A three-fingered rope-driven mechanical gripper imitating human fingers

Abstract

The utility model discloses a kind of three-fingered rope-driven mechanical gripper of anthropomorphic finger, it includes three fingers, three flexible ropes, three finger films and a palm base. Each finger is composed of four modules, respectively for root finger module, near finger module, middle finger module and far finger module, and each two modules are connected by stud bolt;Reset spring is connected between the back of each two modules, and the two ends of reset spring are fixed to the arc mechanism of the back of each module respectively;Each finger is driven by a flexible rope, one end of flexible rope is fixed in the inside rectangular mouth of far finger module, and the other end is sequentially connected with driving mechanism through far finger module threading hole, middle finger module threading hole, near finger module threading hole, root finger module threading hole and palm base threading hole. The utility model is simple in structure, convenient to operate, adopts three-fingered mechanism and single drive design, so as to realize the quick envelope capture of mechanical hand, and has wide application prospect.

Description

Technical Field

[0001] This utility model relates to the field of mechanical gripper technology, specifically to a three-finger rope-driven mechanical gripper that mimics human fingers. Background Technology

[0002] Robots have become key tools in resource exploration and sampling tasks. However, the complex and diverse operating environments severely restrict exploration and sampling efficiency, greatly limiting the resource development process. To address this challenge, developing highly adaptable and reliable mechanical grippers has become an inevitable requirement for improving sampling capabilities.

[0003] Currently, robotic grippers generally adopt an integrated design, directly integrating the drive unit with the gripping structure. This design has significant limitations: the drive unit layout is not compact enough, and the motor is directly mounted at the joint as a joint actuator, which not only increases the weight of the robotic arm's end effector but also leads to reduced transmission efficiency, increased rotational inertia, and difficulty in achieving precise position control, thus making it impossible to work stably in unstructured and complex environments.

[0004] As a key component for performing complex grasping tasks, the rope-driven mechanical gripper's grasping method needs to be adapted to the shape characteristics of the target object. Currently, the mainstream configurations include two-finger, three-finger, and humanoid five-finger grippers. Two-finger grippers are suitable for the stable gripping of regular objects, but their adaptability to irregular objects is insufficient. Humanoid five-finger grippers, while possessing high dexterity and grasping versatility, are difficult to deploy effectively in unstructured environments due to their complex structure and large size. Three-finger grippers, to some extent, combine envelope grasping capabilities with adaptability to irregular objects; however, in existing designs, each finger often relies on multiple independent drive units, leading to system complexity and high control difficulty, limiting their practicality and applicability in specific working scenarios. Utility Model Content

[0005] To solve the above-mentioned technical problems, this utility model provides a three-finger rope-driven mechanical gripper that is simple and compact in structure, flexible in operation, low in energy consumption, and can be quickly reset with a single drive.

[0006] The technical solution adopted in this utility model is:

[0007] A three-finger rope-driven mechanical gripper, resembling a human finger, includes three fingers, three flexible ropes, three finger membranes, and a palm base. The three fingers are mounted on the palm base with screws. Each finger includes a root finger module, a proximal finger module, a middle finger module, a distal finger module, and a male-female bolt. The root finger module is mounted on the palm base, and the root finger module, proximal finger module, middle finger module, and distal finger module are sequentially connected by male-female bolts.

[0008] In the aforementioned three-finger rope-driven mechanical gripper that mimics human fingers, the distal finger module has a mounting hole I at its lower end; the middle finger module has a mounting hole II at its upper end and a mounting hole III at its lower end; the proximal finger module has a mounting hole IV at its upper end and a mounting hole V at its lower end; and the root finger module has a mounting hole VI at its upper end. The mounting hole I of the distal finger module is coaxial with the mounting hole II of the middle finger module; the mounting hole III of the middle finger module is coaxial with the mounting hole IV of the proximal finger module; and the mounting hole V of the proximal finger module is coaxial with the mounting hole VI of the root finger module.

[0009] In the aforementioned three-finger rope-driven mechanical gripper that mimics human fingers, a return spring I is provided between the root finger module and the proximal finger module, with both ends of the return spring I connected to the arc mechanism on the back of the root finger module and the proximal finger module, respectively; a return spring II is provided between the proximal finger module and the middle finger module, with both ends of the return spring II connected to the arc mechanism on the back of the proximal finger module and the middle finger module, respectively; and a return spring III is provided between the middle finger module and the distal finger module, with both ends of the return spring III connected to the arc mechanism on the back of the middle finger module and the distal finger module, respectively.

