A flexible linkages articulated mechanical finger mechanism

Abstract

The utility model discloses a kind of flexible connecting rod linkage's mechanical finger mechanism, belong to the technical field of robot dexterous manipulator, including base, finger middle segment and fingertip segment, base is provided with first connecting hole, fingertip segment is provided with second connecting hole, finger middle segment bottom is hinged with base by first connecting hole, finger middle segment top is hinged with fingertip segment by second connecting hole, finger middle segment is connected with transmission mechanism, connecting rod mechanism and buffer mechanism, transmission mechanism is used to control fingertip segment rotation around the axis of first connecting hole.The utility model has the beneficial effect that by being provided with straight slot hole in base, the second connecting rod of connecting rod bottom can be moved in straight slot hole, the first connecting rod of connecting rod top is hinged with fingertip segment, so that mechanical finger has elasticity and rigidity, the hinge point of connecting rod bottom and base can be displaced change, adaptively adjust the clamping force and movement trajectory of fingertip segment.

Description

Technical Field

[0001] This utility model belongs to the field of robot dexterous manipulator technology, and particularly relates to a flexible linkage mechanical finger mechanism. Background Technology

[0002] Robotic arms are automated devices used in modern manufacturing to perform tasks such as grasping, handling, assembly, and processing. They are widely used in automobile manufacturing, electronic assembly, logistics and warehousing and other fields.

[0003] Existing mechanical fingers mostly use rigid linkages or gear transmission mechanisms, which have many defects, such as insufficient gripping stability and rigid structures that easily lead to object deformation; gear transmission mechanisms lack adaptability design for flexible grasping; finger movement trajectory is limited, and rigid linkages restrict the movement trajectory of the fingers, making it impossible to grasp easily deformable or irregular objects. Utility Model Content

[0004] The purpose of this invention is to overcome the shortcomings of the existing technology and provide a flexible linkage mechanical finger mechanism that can solve the technical problem that the mechanical finger has a single movement trajectory and cannot grasp easily deformable or irregularly shaped objects.

[0005] To achieve the above objectives, this utility model employs the following technical solution: a flexible linkage mechanical finger mechanism, comprising a base, a middle section of the finger, and a fingertip section. The base has a first connecting hole, and the fingertip section has a second connecting hole. The bottom of the middle section of the finger is hinged to the base through the first connecting hole, and the top of the middle section of the finger is hinged to the fingertip section through the second connecting hole. The middle section of the finger is connected to a transmission mechanism, a linkage mechanism, and a buffer mechanism. The transmission mechanism is used to control the rotation of the fingertip section around the axis of the first connecting hole.

[0006] Optionally, the base has a lower groove, the fingertip segment has an upper groove, the top of the linkage mechanism is connected to the upper groove, and the bottom of the linkage mechanism is connected to the lower groove.

[0007] Optionally, the linkage mechanism includes at least two links, the tops of the two links are fixedly connected by a first connecting rod, and the bottoms of the two links are fixedly connected by a second connecting rod.

[0008] Optionally, the lower slot is a straight slot, the upper slot is a round hole, the first connecting rod is rotatably connected to the round hole, the second connecting rod is movably connected to the straight slot, and the second connecting rod can slide up and down in the straight slot.

[0009] Optionally, the link is located inside the middle section of the finger.

[0010] Optionally, the lower slot is a through hole, the upper slot is an arc-shaped slot, the first connecting rod is movably connected to the arc-shaped slot, and the second connecting rod is rotatably connected to the through hole.

[0011] Optionally, the link is located outside the middle section of the finger.

[0012] Optionally, the buffer mechanism includes an upper fixed rod and a lower fixed rod. The upper fixed rod is fixedly connected to the inner wall of the middle segment of the finger, and the lower fixed rod is fixedly connected to a linkage mechanism. A tension spring is provided between the upper fixed rod and the lower fixed rod.

[0013] Optionally, the transmission mechanism includes a timing pulley and a timing belt that can cooperate with each other. There are two timing pulleys, and each timing pulley is provided with a central shaft. The central shaft is rotatably connected to the first connecting hole and the second connecting hole, respectively.

