Clutch-type finger flexion and extension mechanism, robotic hand and robot

Abstract

This utility model discloses a clutch-type finger flexion and extension mechanism, a robotic hand, and a robot, belonging to the field of robotic hand technology. The clutch-type finger flexion and extension mechanism, robotic hand, and robot of this utility model, by rotating a rotating component, allow the driving part to abut against the contact part, 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 clutch-type finger flexion and extension mechanism to perform a bending action. When the clutch-type finger flexion and extension mechanism switches from a bent state to an extended state, the rotating component rotates in the opposite direction, while the driving part remains abut against the contact part. The clutch-type finger flexion and extension 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 applied to the contact part by the driving part. When the rotating component is not rotating, the clutch-type finger flexion and extension mechanism can perform a bending action under the action of external force, avoiding collision damage.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, and in particular to a clutch-type finger flexion and extension 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 clutch-type finger flexion and extension 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 clutch-type finger flexion and extension mechanism.

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

[0006] The clutch-type finger flexion and extension 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 contact portion;

[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 member is rotatably disposed on the base, the rotating member including a driving part; the driving part is capable of rotating with the rotating member and abutting against the contact part to drive the first phalanx to rotate; the first phalanx is capable of rotating relative to the rotating member and separating the contact part from the driving part.

[0012] As a preferred embodiment of the above-mentioned clutch-type flexion and extension finger mechanism, the clutch-type flexion and extension finger mechanism further includes a drive component, which is capable of driving the rotating component to rotate.

[0013] As a preferred embodiment of the above-mentioned clutch-type flexion and extension finger mechanism, the rotating component includes a worm gear; the driving assembly includes a worm and a driving component, the worm meshing with the worm gear, and the driving component driving the worm to rotate.

[0014] As a preferred technical solution of the above-mentioned clutch-type flexion and extension finger mechanism, the base further includes a slide groove, and the rotating member further includes a limiting part inserted in the slide groove, the limiting part being able to rotate with the rotating member and move in the slide groove;

[0015] The slide groove has a limiting engagement portion at at least one end along the rotation direction of the rotating member, and the limiting engagement portion can abut against the limiting engagement portion.

[0016] As a preferred technical solution of the above-mentioned clutch-type flexion and extension finger mechanism, the rotating component further includes a transition body, the transition body is fixed on one side of the worm wheel along its axial direction, the driving part is disposed on one side of the transition body along the axial direction of the worm wheel, and the driving part is located on one side of the worm wheel's axis along the radial direction of the worm wheel.

[0017] And / or, the limiting portion is located on one side of the adapter body along the radial direction of the worm gear.

[0018] As a preferred embodiment of the above-mentioned clutch-type flexion and extension finger mechanism, the driving part includes a first branch and a second branch respectively disposed on both sides of the driving part along the rotation direction of the rotating member. The driving part can rotate with the rotating member and make the first branch abut against the contact part to drive the first phalanx to rotate. The first phalanx can rotate relative to the rotating member and make the contact part move from the first branch to the second branch.

[0019] As a preferred technical solution of the above-mentioned clutch-type flexion and extension finger mechanism, the first branch and the contact portion abut against each other by surface contact.

[0020] And / or, the second branch abuts against the contact portion by means of surface contact.

[0021] As a preferred technical solution of the above-mentioned clutch-type flexion and extension finger mechanism, the second finger joint includes a first finger segment connected to the first finger joint 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.

[0022] To achieve the above objectives, robotic arms are also provided, including the clutch-type flexion-extension finger mechanism as described in any of the preceding items.

[0023] To achieve the above objectives, robots, including the robotic arms described above, are also provided.

[0024] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0025] This invention relates to a clutch-type flexion-extension finger mechanism, a robotic hand, and a robot. By rotating the rotating component, the driving part abuts against the contact part, thereby driving the first phalanx to rotate. Simultaneously, 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, thus enabling the clutch-type flexion-extension finger mechanism to perform a bending action. When the clutch-type flexion-extension 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 contact part. Under the combined action of the elastic force of the elastic component and the force applied to the contact part by the driving part, the clutch-type flexion-extension finger mechanism can perform an extension action and return to its original position.