[0010] In the aforementioned three-finger rope-driven mechanical gripper that mimics human fingers, the palm base is provided with rope-passing hole V, the inner side of the root finger module is provided with rope-passing hole IV, the proximal finger module is provided with rope-passing hole III, the middle finger module is provided with rope-passing hole II, and the distal finger module is provided with rope-passing hole I. The flexible rope passes through rope-passing hole I, rope-passing hole II, rope-passing hole III, rope-passing hole IV, and rope-passing hole V in sequence, and is finally fixed to the drive mechanism.

[0011] In the aforementioned three-finger rope-driven mechanical gripper that mimics human fingers, the root finger module has three holes: a rope threading hole IV and a mounting hole VII. The mounting hole VII is coaxially assembled with the root finger module mounting hole VIII on the palm base and is fixed by screws.

[0012] In the aforementioned three-finger rope-driven mechanical gripper that mimics human fingers, a rectangular opening is provided on the inner wall of the distal finger module, and one end of the flexible rope is fixed inside the rectangular opening.

[0013] In the aforementioned three-finger rope-driven mechanical gripper with anthropomorphic fingers, the palm base has three rope-threading holes V, 19mm from the center of the palm base; six root finger module mounting holes VIII, 44mm from the center of the palm base; and six end mounting holes IX for connecting the three-finger mechanical gripper to the robotic arm. There are three sets of end mounting holes, each set vertically distributed, with two holes 10mm apart. The far end mounting hole IX is 45mm from the center of the palm base. All the holes on the palm base can be divided into three groups, evenly distributed at 120° intervals.

[0014] In the aforementioned three-finger rope-driven mechanical gripper that mimics human fingers, the finger membrane is made of silicone material, and there are seven rows of evenly distributed small squares on the finger membrane. The finger membrane is fixed to the inclined surface of the distal finger module.

[0015] In the aforementioned three-finger rope-driven mechanical gripper that mimics human fingers, the fixed end of the flexible rope finger is provided with a connector, the diameter of which is larger than the diameter of the flexible rope and larger than the diameter of the rope hole.

[0016] Compared with existing technologies, the beneficial effects of this invention are as follows: This invention achieves finger bending by controlling the extension and retraction of a flexible rope, enabling the grasping of smaller objects and the enveloping gripping of larger objects; the mode of using one flexible rope to drive one finger allows for rapid bending and grasping of the mechanical gripper, and the addition of a return spring to the finger allows for rapid return of the finger to its original position if the rope loosens; a finger membrane is designed in the distal finger module to increase friction and improve the stability of the mechanical gripper when grasping smaller objects. This invention has a simple structure, is flexible in operation, and can achieve enveloping gripping or pinching of various objects, improving the working ability of the rope-driven manipulator in unstructured environments. Attached Figure Description

[0017] Figure 1 This is an overall structural diagram of the present invention.

[0018] Figure 2 This is a front view structural diagram of a single finger of this utility model.

[0019] Figure 3 This is a side view of the single finger structure of this utility model.

[0020] Figure 4 This is a structural diagram of the finger module of this utility model; Figure 4 (a) Root finger module structure diagram. Figure 4 (b) Proximal finger module structure diagram Figure 4 (c) Middle finger module structure diagram Figure 4 (d) Distant pointer module structure diagram.

[0021] Figure 5 This is a structural diagram of the palm base of this utility model.

[0022] In the diagram: 1-Flexible rope; 2-Palm base; 3-Screw; 4-Arc mechanism; 5-Connector; 6-Rope hole I; 7-Rope hole II; 8-Rope hole III; 9-Rope hole IV; 10-Finger membrane; 11-Rectangular opening; 12-Mounting hole VII; 13-Distal finger module; 14-Mother and son bolts; 15-Middle finger module; 16-Proximal finger module; 17-Root finger module; 18-Return spring III; 19-Return spring II; 20-Return spring I; 21-Mounting hole I; 22-Mounting hole II; 23-Mounting hole III; 24-Mounting hole IV; 25-Mounting hole V; 26-Mounting hole VI; 27-Mounting hole VIII; 28-Rope hole V; 29-Mounting hole IX. Detailed Implementation

[0023] The present invention will be further described below with reference to the accompanying drawings.

