Dexterous finger and dexterous hand

Abstract

The utility model relates to a kind of dexterous fingers and dexterous manipulator, including at least two articulated connection knuckles, the dexterous fingers further include the transmission assembly for making the relative rotation motion of adjacent two the knuckles around articulated center axis, and the drive component of the drive transmission assembly and corresponding knuckle movement, at least part of the transmission assembly is fixed in one the knuckle, and the remaining part of the transmission assembly is movably connected to another the knuckle, the remaining part of the transmission assembly is driven with at least part transmission cooperation.Advantages are that: the interactive mode of transmission assembly and drive component is designed on the two knuckles of articulation, effectively solve the defect that transmission precision is low in the prior art, easy to appear skid failure phenomenon.

Description

Technical Field

[0001] This utility model belongs to the field of bionic robots, and in particular relates to a dexterous finger and a dexterous mechanical hand. Background Technology

[0002] Dexterous fingers and robotic hands are devices that mimic the movement functions of human fingers and hands. They mainly consist of multiple phalanges and drive mechanisms, enabling them to perform grasping and manipulation tasks. They are widely used in industrial automation, medical applications, and service robotics, but face technical challenges such as drive precision, size, energy efficiency, and control complexity. Future development trends include miniaturization, intelligent control, novel drive technologies, and multi-sensor fusion to improve the performance and applicability of dexterous fingers and robotic hands in complex tasks.

[0003] Patent CN101618548A discloses a piezoelectrically driven finger joint, its finger, and its hand. This patent drives the finger joint to bend through a piezoelectric mechanism and drives it through a drive wheel. However, the drive wheel directly fixes the front end of the finger joint, and the two finger joints are only fixed by the friction force between the drive mechanism and the drive wheel. This design results in low transmission efficiency, easy slippage failure, and poor accuracy of rotation between the finger joints. Utility Model Content

[0004] The purpose of this invention is to address the aforementioned problems by providing a dexterous finger and a dexterous robotic hand that can solve the above-mentioned technical issues.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: A dexterous finger includes at least two articulated knuckles, the dexterous finger further includes a transmission assembly for causing two adjacent knuckles to rotate relative to each other about a central hinge axis, and a drive assembly for driving the transmission assembly and causing the corresponding knuckles to move, at least a portion of the transmission assembly is fixed to one of the knuckles, and the remaining portion of the transmission assembly is movably connected to the other knuckle, the remaining portion of the transmission assembly engaging with the at least a portion in a transmission cooperation.

[0006] Furthermore, one of the two adjacent phalanges is hinged to the other phalange via a hinge shaft, and at least a portion of the transmission assembly is fixed to the hinge shaft.

[0007] Furthermore, the transmission assembly includes either a gear transmission assembly or a tendon cable transmission assembly.

[0008] Furthermore, the two adjacent finger joints are defined as the first finger joint and the second finger joint, and a rotor platform is rotatably connected to the second finger joint. The rotor platform is fixedly connected to the remaining part of the transmission assembly.

[0009] Furthermore, the drive assembly includes any one of a piezoelectric drive assembly, an SMA drive assembly, and a motor drive assembly.

[0010] Furthermore, the gear transmission assembly includes a first gear fixed relative to the first phalanx, and a second gear meshing with the first gear, the second gear being rotatably connected to the second phalanx.

[0011] Furthermore, the piezoelectric drive assembly includes a piezoelectric motor that contacts the outer peripheral surface of the rotor stage.

[0012] Furthermore, the second phalanx is provided with a pre-tightening elastic element that causes the piezoelectric motor to exert a radially inward force toward the rotor platform.

[0013] Furthermore, the dexterous finger also includes a circuit board disposed on the inner wall of the knuckle, the piezoelectric motor is fixedly connected to the circuit board through the preload member, and the piezoelectric motor is electrically connected to the circuit board.

[0014] As one application, this application also provides a dexterous robotic hand, which includes the aforementioned dexterous fingers.

[0015] Compared with existing technologies, the advantages of this application are: the interaction between the transmission component and the drive component is designed on the two articulated knuckles, which effectively solves the defects of low transmission accuracy and easy slippage failure in existing technologies. Attached Figure Description

[0016] Figure 1 A schematic diagram of the assembled finished product of the main components of the dexterous finger of this utility model; Figure 2 for Figure 1 A schematic diagram illustrating the interaction of transparent internal components of a segment of a dexterous finger; Figure 3 for Figure 2 Enlarged detail view of key components in area A; Figure 4 This is a schematic diagram illustrating the interaction between the drive component and the transmission component of this utility model. Figure 5 This is a schematic diagram of the interaction between the piezoelectric motor and the rotor table in Example 1. Figure 1 ; Figure 6 This is a schematic diagram of the interaction between the piezoelectric motor and the rotor table in Example 1. Figure 2 .

