the first finger part 3 and the second finger part 4 cooperate to hook the middle part of one side of the silk thread A, and after pulling the silk thread A around the other side, it passes through the central hole of the "fork-shaped" silk thread A, and the end of one side of the silk thread A is kept from passing through the central hole of the silk thread A, so as to form a slipknot.

[0049] A cutting device 6 for cutting the silk thread A is provided at the first limit point 1 or the second limit point 2, and a wire supply module 7 for conveying the silk thread A is provided on the side of the first limit point 1 or the second limit point 2. The first limit point 1 or the second limit point 2 is driven by an adjustment motion module 8 to adjust the relative distance between the two to cooperate with the stretching of the silk thread A, so as to facilitate the first finger part 3 and the second finger part 4 to tie a knot.

[0050] The motion module 5 is installed on a frame C. A transfer module D is provided on the frame C below the first finger part 3 and the second finger part 4 and is used to receive the silk thread A after knotting. Moreover, a casing E covering the finger module B is also installed on the frame C. Among them, the wire supply module 7 is provided on the outer wall of the casing E, and a window E1 for the first finger part 3 and the second finger part 4 to extend out is provided on the casing E. The first limit point 1 and the second limit point 2 are located on both sides of the window E1. Among them, the second limit point 2 is provided on the outer wall of the casing E, the adjustment motion module 8 is provided on the inner wall of the casing E, and the first limit point 1 is installed on the adjustment motion module 8.

[0051] The adjustment motion module 8 includes a first positioning seat 81 and a second positioning seat 82 installed on the inner wall of the casing E, a sliding rod 83 passing through the first positioning seat 81 and the second positioning seat 82 and used to support the first limit point 1, a sixth motor 84 provided on the inner wall of the casing E and used to drive the sliding rod 83 to move linearly, and a first swing rod 85 and a second swing rod 86 provided between the sixth motor 84 and the sliding rod 83 and hinged. Among them, two sliding rods 83 are arranged in parallel, and a fixing block 87 is provided on the two sliding rods 83 for connection. One end of the first swing rod 85 is installed on the output shaft of the sixth motor 84, and one end of the second swing rod 86 is hinged and installed on the fixing block 87.

[0052] To sum up, the specific working process of this embodiment is as follows:

[0053] First, manually pass the silk thread A through the wire supply module 7, and then position the silk thread A at the window E1 of the casing E by the first limit point 1 and the second limit point 2, and manually hold the head of the silk thread A. Further, the motion module 5 extends the first finger part 3 and the second finger part 4 out of the window E1 and locates them below the silk thread A. Then, the first driving device 54 and the second driving device 55 push the first finger part 3 and the second finger part 4 to bend upward so that the first finger part 3 and the second finger part 4 can hook the silk thread A. Of course, if the first finger part 3 and the second finger part 4 are initially in a bent state, the second rotation driving device 53 and the multi-axis manipulator 51 cooperate to drive the first finger part 3 and the second finger part 4 to bypass the outside of the silk thread A to facilitate hooking the silk thread A, as shown in Figure 2 Step ① in; Further, the multi-axis manipulator 51 drives the first finger part 3 and the second finger part 4 to hook the silk thread A and retract into the casing E, as shown in Figure 2 Step ② in, and then the first finger part 3 and the second finger part 4 are integrally flipped by the first rotation device 52 to twist the silk thread A by 270° into a "fork" shape, as shown in Figure 2In the third, fourth, and fifth steps, of course, the first rotating device 52 can drive the first finger part 3 and the second finger part 4 to rotate either clockwise or counterclockwise. Further, the first driving device 54 and the second driving device 55 drive the first finger part 3 and the second finger part 4 to unfold and straighten, and the second rotating driving device 53 drives the first finger part 3 and the second finger part 4 to rotate synchronously by 90° to a relative state, as shown in Figure 2 In the sixth step, the first driving device 54 and the second driving device 55 drive the first finger part 3 and the third finger part 4 to bend into a "pinching" state to hook one side of the silk thread A, as shown in Figure 2 In the seventh step; further, the multi-axis manipulator 51 drives the first finger part 3 and the second finger part 4 to retreat, pulling one side of the silk thread A through the central hole of the "fork" shape, as shown in Figure 2 In the eighth step, since the head of the silk thread A is always held manually, when the first finger part 3 and the second finger part 4 pull one side of the silk thread A through the central hole, the central hole will continuously shrink and finally tightly hold one side of the silk thread A and knot them together, as shown in Figure 2 In the ninth step; further, the adjustment motion module 8 drives the first limit point 1 to approach the second limit point 2. After the first limit point 1 approaches the second limit point 2, the cutting device 6 at the first limit point 1 cuts off the silk thread A. Then, the motion module 5 moves the knotted silk thread A above the transfer module D and drives the first finger part 3 and the second finger part 4 to straighten and drop the silk thread A onto the transfer module D. Finally, the operator grabs the head of the silk thread A and pulls it to the second limit point 2, and then the adjustment motion module 8 drives the first limit point 1 back to its original position. Immediately, the motion module 5 drives the first finger part 3 and the second finger 4 to start a new knotting action, thus realizing the rapid knotting of the silk thread A. During this process, the operator only needs to hold the head of the silk thread A at the second limit point 2, without too much operation, achieving a significant improvement in the knotting efficiency and reducing the labor intensity of the operator at the same time.

