Guide rail mechanism, knuckle mechanism, and execution device

Abstract

The application provides a guide rail mechanism, a knuckle mechanism and an execution device, belongs to the field of robot technology and aims to solve the problem of inaccurate final displacement of knuckles. The guide rail mechanism comprises a mounting piece, a guide piece and a limiting mechanism. The mounting piece is provided with a mounting groove with openings at two ends, and the guide piece is arranged in the mounting groove and is in sliding connection with the mounting groove. The guide piece extends along an arc line and comprises a top wall and two side walls. The top wall is arranged along the circumferential direction of the guide piece, and the two side walls are oppositely arranged on the opposite sides of the top wall. The two side walls are connected with the top wall and extend along the radial direction of the guide piece. At least one of the two side walls is arranged obliquely and gradually reduces the distance between the two side walls in the direction away from the top wall. The limiting mechanism is connected with the mounting piece. The limiting mechanism abuts against the top wall and the two side walls to limit the displacement of the guide piece in the mounting groove. The guide rail mechanism is used for guiding movement.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to a guide rail mechanism, a knuckle mechanism, and an actuator. Background Technology

[0002] A robot is an artificial machine that assists humans in working and performing tasks. With the continuous development of technology, robots are able to perform more and more functions, and their applications are becoming more widespread.

[0003] In related technologies, to make the center of motion of the fingertips in a robot's dexterous hand closer to the position of a human finger, the fingertips can be slidably connected via arc-shaped grooves to achieve rotation. However, because the fingertips are connected via grooves, they are prone to sliding within the grooves, resulting in insufficient precision in the final displacement of the fingertips. Utility Model Content

[0004] This application provides a guide rail mechanism, a knuckle mechanism, and an actuator to solve the problem of insufficient precision in the final displacement of the knuckle.

[0005] In a first aspect, this application provides a guide rail mechanism, including a mounting member, a guide member, and a limiting mechanism. The mounting member has a mounting groove with openings at both ends, and the guide member passes through the mounting groove and is slidably connected to it. The guide member extends along an arc and includes a top wall and two side walls. The top wall is disposed along the circumferential direction of the guide member, and the two side walls are disposed at a distance from each other on opposite sides of the top wall. Both side walls are connected to the top wall and extend along the radial direction of the guide member. At least one of the two side walls is inclined, and the distance between the two side walls gradually decreases in the direction away from the top wall. The limiting mechanism is connected to the mounting member. The limiting mechanism abuts against the top wall and the two side walls to limit the displacement of the guide member within the mounting groove.

[0006] The guide rail mechanism provided in this application has openings at both ends of the mounting groove, allowing the guide member to pass through the mounting groove. Simultaneously, because the guide member extends along an arc, it can slide along the extension direction within the mounting groove. Since the limiting mechanism abuts against the top wall and the two side walls, it can apply pressure to the top wall and side walls of the guide member, applying a force to the top wall towards the side closest to the side wall, and applying a force to the two side walls towards the side walls that are closer to each other.

[0007] Meanwhile, since at least one of the two side walls is inclined and the distance between the two side walls gradually decreases in the direction away from the top wall, when the limiting mechanism applies pressure to the inclined side wall, the force will be decomposed into a force in the direction closer to the top wall. Thus, the limiting mechanism as a whole can apply pressure to the top wall and the side wall, and the force can be decomposed into forces in different circumferential directions around the guide, thereby limiting the displacement of the guide in the circumferential direction. This allows the guide to move more accurately along its own extension direction, preventing the guide from shaking in the mounting groove, and thus making the final displacement of the knuckle assembly more precise.

[0008] In some embodiments, the limiting mechanism includes a plurality of first rollers. The first rollers are rotatably connected to the mounting member, and their circumferences abut against the sidewalls, for rotating as the guide member slides.

[0009] In some embodiments, the first roller is detachably connected to the mounting component.

[0010] In some embodiments, the mounting member has a mounting hole. The guide rail mechanism also includes a first fastener. The first fastener passes through the first roller and is detachably connected to the mounting hole.

[0011] In some embodiments, the limiting mechanism includes a second roller. The second roller is rotatably connected to the mounting member, and its circumference abuts against the top wall, for rotating as the guide member slides.

[0012] In some embodiments, the second roller is detachably connected to the mounting component.

