Grooved anti-collision finger mechanism, robotic arm and robot

Abstract

This utility model discloses a grooved anti-collision finger mechanism, a robotic hand, and a robot, belonging to the field of robotic hand technology. The grooved anti-collision finger mechanism, robotic hand, and robot of this utility model, by rotating a rotating component, allow the driving part to abut against the inner wall of the first groove, thereby driving the first phalanx to rotate. The elastic component undergoes elastic deformation, and under the action of the connecting rod, the second phalanx rotates along with the first phalanx and also rotates relative to the first phalanx, thus enabling the grooved anti-collision finger mechanism to perform a bending action. When the grooved anti-collision finger mechanism switches from a bent state to an extended state, the rotating component rotates in the opposite direction, while the driving part remains abutting against the inner wall of the first groove. The grooved anti-collision finger mechanism can extend and return to its original position under the combined action of the elastic force of the elastic component and the force applied by the driving part to the first side wall. When the rotating component is not rotating, the grooved anti-collision finger mechanism can bend under external force to avoid collision damage.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, and in particular to a grooved anti-collision finger mechanism, a robotic arm, and a robot. Background Technology

[0002] In the field of robotics, the robotic hand is an important end effector, and the transmission structure of its fingers is related to the performance of the entire robotic hand, such as its flexibility and gripping stability.

[0003] In terms of finger manipulation, actuators are typically used to drive the finger joints to flex and extend. When the actuator stops, the finger is locked in its current state and cannot flex or extend. Such fingers are easily damaged by external forces, increasing the cost of use and maintenance. Utility Model Content

[0004] The purpose of this invention is to provide a grooved anti-collision finger mechanism, a robotic hand, and a robot that can not only perform flexion and extension movements, but also reduce the risk of collision damage to the grooved anti-collision finger mechanism.

[0005] To achieve the above objectives, the following technical solution is provided:

[0006] The grooved anti-collision finger mechanism includes:

[0007] Base;

[0008] A first phalanx and a second phalanx, the first phalanx including a first end and a second end disposed opposite to each other, the second phalanx including a third end and a fourth end disposed opposite to each other, the first end being rotatably connected to the base, and the second end being rotatably connected to the third end; the first phalanx is provided with a first groove;

[0009] An elastic element, one end of which is connected to the second phalanx and the other end of which is connected to the base;

[0010] A connecting rod, one end of which is rotatably connected to the second phalanx and the other end of which is rotatably connected to the base, the connecting rod being able to move in conjunction with the first phalanx so that the second phalanx can rotate relative to the first phalanx;

[0011] A rotating component is rotatably disposed on the base. The rotating component is provided with a driving part, which is inserted into the first groove. The driving part can rotate with the rotating component and abut against the inner wall of the first groove to drive the first phalanx to rotate. The first phalanx can rotate relative to the rotating component and move the driving part within the first groove.

[0012] As a preferred technical solution of the above-mentioned grooved anti-collision finger mechanism, the grooved anti-collision finger mechanism further includes a driving component, which can drive the rotating member to rotate.

[0013] As a preferred technical solution of the above-mentioned grooved anti-collision finger mechanism, the rotating component includes a worm gear; the driving assembly includes a worm and a driving component, the worm meshes with the worm gear, and the driving component can drive the worm to rotate.

[0014] As a preferred technical solution of the above-mentioned grooved anti-collision finger mechanism, the driving part is disposed on one side of the worm wheel along its axial direction, and the driving part is located on the side of the worm wheel's axis along the radial direction of the worm wheel.

[0015] As a preferred technical solution of the above-mentioned grooved anti-collision finger mechanism, the first groove includes a first sidewall and a second sidewall that are disposed opposite to each other along the rotation direction of the rotating member. The driving part can rotate with the rotating member and abut against the first sidewall to drive the first phalanx to rotate. The first phalanx can rotate relative to the rotating member and cause the driving part to move from the first sidewall to the second sidewall in the first groove along the rotation direction of the rotating member.