[0014] Optionally, the transmission mechanism includes two end gears and several meshing transmission gears. Each end gear is provided with a central shaft, which is rotatably connected to the first connecting hole and the second connecting hole, respectively.

[0015] Compared with the prior art, the beneficial effects achieved by this utility model are as follows: 1. By opening a straight slot in the base, the second connecting rod at the bottom of the connecting rod can move within the straight slot. The first connecting rod at the top of the connecting rod is hinged to the fingertip segment, giving the mechanical finger both elasticity and rigidity. The hinge point between the bottom of the connecting rod and the base can be displaced and changed, adaptively adjusting the clamping force and movement trajectory of the fingertip segment.

[0016] 2. The bottom of the connecting rod is hinged to the base, and an arc-shaped slot is opened at the bottom of the fingertip section. The top of the connecting rod can move along the inner wall of the arc-shaped slot. After the mechanical finger grasps an object, the fingertip section can break through the limitation of the movement trajectory and continue to move, which can accurately grasp easily deformable or irregular objects. Attached Figure Description

[0017] Figure 1 The figure shown is a schematic diagram of the overall structure of the built-in linkage mechanism of this utility model; Figure 2 The diagram shown is a partial schematic of the built-in linkage mechanism of this utility model. Figure 3 and Figure 4 The diagram shows different types of transmission mechanisms of this utility model; Figure 5 The figure shown is a schematic diagram of the overall structure of the external linkage mechanism adopted in this utility model; Figure 6 The diagram shown is a partial schematic of the external linkage mechanism of this utility model.

[0018] In the diagram: 1. Base; 101a. Straight slot; 101b. Through hole; 2. Middle section of finger; 3. Fingertip section; 301a. Round hole; 301b. Arc-shaped slot; 401a. Synchronous pulley; 402a. Synchronous belt; 401b. End gear; 402b. Transmission gear; 403. Central shaft; 501. Connecting rod; 502. First connecting rod; 503. Second connecting rod; 601. Upper fixing rod; 602. Lower fixing rod; 603. Tension spring. Detailed Implementation

[0019] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention.

[0020] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing this utility model and simplifying the description, 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, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0021] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; 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; and they can refer to the internal connection of 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.

[0022] Example 1 Reference Figures 1-6This embodiment provides a flexible linkage mechanical finger mechanism, specifically including a base 1, a middle section of the finger 2, and a fingertip section 3. The base 1 has a first connecting hole, and the fingertip section 3 has a second connecting hole. The bottom of the middle section of the finger 2 is hinged to the base 1 through the first connecting hole, and the top of the middle section of the finger 2 is hinged to the fingertip section 3 through the second connecting hole. The middle section of the finger 2 is connected to a transmission mechanism, a linkage mechanism, and a buffer mechanism. The transmission mechanism is used to control the rotation of the fingertip section 3 around the axis of the first connecting hole.

[0023] The middle segment 2 of the finger is hinged to the base 1 via a bearing assembly and a shaft. The hinge point is the first joint. The middle segment 2 of the finger and the fingertip segment 3 are also hinged to the shaft via a bearing assembly and a shaft. The hinge point is the second joint.

[0024] The initial power is input from the power input shaft of the first joint, and the power is transmitted to the drive shaft of the second joint through the transmission mechanism. The drive shaft of the second joint is rigidly connected to the fingertip segment 3. When the power input shaft of the first joint rotates, it drives the drive shaft of the second joint to rotate through the transmission mechanism, thereby driving the fingertip segment 3 to rotate.

[0025] One end of the connecting rod 501 is movably connected to the base 1 or the fingertip segment 3, and can be displaced within a certain limit to realize the variability of the mechanical finger's movement trajectory and to remove the limit position restriction of the finger's movement trajectory, thereby realizing the function of grasping objects that are easily deformable or have complex shapes. During the grasping and releasing process, the joints of the fingers conform to the human biological finger movement sequence, improving the grasping flexibility.

[0026] Example 2 This embodiment provides a flexible linkage mechanical finger mechanism, which differs from the first embodiment in that the base 1 has a lower groove, the fingertip segment 3 has an upper groove, the top of the linkage mechanism is connected to the upper groove, and the bottom of the linkage mechanism is connected to the lower groove.