[0026] When the rotating part is not rotating, if the clutch-type flexor-extension finger mechanism is subjected to an external force that causes it to bend, the first and second phalanges will rotate under the action of the external force and the contact part will separate from the driving part, so that the clutch-type flexor-extension finger mechanism can perform bending action, avoiding excessive force on the clutch-type flexor-extension finger mechanism and reducing the risk of collision damage to the clutch-type flexor-extension finger mechanism. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the first structure of the clutch-type flexion and extension finger mechanism in this embodiment of the present utility model;

[0028] Figure 2 This is a schematic diagram of the second structure of the clutch-type flexion and extension finger mechanism in an embodiment of this utility model;

[0029] Figure 3 This is a schematic diagram of the third structure of the clutch-type flexion and extension finger mechanism in an embodiment of this utility model;

[0030] Figure 4 This is a schematic diagram of the fourth structure of the clutch-type flexion and extension finger mechanism in this embodiment of the present utility model;

[0031] Figure 5 This is a first exploded view of the clutch-type flexion and extension finger mechanism in an embodiment of this utility model;

[0032] Figure 6 This is a second exploded view of the clutch-type flexion and extension finger mechanism in an embodiment of this utility model;

[0033] Figure 7 and Figure 8 This is a diagram illustrating the bending process of the clutch-type flexion and extension finger mechanism under the action of the motor when the motor is working in this embodiment of the present invention.

[0034] Figure 9 and Figure 10This diagram illustrates the bending process of the clutch-type flexion and extension 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. Slide groove; 111. Limiting mating part; 12. Mounting groove; 2. First finger joint; 21. Contact part; 22. Mounting cavity; 3. Second finger joint; 31. First finger segment; 311. Inner surface of the first finger; 32. Second finger segment; 321. Inner surface of the second finger; 4. Elastic element; 5. Connecting rod; 6. Rotating element; 6a. Worm gear; 6b. Adapter; 61. Drive unit; 611. First support; 612. Second support; 62. Limiting part; 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 6 As shown, this embodiment provides a clutch-type flexion-extension finger mechanism, a robotic hand, and a robot. The robot includes a robotic hand, which includes a clutch-type flexion-extension finger mechanism. By flexing and extending the clutch-type flexion-extension finger mechanism, the robot can grasp objects.

[0045] Optionally, the robotic hand also includes a palm, on which a clutch-type flexor-extension finger mechanism is mounted. It should be noted that one, two, three, or even more clutch-type flexor-extension finger mechanisms can be used; no limitation is made here. Increasing the number of clutch-type flexor-extension finger mechanisms 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 clutch-type flexion and extension 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 contact portion 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 is rotatably connected to the second phalanx 3, and the other end is rotatably connected to the base 1. The connecting rod 5 can be linked with the first phalanx 2 so that the second phalanx 3 can rotate relative to the first phalanx 2. The rotating element 6 is rotatably disposed on the base 1. The rotating element 6 includes a driving part 61. The driving part 61 can rotate with the rotating element 6 and abut against the contact portion 21 to drive the first phalanx 2 to rotate. The first phalanx 2 can rotate relative to the rotating element 6 and separate the contact portion 21 from the driving part 61.

[0048] In this embodiment, the clutch-type flexion-extension finger mechanism rotates the rotating member 6, causing the driving part 61 to abut against the contact part 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 clutch-type flexion-extension finger mechanism to perform a bending action. When the clutch-type flexion-extension finger mechanism switches from a bent state to an extended state, the rotating member 6 rotates in the opposite direction, and the driving part 61 remains in contact with the contact part 21. Under the combined action of the elastic force of the elastic member 4 and the force applied by the driving part 61 to the contact part 21, the clutch-type flexion-extension finger mechanism can perform an extension action and return to its original position.

[0049] When the rotating part 6 is not rotating, if the clutch-type flexor-extension finger mechanism is subjected to an external force that causes it to bend, the first phalanx 2 and the second phalanx 3 will rotate under the action of the external force and separate the contact part 21 from the drive part 61, so that the clutch-type flexor-extension finger mechanism can perform a bending action, avoiding damage to the clutch-type flexor-extension finger mechanism due to excessive force, and has the function of reducing the risk of collision damage to the clutch-type flexor-extension finger mechanism.

[0050] It is understandable that the clutch-type flexor-extension mechanism has an extended state and a bent state. When the clutch-type flexor-extension 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 clutch-type flexor-extension 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 direction of the external force on the clutch-type finger flexion and extension mechanism is towards the palm of the hand, the clutch-type finger flexion and extension mechanism can switch to a bent state to achieve the purpose of collision prevention.