[0054] Of course, the above description is only a specific embodiment of the present invention and does not limit the scope of implementation of the present invention. Any equivalent changes or modifications made according to the structure, features, and principles described in the scope of the patent application of the present invention should be included in the scope of the patent application of the present invention.

Claims

1. A finger module, characterized in that, include: The system comprises a first finger portion (3) and a second finger portion (4), a first rotating device (52) for driving the first finger portion (3) and the second finger portion (4) to rotate together, a second rotating drive device (53) disposed on the first rotating device (52) for synchronous relative rotation of the first finger portion (3) and the second finger portion (4), and a first drive device (54) and a second drive device (55) disposed on the first rotating device (52) for driving the first finger portion (3) and the second finger portion (4) to bend and straighten respectively, wherein the first finger portion (3) and the second finger portion (4) are respectively driven to rotate together. The second finger (4) is mounted side by side on the first rotating device (52) in a manner that allows it to rotate independently; the first rotating device (52) includes a vertical rotating seat (521) mounted on the third support arm (512C) in a manner that allows it to rotate and is used to support the mounting of the first finger (3) and the second finger (4) and a first motor (522) for driving the vertical rotating seat (521) to rotate, wherein the second rotating drive device (53), the first drive device (54), and the second drive device (55) are all mounted on the vertical rotating seat (521).

2. A finger module according to claim 1, characterized in that: The first finger portion (3) and the second finger portion (4) each include at least two movable joints that can swing and bend.

3. A finger module according to claim 2, characterized in that: The first finger part (3) includes a first movable joint (31), a second movable joint (32) and a third movable joint (33) hinged together. The first movable joint (31) is rotatably mounted on a vertical rotating seat (521). The first gear part (534) is located on the first movable joint (31). The two ends of the second movable joint (32) are respectively hinged to the first movable joint (31) and the third movable joint (33). The second finger part (4) has the same structure as the first finger part (3).

4. A finger module according to claim 1, characterized in that: The first drive device (54) includes a power unit (541), a first drive rod (542) connecting the power unit (541) and the second movable joint (32), and a second drive rod (543) connecting the second movable joint (32) and the third movable joint (33). The second drive device (55) has the same structure as the first drive device (54).

5. A finger module according to any one of claims 1-4, characterized in that: The first rotating device (52) is mounted on a multi-axis manipulator (51), which includes a third rotating device (511), a three-section movable arm (512) hinged to the third rotating device (511), a fourth rotating device (513) located at the end of the three-section movable arm (512) and used to support the first rotating device (52), and a fifth rotating drive device (514) located on the third rotating device (511) and used to drive the three-section movable arm (512) to extend. The third rotating device (511) and the fourth rotating device (513) are horizontally rotating modules, and the first rotating device (52) is a vertically rotating module.

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