Mechanical finger and robot hand

Abstract

The utility model belongs to the field of robot technology discloses mechanical finger and mechanical hand. Mechanical finger includes multiple joints, connecting rod subassembly, transmission subassembly, driving part and lead -through part. Multiple joints include base finger joint; Connecting rod subassembly is connected with multiple joints; Transmission subassembly is connected with base finger joint; Driving part is connected with transmission subassembly to drive transmission subassembly to drive base finger joint to be active; Lead -through part is electrically connected with driving part and can be detachably connected with main control board and lead -through. Therefore, when using the mechanical finger, it only needs to fully contact the lead -through part with the main control board and fix the corresponding structure, without the need for line connection and arrangement. When disassembling, it can be directly disassembled without considering the line problem, thereby effectively simplifying the disassembly and assembly steps and reducing the difficulty of disassembly and assembly, to facilitate the quick completion of the disassembly, repair and maintenance of the mechanical finger, and also can reduce the possibility of secondary damage, effectively reducing the overall maintenance cost.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to mechanical fingers and mechanical hands. Background Technology

[0002] With the rapid development of technology, bionic robotic hands have demonstrated enormous application potential and value in numerous fields such as industrial manufacturing, medical rehabilitation, and service robots. In industrial manufacturing, bionic robotic hands can mimic the dexterous movements of human hands to complete complex tasks such as precision assembly and material handling, improving production efficiency and product quality. In the field of medical rehabilitation, they can provide assistance to people with disabilities, helping them restore hand function and improve their quality of life. In the field of service robots, robotic hands can achieve natural interaction with humans, performing service actions such as delivering items and operating tools.

[0003] In existing technologies, the connection structure between the robotic finger and the palm primarily uses cable connections. Specifically, the robotic finger integrates key components such as drive motors and sensors, which are electrically connected to a control board on the palm via multiple cables. These cables are typically carefully laid out and secured to ensure they do not become tangled or loose during the robotic finger's movement. The palm, as the core control unit of the robotic hand, integrates power management, signal processing, and motion control modules. The control board receives and processes external commands, then sends control signals to the drive motors of the robotic finger, thereby enabling various movements of the robotic finger.

[0004] However, in practical applications, because the robotic fingers are tightly connected to the control board on the palm via cables and form a non-removable installation structure, when the robotic fingers malfunction or require maintenance, maintenance personnel need to disassemble the robotic fingers individually. This process is not only cumbersome and time-consuming, but it is also easy to damage the cables during disassembly and installation, leading to new potential faults. In addition, the overall inspection and maintenance cost of the robotic hand is high. Utility Model Content

[0005] The purpose of this invention is to provide a robotic finger and robotic hand, which solves the problem that in the prior art, when a robotic finger needs to be disassembled for maintenance, the disassembly is difficult, the operation is cumbersome, the time is long, and it is easy to cause secondary damage, which leads to an increase in the overall maintenance and repair cost of the robotic hand.

[0006] To achieve this objective, the present invention adopts the following technical solution:

[0007] In a first aspect, this utility model provides a mechanical finger, which includes:

[0008] Multiple joints that are rotatably connected in sequence, and the multiple sets of said joints include the base phalanx;

[0009] The linkage assembly is connected to all of the aforementioned joints;

[0010] The transmission assembly is connected to the base finger joint;

[0011] A driving component is connected to the transmission assembly to drive the transmission assembly to move the base phalanx;

[0012] The conductive part is electrically connected to the driving component and can be detachably connected to the main control board to conduct electricity.

[0013] Optionally, the conductive part is a pin that can be plugged into and connected to the main control board.

[0014] Optionally, the transmission assembly includes:

[0015] A pivot is provided on the base finger joint;

[0016] The worm gear is fixed to the rotating shaft;

[0017] The worm gear has one end meshing with the worm wheel and the other end fixedly connected to the drive component.

[0018] Optionally, multiple sets of the joints include the distal phalanx, which is provided with a tactile sensor.

[0019] Optionally, the mechanical finger further includes:

[0020] A conductive spring is disposed on the side of the base phalanx away from the distal phalanx. The conductive spring is connected to the tactile sensor via a cable, and the conductive spring can make contact with the main control board.

