一种手指指节模块、机械手及机器人

Abstract

本实用新型公开了一种手指指节模块、机械手及机器人。该手指指节模块包括：基座、手指部及连动件；手指部包括手指节和手指尖，所述手指节的一端转动安装于所述基座，所述手指尖转动安装于所述手指节的另一端；连动件设置于所述手指部内，连动件的一端转动安装于所述基座，连动件的另一端转动安装于所述手指尖；所述基座、手指节、手指尖和连动件构成多连杆传动结构，所述连动件用于以自身一端为轴进行转动时，连动所述手指部进行抓取运动。本实用新型在手指指节模块中引入多连杆传动原理，可将单一驱动输入高效地转化为手指节和手指尖的协调输出运动，通过简单的驱动实现稳定抓取，同时保持较好的结构紧凑度和力传递效率性。

Claims

1. A finger joint module, characterized by include: Base; The finger portion includes a finger joint and a fingertip, with one end of the finger joint rotatably mounted to the base and the fingertip rotatably mounted to the other end of the finger joint; A linkage is provided inside the finger portion, with one end rotatably mounted on the base and the other end rotatably mounted on the fingertip; The base, finger joint, fingertip, and linkage constitute a multi-link transmission structure. The linkage is used to drive the finger to perform a grasping motion when it rotates around one end of itself.

2. The finger joint module of claim 1, wherein, The linkage is housed inside the finger joint; the axis of the linkage intersects the axis of the finger joint in space, so that the multi-link transmission structure is arranged in a cross pattern.

3. The finger joint module of claim 2, wherein, The base is provided with a first connection point and a second connection point; one end of the finger joint is connected to the first connection point, and one end of the linkage is connected to the second connection point; The finger joint is provided with a third connection point and a fourth connection point; the other end of the finger joint is connected to the third connection point, and the other end of the linkage is connected to the fourth connection point.

4. The finger joint module of claim 1, wherein, The linkage includes: The connecting rod drive unit is rotatably mounted on the base. One end of the connecting rod is rotatably mounted on the base coaxially with the connecting rod transmission part, and the other end is rotatably mounted on one end of the fingertip.

5. The finger joint module of claim 4, wherein, The finger joint is a hollow shell structure, and the connecting rod is housed inside the finger joint.

6. The finger joint module of claim 4, wherein, The connecting rod includes a proximal end and a distal end. The proximal end of the connecting rod is rotatably mounted on the base coaxially with the connecting rod drive unit, and the distal end of the connecting rod is rotatably mounted on the fingertip. The width or dimension of the proximal end of the connecting rod is greater than that of the distal end of the connecting rod.

7. The finger joint module of claim 6, wherein, A portion of the linkage transmission unit is confined within the distal end of the linkage and is fixed relative to the distal end of the linkage; Another part of the connecting rod drive unit protrudes outside the distal end of the connecting rod and is coaxially rotatably mounted on the base with the distal end of the connecting rod.

8. The finger joint module of claim 4, wherein, Also includes: A gripping drive component is disposed within the base and connected to the linkage transmission part, used to drive the linkage transmission part to rotate, thereby causing the linkage component to rotate about one end of itself as an axis.

9. A robot, characterized in that Includes the finger joint 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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