[0027] The linkage mechanism includes at least two links 501, the tops of the two links 501 are fixedly connected by a first connecting rod 502, and the bottoms of the two links 501 are fixedly connected by a second connecting rod 503.

[0028] The lower slot is a straight slot 101a, and the upper slot is a round hole 301a. The first connecting rod 502 is rotatably connected to the round hole 301a, and the second connecting rod 503 is movably connected to the straight slot 101a, and the second connecting rod 503 can slide up and down within the straight slot 101a. The connecting rod 501 is located inside the middle section 2 of the finger.

[0029] The lower slot is a through hole 101b, and the upper slot is an arc-shaped slot 301b. The first connecting rod 502 is movably connected to the arc-shaped slot 301b, and the second connecting rod 503 is rotatably connected to the through hole 101b. The connecting rod 501 is located outside the middle section 2 of the finger.

[0030] The buffer mechanism includes an upper fixed rod 601 and a lower fixed rod 602. The upper fixed rod 601 is fixedly connected to the inner wall of the middle segment 2 of the finger, and the lower fixed rod 602 is fixedly connected to the linkage mechanism. A tension spring 603 is provided between the upper fixed rod 601 and the lower fixed rod 602.

[0031] The transmission mechanism includes a synchronous pulley 401a and a synchronous belt 402a that can cooperate with each other. There are two synchronous pulleys 401a, and each synchronous pulley 401a is provided with a central shaft 403. The central shaft 403 is rotatably connected to the first connecting hole and the second connecting hole respectively.

[0032] The transmission mechanism includes two end gears 401b and several meshing transmission gears 402b. Each end gear 401b is provided with a central shaft 403, which is rotatably connected to the first connecting hole and the second connecting hole, respectively.

[0033] The transmission mechanism can also be implemented in other ways, such as the combination of a pull rod wheel and a pull rod, or the combination of a pull wire wheel and a pull wire, to achieve power transmission. The above two transmission methods are common technical means in this field, and will not be elaborated on here.

[0034] Using a built-in linkage mechanism, the finger grasping action is achieved as follows: the straight slot 101a is vertically positioned, and the second connecting rod 503 at the bottom of the linkage 501 can move up and down. Due to the presence of the tension spring 603, the tension spring 603 has a certain initial tension, which is greater than the weight of the finger. There is resistance to the rotation of the fingertip segment 3, so the middle segment 2 of the finger ultimately rotates preferentially around the power input shaft of the first joint. Due to the presence of the linkage 501, the middle segment 2 drives the fingertip to follow the rotation. After grasping an object, the middle segment 2 stops rotating because the shape of the object creates resistance to the movement of the middle segment 2. Since the hinge point at the bottom of the linkage 501 can move downward, the fingertip segment 3 can continue to close, while driving the linkage 501 to move downward until the fingertip segment 3 is completely in contact with the surface of the grasped object. At this point, the finger closing grasping action is completed. The finger release action is achieved as follows: the initial power input shaft is reversed. Due to the presence of the tension spring 603 in the middle section 2 of the finger and the upward movement of the hinge point at the bottom of the connecting rod 501, the tension of the tension spring 603 plus the initial power causes the fingertip section 3 to release first, and the connecting rod 501 moves upward until the hinge point moves to the top of the straight slot hole 101a. At this time, the connecting rod 501 and the base 1 form a rigid constraint, thereby driving the middle section 2 of the finger to continue to open. The movement trajectory during opening is constrained by the connecting rod 501 until the middle section 2 and the fingertip section 3 are fully opened, and the finger release action is completed.