[0016] As a preferred technical solution of the above-mentioned grooved anti-collision finger mechanism, the base is provided with a second groove corresponding to the driving part, the driving part can pass through the second groove and be inserted into the first groove, and the driving part can move in the second groove;

[0017] The second groove has a third sidewall at one end along the rotation direction of the rotating member. The third sidewall and the first sidewall are located on the same side of the driving part along the rotation direction of the rotating member, and the driving part can abut against the third sidewall.

[0018] And / or, the second groove is provided with a fourth sidewall at one end along the rotation direction of the rotating member, the fourth sidewall and the second sidewall are located on the same side of the driving part along the rotation direction of the rotating member, and the driving part can abut against the fourth sidewall.

[0019] As a preferred technical solution of the above-mentioned grooved anti-collision finger mechanism, the second finger joint includes a first finger segment and a second finger segment connected to the first finger segment, wherein the first finger segment and the second finger segment are set at an angle.

[0020] As a preferred technical solution of the above-mentioned grooved anti-collision finger mechanism, the first finger joint includes a mounting cavity;

[0021] The elastic element is located within the mounting cavity;

[0022] And / or, the connecting rod is located within the mounting cavity;

[0023] And / or, the rotating element is located within the mounting cavity.

[0024] To achieve the above objectives, robotic arms are also provided, including slotted anti-collision finger mechanisms as described in any of the preceding claims.

[0025] To achieve the above objectives, robots, including the robotic arms described above, are also provided.

[0026] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0027] The grooved anti-collision finger mechanism, manipulator, and robot of this invention, by rotating the rotating component, allow the driving part to abut against the inner wall of the first groove, thereby driving the first phalanx to rotate. At the same time, the elastic component undergoes elastic deformation, and under the action of the connecting rod, the second phalanx rotates with the first phalanx and also rotates relative to the first phalanx, thereby enabling the grooved anti-collision finger mechanism to perform a bending action. When the grooved anti-collision finger mechanism switches from the bent state to the extended state, the rotating component rotates in the opposite direction, and the driving part remains abutting against the inner wall of the first groove. The grooved anti-collision finger mechanism can perform an extension action and return to its original position under the combined action of the elastic force of the elastic component and the force exerted by the driving part on the inner wall of the first groove.

[0028] When the rotating part is not rotating, if the grooved anti-collision finger mechanism is subjected to an external force that causes it to bend, the driving part can move in the first groove, thereby enabling the first and second phalanges to rotate under the action of the external force, so that the grooved anti-collision finger mechanism can perform bending action, avoiding damage to the grooved anti-collision finger mechanism due to excessive force, and has the function of reducing the risk of collision damage to the grooved anti-collision finger mechanism. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the first structure of the grooved anti-collision finger mechanism in this embodiment of the present invention;

[0030] Figure 2 This is a schematic diagram of the second structure of the grooved anti-collision finger mechanism in an embodiment of this utility model;

[0031] Figure 3 This is a first exploded view of the grooved anti-collision finger mechanism in an embodiment of this utility model;

[0032] Figure 4 This is a second exploded view of the grooved anti-collision finger mechanism in an embodiment of this utility model;

[0033] Figure 5 and Figure 6 This is a diagram illustrating the bending process of the slotted anti-collision finger mechanism under the action of the motor during operation in this embodiment of the present invention.

[0034] Figure 7 and Figure 8This diagram illustrates the bending process of the slotted anti-collision finger mechanism under external force when the motor is not working in this embodiment of the present invention.

[0035] Figure label:

[0036] A. Inner side of finger; B. Back side of finger; 1. Base; 11. Second groove; 111. Third sidewall; 112. Fourth sidewall; 12. Mounting groove; 2. First phalanx; 21. First groove; 211. First sidewall; 212. Second sidewall; 22. Mounting cavity; 3. Second phalanx; 31. First finger segment; 311. Inner surface of first finger; 32. Second finger segment; 321. Inner surface of second finger; 4. Elastic element; 5. Connecting rod; 6. Rotating element; 61. Drive unit; 71. First rotating shaft; 72. Second rotating shaft; 73. Third rotating shaft; 74. First shaft pin; 8. Drive assembly; 81. Worm gear; 82. Drive element; 9. Sensing element. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0038] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0039] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0040] In the description of this utility model, it should be noted that the terms "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this utility model is in use. They are used only for the convenience of describing this utility model and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first," "second," and "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0041] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0042] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0043] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0044] like Figures 1 to 4 As shown, this embodiment provides a grooved anti-collision finger mechanism, a robotic hand, and a robot. The robot includes a robotic hand, which includes a grooved anti-collision finger mechanism. By flexing and extending the grooved anti-collision finger mechanism, the robot can grasp objects.