[0013] In some embodiments, a plurality of spaced-apart limiting portions are formed on the side of the mounting member near the top wall. A second roller is located between two adjacent limiting portions. The guide rail mechanism also includes a second fastener. The second fastener passes through one of the two adjacent limiting portions and the second roller, and is detachably connected to the other of the two adjacent limiting portions.

[0014] In some embodiments, the mounting component includes a first mounting component and a second mounting component. The second mounting component is detachably connected to the first mounting component. The first and second mounting components form a mounting groove.

[0015] Secondly, this application provides a knuckle mechanism, including any of the guide rail mechanisms in the first aspect.

[0016] Since the knuckle mechanism provided in this application includes any of the guide rail mechanisms in the first aspect, it can solve the same technical problems as the guide rail mechanism and achieve the same technical effects, so it will not be described in detail here.

[0017] Thirdly, this application provides an actuator, including the knuckle mechanism described in the second aspect.

[0018] Since the execution device provided in this application includes the knuckle mechanism of the second aspect, it can solve the same technical problems as the knuckle mechanism and achieve the same technical effects, it will not be described in detail here. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the structure of a knuckle mechanism provided in an embodiment of this application; Figure 2 for Figure 1 The diagram shows the structure of the knuckle mechanism from another angle. Figure 3 This is a partial structural schematic diagram of a knuckle mechanism provided in an embodiment of this application.

[0021] Figure label: 100-Finger mechanism; 10-Guide rail mechanism; 11-Mounting component; 111-First boss; 114-Limiting part; 115-First mounting component; 116-Second mounting component; 12-Guide component; 121-Top wall; 122-Side wall; 13-Limiting mechanism; 131-First roller; 132-Second roller; 14-First fastener; 15-Second fastener; 16-Adapter; 20-Finger assembly; 21-First finger joint; 211-Second boss; 22-Second finger joint; 30-Moving mechanism; 31-First movable component; 32-Second movable component; 321-Second rotating hole. Detailed Implementation

[0022] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0023] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0024] In the following description, the terms "first," "second," etc., are used for descriptive convenience only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0025] In this application, unless otherwise expressly specified and limited, the term "connection" shall be interpreted broadly. For example, "connection" may be a fixed mechanical connection, a detachable mechanical connection, or an integral part; or, "connection" may be a direct connection or an indirect connection through an intermediate medium.

[0026] Furthermore, unless otherwise explicitly specified and limited, the term "electrical connection" should be interpreted broadly. For example, "electrical connection" can be a direct electrical connection, such as physical contact and electrical conduction between two components; it can also be understood as the electrical connection between different components in a circuit structure through physical lines that can transmit electrical signals, such as copper foil or wires on a printed circuit board (PCB), to transmit electrical signals; or, "electrical connection" can be an indirect electrical connection between two components through an intermediate medium; or, "electrical connection" can be an electrical connection between two components in a way that is airtight or non-contact, such as an electrical connection between two components using capacitive coupling to transmit electrical signals.

[0027] In this application, two components are "parallel" to each other, which can mean completely parallel or approximately parallel within a certain acceptable deviation range. Furthermore, two components are "perpendicular" to each other, which can mean completely perpendicular or approximately perpendicular within a certain acceptable deviation range. The aforementioned acceptable deviation range can be determined by the limitations of the measurement system used by those skilled in the art.

[0028] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0029] This application provides an execution device that can be used to perform operations such as grasping. For example, the execution device can be a dexterous hand in a robot, which completes autonomous grasping operations with the help of the robot's control system. The dexterous hand can serve as the robot's end effector.

[0030] Alternatively, for example, the execution device can also be a data acquisition device, on which the operator's hand can be worn, using hand movements to drive the data acquisition device to complete operations such as grasping. The data acquisition device can use motion data to collect data, which can then be used for corresponding dexterity training, enabling the dexterity hand to perform operations more accurately.

[0031] In some embodiments, the actuator may include a base and a knuckle mechanism. The knuckle mechanism may be connected to the base, and the two may form a hand-like structure to serve as a component for grasping objects and performing operations such as grasping.

[0032] In some embodiments, the base can be rotatably connected to the knuckle mechanism. This allows the knuckle mechanism to rotate relative to the base, providing greater flexibility and facilitating operations such as grasping objects.

[0033] In some embodiments, there can be multiple knuckle mechanisms. Each knuckle mechanism can be connected to the base. Thus, multiple knuckle mechanisms can work together to perform operations such as picking up and placing, resulting in greater operational capability and dexterity.

