A finger module

Abstract

The utility model relates to a machine hand especially a finger module, including first drive motor and second drive motor, still include: finger base, first drive motor with second drive motor all are fixed on finger base, near finger joint, rotationally be equipped with on finger base, middle finger joint, rotationally be equipped with on near finger joint, far finger joint, rotationally be equipped with on middle finger joint, lead screw no. One is connected with first drive motor, nut no. One is equipped with on lead screw no. One, lead screw no. Two is connected with second drive motor nut no. Two, is equipped with on lead screw no. Two, connecting rod transmission device respectively with nut no. One, nut no. Two, near finger joint, middle finger joint with far finger joint is connected for drive near finger joint, middle finger joint, far finger joint and the bending of whole finger. A finger module is higher, and the structure is more stable, realizes multi -freedom degree, high flexibility, high stability's dexterous finger module structure.

Description

Technical Field

[0001] This utility model relates to a robotic hand, and more particularly to a finger module. Background Technology

[0002] Dexterous robotic hands represent a cutting-edge research direction in robotics, with the core objective of enabling robots to possess the fine maneuvering capabilities of human hands. Their development and application aim to address the fundamental limitations of traditional industrial robots in terms of operational flexibility, adaptability, and precision, thereby overcoming a series of key difficulties in the production process. As a novel type of robotic hand, the humanoid dexterous hand more closely resembles the function and structure of a human hand, enabling it to perform tasks with higher precision in fields such as intelligent manufacturing, industry, and logistics.

[0003] Technological advancements in fields such as robotics and intelligent manufacturing are driving the development of humanoid dexterous hands. As a novel end effector, the ultimate goal of humanoid dexterous hands is to enable robots to perform a wider range of more complex and precise tasks, especially in high-risk, high-precision production processes where traditional automation is difficult or where human intervention is challenging. The rapid development of humanoid dexterous hands has significantly improved production efficiency, product quality, and automation levels, playing a crucial role in the interaction between robots and their environment.

[0004] The dexterity of a dexterous hand is a crucial indicator of whether a robotic system has achieved true intelligence. Currently, the development of dexterous hands largely relies on motor-driven finger movements. This type of drive structure is relatively easy to manufacture and can significantly increase the flexibility and stability of the dexterous hand's grasping ability. However, some existing dexterous hands still have certain shortcomings, such as the inability to independently detach the five fingers, leading to the phenomenon that damage to one finger results in the overall failure of the hand; and heavy reliance on multi-stage gear transmissions, resulting in complex dexterous hand structures. Utility Model Content

[0005] To solve the above problems, this utility model provides a finger module, the specific technical solution of which is as follows: A finger module includes a first drive motor and a second drive motor, and further includes: a finger base, on which both the first drive motor and the second drive motor are fixed; a proximal phalanx rotatably mounted on the finger base; a middle phalanx rotatably mounted on the proximal phalanx; a distal phalanx rotatably mounted on the middle phalanx; a lead screw first connected to the first drive motor; a nut first mounted on the lead screw first; a lead screw second connected to the second drive motor and mounted on the lead screw second; and a linkage transmission device connected to the nut first, the nut second, the proximal phalanx, the middle phalanx, and the distal phalanx respectively, for driving the bending of the proximal phalanx, the middle phalanx, the distal phalanx, and the entire finger.