[0045] Optionally, the robotic arm also includes a palm, on which a grooved anti-collision finger mechanism is mounted. It should be noted that one, two, three, or even more grooved anti-collision fingers can be used; no limitation is made here. Increasing the number of grooved anti-collision fingers can improve the stability of the palm's grip on objects.

[0046] Optionally, the robot also includes an arm, with a hand mounted on it. The arm increases the range of motion of the hand, meeting different grasping needs.

[0047] The grooved anti-collision finger mechanism of this embodiment includes a base 1, a first phalanx 2, a second phalanx 3, an elastic element 4, a connecting rod 5, and a rotating element 6. Specifically, the base 1 is mounted on the palm; the first phalanx 2 includes a first end and a second end arranged opposite to each other, and the second phalanx 3 includes a third end and a fourth end arranged opposite to each other. The first end is rotatably connected to the base 1, and the second end is rotatably connected to the third end; the first phalanx 2 is provided with a first groove 21; one end of the elastic element 4 is connected to the second phalanx 3, and the other end is connected to the base 1; one end of the connecting rod 5... The first finger joint 3 is rotatably connected to the second finger joint 3, and the other end is rotatably connected to the base 1. The connecting rod 5 can be linked with the first finger joint 2 so that the second finger joint 3 can rotate relative to the first finger joint 2. The rotating member 6 is rotatably disposed on the base 1. The rotating member 6 is provided with a driving part 61, which is inserted into the first groove 21. The driving part 61 can rotate with the rotating member 6 and abut against the inner wall of the first groove 21 to drive the first finger joint 2 to rotate. The first finger joint 2 can rotate relative to the rotating member 6 and move the driving part 61 in the first groove 21.

[0048] In this embodiment, the grooved anti-collision finger mechanism rotates the rotating member 6, causing the driving part 61 to abut against the inner wall of the first groove 21, thereby driving the first phalanx 2 to rotate. At the same time, the elastic member 4 undergoes elastic deformation, and under the action of the connecting rod 5, the second phalanx 3 rotates relative to the first phalanx 2 while rotating with it, thereby causing the grooved anti-collision finger mechanism to bend. When the grooved anti-collision finger mechanism switches from the bent state to the extended state, the rotating member 6 rotates in the opposite direction, and the driving part 61 remains abut against the inner wall of the first groove 21. The grooved anti-collision finger mechanism can extend and reset under the combined action of the elastic force of the elastic member 4 and the force exerted by the driving part 61 on the inner wall of the first groove 21.

[0049] When the rotating part 6 is not rotating, if the grooved anti-collision finger mechanism is subjected to an external force that causes it to bend, the driving part 61 can move within the first groove 21, thereby enabling the first phalanx 2 and the second phalanx 3 to rotate under the action of the external force, so that the grooved anti-collision finger mechanism can perform a bending action, avoiding excessive force on the grooved anti-collision finger mechanism and thus reducing the risk of collision damage to the grooved anti-collision finger mechanism.

[0050] It is understandable that the grooved anti-collision finger mechanism has an extended state and a bent state. When the grooved anti-collision finger mechanism switches from the extended state to the bent state, the angle between the first phalanx 2 and the base 1 (i.e., the angle between the first phalanx 2 and the palm) and the angle between the first phalanx 2 and the second phalanx 3 gradually decrease; when the grooved anti-collision finger mechanism switches from the bent state to the extended state, the angle between the first phalanx 2 and the base 1 and the angle between the first phalanx 2 and the second phalanx 3 gradually increase.

[0051] In this embodiment, when the external force on the grooved anti-collision finger mechanism is directed toward the palm of the hand, the grooved anti-collision finger mechanism can switch to a bent state to achieve the purpose of anti-collision.