[0034] It is understood that when there are multiple knuckle mechanisms, the structure of the knuckle mechanisms can be the same or different, and the specific design can be based on the actual situation. The embodiments of this application do not impose further limitations.

[0035] Furthermore, it is understood that the specific number of knuckle mechanisms can be designed according to the circumstances, and the embodiments of this application do not impose further limitations. For example, the number of knuckle mechanisms can be three, four, or five, etc.

[0036] The following is a further description of the knuckle mechanism provided in the embodiments of this application, such as... Figure 1 As shown, the knuckle mechanism 100 may include a guide rail mechanism 10 and a knuckle assembly 20. The guide rail mechanism 10 may be connected to a base (not shown in the figure), and the knuckle assembly 20 may be connected to the guide rail mechanism 10, thus connecting the guide rail mechanism 10 to the base.

[0037] In some embodiments, such as Figure 1As shown, the guide rail mechanism 10 may include a mounting member 11 and a guide member 12. The mounting member 11 may be connected to a base. The guide member 12 may be slidably connected to the mounting member 11, and the sliding trajectory of the guide member 12 may be an arc centered on a first rotation axis. The knuckle assembly 20 may be connected to the guide member 12.

[0038] Therefore, the guide member 12 can slide relative to the mounting member 11, thereby rotating around the first rotation axis L. The knuckle assembly 20 can rotate with the rotation of the guide member 12, thus enabling operations such as grasping to be performed by utilizing the rotation of the knuckle assembly 20.

[0039] Because the guide 12 is slidably connected to the mounting 11, the rotation center of the guide 12 is located outside the component, eliminating the need for a physical rotation axis. Thus, when the actuator is used as a data acquisition device, the metacarpophalangeal joint (MCP) of the operator's fingers will not be disturbed by the presence of a rotation axis. This allows the rotation axis of the guide 12 to better coincide with the rotation axis of the finger's MCP joint, resulting in better adaptation between the rotation of the finger, the guide 12, and the knuckle assembly 20.

[0040] As described above, the knuckle mechanism 100 can be rotatably connected to the base. In some embodiments, the mounting member 11 can be rotatably connected to the base, and the rotation axis L2 of the mounting member 11 can be perpendicular to the first rotation axis L. Therefore, the entire knuckle assembly 20 can rotate around mutually perpendicular rotation axes, thereby increasing the flexibility of the knuckle assembly 20.

[0041] As described above, since the first rotation axis L1 is located outside the component, no physical rotation axis is provided. Therefore, in order to detect the rotation angle of the guide member 12 around the first rotation axis L1, in some embodiments, such as... Figure 1 As shown, the knuckle mechanism 100 may further include a movable mechanism 30 and a measuring mechanism (not shown in the figure). One end of the movable mechanism 30 is rotatably connected to the mounting member 11, and the other end is rotatably connected to the knuckle assembly 20.

[0042] Therefore, when the knuckle assembly 20 rotates, the end of the movable mechanism 30 connected to the knuckle assembly 20 will move with the knuckle assembly 20, and the end of the movable mechanism 30 connected to the mounting member 11 will rotate relative to the mounting member 11.

[0043] The measuring mechanism can be used to detect the rotation angle of the end of the movable mechanism 30. Therefore, the measuring mechanism can detect and determine the rotation angle of the end of the movable mechanism 30. It is understood that the specific type of measuring mechanism can be selected according to actual conditions, and this embodiment does not further limit it. For example, the measuring mechanism may include a photoelectric encoder or a magnetic encoder, etc.

[0044] The rotation axis of the end of the movable mechanism 30 connected to the mounting member 11 can coincide with the first rotation axis L1. Therefore, as the movable mechanism 30 moves with the knuckle assembly 20, the rotation angle of the end of the movable mechanism 30 connected to the mounting member 11 can be the same as the rotation angle of the knuckle assembly 20 along the first rotation axis L1 with the guide member 12. Thus, the measuring mechanism can obtain the rotation angles of the guide member 12 and the knuckle assembly 20 around the first rotation axis L1 by detecting the rotation angle of the end of the movable mechanism 30 connected to the mounting member 11.

[0045] For example, the movable mechanism 30 can be a single-link structure. In addition, when the rotation axis of the end of the movable mechanism 30 connected to the mounting member 11 coincides with the first rotation axis L1, the angle of rotation of the finger assembly 20 around the first rotation axis L1 can be determined by directly detecting the rotation angle of the end of the movable mechanism 30 connected to the mounting member 11.