[0024] See Figures 1-5 As shown, this utility model includes three fingers, three ropes 1, three finger membranes 10, and a palm base 2. The three fingers are mounted on the palm base by screws 3. Each finger includes a root finger module 17, a proximal finger module 16, a middle finger module 15, a distal finger module 13, and a male and female bolt 14. The root finger module is mounted on the palm base 2, and the root finger module 17, the proximal finger module 16, the middle finger module 15, and the distal finger module 13 are connected sequentially by the male and female bolts 14.

[0025] In the aforementioned three-finger rope-driven mechanical gripper that mimics human fingers, the distal finger module has a mounting hole I21 at its lower end; the middle finger module has a mounting hole II22 at its upper end and a mounting hole III23 at its lower end; the proximal finger module has a mounting hole IV24 at its upper end and a mounting hole V25 at its lower end; and the root finger module has a mounting hole VI26 at its upper end. During assembly, the distal finger module mounting hole I21 and the middle finger module mounting hole II22 are coaxial; the middle finger module mounting hole III23 and the proximal finger module mounting hole IV24 are coaxial; and the proximal finger module mounting hole V25 and the root finger module mounting hole VI26 are coaxial.

[0026] A return spring I 20 is provided between the root finger module 17 and the proximal finger module 16, and the two ends of the return spring I 20 are respectively connected to the arc mechanism 4 on the back of the root finger module 17 and the proximal finger module 16; a return spring II 19 is provided between the proximal finger module 16 and the middle finger module 15, and the two ends of the return spring II 19 are respectively connected to the arc mechanism 4 on the back of the proximal finger module 16 and the middle finger module 15; a return spring III 18 is provided between the middle finger module 15 and the distal finger module 13, and the two ends of the return spring III 18 are respectively connected to the arc mechanism 4 on the back of the middle finger module 15 and the distal finger module 13.

[0027] The palm base 2 is provided with a rope hole V28, the inner side of the root finger module is provided with a rope hole IV9, the proximal finger module is provided with a rope hole III8, the middle finger module is provided with a rope hole II7, and the distal finger module is provided with a rope hole I6. The flexible rope passes through the rope hole I6, rope hole II7, rope hole III8, rope hole IV9 and rope hole V28 in sequence, and is finally fixed to the drive mechanism.

[0028] The root finger module 17 has three holes: a rope hole IV9 and two mounting holes VII12. The mounting holes VII12 are coaxially assembled with the root finger module mounting holes VIII27 on the palm base 2 and fixed by screws 3.

[0029] The inner wall of the distal pointing module 13 is provided with a rectangular opening 11, and one end of the flexible rope 1 is fixed inside the rectangular opening 11.

[0030] The hand base 2 has three rope-threading holes V28, each 19mm from the center of the hand base; six root finger module mounting holes VIII27, each 44mm from the center of the hand base; and six end mounting holes IX29 for connecting the three-finger mechanical gripper to the robotic arm. There are three sets of end mounting holes, each set vertically distributed, with a 10mm distance between each pair of holes. The farthest end mounting hole IX29 is 45mm from the center of the hand base 2. All the holes on the hand base can be divided into three groups, evenly distributed at 120° intervals.

[0031] The finger film 10 is made of silicone and has seven rows of evenly distributed small squares on it. The finger film is fixed to the inclined surface of the distal finger module.

[0032] The flexible rope 1 has a connector 5 at its end. The diameter of the connector 5 is larger than the diameter of the flexible rope and larger than the diameter of the rope hole.

[0033] When using this invention, three flexible ropes are pulled simultaneously to bend the fingers. When grasping smaller objects, the fingertips of the distal finger module can be used for pinching, and the combined effect of the finger membrane provides strong clamping force. When grasping larger objects, an enveloping grip can be selected.