[0021] Optionally, one of the distal phalanx and the joint connected thereto is provided with a groove, and the other is provided with a protrusion that engages with the groove. When the protrusion is inserted into the groove, the tactile sensor is electrically connected to the cable.

[0022] Optionally, the mechanical finger further includes:

[0023] An adjustment shaft is located on the side of the base phalanx away from the distal phalanx;

[0024] A slider is slidably connected to the adjusting shaft, and a conductive spring is disposed on the slider.

[0025] Optionally, the mechanical finger further includes:

[0026] An elastic limiting element is connected to the slider to restrict the sliding of the slider.

[0027] Optionally, the linkage assembly includes multiple connecting rods, with one connecting rod provided between each pair of adjacent joints.

[0028] Secondly, this utility model also provides a robotic arm, which includes:

[0029] The palm has multiple mounting positions, each of which is fitted with a mechanical finger as described in any one of the first aspects;

[0030] The main control board is located in the palm and is detachably connected to and in communication with the multiple mechanical fingers.

[0031] Optionally, the multiple mounting positions are staggered.

[0032] The beneficial effects of this utility model are:

[0033] Firstly, by setting up a conductive section, the drive unit can be connected to the main control board via a detachable connection. When multiple joint movements need to be controlled, the drive unit can be activated. The drive unit drives the base joint to move through the transmission component, and the base joint drives the other joints to complete the corresponding movements through the linkage component. When maintenance is required, the individual mechanical finger can be removed simply by separating the conductive section from the main control board. Therefore, when using this mechanical finger, its installation only requires ensuring full contact between the conductive section and the main control board and fixing the corresponding structure, without the need for wiring connections or layout. Disassembly can also be performed directly without considering wiring issues, thus effectively simplifying the assembly and disassembly steps, reducing the difficulty of assembly and disassembly, facilitating quick assembly, disassembly, maintenance, and repair of the mechanical finger, reducing the possibility of secondary damage, and effectively reducing overall maintenance costs.

[0034] Secondly, in use, this robotic arm employs multiple mounting positions to house multiple robotic fingers, allowing the entire arm to mimic the shape of a human hand. The identical composition of these fingers eliminates the need to consider order or position during installation, and the fingers can be interchanged between different robotic arms. Installation of the robotic fingers is simple: they are fixed to the mounting positions in the palm using screws or other fasteners. No wiring is required to establish connectivity, effectively simplifying the installation process and achieving a plug-and-play, compact, and streamlined design. Subsequent maintenance also allows for quick assembly and disassembly, reducing the difficulty of assembly and disassembly and lowering maintenance costs. Attached Figure Description

[0035] Figure 1 This is a schematic diagram of the mechanical finger in an embodiment of this utility model;

[0036] Figure 2 This is a schematic diagram of the structure of the mechanical finger when the distal phalanx is separated from the adjacent joint in an embodiment of this utility model;

[0037] Figure 3 This is a schematic diagram of the structure of the conductive spring of the mechanical finger in this embodiment of the present invention;

[0038] Figure 4 This is a schematic diagram of the structure of the robotic arm in an embodiment of this utility model.

[0039] In the picture:

[0040] 1. Joint; 11. Base phalanx; 12. Terminal phalanx; 121. Groove; 13. Middle phalanx; 14. Mounting frame; 15. Protrusion; 2. Transmission assembly; 21. Shaft; 22. Worm gear; 23. Worm; 3. Connecting rod; 4. Drive component; 41. Circuit board; 5. Conductor; 6. Conductor spring; 7. Adjusting shaft; 71. Slider; 72. Elastic limit component; 8. Palm; 81. Mounting position. Detailed Implementation

[0041] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, not the entire structure.

[0042] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0043] 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.

[0044] In the description of this embodiment, the terms "upper," "lower," "left," and "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, 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. In addition, the terms "first" and "second" are only used for distinction in description and have no special meaning.

[0045] This utility model provides a mechanical finger and a mechanical hand.