[0052] It should be noted that the elastic element 4 not only resets the slotted anti-collision finger mechanism but also provides preload to eliminate play gaps, such as the gaps between the first phalanx 2 and the base 1, and between the first phalanx 2 and the second phalanx 3, thereby improving the positioning accuracy and stability of the slotted anti-collision finger mechanism. For example, the elastic element 4 is a spring, such as a tension spring.

[0053] Specifically, the first end of the first phalanx 2 and the rotating member 6 are both rotatably connected to the base 1 via the first rotating shaft 71, and the first phalanx 2 can rotate relative to the rotating member 6. For example, the first rotating shaft 71 is rotatably connected to the base 1 via the first bearing, the rotating member 6 is fixed to the first rotating shaft 71, and the first end of the first phalanx 2 is rotatably connected to the first rotating shaft 71 via the second bearing. Further, the third end of the second phalanx 3 is rotatably connected to the second end of the first phalanx 2 via the second rotating shaft 72. The two ends of the connecting rod 5 are respectively rotatably connected to the base 1 and the second phalanx 3 via two third rotating shafts 73. The two ends of the elastic member 4 are respectively rotatably connected to the base 1 and the second phalanx 3 via two first shaft pins 74. In this embodiment, the axes of the first rotating shaft 71, the second rotating shaft 72, the third rotating shaft 73, and the first shaft pins 74 are all parallel to each other.

[0054] Optionally, the slotted anti-collision finger mechanism also includes a drive component 8, which can drive the rotating member 6 to rotate, thereby driving the slotted anti-collision finger mechanism to perform flexion and extension movements, which helps to improve the convenience and control accuracy of the flexion and extension of the slotted anti-collision finger mechanism.

[0055] Optionally, the rotating component 6 includes a worm gear; the driving assembly 8 includes a worm 81 and a driving component 82, the worm 81 meshing with the worm gear, and the driving component 82 driving the worm 81 to rotate. The worm 81 is rotatably mounted on the base 1, thereby ensuring the stability of the worm 81 during rotation. By driving the worm 81 to rotate through the driving component 82, the worm 81 drives the worm gear to rotate, thereby causing the driving part 61 to rotate with the worm gear and abut against the inner wall of the first groove 21, thereby driving the first finger joint 2 to rotate.

[0056] It should be noted that the worm gear and worm 81 have a self-locking function. When the drive assembly 8 stops operating, the worm gear and worm 81 can self-lock in their current state, thereby locking the slotted anti-collision finger mechanism in its current state and preventing the items gripped by the slotted anti-collision finger mechanism from falling during transport. Simultaneously, the worm gear and worm 81 can also change the torque direction, allowing the drive assembly 8 to utilize more space along the length of the slotted anti-collision finger mechanism, thus providing more space for the items gripped by the mechanism. The worm gear and worm 81 can also achieve deceleration and increased torque, which not only improves the gripping force of the slotted anti-collision finger mechanism but also reduces the energy consumption of the drive component 82, resulting in energy saving. Furthermore, the worm gear and worm 81 can improve the control precision of the rotating component 6, enabling the slotted anti-collision finger mechanism to perform precise movements. For example, the drive component 82 is a motor, such as a servo motor.

[0057] Optionally, the drive unit 61 is located on one side of the worm wheel along its axial direction, thus avoiding interference with the meshing of the worm wheel and worm 81, simplifying the structure of the rotating part 6, improving manufacturability, and reducing cost. Specifically, the drive unit 61 is located on one side of the worm wheel's axis along its radial direction. That is, the drive unit 61 is eccentrically located on one side of the worm wheel along its axial direction, and can then abut against the inner wall of the first groove 21 to drive the first finger 2 to rotate.

[0058] Optionally, the first groove 21 includes a first sidewall 211 and a second sidewall 212 disposed opposite to each other along the rotation direction of its rotating member 6. The driving part 61 can rotate with the rotating member 6 and abut against the first sidewall 211 to drive the first phalanx 2 to rotate. The first phalanx 2 can rotate relative to the rotating member 6 so that the driving part 61 can move within the first groove 21 from the first sidewall 211 to the second sidewall 212 along the rotation direction of the rotating member 6. It can be understood that when the first phalanx 2 rotates relative to the rotating member 6, the driving part 61 can move within the first groove 21 from the first sidewall 211 to the second sidewall 212 along the rotation direction of the rotating member 6, thereby separating the driving part 61 from the first sidewall 211. As the first phalanx 2 continues to rotate relative to the rotating member 6, the driving part 61 can also abut against the second sidewall 212.