[0006] Preferably, the linkage transmission device includes: a first rotating shaft, disposed on the finger base and rotatably connected to one end of the middle finger joint; a first supporting frame, one end of which is provided with a first connecting arm (91) and a second connecting arm (92), the first connecting arm (91) being rotatably connected to the first rotating shaft, and the other end being provided with a third shaft hole (93) and a third connecting arm (94); a fifth rotating shaft, rotatably disposed on the second connecting arm (92); a fifth connecting rod (31), rotatably connected to the fifth rotating shaft and the second nut respectively; a C-shaped connecting rod (33), provided with a fourth shaft hole (334), a fifth shaft hole (345) and a sixth shaft hole (346), the fourth shaft hole (334) being rotatably connected to the fifth rotating shaft; a fourth rotating shaft, rotatably disposed on the sixth shaft hole (346); a sixth connecting rod (32), rotatably connected to the fourth rotating shaft and the first nut respectively; a sixth rotating shaft, rotatably disposed on the fifth shaft hole (345); and a second connecting rod, symmetrically disposed on the first supporting frame. The second support frame has a fourth connecting arm (104), a fifth connecting arm (105) and a sixth connecting arm (106), and is fixedly connected to the middle phalanx. The fourth connecting arm (104) is rotatably connected to the seventh shaft, and the fifth connecting arm (105) is rotatably connected to the second shaft. The third shaft is rotatably connected to the sixth connecting arm (106) and the distal phalanx. The ninth shaft is rotatably connected to the distal phalanx. The third connecting arm is symmetrically arranged on both sides of the second support frame, and its two ends are rotatably connected to the eighth shaft and the ninth shaft, respectively. The second shaft is also rotatably connected to the other end of the proximal phalanx and one end of the middle phalanx. The other end of the middle phalanx is rotatably connected to the third shaft.

[0007] Compared with the prior art, the present invention has the following beneficial effects: The present invention provides a finger module that effectively solves the problem of high integration complexity by using a motor drive and linkage transmission device. The drive motor, lead screw and linkage system form a multi-degree-of-freedom dexterous finger module with the advantages of strong grasping force and high precision.

[0008] Pressure sensors are installed at the fingertips, enabling sensory interaction between the fingers and their surroundings. Combined with a camera to capture motion changes, it enables functions such as deep learning.

[0009] A finger module with high integration and more stable structure has been developed, achieving a dexterous finger module structure with multiple degrees of freedom, high flexibility, and high stability. Attached Figure Description

[0010] Figure 1 This is a schematic diagram of the structure of this application; Figure 2 This is a front view of this application; Figure 3 This is a cross-sectional view of this application; Figure 4 This is a schematic diagram of the structure after the knuckles are hidden in this application; Figure 5 This is a schematic diagram of the application in a bent state; Figure 6 This is a front view of the application in a bent state; Figure 7 This is a cross-sectional view of the application in a bent state; Figure 8 It is an exploded view of the finger joint; Figure 9 This is a diagram of the middle finger joint; Figure 10 This is a schematic diagram of the supporting skeleton. Figure 11 This is a schematic diagram of the C-shaped connecting rod; Figure 12 This is a schematic diagram of the supporting skeleton two. Detailed Implementation

[0011] The present invention will now be further described with reference to the accompanying drawings.

[0012] like Figures 1 to 12 As shown, a pressure sensor and other sensing devices are installed at the fingertip of the distal phalanx 3. The middle phalanx 2 and the distal phalanx 3 are connected by a linkage, and the proximal phalanx 1 and the middle phalanx 2 are connected by a linkage. The bending of the middle phalanx 2 can achieve the coordinated bending of the distal phalanx 3 through the linkage structure.

[0013] The drive motor is a DC motor that provides power and is fixed inside the finger base 4 by screws. The lead screw is a sliding lead screw that connects the drive motor and the connecting rod. The bending of the connecting rod is controlled by the linear movement of the nut on the lead screw, which is slidably positioned inside the finger base 4. The connecting rod is connected to the nut on the lead screw and is located inside the finger, transmitting the power from the nut on the lead screw to drive the bending of the finger.

[0014] The bending motion of the finger module is accomplished by two sets of drive structures. The bending of the middle finger joint 2 and the distal finger joint 3 requires the cooperation of the first drive motor 5, the lead screw 7, and the connecting rod structure of the middle finger joint 2 and the distal finger joint 3. The first drive motor 5 is connected to the lower end of the lead screw 7, and the connecting rod of the middle finger joint 2 is connected to the upper end of the lead screw 7. The power generated by the first drive motor 5 is transmitted to the connecting rod of the middle finger joint 2 through the nut on the lead screw 7, driving the movement of the connecting rod and realizing the bending of the middle finger joint 2 and the distal finger joint 3.