[0046] Reference Figures 1 to 3 The mechanical finger includes multiple joints 1, a linkage assembly, a transmission assembly 2, a drive component 4, and a conductive part 5. Multiple joints 1 are rotatably connected in sequence and include a base phalanx 11; the linkage assembly is connected to all joints 1; the transmission assembly 2 is connected to the base phalanx 11; the drive component 4 is connected to the transmission assembly 2 to drive the transmission assembly 2 to move the base phalanx 11; the conductive part 5 is electrically connected to the drive component 4 and can be detachably connected to the main control board for communication.

[0047] Specifically, three joints 1 can be provided to simulate the structure of a human finger, and the three joints 1 are linked together by a linkage assembly. The linkage assembly includes multiple connecting rods 3, and two adjacent joints 1 are linked together by a connecting rod 3, and the connecting rod 3 is located inside the joint 1. The shape of the connecting rod 3 can be designed according to the internal structural layout of the joint 1, and this utility model does not limit it.

[0048] Among the multiple joints 1, the joint 1 closest to the palm is the base phalanx 11. A mounting frame 14 is provided at the tail end of the base phalanx 11. A transmission component 2 is housed within the mounting frame 14. The transmission component 2 can be a gear set, a belt or chain drive structure, or other transmission structures. The drive component 4 can be a geared motor. A circuit board 41 can be provided at the end of the drive component 4. The circuit board 41 is equipped with encoders and other detection devices to detect parameters such as movement speed in real time. A conductive part 5 is provided on the circuit board 41, which can be plugged into or abutted against the main control board, allowing for a detachable connection between the two.

[0049] By providing the conductive part 5, the drive component 4 can be connected to the main control board via a detachable connection. When multiple joints 1 need to be controlled, the drive component 4 can be activated. The drive component 4 drives the base finger joint 11 to move through the transmission component 2. The base finger joint 11 drives the other joints 1 to complete the corresponding actions through the linkage assembly. When maintenance is required, the individual mechanical finger can be removed simply by separating the conductive part 5 from the main control board. Therefore, when using this mechanical finger, its installation only requires ensuring full contact between the conductive part 5 and the main control board and fixing the corresponding structure, without the need for wiring connections or layout. Disassembly can also be performed directly without considering wiring issues, thus effectively simplifying the disassembly and assembly steps, reducing the difficulty of disassembly and assembly, facilitating quick disassembly, assembly, maintenance, and repair of the mechanical finger, reducing the possibility of secondary damage, and effectively reducing overall maintenance costs.

[0050] Optionally, the conductive part 5 is a pin that can be plugged into and connected to the main control board.

[0051] Specifically, the pin extends downward and forms a protrusion that can be inserted into the main control board to form a plug-in connection with the main control board. This ensures the stability and reliability of the connection while forming a detachable connection between the two, which is beneficial for the stable operation of the drive component 4.

[0052] Optionally, the transmission assembly 2 includes a rotating shaft 21, a worm gear 22, and a worm 23. The rotating shaft 21 is disposed on the base finger joint 11; the worm gear 22 is fixed to the rotating shaft 21; one end of the worm 23 meshes with the worm gear 22, and the other end is fixedly connected to the driving component 4.

[0053] Specifically, a rotating shaft 21 is provided at the end of the base finger joint 11, and a worm gear 22 is fixedly mounted on the rotating shaft 21. The worm gear 22 can also be connected to the base finger joint 11 through a locating pin. The worm 23 is rotatably connected to the upper side of the worm gear 22 through a bearing and meshes with the worm gear 22. The tail end of the worm 23 is fixedly connected to the output end of the drive component 4.

[0054] When the drive unit 4 is running, it can drive the worm 23 to rotate, which in turn drives the worm wheel 22 to rotate. The worm wheel 22 drives the base finger 11 to move through the rotating shaft 21, which can smoothly drive the mechanical finger to move. Moreover, the self-locking of the worm wheel 22 and the worm 23 can keep the mechanical finger locked when it stops moving, so as to ensure that the mechanical finger can stably grasp the object. At the same time, it can also reduce the power of the drive unit 4 at this time, thereby reducing the overall energy consumption.

[0055] Optionally, the multiple joints 1 include the distal phalanx 12, which is provided with a tactile sensor.