[0059] Specifically, such as Figure 5 and Figure 6As shown, when the grooved anti-collision finger mechanism needs to be switched from an extended state to a bent state, the rotating member 6 is rotated, causing the driving part 61 to rotate with the rotating member 6 and abut against the first sidewall 211, thereby driving the first knuckle 2 to rotate. At the same time, the elastic member 4 undergoes elastic deformation. Under the action of the connecting rod 5, the second knuckle 3 rotates with the first knuckle 2 and also rotates relative to the first knuckle 2, thereby causing the grooved anti-collision finger mechanism to bend. When the grooved anti-collision finger mechanism needs to be switched from a bent state to an extended state, the rotating member 6 is rotated in the opposite direction (i.e., the rotation direction of the rotating member 6 is opposite to that when the grooved anti-collision finger mechanism is bending), and the driving part 61 is still abutting against the first sidewall 211. The grooved anti-collision finger mechanism can extend and return to its original position under the combined action of the elastic force of the elastic member 4 and the force exerted by the driving part 61 on the first sidewall 211.

[0060] like Figure 7 and Figure 8 As shown, when the drive member 82 is not in motion, if the grooved anti-collision finger mechanism is subjected to an external force that causes it to bend, the drive part 61 moves within the first groove 21, thereby causing the first phalanx 2 and the second phalanx 3 to rotate under the action of the external force, so that the grooved anti-collision finger mechanism performs a bending action until the drive part 61 abuts against the second side wall 212, and the grooved anti-collision finger mechanism stops bending, thereby preventing the grooved anti-collision finger mechanism from bending excessively.

[0061] Optionally, the drive unit 61 abuts against the first side wall 211 through surface contact, which can improve the contact stability between the drive unit 61 and the first side wall 211 and help improve the stability of the grooved anti-collision finger mechanism when performing flexion and extension movements.

[0062] Optionally, the drive unit 61 and the second side wall 212 abut against each other through surface contact, thereby increasing the contact area between the drive unit 61 and the second side wall 212. When the grooved anti-collision finger mechanism is subjected to an external force that causes it to bend, causing the drive unit 61 and the second side wall 212 to abut against each other, the drive unit 61 and the second side wall 212 can be prevented from being damaged due to excessive local force, thus playing a protective role.

[0063] Optionally, such as Figures 1 to 4As shown, the base 1 has a second groove 11 corresponding to the drive unit 61. The drive unit 61 passes through the second groove 11 and is inserted into the first groove 21, allowing it to move within the second groove 11. A third sidewall 111 is provided at one end of the second groove 11 along the rotation direction of the rotating member 6. The third sidewall 111 and the first sidewall 211 are located on the same side of the drive unit 61 along the rotation direction of the rotating member 6, allowing the drive unit 61 to abut against the third sidewall 111. During the process of the drive unit 61 abutting against the first sidewall 211, thereby driving the first phalanx 2 to rotate—that is, when the grooved anti-collision finger mechanism switches from an extended state to a bent state—by abutting against the third sidewall 111, the rotation of the rotating member 6 can be restricted, thus stopping the grooved anti-collision finger mechanism and keeping it in a bent state, which helps improve the stability of the grooved anti-collision finger mechanism.

[0064] Optionally, a fourth sidewall 112 is provided at one end of the second groove 11 along the rotation direction of the rotating member 6. The fourth sidewall 112 and the second sidewall 212 are located on the same side of the drive unit 61 along the rotation direction of the rotating member 6, and the drive unit 61 can abut against the fourth sidewall 112. When the grooved anti-collision finger mechanism switches from a bent state to an extended state, by making the drive unit 61 abut against the fourth sidewall 112, the rotation of the rotating member 6 can be restricted, thereby stopping the grooved anti-collision finger mechanism and keeping it in the extended state, which helps to improve the stability of the grooved anti-collision finger mechanism.