[0015] The bending of the proximal phalanx 1 and the entire finger requires the coordinated operation of the second drive motor 6, the second lead screw 8, and the connecting rod structure of the proximal phalanx 1. The second drive motor 6 is connected to the lower end of the second lead screw 8, and the connecting rod of the proximal phalanx 1 is connected to the upper end of the second lead screw 8. The power generated by the second drive motor 6 is transmitted to the connecting rod of the proximal phalanx 1 through the second nut on the second lead screw 8, driving the movement of the connecting rod and realizing the bending of the proximal phalanx 1.

[0016] like Figures 1 to 12 As shown, a finger module includes a first drive motor 5, a second drive motor 6, a finger base 4, a proximal phalanx 1, a middle phalanx 2, a distal phalanx 3, a lead screw 7, a nut 1, a lead screw 8, a nut 2, and a linkage transmission device. The first drive motor 5 and the second drive motor 6 are both fixed to the finger base 4; the proximal phalanx 1 is rotatably mounted on the finger base 4 and rotatably connected to the middle phalanx 2, which is rotatably connected to the distal phalanx 3; the lead screw 7 is connected to the first drive motor 5, and the nut 1 is mounted on the lead screw 7; the lead screw 8 is connected to the second drive motor 6, and the nut 2 is mounted on the lead screw 8; the linkage transmission device is connected to the nut 1, the nut 2, the proximal phalanx 1, the middle phalanx 2, and the distal phalanx 3 respectively, and is used to drive the bending of the proximal phalanx 1, the middle phalanx 2, the distal phalanx 3, and the entire finger.

[0017] The linkage transmission device includes a rotating shaft 15, a support frame 19, a rotating shaft 19, a connecting rod 5 31, a C-shaped connecting rod 33, a rotating shaft 4, a connecting rod 6 32, a rotating shaft 6, a connecting rod 2, a rotating shaft 7, a rotating shaft 2, a support frame 2, a rotating shaft 3, a rotating shaft 9, and a connecting rod 3. A pivot 15 is mounted on the finger base 4 and rotatably connected to one end of the middle phalanx 2; one end of the support frame 9 is provided with a first connecting arm 91 and a second connecting arm 92, the first connecting arm 91 being rotatably connected to the pivot 15, and the other end is provided with a third shaft hole 93 and a third connecting arm 94. The support frame 9 is also fixed to the proximal phalanx 1; a pivot 5 19 is rotatably mounted on the second connecting arm 92; a connecting rod 5 31 is rotatably connected to the pivot 5 19 and the nut 2 respectively; a C-shaped connecting rod 33 is provided with a fourth shaft hole 334, a fifth shaft hole 345 and a sixth shaft hole 346, the fourth shaft hole 334 being rotatably connected to the pivot 5 19; a pivot 4 18 is rotatably mounted on the sixth shaft hole 346; a connecting rod 6 32 is rotatably connected to the pivot 4 18 and the nut 1 respectively; a pivot 6 20 is rotatably mounted on the fifth shaft hole 345; a connecting rod 2 12 is symmetrically arranged on both sides of the support frame 9, and one end... Rotary shaft 20 is rotatably connected to pivot 6; pivot 7 21 is rotatably mounted on the other end of connecting rod 2 12; pivot 2 16 is rotatably mounted on the third shaft hole 93; pivot 8 22 is rotatably mounted on the third connecting arm 94; the support frame 2 10 is provided with a fourth connecting arm 104, a fifth connecting arm 105 and a sixth connecting arm 106, and is fixedly connected to the middle finger joint 2, the fourth connecting arm 104 is rotatably connected to pivot 7 21, the fifth connecting arm 105 is rotatably connected to pivot 2 16; pivot 3 17 is rotatably mounted on the sixth connecting arm 106 and the distal finger joint 3; pivot 9 23 is rotatably mounted on the distal finger joint 3; connecting rod 3 13 is symmetrically arranged on both sides of the support frame 2 10, and its two ends are rotatably connected to pivot 8 22 and pivot 9 23 respectively; pivot 2 16 is also rotatably connected to the other end of the proximal finger joint 1 and one end of the middle finger joint 2; the other end of the middle finger joint 2 is rotatably connected to pivot 3 17.