[0052] It should be noted that the elastic element 4 not only resets the clutch-type flexion-extension 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 clutch-type flexion-extension 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 clutch-type flexion and extension finger mechanism also includes a drive component 8, which can drive the rotating part 6 to rotate, thereby driving the clutch-type flexion and extension finger mechanism to perform flexion and extension actions, which helps to improve the convenience and control accuracy of the clutch-type flexion and extension finger mechanism.

[0055] Optionally, the rotating component 6 includes a worm gear 6a; the driving assembly 8 includes a worm 81 and a driving component 82. The worm 81 meshes with the worm gear 6a, and the driving component 82 can drive 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 6a to rotate, thereby causing the driving part 61 to rotate with the worm gear 6a and abut against the contact part 21, thereby driving the first finger joint 2 to rotate.

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

[0057] Optionally, the base 1 further includes a slide groove 11, and the rotating member 6 further includes a limiting part 62 inserted into the slide groove 11. The limiting part 62 can rotate with the rotating member 6 and move within the slide groove 11. At least one end of the slide groove 11 along the rotation direction of the rotating member 6 is provided with a limiting engagement part 111, and the limiting part 62 can abut against the limiting engagement part 111. By making the limiting part 62 abut against the limiting engagement part 111, the rotation of the rotating member 6 can be restricted, thereby stopping the clutch-type flexion and extension finger mechanism and keeping it in its current state, such as a bent or extended state.

[0058] Preferably, the slide groove 11 is provided with limiting fitting parts 111 at both ends along the rotation direction of the rotating member 6, thereby achieving the purpose of limiting the rotation angle of the rotating member 6. For example, when the limiting part 62 abuts against the limiting fitting part 111 located at one end of the slide groove 11 along the rotation direction of the rotating member 6, the clutch-type flexion and extension finger mechanism is in a bent state; when the limiting part 62 abuts against the limiting fitting part 111 located at the other end of the slide groove 11 along the rotation direction of the rotating member 6, the clutch-type flexion and extension finger mechanism is in an extended state.

[0059] Specifically, the slide 11 includes two first sidewalls arranged opposite to each other along its extension direction. The two first sidewalls are the limiting fitting parts 111 located at both ends of the slide 11 along the rotation direction of the rotating member 6.

[0060] Optionally, the rotating component 6 further includes a transition body 6b, which is fixedly disposed on one side of the worm gear 6a along its axial direction, and a driving part 61 is disposed on one side of the transition body 6b along the axial direction of the worm gear 6a. Optionally, a limiting part 62 is disposed on one side of the transition body 6b along the radial direction of the worm gear 6a. This allows for separate machining of the transition body 6b and the worm gear 6a, followed by fixed connection of the machined transition body 6b to the worm gear 6a, resulting in better manufacturability and lower cost. Specifically, the driving part 61 is located on one side of the worm gear 6a along its radial direction, meaning that the driving part 61 is eccentrically disposed on one side of the transition body 6b along the axial direction of the worm gear 6a. The driving part 61 can then abut against the contact part 21 to drive the first finger joint 2 to rotate.

[0061] Optionally, the driving part 61 includes a first branch 611 and a second branch 612 respectively disposed on both sides of it along the rotation direction of the rotating member 6. The driving part 61 can rotate with the rotating member 6 and cause the first branch 611 to abut against the contact part 21 to drive the first phalanx 2 to rotate. The first phalanx 2 can rotate relative to the rotating member 6 and cause the contact part 21 to move from the first branch 611 to the second branch 612. It is understood that when the first phalanx 2 rotates relative to the rotating member 6, the contact part 21 can move from the first branch 611 to the second branch 612, thereby causing the contact part 21 to separate from the first branch 611. As the first phalanx 2 continues to rotate relative to the rotating member 6, the contact part 21 can also abut against the second branch 612.

[0062] Specifically, such as Figure 7 and Figure 8 As shown, when the clutch-type flexor-extension mechanism needs to switch from an extended state to a bent state, the rotating member 6 rotates, and the driving part 61 rotates with the worm gear 6a, so that the first branch 611 abuts against the contact part 21, 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 clutch-type flexor-extension mechanism to perform a bending action. When the clutch-type flexor-extension mechanism needs to switch from a bent state to an extended state, the rotating member 6 rotates in the opposite direction (i.e., the rotation direction of the rotating member 6 is opposite to that when the clutch-type flexor-extension mechanism performs a bending action), and the first branch 611 still abuts against the contact part 21. The clutch-type flexor-extension mechanism can perform an extension action 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 first branch 611 on the contact part 21.