[0065] Optionally, the first phalanx 2 includes a mounting cavity 22, with a rotating member 6 located within the mounting cavity 22. The rotating member 6 has driving portions 61 on both sides along its axial direction, and the mounting cavity 22 has first grooves 21 on both sides along the axial direction of the rotating member 6. The driving portions 61 are inserted into the first grooves 21 located on the same side as the rotating member 6. In other words, the first phalanx 2 can be driven to rotate by the two driving portions 61 respectively abutting against the inner walls of the two first grooves 21. This improves the force stability of the first phalanx 2, thereby enhancing the grip stability and reliability of the grooved anti-collision finger mechanism.

[0066] The rotating component 6 is located inside the mounting cavity 22, thus preventing the rotating component 6 from being exposed. On the one hand, this prevents the rotating component 6 from interfering with the gripping of the grooved anti-collision finger mechanism, and on the other hand, it prevents the rotating component 6 from being damaged by bumps, corrosion, etc., which helps to improve the reliability of the rotating component 6 and extend its service life. It also has the effect of reducing the size of the grooved anti-collision finger mechanism and improving its aesthetics.

[0067] Specifically, the base 1 is provided with a mounting groove 12, which includes two groove sidewalls arranged opposite each other along the axial direction of the rotating member 6. The two ends of the rotating shaft of the rotating member 6 are respectively rotatably connected to the two groove sidewalls, thereby improving the support stability of the rotating member 6. Further, each of the two groove sidewalls is provided with a second groove 11. The driving parts 61 located on both sides of the rotating member 6 along its axial direction pass through the second grooves 11 on the two groove sidewalls and are inserted into the corresponding first grooves 21.

[0068] Specifically, the driving part 61 is a driving shaft pin, which is fixed to one side of the rotating member 6 along its axial direction, and the axis of the driving shaft pin does not coincide with the axis of the rotating member 6. In other words, the driving shaft pin is eccentrically set. Of course, in other embodiments, the driving shaft pin can also be rotatably set on the rotating member 6, thereby reducing the friction between the driving shaft pin and the inner wall of the first groove 21.

[0069] Optionally, the elastic element 4 is located inside the mounting cavity 22, thereby preventing the elastic element 4 from being exposed. On the one hand, this prevents the elastic element 4 from interfering with the grooved anti-collision finger mechanism's grip on objects, and on the other hand, it prevents the elastic element 4 from being damaged by bumps, corrosion, etc., which helps to improve the reliability of the elastic element 4 and extend its service life. It also has the effect of reducing the size of the grooved anti-collision finger mechanism and improving its aesthetics.

[0070] Optionally, the connecting rod 5 is located inside the mounting cavity 22, thereby preventing the connecting rod 5 from being exposed. On the one hand, this prevents the connecting rod 5 from interfering with the grooved anti-collision finger mechanism's grip on objects, and on the other hand, it prevents the connecting rod 5 from being damaged by bumps, corrosion, etc., which helps to improve the reliability of the connecting rod 5 and extend its service life. It also has the effect of reducing the size of the grooved anti-collision finger mechanism and improving its aesthetics.

[0071] Optionally, such as Figure 5 As shown, the second phalanx 3 includes a first finger segment 31 connected to the first phalanx 2 and a second finger segment 32 connected to the first finger segment 31. The first finger segment 31 and the second finger segment 32 are set at an angle, that is, the second phalanx 3 is a curved phalanx. Compared with a straight phalanx, both the first finger segment 31 and the second finger segment 32 can abut against the object being grasped, and the directions of the forces applied by the first finger segment 31 and the second finger segment 32 to the object being grasped are different, thereby increasing the stability of the grooved anti-collision finger mechanism in grasping the object.

