一种手指模块、机械手及机器人

Abstract

本实用新型公开了一种手指模块、机械手及机器人。该手指模块包括：基座，包括固定座和可转动地安装在固定座上的转动座；手指部，转动安装于转动座上；第一传动组件，包括相互连接的第一驱动件和第一连动件，第一驱动件设置于基座内，第一连动件设置于手指部内，第一驱动件用于驱动第一连动件运动，以连动手指部进行弯曲抓取运动；第二传动组件，设置于固定座内且与转动座连接，第二传动组件用于驱动转动座进行转动运动，以连动手指部进行转动运动。本实用新型对手指模块的结构及其传动布局进行了优化设计，实现了手指模块高自由度与强抓取力的兼顾。

Claims

1. A finger module, characterized in that, include: The base includes a fixed seat and a rotating seat rotatably mounted on the fixed seat; The finger portion is rotatably mounted on the rotating base; The first transmission assembly includes a first driving member and a first linkage member connected to each other. The first driving member is disposed in the base, and the first linkage member is disposed in the finger portion. The first driving member is used to drive the first linkage member to move so as to drive the finger portion to perform a grasping movement. The second transmission component is disposed within the fixed base and connected to the rotating base. The second transmission component is used to drive the rotating base to rotate, thereby causing the finger to rotate.

2. The finger module of claim 1, wherein, The finger portion includes a finger joint and a fingertip. One end of the finger joint is rotatably mounted on a protrusion provided on the rotating base, and one end of the fingertip is rotatably mounted on the other end of the finger joint. The first linkage is rotatably mounted on a connecting portion provided on the rotating base and is housed within the finger joint. The first driving member is used to drive the first linkage to move, thereby linking the finger joint and the fingertip to perform a bending and grasping motion.

3. The finger module of claim 2, wherein, The first linkage includes: The connecting rod transmission part is rotatably mounted on the rotating seat; One end of the connecting rod is rotatably mounted on the rotating seat coaxially with the connecting rod transmission part, and the other end is rotatably mounted on one end of the fingertip; The first driving member is connected to the linkage transmission part. When the first driving member drives the linkage transmission part to rotate, it drives the linkage to rotate around one end of itself as an axis, thereby driving the finger part to perform a bending and grasping motion.

4. The finger module of claim 3, wherein, The rotating base, finger joints, fingertips, and connecting rods constitute a multi-link transmission structure.

5. The finger module of claim 4, wherein, The connecting rod is housed inside the finger joint; the axis of the connecting rod intersects the axis of the finger joint in space, so that the multi-link transmission structure is arranged in a cross pattern.

6. The finger module of claim 3, wherein, The first driving element includes: The shaft drive unit is rotatably mounted in the rotating seat. The first transmission unit is fitted onto the shaft transmission unit; The first driver is mounted on the fixed base; The first drive unit is mounted on the output shaft of the first driver and is meshed with the first transmission unit. The shaft drive unit is connected to the connecting rod drive unit, and when the shaft drive unit rotates axially, it drives the connecting rod drive unit to rotate.

7. The finger module of claim 6, wherein, The shaft drive unit includes: A support bearing is installed in the rotating seat; The worm gear is installed in the support bearing; The first transmission part is mounted on the worm gear, and the connecting rod transmission part is threadedly engaged with the worm gear.

8. The finger module of claim 1, wherein, The second transmission assembly includes: The second driver is mounted on the fixed base; The second drive unit is mounted on the output shaft of the second driver; It is mounted on the rotating seat and connected to the second drive unit in conjunction with the transmission unit; The second driver is used to drive the rotating seat to rotate when the second driving part is driven to rotate.

9. A robot, characterized in that Includes the finger module as described in any one of claims 1 to 8.

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

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