[0063] like Figure 9 and Figure 10As shown, when the rotating part 6 is not rotating, if the clutch-type flexor-extension finger mechanism is subjected to an external force that causes it to bend, the first phalanx 2 and the second phalanx 3 will rotate under the action of the external force, and the contact part 21 will separate from the first branch 611, thereby causing the clutch-type flexor-extension finger mechanism to perform a bending action until the contact part 21 abuts against the second branch 612, and the clutch-type flexor-extension finger mechanism stops bending, thereby avoiding excessive bending of the clutch-type flexor-extension finger mechanism.

[0064] Optionally, the first branch 611 and the contact part 21 abut against each other through surface contact, which can improve the contact stability between the drive part 61 and the contact part 21, and help improve the stability of the clutch-type flexion and extension finger mechanism in flexion and extension movements.

[0065] Optionally, the second branch 612 and the contact part 21 abut against each other through surface contact, thereby increasing the contact area between the second branch 612 and the contact part 21. When the clutch-type flexion and extension finger mechanism is subjected to an external force that causes it to bend, the second branch 612 and the contact part 21 can be prevented from being damaged due to excessive local force when they abut against each other, thus playing a protective role.

[0066] Optionally, the first phalanx 2 includes a mounting cavity 22, and a rotating member 6 is 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 contact portions 21 on both sides along the axial direction of the rotating member 6. The driving portions 61 can abut against the contact portions 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 abutting against the two contact portions 21 respectively, which improves the force stability of the first phalanx 2 and thus enhances the gripping stability and reliability of the clutch-type flexion-extension finger mechanism.

[0067] 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 clutch-type flexion and extension finger mechanism's grip on objects, 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 clutch-type flexion and extension finger mechanism and improving its aesthetics.

[0068] 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.

[0069] Optionally, the rotating member 6 is provided with limiting parts 62 on both sides along its axial direction, and the two groove sidewalls are provided with sliding grooves 11. The limiting parts 62 on both sides along its axial direction of the rotating member 6 are respectively inserted into the sliding grooves 11 on the two groove sidewalls. Thus, the two limiting parts 62 can abut against the limiting mating parts 111 of the two sliding grooves 11 respectively to position the clutch-type flexion and extension finger mechanism and improve the positioning stability of the clutch-type flexion and extension finger mechanism.

[0070] Specifically, the driving part 61 is a driving protrusion that protrudes from the side of the adapter body 6b away from the worm gear 6a along the axial direction. The first branch 611 and the second branch 612 are the end faces of the driving protrusion on both sides along the rotation direction of the rotating member 6, respectively. The contact part 21 is a contact protrusion that protrudes from the inner wall of the mounting cavity 22. The end face of the contact protrusion facing the driving protrusion can abut against the first branch 611 or the second branch 612.

[0071] 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 clutch-type flexion and extension 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 clutch-type flexion and extension finger mechanism and improving its aesthetics.

[0072] 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 clutch-type flexor-extension finger mechanism's gripping of 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 clutch-type flexor-extension finger mechanism and improving its aesthetics.

[0073] Optionally, 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, with the first finger segment 31 and the second finger segment 32 arranged 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 clutch-type flexion-extension finger mechanism in grasping the object.

[0074] 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 clutch-type flexion-extension finger mechanism is a mechanical structure that mimics the shape of a human finger. The clutch-type flexion-extension 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 clutch-type flexion-extension finger mechanism closer to the shape of a human finger, which is beneficial for improving the gripping force and gripping stability of the clutch-type flexion-extension finger mechanism.

[0075] 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.

[0076] 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.

[0077] Optionally, the worm gear 6a and worm 81 are manufactured according to the dimensions of the motor output shaft and the target reduction ratio, and the parameters of the worm gear 6a and worm 81 are determined according to the load of the clutch-type flexor-extension finger mechanism. The worm gear 6a is made of bronze; the worm 81 is made of medium carbon steel. Exemplarily, the worm gear 6a 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 6a and worm 81.

[0078] Optionally, connecting rod 5 is made of stainless steel, which is strong and has a long service life.

[0079] 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.