[0046] Furthermore, for example, the connection between the mounting component 11 and the movable mechanism 30 can be located outside the operator's fingers after the operator wears the data acquisition device. This allows the rotation angle of the guide component 12 to be measured by the rotation angle of the movable mechanism 30, while also preventing the connection between the movable mechanism 30 and the mounting component 11 from obstructing the operator's fingers.

[0047] Alternatively, the rotation axes at both ends of the movable mechanism 30 can be parallel to the first rotation axis L1. It should be understood that the rotation axes at both ends of the movable mechanism 30 refer to the central axes around which each end of the movable mechanism 30 rotates.

[0048] At this time, the line connecting the end of the movable mechanism 30 and the first rotation axis L1 can form a polygonal structure in the same plane perpendicular to the first rotation axis L1. Therefore, by detecting the rotation angle of the end of the movable mechanism 30 through the measuring mechanism, the rotation angle of the guide member 12 and the finger assembly 20 around the first rotation axis can be calculated using the rotation angle of the movable mechanism 30.

[0049] It is understood that the number of measuring mechanisms required varies depending on the relationship between the rotation axis at the end of the active mechanism 30 and the first rotation axis. The specific design can be made according to the actual situation, and this application embodiment does not make further limitations.

[0050] It is understandable that when the rotation axes at both ends of the movable mechanism 30 are parallel to the first rotation axis, the specific composition of the movable mechanism 30 can be different, as long as it is possible to measure and calculate the rotation angle of the guide member 12 and the finger assembly 20 by utilizing the rotation of the movable mechanism 30. Below, an exemplary description of the specific composition of the movable mechanism 30 will be provided.

[0051] In some embodiments, such as Figure 1 As shown, the movable mechanism 30 may include a first movable member 31 and a second movable member 32. One end of the first movable member 31 is rotatably connected to the mounting member 11, and its rotation axis is parallel to the first rotation axis L1. One end of the second movable member 32 is rotatably connected to the other end of the first movable member 31, and the other end is rotatably connected to the knuckle assembly 20. The rotation axes at both ends of the second movable member 32 are parallel to the first rotation axis L1.

[0052] Thus, the connecting end of the first movable member 31 and the second movable member 32, the connecting end of the first movable member 31 and the mounting member 11, the connecting end of the second movable member 32 and the finger assembly 20, and the first rotation axis form a quadrilateral structure in the same plane. After the first movable member 31 and the second movable member 32 move with the finger assembly 20, their ends rotate, and their positions change, forming quadrilaterals of different shapes in the same plane as the first rotation axis.

[0053] In this way, the measuring mechanism detects the changes in the rotation angles of the connection end of the first movable member 31 and the second movable member 32, the connection end of the first movable member 31 and the mounting member 11, and the connection end of the second movable member 32 and the finger assembly 20. The rotation angles of the guide member 12 and the finger assembly 20 around the first rotation axis can be calculated using the sum of the interior angles.

[0054] Of course, the movable mechanism 30 can also be composed of other components. For example, in some other embodiments, the movable mechanism 30 may also include three or more connecting rods that are rotatably connected in sequence. In this case, the rotation axis of the rotatable connection at the end of each connecting rod of the movable mechanism 30 can form a polygonal structure with the first rotation axis L1. After the movable mechanism 30 moves with the knuckle assembly 20, each rotatable connection rotates, and after the position changes, it forms a polygonal structure of different shapes with the first rotation axis L1 in the same plane perpendicular to the first rotation axis L1.

[0055] In this way, the measuring mechanism detects the angle changes at the ends of each link of the moving mechanism 30, and can use the sum of interior angles to calculate the rotation angle of the guide 12 and the finger assembly 20 around the first rotation axis L1.

[0056] In some embodiments, the line connecting the rotation axis of the first movable member 31 at one end connected to the mounting member 11 and the first rotation axis is equal to and parallel to the line connecting the rotation axes at both ends of the second movable member 32.

[0057] Thus, the connecting end of the first movable member 31 and the second movable member 32, the connecting end of the first movable member 31 and the mounting member 11, the connecting end of the second movable member 32 and the knuckle assembly 20, and the first rotation axis form a parallelogram structure in a plane perpendicular to the first rotation axis L1. After the first movable member 31 and the second movable member 32 move with the knuckle assembly 20, their ends rotate, and after their positions change, they form parallelograms of different shapes with the first rotation axis L1.