[0056] Specifically, the multiple joints 1 are distributed as the distal phalanx 12, the middle phalanx 13, and the base phalanx 11. The joint 1 furthest from the base phalanx 11 is designated as the distal phalanx 12. The shape of the distal phalanx 12 can mimic the fingertip of a human finger, and a tactile sensor is installed on the fingertip. This sensor can transmit signals wirelessly or via a cable. By setting up the tactile sensor, feedback signals are generated when the distal phalanx 12 contacts an object. Based on these feedback signals, the range of motion of each joint 1 can be adjusted to ensure that the mechanical finger can stably and reliably grasp the object.

[0057] Optionally, the mechanical finger also includes a conductive spring 6. The conductive spring 6 is located on the side of the base phalanx 11 away from the distal phalanx 12. The conductive spring 6 is connected to the tactile sensor via a cable, and the conductive spring 6 can make contact with the main control board for conduction.

[0058] Specifically, a conductive spring 6 is provided on the lower side of the mounting frame 14. It is made of conductive material and has a certain elasticity. When installed, the conductive spring 6 can be pressed onto the main control board to form contact and conduction with the main control board for signal transmission.

[0059] The conductive spring 6 and the tactile sensor are connected via a cable. The contact between the conductive spring 6 and the main control board creates a conductive path, allowing the tactile sensor to transmit signals more quickly and stably, thus ensuring timely feedback and improving overall response speed. Furthermore, installation eliminates the need to consider cable connections, and disassembly simply requires separating the conductive spring 6 from the main control board, further simplifying assembly and disassembly.

[0060] Optionally, one of the distal phalanx 12 and the joint 1 connected thereto is provided with a groove 121, and the other is provided with a protrusion 15 that engages with the groove 121. When the protrusion 15 is inserted into the groove 121, the tactile sensor is electrically connected to the cable.

[0061] Specifically, taking the example of a groove 121 at the end of the distal phalanx 12, a protrusion 15 is provided at the end of an adjacent joint 1. During installation, the protrusion 15 and the groove 121 can be inserted into each other, and the protrusion 15 and the groove 121 can also be snapped together, thereby fixing the distal phalanx 12 to the adjacent joint 1. A conductive sheet or other structure can also be provided between the protrusion 121 and the groove 15. When the two are inserted into each other, the tactile sensor and the cable can be electrically connected. This allows the tactile sensor to be installed and disassembled without considering the connection and disconnection of the cable, thus further facilitating the overall disassembly. It should be understood that in other embodiments, the groove 121 can also be provided on the end face of an adjacent joint 1, while the protrusion 15 is provided on the end face of the distal phalanx 12. The specific location of the groove 121 and the protrusion 15 is not limited in this application.

[0062] Optionally, the mechanical finger also includes an adjustment shaft 7 and a slider 71. The adjustment shaft 7 is located on the side of the base phalanx 11 away from the distal phalanx 12; the slider 71 is slidably connected to the adjustment shaft 7, and the conductive spring 6 is located on the slider 71.

[0063] Specifically, an adjustment shaft 7 is fixedly installed on the side of the base finger joint 11, and a slider 71 is sleeved on the adjustment shaft 7. The slider 71 can slide back and forth along the adjustment shaft 7, and a lubricating coating can be applied to the adjustment shaft 7 to improve the smoothness of the surface of the adjustment shaft 7, reduce the friction between the adjustment shaft 7 and the slider 71, and reduce the possibility of generating debris or other particles when the two move relative to each other. A connecting seat is provided on the lower side of the slider 71, and a conductive spring 6 is provided on the connecting seat. Multiple conductive springs 6 can be spaced apart to form multiple contacts that abut against the main control board, and the corresponding cable can also be fixedly connected to the slider 71. In this way, when the mechanical finger bends, the cable connected to the tactile sensor will also move, driving the slider 71 to move. The slider 71 then drives the conductive spring 6 to move. A conductive groove is provided on the main frame plate, and the conductive spring 6 can slide in the conductive groove and remain conductive to reduce the tensile force on the cable and ensure the safety of the cable.

[0064] Optionally, the mechanical finger also includes an elastic limiting member 72, which is connected to the slider 71 to limit the sliding of the slider 71.