[0080] It should be noted that the manufacturing processes and design methods (such as force simulation) of the base 1, worm gear 6a, worm 81, connecting rod 5, first finger joint 2 and second finger joint 3 are all existing technologies and will not be elaborated here.

[0081] For example, such as Figures 7 to 10 As shown, the working principle of the clutch-type flexion and extension finger mechanism in this embodiment is as follows:

[0082] When the motor is working, the motor drives the worm 81 to rotate, the worm 81 drives the worm wheel 6a to rotate, and the drive part 61 rotates with the worm wheel 6a, which causes the first branch 611 to abut against the contact part 21, thereby driving the first phalanx 2 to rotate and causing the elastic element 44 to undergo elastic deformation. Under the action of the connecting rod 5, the second phalanx 3 rotates with the first phalanx 2 and also rotates relative to the first phalanx 2, thereby causing the clutch-type flexor-extension finger mechanism to perform a bending action. Since the worm wheel 6a and the worm 81 have self-locking characteristics, when the motor is turned off, the clutch-type flexor-extension finger mechanism can stay at any position within its stroke range and maintain the current state, thereby preventing the grasped object from slipping.

[0083] 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 clutch-type flexor-extension mechanism is bent), the drive unit 61 rotates with the worm gear 6a, and the first branch 611 still abuts against the contact part 21. The clutch-type flexor-extension mechanism can extend and reset under the combined action of the elastic force of the elastic member 4 and the force applied to the contact part 21 by the first branch 611.

[0084] When the motor is not in operation, if the clutch-type finger flexion and extension mechanism is subjected to an external force toward the palm, the first phalanx 2 and the second phalanx 3 will rotate under the action of the external force, and the contact part 21 will separate from the first branch 611, thereby causing the clutch-type finger flexion and extension mechanism to perform a bending action. This prevents the back side B of the clutch-type finger flexion and extension mechanism from hitting and being damaged by surrounding objects in the event of misoperation, thus playing a collision prevention role. Until the contact part 21 abuts against the second branch 612, the clutch-type finger flexion and extension mechanism stops bending, thereby avoiding damage caused by excessive bending of the clutch-type finger flexion and extension mechanism.

[0085] In summary, the clutch-type finger flexion and extension mechanism of this embodiment has the characteristics of self-locking, deceleration and torque increase, collision prevention, high positioning accuracy, small movement gap, and high stability, thereby expanding its application scope and scenarios.

[0086] 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 clutching flexion and extension 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 contact portion; 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 member is rotatably disposed on the base, the rotating member including a driving part; the driving part is capable of rotating with the rotating member and abutting against the contact part to drive the first phalanx to rotate; the first phalanx is capable of rotating relative to the rotating member and separating the contact part from the driving part.

2. The clutching flexion and extension finger mechanism according to claim 1, characterized in that The clutch-type flexion and extension finger mechanism also includes a drive assembly that can drive the rotating component to rotate.

3. A clutching flexion and extension 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. A clutching flexion and extension finger mechanism according to claim 3, wherein, The base also includes a slide groove, and the rotating member also includes a limiting part inserted into the slide groove, the limiting part being able to rotate with the rotating member and move within the slide groove; The slide groove has a limiting engagement portion at at least one end along the rotation direction of the rotating member, and the limiting engagement portion can abut against the limiting engagement portion.

5. A clutching flexion and extension finger mechanism according to claim 4, wherein, The rotating component further includes a transition body, which is fixed to one side of the worm wheel along its axial direction. The driving part is located on one side of the transition body along the axial direction of the worm wheel, and the driving part is located on one side of the worm wheel's axis along the radial direction of the worm wheel. And / or, the limiting portion is located on one side of the adapter body along the radial direction of the worm gear.

6. The clutch-type flexion-extension finger mechanism according to claim 1, characterized in that, The driving part includes a first branch and a second branch respectively disposed on both sides of it along the rotation direction of the rotating member. The driving part can rotate with the rotating member and make the first branch abut against the contact part to drive the first phalanx to rotate. The first phalanx can rotate relative to the rotating member and make the contact part move from the first branch to the second branch.

7. The clutch-type flexion-extension finger mechanism according to claim 6, characterized in that, The first branch and the contact portion abut against each other through surface contact. And / or, the second branch abuts against the contact portion by means of surface contact.

8. The clutch-type flexion-extension finger mechanism according to claim 6, 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.

9. A robotic arm, characterized in that, Includes the clutch-type flexion-extension 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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