[0072] Preferably, the first finger segment 31 has a first inner surface 311 capable of contacting the object being grasped, and the second finger segment 32 has a second inner surface 321 capable of contacting the object being grasped. The angle between the first inner surface 311 and the second inner surface 321 is an acute angle. It should be noted that the grooved anti-collision finger mechanism is a mechanical structure that mimics the shape of a human finger. The grooved anti-collision finger mechanism has an inner side A and a back side B arranged opposite to each other. The inner side A corresponds to the palm side of a human hand, and the back side B corresponds to the back of the hand. By making the angle between the first inner surface 311 and the second inner surface 321 an acute angle, the connection between the first finger segment 31 and the second finger segment 32 protrudes from the inner side A to the back side B to form a curved second phalanx 3. This makes the grooved anti-collision finger mechanism closer to the shape of a human finger, which is beneficial for improving the gripping force and gripping stability of the grooved anti-collision finger mechanism.

[0073] It is understandable that the inner side A of the first phalanx 2 corresponds to the fingertip of a human finger, and the fourth end of the second phalanx 3 is the free end, corresponding to the fingertip of a human finger. Optionally, such as... Figure 1 and Figure 2 As shown, a sensing element 9 is provided on the inner side A of the first phalanx 2 and / or the fourth end of the second phalanx 3. Exemplarily, the sensing element 9 includes a tactile sensor, etc., so as to provide feedback on information such as grasping force through the sensing element 9, thereby providing a hardware foundation to facilitate product production. The tactile sensor is a sensor in the prior art, and will not be described in detail here.

[0074] Optionally, stress simulation is performed based on lightweight requirements and usage conditions to determine the dimensions of base 1. Base 1 is made of 7075 aerospace-grade aluminum. Exemplarily, base 1 is machined by a CNC milling machine, followed by sandblasting and anodizing to improve the machining accuracy and strength of base 1.

[0075] Optionally, the worm gear and worm 81 are manufactured according to the size of the motor output shaft and the target reduction ratio, and the parameters of the worm gear and worm 81 are determined according to the load of the slotted anti-collision finger mechanism. The worm gear is made of bronze; the worm 81 is made of medium carbon steel. For example, the worm gear is manufactured using a gear hobbing machine; the worm 81 is manufactured using a Swiss-type lathe and then quenched to improve the machining accuracy and strength of the worm gear and worm 81.

[0076] Optionally, connecting rod 5 is made of stainless steel, which is strong and has a long service life.

[0077] Optionally, the first phalanx 2 is made of 7075 aerospace-grade aluminum. The second phalanx 3 is also made of 7075 aerospace-grade aluminum. Exemplarily, after the first phalanx 2 and the second phalanx 3 are machined by a CNC milling machine, they are sandblasted and anodized to improve the machining accuracy and strength of the first phalanx 2 and the second phalanx 3.

[0078] It should be noted that the manufacturing processes and design methods (such as force simulation) of the base 1, worm gear, worm 81, connecting rod 5, first finger joint 2 and second finger joint 3 are all existing technologies and will not be elaborated here.

[0079] For example, such as Figures 5 to 8 As shown, the working principle of the slotted anti-collision finger mechanism in this embodiment is as follows:

[0080] When the motor is working, the motor drives the worm 81 to rotate, the worm 81 drives the worm wheel to rotate, and the drive unit 61 rotates with the worm wheel, so that the drive unit 61 can abut against the first side wall 211 to drive the first finger joint 2 to rotate and cause the elastic member 4 to undergo elastic deformation. Under the action of the connecting rod 5, the second finger joint 3 rotates with the first finger joint 2 and also rotates relative to the first finger joint 2, so that the grooved anti-collision finger mechanism can bend. Since the worm wheel and worm 81 have self-locking characteristics, when the motor is turned off, the grooved anti-collision finger mechanism can stay at any position within its stroke range and maintain the current state, thereby preventing the grasped object from slipping.

[0081] Furthermore, when the motor is working and the output shaft of the motor rotates in the opposite direction (i.e., the rotation direction of the output shaft of the motor is opposite to that when the grooved anti-collision finger mechanism is bent), the drive unit 61 rotates with the worm gear, and the drive unit 61 still abuts against the first side wall 211. The grooved anti-collision finger mechanism can extend and reset under the combined action of the elastic force of the elastic member 4 and the force applied by the drive unit 61 to the first side wall 211.