[0035] Using an external linkage mechanism, the finger grasping action is achieved as follows: the bottom of the linkage 501 is hinged to the base 1, and the top of the linkage 501 forms an open hinge point with the arc-shaped slot 301b of the fingertip segment 3. The initial position of the hinge point is located at the front end of the arc-shaped slot 301b. Due to the presence of the linkage 501, the fingertip segment 3 rotates along with the middle segment 2 during rotation, forming a transmission. After grasping an object, the object's shape creates resistance to the movement of the middle segment 2, causing the middle segment 2 to stop rotating. However, since the hinge between the top of the linkage 501 and the fingertip segment 3 is an open hinge, the fingertip segment 3 can continue to close until it is completely in contact with the surface of the grasped object, thus completing the finger closing grasping action. The finger release action is achieved as follows: the initial power input shaft is reversed, the top hinge point of the connecting rod 501 is located at the end of the arc-shaped slot 301b, the tension of the tension spring 603 plus the initial power causes the fingertip segment 3 to release first, until the front end of the arc-shaped slot 301b abuts against the connecting rod 501. At this time, the connecting rod 501 and the fingertip segment 3 form a rigid constraint, thereby driving the middle segment 2 of the finger to continue to open, and the movement trajectory during opening is constrained by the connecting rod 501, until the middle segment 2 and the fingertip segment 3 are fully opened, and the finger release action is completed.

[0036] The above description is only a preferred embodiment of the present utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present utility model, and these improvements and modifications should also be considered within the protection scope of the present utility model.

Claims

1. A flexible linkage mechanical finger mechanism, characterized in that, The device includes a base (1), a middle section of the finger (2), and a fingertip section (3). The base (1) has a first connecting hole, and the fingertip section (3) has a second connecting hole. The bottom of the middle section of the finger (2) is hinged to the base (1) through the first connecting hole, and the top of the middle section of the finger (2) is hinged to the fingertip section (3) through the second connecting hole. The middle section of the finger (2) is connected to a transmission mechanism, a linkage mechanism, and a buffer mechanism. The transmission mechanism is used to control the fingertip section (3) to rotate around the axis of the first connecting hole.

2. The flexible linkage mechanical finger mechanism according to claim 1, characterized in that, The base (1) has a lower slot, the fingertip segment (3) has an upper slot, the top of the linkage mechanism is connected to the upper slot, and the bottom of the linkage mechanism is connected to the lower slot.

3. The flexible linkage mechanical finger mechanism according to claim 2, characterized in that, The linkage mechanism includes at least two links (501), the tops of the two links (501) are fixedly connected by a first connecting rod (502), and the bottoms of the two links (501) are fixedly connected by a second connecting rod (503).

4. The flexible linkage mechanical finger mechanism according to claim 3, characterized in that, The lower slot is a straight slot (101a), and the upper slot is a round hole (301a). The first connecting rod (502) is rotatably connected to the round hole (301a), and the second connecting rod (503) is movably connected to the straight slot (101a). The second connecting rod (503) can slide up and down inside the straight slot (101a).

5. The flexible linkage mechanical finger mechanism according to claim 4, characterized in that, The link (501) is located inside the middle section (2) of the finger.

6. The flexible linkage mechanical finger mechanism according to claim 3, characterized in that, The lower slot is a through hole (101b), the upper slot is an arc-shaped slot (301b), the first connecting rod (502) is movably connected to the arc-shaped slot (301b), and the second connecting rod (503) is rotatably connected to the through hole (101b).

7. The flexible linkage mechanical finger mechanism according to claim 6, characterized in that, The link (501) is located outside the middle section (2) of the finger.

8. The flexible linkage mechanical finger mechanism according to claim 1, characterized in that, The buffer mechanism includes an upper fixed rod (601) and a lower fixed rod (602). The upper fixed rod (601) is fixedly connected to the inner wall of the middle section of the finger (2), and the lower fixed rod (602) is fixedly connected to the linkage mechanism. A tension spring (603) is provided between the upper fixed rod (601) and the lower fixed rod (602).

9. The flexible linkage mechanical finger mechanism according to claim 8, characterized in that, The transmission mechanism includes a synchronous pulley (401a) and a synchronous belt (402a) that can cooperate with each other. There are two synchronous pulleys (401a), and each synchronous pulley (401a) is provided with a central shaft (403). The central shaft (403) is rotatably connected to the first connecting hole and the second connecting hole respectively.

10. The flexible linkage mechanical finger mechanism according to claim 8, characterized in that, The transmission mechanism includes two end gears (401b) and several meshing transmission gears (402b). Each end gear (401b) is provided with a central shaft (403), which is rotatably connected to the first connecting hole and the second connecting hole respectively.

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