[0017] In the figure, the components are: first phalanx 1, second phalanx 2, transmission assembly 3, first gear 31, second gear 32, drive assembly 4, piezoelectric motor 41, hinge shaft 5, rotor platform 6, pre-tightening elastic element 7, and circuit board 8. Detailed Implementation

[0018] 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.

[0019] 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.

[0020] 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.

[0021] In the description of this embodiment, the terms "upper," "lower," "right," and "left," 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.

[0022] Example 1

[0023] like Figure 1 and Figure 2As shown, a dexterous finger includes at least two phalanges hinged together by a hinge shaft 5, defined as the first phalanx 1 and the second phalanx 2. In this embodiment, they are relative. When a dexterous finger has three or more phalanges, the phalanx closer to the fingertip of two adjacent hinged phalanges is defined as the first phalanx 1, and the phalanx further away is defined as the second phalanx 2. The dexterous finger also includes a transmission assembly 3 and a drive assembly 4 for rotating the first phalanx 1 and the second phalanx 2 around the hinge shaft 5. At least a portion of the transmission assembly 3 is fixed to the first phalanx 1, the remaining portion of the transmission assembly 3 is in transmission engagement with at least a portion and is movably connected to the second phalanx 2, and the drive assembly 4 drives the remaining portion of the transmission assembly 3 to move and drive the first phalanx 1, which is at least partially fixed, to rotate around the hinge center axis.

[0024] Specifically, regarding the detailed description of the aforementioned transmission component 3, this transmission component 3 includes either a gear transmission component or a tendon cable transmission component. In this embodiment, the transmission component 3 uses gear transmission, and at least the aforementioned portion and the remaining portion of the transmission component 3 are connected by tooth meshing. Specifically, the first gear 31 is fixedly connected to the first phalanx 1 and rotates about the axis of the hinge shaft 5. The second gear 32 meshes with the first gear 31, and its mounting shaft is rotatably supported on the second phalanx 2. The remaining portion of the transmission component 3, namely the second gear 32, is connected to the output end of the drive component 4.

[0025] When the drive assembly 4 is activated, its output motion drives the second gear 32 to rotate around its own mounting axis. Since the second gear 32 meshes with the first gear 31 fixed to the first phalanx 1, the rotational motion of the second gear 32 forces the first gear 31 to rotate around the axis of the hinge shaft 5. Therefore, the first phalanx 1, which is fixedly connected to the first gear 31, rotates relative to the second phalanx 2 around the hinge shaft 5, realizing the bending action of the first phalanx 1.

[0026] Furthermore, such as Figures 2-3 As shown, a rotor platform 6 is rotatably connected to the second phalanx 2. The rotor platform 6 is fixedly connected to the remaining part of the transmission assembly 3, that is, the rotor platform 6 is coaxially fixed with the second gear 32, and the central axis of the rotor platform 6 coincides with the mounting axis of the second gear 32. Furthermore, the aforementioned drive assembly 4 includes any one of a piezoelectric drive assembly, an SMA drive assembly, and a motor drive assembly. In this embodiment, the drive assembly 4 uses a piezoelectric drive assembly with a smaller footprint, wherein the piezoelectric drive assembly includes a piezoelectric motor 41 that contacts the outer peripheral surface of the rotor platform 6.

[0027] The piezoelectric motor 41 is fixedly mounted on the base structure of the second finger joint 2, and its core driving element (piezoelectric vibrator) is in contact with the outer peripheral surface of the rotor platform 6. This contact can be point contact, line contact, or surface contact, depending on the design type of the piezoelectric motor 41.

[0028] The driving principle of the piezoelectric motor 41 utilizes the inverse piezoelectric effect to convert electrical energy into mechanical energy. Specifically, the piezoelectric motor 41 vibrates when energized, and when driven at its rated frequency, the top of the motor moves in a manner similar to... Figure 5 As shown, the top of the motor contacts the rotor platform 6 and propels it forward, causing the rotor platform 6 to move counterclockwise. The top of the motor moves in the opposite direction at another resonant frequency, pulling the rotor platform 6 back, causing it to move clockwise, as shown. Figure 6 As shown. Because each motor can propel and pull back the rotor platform 6, their high-speed micro-motions can be synchronized and combine to make the rotor platform 6 move in a certain direction.