[0058] In this way, the measuring mechanism can detect the rotation angle at one end of the first movable member 31 or the second movable member 32, and can directly calculate the rotation angle of the guide member 12 and the finger assembly 20 around the first rotation axis using the relationship between adjacent angles and opposite angles. Based on this, the measuring mechanism only needs to measure one end of the first movable member 31 or the second movable member 32 to obtain the rotation angle of the guide member 12 and the finger assembly 20 around the first rotation axis.

[0059] Of course, in some other embodiments, the line connecting the rotation axis of the first movable member 31 at one end connected to the mounting member 11 and the first rotation axis is not equal to the line connecting the rotation axes at both ends of the second movable member 32. In this case, as mentioned above, the measuring mechanism can measure the angle changes at each endpoint and obtain the rotation angle of the guide member 12 and the finger assembly 20 around the first rotation axis L1 using the interior angle sum relationship.

[0060] In some embodiments, such as Figure 1 As shown, the first rotation axis L1 is located on one side of the knuckle assembly 20, outside the knuckle assembly 20. The end of the movable mechanism 30 is located on the side of the first rotation axis L1 that is relatively close to the knuckle assembly 20.

[0061] Thus, since the guide 12 and the mounting 11 are slidably connected, and the guide 12 is connected to the knuckle assembly 20, the positions of the guide 12, the mounting 11, and the knuckle assembly 20 are relatively concentrated. Therefore, since the movable mechanism 30 is relatively close to the knuckle assembly 20, the position of the movable mechanism 30 can be easily set, and the connection between the knuckle assembly 20, the mounting 11, and the movable mechanism 30 is also convenient.

[0062] Of course, the end of the movable mechanism 30 can also be connected to the mounting member 11 and other locations of the movable mechanism 30. For example, the end of the movable mechanism 30 connected to the mounting member 11 can be located on the side of the first rotation axis L1 that is relatively far away from the knuckle assembly 20.

[0063] In some embodiments, along the first rotation axis L1, the movable mechanism 30 is located on one side of the mounting member 11, the guide member 12, and the knuckle assembly 20. Thus, as... Figure 1 and Figure 2 As shown, the movable mechanism 30 and the guide member 12 are arranged along the direction of the first rotation axis. In this way, the guide member 12 and the movable mechanism 30 will not interfere with each other during movement, thus allowing the guide member 12 and the movable mechanism 30 to move smoothly.

[0064] Of course, the activity mechanism 30 can also be set in other locations. The specific design can be made according to the actual structure and needs. This application embodiment does not provide further explanation or limitation.

[0065] To achieve a rotatable connection between the movable mechanism 30 and the mounting component 11, in some embodiments, such as... Figure 1 and Figure 3 As shown, one of the mounting component 11 and the movable mechanism 30 has a first boss 111, and the other has a first rotating hole (not shown in the figure). The first boss 111 is rotatably connected to the first rotating hole. Thus, the mounting component 11 and the movable mechanism 30 can be rotatably connected through the first boss 111 and the first rotating hole.

[0066] It is understandable that the specific positions of the first boss 111 and the first rotating hole can be designed according to actual conditions. For example, such as Figure 3 As shown, the mounting component 11 may have the aforementioned first boss 111, and the movable mechanism 30 may have the aforementioned first rotating hole.

[0067] Similarly, in order to achieve a rotational connection between the actuating mechanism 30 and the knuckle assembly 20, in some embodiments, such as Figure 1 and Figure 3 As shown, one of the knuckle assembly 20 and the movable mechanism 30 has a second boss 211, and the other has a second rotating hole 321. The second boss 211 is rotatably connected within the second rotating hole 321. Thus, the knuckle assembly 20 and the movable mechanism 30 can be rotatably connected through the second boss 211 and the second rotating hole 321.

[0068] It is understandable that the specific positions of the second boss 211 and the second rotating hole 321 can also be designed according to actual conditions. For example, such as Figure 3 As shown, the knuckle assembly 20 may have the aforementioned second boss 211, and the movable mechanism 30 may have the aforementioned second rotating hole 321.

[0069] As described above, the mounting component 11 and the guide component 12 are slidably connected, and the sliding trajectory of the guide component 12 can be an arc centered on the first rotation axis L1. Therefore, in some embodiments, such as... Figure 1As shown, the mounting member 11 can be formed with a mounting groove having openings at both ends. The guide member 12 passes through the mounting groove and is slidably connected to the mounting groove. The guide member 12 extends along an arc.