Claims

1. A three-finger rope-driven mechanical gripper that mimics human fingers, characterized in that: It includes three fingers, three flexible ropes (1), three finger membranes (10) and a palm base (2). The three fingers are installed on the palm base by screws (3). The fingers include a root finger module (17), a proximal finger module (16), a middle finger module (15), a distal finger module (13) and a male and female bolt (14). The root finger module is installed on the palm base (2). The root finger module (17), the proximal finger module (16), the middle finger module (15) and the distal finger module (13) are connected in sequence by the male and female bolts (14).

2. The three-finger rope-driven mechanical gripper with human-like fingers according to claim 1, characterized in that: In the three-finger rope-driven mechanical gripper that mimics human fingers, the distal finger module has a mounting hole I (21) at the lower end; the middle finger module has a mounting hole II (22) at the upper end and a mounting hole III (23) at the lower end; the proximal finger module has a mounting hole IV (24) at the upper end and a mounting hole V (25) at the lower end; and the root finger module has a mounting hole VI (26) at the upper end. During assembly, the mounting hole I (21) of the distal finger module is coaxial with the mounting hole II (22) of the middle finger module; the mounting hole III (23) of the middle finger module is coaxial with the mounting hole IV (24) of the proximal finger module; and the mounting hole V (25) of the proximal finger module is coaxial with the mounting hole VI (26) of the root finger module.

3. The three-finger rope-driven mechanical gripper with human-like fingers according to claim 1, characterized in that: A return spring I (20) is provided between the root finger module (17) and the proximal finger module (16). The two ends of the return spring I (20) are connected to the arc mechanism (4) on the back of the root finger module (17) and the proximal finger module (16), respectively. A return spring II (19) is provided between the proximal finger module (16) and the middle finger module (15). The two ends of the return spring II (19) are connected to the arc mechanism (4) on the back of the proximal finger module (16) and the middle finger module (15), respectively. A return spring III (18) is provided between the middle finger module (15) and the distal finger module (13). The two ends of the return spring III (18) are connected to the arc mechanism (4) on the back of the middle finger module (15) and the distal finger module (13), respectively.

4. The three-finger rope-driven mechanical gripper with human-like fingers according to claim 1, characterized in that: The palm base (2) is provided with a rope hole V (28), the inner side of the root finger module is provided with a rope hole IV (9), the proximal finger module is provided with a rope hole III (8), the middle finger module is provided with a rope hole II (7), and the distal finger module is provided with a rope hole I (6). The flexible rope passes through the rope hole I (6), rope hole II (7), rope hole III (8), rope hole IV (9), and rope hole V (28) in sequence, and is finally fixed to the drive mechanism.

5. The three-finger rope-driven mechanical gripper with human-like fingers according to claim 4, characterized in that: The root finger module (17) has three holes: a rope hole IV (9) and two mounting holes VII (12). The mounting holes VII (12) are coaxially assembled with the root finger module mounting holes VIII (27) on the palm base (2) and fixed by screws (3).

6. The three-finger rope-driven mechanical gripper with human-like fingers according to claim 4, characterized in that: The inner wall of the far-pointing module (13) is provided with a rectangular opening (11), and one end of the flexible rope (1) is fixed inside the rectangular opening (11).

7. The three-finger rope-driven mechanical gripper with anthropomorphic fingers according to claim 1, characterized in that: The palm base (2) has three rope holes V (28), which are 19 mm away from the center of the palm base; it has six root finger module mounting holes VIII (27), which are 44 mm away from the center of the palm base; it has six end mounting holes IX (29) to connect the three-finger mechanical gripper to the mechanical arm. There are three sets of end mounting holes, each set is vertically distributed, and the two holes are 10 mm apart. The far hole of the end mounting hole IX (29) is 45 mm away from the center of the palm base (2). All the holes on the palm base can be divided into three groups and are evenly distributed at 120°.

8. The three-finger rope-driven mechanical gripper with human-like fingers according to claim 1, characterized in that: The finger membrane (10) is made of silicone. There are seven rows of evenly distributed small squares on the finger membrane. The finger membrane is fixed on the inclined surface of the distal finger module.

9. The three-finger rope-driven mechanical gripper with anthropomorphic fingers according to claim 1, characterized in that: The flexible rope (1) has a connector (5) at its end. The diameter of the connector (5) is larger than the diameter of the flexible rope and the diameter of the threading hole is larger than the diameter of the hole.

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