[0082] When the motor is not in operation, if the grooved anti-collision finger mechanism is subjected to an external force toward the palm, the drive part 61 moves within the first groove 21. That is, the drive part 61 separates from the first side wall 211 and moves from the first side wall 211 to the second side wall 212, thereby causing the first phalanx 2 and the second phalanx 3 to rotate under the action of the external force, so that the grooved anti-collision finger mechanism can bend. This prevents the back side B of the grooved anti-collision finger mechanism from hitting and being damaged by surrounding objects in the event of misoperation, thus playing a collision protection role. The grooved anti-collision finger mechanism stops bending when the drive part 61 comes into contact with the second side wall 212, thereby avoiding damage caused by excessive bending of the grooved anti-collision finger mechanism.

[0083] In summary, the slotted anti-collision finger mechanism of this embodiment has the characteristics of self-locking, deceleration and torque increase, anti-collision, high positioning accuracy, small movement gap and high stability, thereby expanding its application scope and scenarios.

[0084] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention. The scope of the present invention is determined by the scope of the appended claims.

Claims

1. A grooved anti-collision finger mechanism, characterized in that, include: Base; A first phalanx and a second phalanx, the first phalanx including a first end and a second end disposed opposite to each other, the second phalanx including a third end and a fourth end disposed opposite to each other, the first end being rotatably connected to the base, and the second end being rotatably connected to the third end; the first phalanx is provided with a first groove; An elastic element, one end of which is connected to the second phalanx and the other end of which is connected to the base; A connecting rod, one end of which is rotatably connected to the second phalanx and the other end of which is rotatably connected to the base, the connecting rod being able to move in conjunction with the first phalanx so that the second phalanx can rotate relative to the first phalanx; A rotating component is rotatably disposed on the base. The rotating component is provided with a driving part, which is inserted into the first groove. The driving part can rotate with the rotating component and abut against the inner wall of the first groove to drive the first phalanx to rotate. The first phalanx can rotate relative to the rotating component and move the driving part within the first groove.

2. The grooved anti-collision finger mechanism according to claim 1, characterized in that, The grooved anti-collision finger mechanism also includes a drive component that can drive the rotating component to rotate.

3. The grooved anti-collision finger mechanism according to claim 2, characterized in that, The rotating component includes a worm gear; the driving assembly includes a worm and a driving member, the worm meshing with the worm gear, and the driving member capable of driving the worm to rotate.

4. The grooved anti-collision finger mechanism according to claim 3, characterized in that, The drive unit is located on one side of the worm gear along its axial direction, and the drive unit is located on the side of the worm gear along its radial direction.

5. The grooved anti-collision finger mechanism according to claim 1, characterized in that, The first groove includes a first sidewall and a second sidewall disposed opposite to each other along the rotation direction of the rotating member. The driving part can rotate with the rotating member and abut against the first sidewall to drive the first phalanx to rotate. The first phalanx can rotate relative to the rotating member and cause the driving part to move from the first sidewall to the second sidewall within the first groove along the rotation direction of the rotating member.

6. The grooved anti-collision finger mechanism according to claim 5, characterized in that, The base is provided with a second groove corresponding to the driving part, the driving part can pass through the second groove and be inserted into the first groove, and the driving part can move within the second groove; The second groove has a third sidewall at one end along the rotation direction of the rotating member. The third sidewall and the first sidewall are located on the same side of the driving part along the rotation direction of the rotating member, and the driving part can abut against the third sidewall. And / or, the second groove is provided with a fourth sidewall at one end along the rotation direction of the rotating member, the fourth sidewall and the second sidewall are located on the same side of the driving part along the rotation direction of the rotating member, and the driving part can abut against the fourth sidewall.

7. The grooved anti-collision finger mechanism according to claim 1, characterized in that, The second phalanx includes a first segment connected to the first phalanx and a second segment connected to the first segment, wherein the first segment and the second segment are set at an angle.

8. The grooved anti-collision finger mechanism according to any one of claims 1-7, characterized in that, The first phalanx includes a mounting cavity; The elastic element is located within the mounting cavity; And / or, the connecting rod is located within the mounting cavity; And / or, the rotating element is located within the mounting cavity.

9. A robotic arm, characterized in that, Includes the grooved anti-collision finger mechanism as described in any one of claims 1-8.

10. A robot, characterized in that, Including the robotic arm as described in claim 9.

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