[0029] like Figure 4 As shown, a pre-tightening elastic element 7 is provided on the second phalanx 2, which enables the piezoelectric motor 41 to exert a radially inward force on the rotor platform 6. The dexterous finger also includes a circuit board 8 disposed on the inner wall of the first phalanx 1. The piezoelectric motor 41 is fixedly connected to the circuit board 8 through the pre-tightening elastic element 7, and the piezoelectric motor 41 is electrically connected to the circuit board 8.

[0030] The function of the preload elastic element 7 is to provide and maintain a radially inward preload force in the direction of the rotor platform 6 axis for the piezoelectric motor 41. This preload force ensures that the core drive element of the piezoelectric motor 41 and the outer peripheral surface of the rotor platform 6 always maintain a stable and sufficient contact pressure, which is the key to the effective transmission of power by friction drive and the prevention of slippage.

[0031] Example 2

[0032] The structure and principle of this embodiment are basically the same as those of Embodiment 1. The difference is that, for the dexterous finger of Embodiment 1, the dexterous robotic hand in this embodiment includes a dexterous finger.

[0033] As the core execution unit of the dexterous manipulator, the dexterous finger further expands its functions and application scenarios. By integrating the dexterous finger into the mechanical structure of the dexterous manipulator, this embodiment achieves a larger grasping range, higher operational precision, and more complex task processing capabilities. In this embodiment, the aforementioned dexterous manipulator includes at least two dexterous fingers, each of which maintains the same structure and driving principle as the dexterous finger in Embodiment 1. The dexterous fingers of the dexterous manipulator are connected to the main body of the manipulator, thereby forming a complete mechanical operating system.

[0034] The specific embodiments described herein are merely illustrative examples illustrating the spirit of this utility model. Those skilled in the art to which this utility model pertains may make various modifications or additions to the described specific embodiments or use similar methods to substitute them, without departing from the spirit of this utility model or exceeding the scope defined by the appended claims.

Claims

1. A dexterous finger, comprising at least two articulated phalanges, characterized in that, The dexterous finger also includes a transmission assembly (3) for causing two adjacent phalanges to rotate relative to each other about a hinge center axis, and a drive assembly (4) for driving the transmission assembly (3) and causing the corresponding phalanges to move. At least a portion of the transmission assembly (3) is fixed to one of the phalanges, and the remaining portion of the transmission assembly (3) is movably connected to the other phalange. The remaining portion of the transmission assembly (3) is in transmission engagement with the at least a portion.

2. The dexterous finger according to claim 1, characterized in that, One of the two adjacent phalanges is hinged to the other phalange via a hinge shaft (5), and at least a portion of the transmission assembly (3) is fixed to the hinge shaft (5).

3. The dexterous finger according to claim 2, characterized in that, The transmission component (3) includes either a gear transmission component or a tendon cable transmission component.

4. The dexterous finger according to claim 3, characterized in that, The two adjacent segments are defined as the first segment (1) and the second segment (2), and a rotor platform (6) is rotatably connected to the second segment (2). The rotor platform (6) is fixedly connected to the remaining part of the transmission assembly (3).

5. The dexterous finger according to claim 4, characterized in that, The drive component (4) includes any one of a piezoelectric drive component, an SMA drive component, and a motor drive component.

6. The dexterous finger according to claim 4, characterized in that, The gear transmission assembly includes a first gear (31) fixed relative to the first finger joint (1) and a second gear (32) meshing with the first gear (31), the second gear (32) being rotatably connected to the second finger joint (2).

7. The dexterous finger according to claim 5, characterized in that, The piezoelectric drive assembly includes a piezoelectric motor (41) that contacts the outer peripheral surface of the rotor stage (6).

8. The dexterous finger according to claim 7, characterized in that, The second phalanx (2) is provided with a pre-tightening elastic element (7) that causes the piezoelectric motor (41) to exert a radially inward force on the rotor platform (6).

9. The dexterous finger according to claim 8, characterized in that, The dexterous finger also includes a circuit board (8) disposed on the inner wall of the first phalanx (1), the piezoelectric motor (41) is fixedly connected to the circuit board (8) through the pre-tightening elastic member (7), and the piezoelectric motor (41) is electrically connected to the circuit board (8).

10. A dexterous robotic hand, characterized in that, The dexterous manipulator includes the dexterous fingers as described in any one of claims 1-9.

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