[0018] The proximal phalanx 1 includes a proximal phalanx sleeve 111 and a proximal phalanx seat 112. The two ends of the proximal phalanx sleeve 111 are rotatably connected to the first rotating shaft 15 and the second rotating shaft 16, respectively. The proximal phalanx seat 112 is installed on the proximal phalanx sleeve 111 and is connected to the first supporting frame 9.

[0019] The middle finger joint 2 includes a middle finger sleeve 211 and a middle finger seat 212. The two ends of the middle finger sleeve 211 are rotatably connected to the second rotating shaft 16 and the third rotating shaft 17, respectively. The middle finger seat 212 is installed on the middle finger sleeve 211 and is connected to the second supporting frame 10.

[0020] To facilitate the transmission of the nut, it also includes a nut seat 1 71 and a nut seat 2 81. Nut seat 1 71 is fixed on nut 1 and slidably inserted into finger base 4. Nut seat 1 71 is also rotatably connected to connecting rod 6 32. Nut seat 2 81 is fixed on nut 2 and slidably inserted into finger base 4. Nut seat 2 81 is also rotatably connected to connecting rod 5 31.

[0021] The second support frame 10 is located between the second pivot 16 and the third pivot 17, which enables the middle finger joint 2 to rotate stably.

[0022] The support frame 9 is located between the first pivot 15 and the second pivot 16, which enables the proximal phalanx 1 to rotate stably.

[0023] The second support frame 10 is located between the second pivot 16 and the third pivot 17, which enables the middle finger joint 2 to rotate stably.

[0024] Link 11 is located between pivot 15 and pivot 2 16, supporting the left side of frame 9, and is used to control the bending movement of the proximal phalanx 1.

[0025] Linkage 2 12 is located between pivot 15 and pivot 2 16 and on both sides of support frame 1 9, and is used to control the bending movement of the proximal phalanx 1.

[0026] Linkage 3 13 is located between pivot 2 16 and pivot 3 17 and on both sides of support frame 2 10, and is used to control the bending movement of the middle finger joint 2.

[0027] The pivot 15 is located between the proximal phalanx 1 and the upper end of the base, and the proximal phalanx 1 can rotate around the pivot 15.

[0028] The second pivot 16 is located between the middle phalanx 2 and the proximal phalanx 1, and the middle phalanx 2 can rotate around the second pivot 16.

[0029] The pivot 3 17 is located between the distal phalanx 3 and the middle phalanx 2, and the distal phalanx 3 can rotate around the pivot 3 17.

[0030] Link 11 and Link 22 are placed parallel to each other in space to jointly control the movement of the proximal phalanx 1.

[0031] Link 3 (13) and link 4 (14) are placed parallel to each other in space to jointly control the movement of the middle finger joint (2).

[0032] Rotating shafts 15, 26, 37, 48, 519, 620, 721, 822, and 923 are placed parallel in space to control the rotation of the connecting rod and the knuckle.

[0033] It should be clarified that the terms "one," "two," "first," and "second" used in the text to indicate sequence only distinguish similar objects within the device, not to indicate a specific order. The directional indicators such as "left" and "right" are used only to describe the relative positional relationship between structures under specific circumstances, not to indicate absolute positions.

[0034] The technical principles of this utility model have been described above with reference to specific embodiments. These descriptions are merely for explaining the principles of this utility model and should not be construed as limiting the scope of protection of this utility model in any way. Based on this explanation, those skilled in the art can readily conceive of other specific embodiments of this utility model without inventive effort, and these embodiments will all fall within the protection scope of the claims of this utility model.