[0065] Specifically, the elastic limiting member 72 can be a spring, which is sleeved on the adjusting shaft 7, with one end fixedly connected to the slider 71 and the other end fixedly connected to the end of the base finger joint 11. This allows the elastic limiting member 72 to be compressed during the sliding of the slider 71, and when the mechanical finger resets, the elastic limiting member 72 can drive the slider 71 to reset. In other embodiments, the elastic limiting member 72 can also be an elastic rod or an elastic pad, etc., specifically designed according to the actual sliding range of the slider 71; this invention does not limit this.

[0066] Reference Figure 4 The robotic arm includes a palm 8 and a main control board. The palm 8 has multiple mounting positions 81, each mounting position 81 housing a robotic finger as described above; the main control board is disposed on the palm 8 and is detachably connected to and in communication with the multiple robotic fingers. The multiple mounting positions 81 are staggered.

[0067] In use, this robotic arm employs multiple mounting positions 81 to house multiple robotic fingers, allowing the entire arm to mimic the shape of a human hand. The identical composition of these fingers eliminates the need to consider order or position during installation, and the fingers can be interchanged between different robotic arms. Installation of the robotic fingers is simple: they are fixed to the mounting positions 81 in the palm 8 using screws or other fasteners. No wiring is required to establish connectivity, effectively simplifying the installation process and achieving a plug-and-play, compact, and streamlined design. Subsequent maintenance also allows for quick assembly and disassembly, reducing the difficulty of assembly and disassembly and lowering maintenance costs.

[0068] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make various obvious changes, readjustments, and substitutions without departing from the protection scope of this utility model. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A mechanical finger, characterized by include: Multiple joints (1) that are rotatably connected in sequence, and the multiple sets of joints (1) include a base phalanx (11); The linkage assembly is connected to all of the joints (1); The transmission assembly (2) is connected to the base finger joint (11); The driving component (4) is connected to the transmission assembly (2) to drive the transmission assembly (2) to move the base finger joint (11); The conductive part (5) is electrically connected to the drive member (4) and can be detachably connected to the main control board to conduct electricity.

2. The mechanical finger of claim 1, wherein The conductive part (5) is a pin that can be plugged into the main control board for communication.

3. The mechanical finger of claim 1, wherein, The transmission assembly (2) includes: A pivot (21) is disposed on the base finger joint (11); Worm gear (22) is fixed to the rotating shaft (21); The worm (23) is engaged at one end with the worm wheel (22) and fixedly connected at the other end with the drive member (4).

4. The mechanical finger according to any one of claims 1 to 3, characterized in that, The multiple sets of joints (1) include distal phalanges (12) which are provided with tactile sensors.

5. The mechanical finger of claim 4, wherein, The mechanical finger also includes: A conductive spring (6) is disposed on the side of the base phalanx (11) away from the distal phalanx (12). The conductive spring (6) is connected to the tactile sensor through a cable, and the conductive spring (6) can contact and connect with the main control board.

6. The mechanical finger of claim 5, wherein, The distal phalanx (12) and the joint (1) connected thereto are provided with a groove (121) in one and a protrusion (15) that engages with the groove (121) in the other. When the protrusion (15) is inserted into the groove (121), the tactile sensor is electrically connected to the cable.

7. The mechanical finger of claim 5 wherein, The mechanical finger also includes: An adjustment shaft (7) is provided on the side of the base phalanx (11) away from the distal phalanx (12); The slider (71) is slidably connected to the adjusting shaft (7), and the conductive spring (6) is disposed on the slider (71).

8. The mechanical finger of claim 7, wherein, The mechanical finger also includes: An elastic limiting member (72) is connected to the slider (71) to limit the sliding of the slider (71).

9. The mechanical finger according to any one of claims 1 to 3, characterized in that, The linkage assembly includes multiple connecting rods (3), with one connecting rod (3) provided between each two adjacent joints (1).

10. A robot, characterised in that include: The palm (8) has a plurality of mounting positions (81), each of the mounting positions (81) being fitted with a mechanical finger as described in any one of claims 1 to 9; The main control board is located in the palm (8) and is detachably connected to and in communication with the plurality of mechanical fingers.

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