Claims

1. A finger module, comprising a first drive motor (5) and a second drive motor (6), characterized in that, Also includes: The finger base (4) is fixed to the first drive motor (5) and the second drive motor (6); The proximal knuckle (1) is rotatably mounted on the finger base (4); The middle phalanx (2) is rotatably mounted on the proximal phalanx (1); The distal phalanx (3) is rotatably mounted on the middle phalanx (2); Lead screw 1 (7) is connected to the first drive motor (5); Nut 1 is mounted on the lead screw 1 (7); Lead screw 2 (8) is connected to the second drive motor (6). Nut 2 is provided on the lead screw 2 (8); The linkage transmission device is connected to the first nut, the second nut, the proximal phalanx (1), the middle phalanx (2), and the distal phalanx (3) respectively, and is used to drive the bending of the proximal phalanx (1), the middle phalanx (2), the distal phalanx (3), and the entire finger.

2. A finger module according to claim 1, characterized in that, The linkage transmission device includes: A pivot (15) is mounted on the finger base (4) and is rotatably connected to one end of the middle phalanx (2); The support frame 1 (9) has a first connecting arm (91) and a second connecting arm (92) at one end. The first connecting arm (91) is rotatably connected to the rotating shaft 1 (15). The other end has a third shaft hole (93) and a third connecting arm (94). The support frame 1 (9) is also fixed on the proximal phalanx (1). The fifth rotating shaft (19) is rotatably mounted on the second connecting arm (92); Linkage 5 (31) is rotatably connected to the pivot 5 (19) and the nut 2 respectively; The C-shaped connecting rod (33) is provided with a fourth shaft hole (334), a fifth shaft hole (345) and a sixth shaft hole (346), wherein the fourth shaft hole (334) is rotatably connected to the fifth rotating shaft (19); The fourth rotating shaft (18) is rotatably mounted on the sixth shaft hole (346); Linkage 6 (32) is rotatably connected to the pivot 4 (18) and the nut 1 respectively; The sixth rotating shaft (20) is rotatably mounted on the fifth shaft hole (345); Linkage 2 (12) is symmetrically arranged on both sides of the support frame 1 (9), and one end is rotatably connected to the rotating shaft 6 (20); Rotating shaft seven (21) is rotatably located at the other end of the connecting rod two (12); The second rotating shaft (16) is rotatably mounted on the third shaft hole (93); Rotating shaft eight (22) is rotatably mounted on the third connecting arm (94); The second support frame (10) is provided with a fourth connecting arm (104), a fifth connecting arm (105) and a sixth connecting arm (106), and is fixedly connected to the middle finger joint (2). The fourth connecting arm (104) is rotatably connected to the seventh rotating shaft (21), and the fifth connecting arm (105) is rotatably connected to the second rotating shaft (16). Rotating shaft three (17) is rotatably mounted on the sixth connecting arm (106) and the distal phalanx (3); Rotating shaft nine (23) is rotatably mounted on the distal phalanx (3); and Linkage 3 (13) is symmetrically arranged on both sides of the support frame 2 (10), and its two ends are rotatably connected to the rotating shaft 8 (22) and the rotating shaft 9 (23) respectively; The second rotating shaft (16) is also rotatably connected to the other end of the proximal phalanx (1) and one end of the middle phalanx (2); the other end of the middle phalanx (2) is rotatably connected to the third rotating shaft (17).

3. A finger module according to claim 2, characterized in that, The proximal phalanx (1) includes: The proximal finger sleeve (111) is rotatably connected at both ends to the first rotating shaft (15) and the second rotating shaft (16), respectively; and The proximal finger seat (112) is disposed on the proximal finger sleeve (111) and is connected to the support frame (9).

4. A finger module according to claim 2, characterized in that, The middle finger joint (2) includes: The middle finger sleeve (211) is rotatably connected at both ends to the second rotating shaft (16) and the third rotating shaft (17), respectively; and The middle finger seat (212) is located on the middle finger sleeve (211) and is connected to the second support frame (10).

5. A finger module according to claim 2, characterized in that, Also includes: Nut seat 1 (71) is provided on nut 1 and slidably inserted on finger base (4). Nut seat 1 (71) is also rotatably connected to connecting rod 6 (32). Nut seat 2 (81) is provided on nut 2 and is slidably inserted on finger base (4). Nut seat 2 (81) is also rotatably connected to connecting rod 5 (31).

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