[0070] Therefore, since the mounting groove has openings at both ends, the guide member 12 can be inserted into the mounting groove. At the same time, since the guide member 12 extends along an arc, it can slide along the extension direction within the mounting groove, so that the sliding trajectory of the guide member 12 can be an arc centered on the first rotation axis L1.

[0071] Of course, the guide member 12 and the mounting member 11 can also achieve the above-mentioned sliding connection through other structures. For example, in some other embodiments, the mounting member 11 can be formed with an arcuate groove, and a portion of the guide member 12 can be located within the arcuate groove. In this way, the guide member 12 can make arcuate movements along the extension direction of the arcuate groove, so that the sliding trajectory of the guide member 12 can be an arc centered on the first rotation axis.

[0072] In some embodiments, such as Figure 1 and Figure 2 As shown, the guide member 12 includes a top wall 121 and two side walls 122. The top wall 121 is disposed along the circumferential direction of the guide member 12, and the two side walls 122 are disposed on opposite sides of the top wall 121 at a distance from each other. Both side walls 122 are connected to the top wall 121 and extend radially along the guide member 12. At least one of the two side walls 122 is inclined, and the distance between the two side walls 122 gradually decreases in the direction away from the top wall 121.

[0073] The guide rail mechanism 10 may also include a limiting mechanism 13. The limiting mechanism 13 is connected to the mounting member 11 and abuts against the top wall 121 and the two side walls 122 to limit the displacement of the guide member 12 in the mounting groove.

[0074] Based on this, since the limiting mechanism 13 abuts against the top wall 121 and the two side walls 122, the limiting mechanism 13 can apply pressure to the top wall 121 and the side walls 122 of the guide member 12, apply a force to the top wall 121 toward the side closer to the side wall 122, and apply a force to the two side walls 122 toward the side closer to each other.

[0075] Meanwhile, since at least one of the two side walls 122 is inclined and the distance between the two side walls 122 gradually decreases in the direction away from the top wall 121, when the limiting mechanism 13 applies pressure to the inclined side wall 122, the force will be decomposed into a force in the direction closer to the top wall 121. Thus, the limiting mechanism 13 as a whole can apply pressure to the top wall 121 and the side wall 122, and the force can be decomposed into a force in different circumferential directions around the guide member 12, thereby limiting the displacement of the guide member 12 in the circumferential direction, so that the guide member 12 can move more accurately along its own extension direction, and avoid the guide member 12 from shaking in the mounting groove, thereby making the final displacement of the knuckle assembly 20 more accurate.

[0076] The specific shape of the two sidewalls 122 can be designed according to the actual situation. For example, such as Figure 1 and Figure 2 As shown, both sidewalls 122 can be inclined. Of course, only one of the two sidewalls 122 can also be inclined.

[0077] In some embodiments, such as Figure 1 and Figure 2 As shown, the limiting mechanism 13 may include a plurality of first rollers 131. The first rollers 131 are rotatably connected to the mounting member 11, and their circumferences abut against the side wall 122, for rotating as the guide member 12 slides. Thus, since the first rollers 131 can roll as the guide member 12 slides, the friction between the two can be relatively reduced, making the sliding of the guide member 12 in the state of abutting against the first rollers 131 smoother.

[0078] Of course, in some other embodiments, the limiting mechanism 13 can also be a fixed component. In this case, the limiting mechanism 13 and the side wall 122 can also slide relative to each other in an abutting state. In this case, in order to make the relative sliding between the limiting mechanism 13 and the side wall 122 smoother, the surfaces in contact with the side wall 122 and the limiting mechanism 13 can be smooth surfaces, which can reduce the friction between them and make the sliding smoother.

[0079] In some embodiments, the first roller 131 may be detachably connected to the mounting member 11. This allows the first roller 131 to be removed from the mounting member 11 for easy maintenance or replacement. Of course, in other embodiments, the first roller 131 may be non-detachably connected to the mounting member 11.

[0080] To achieve a detachable connection between the first roller 131 and the mounting member 11, in some embodiments, the mounting member 11 may have mounting holes (not shown in the figures). For example... Figure 1As shown, the guide rail mechanism 10 also includes a first fastener 14. The first fastener 14 passes through the first roller 131 and is detachably connected to the mounting hole. Thus, through the connection between the first fastener 14 and the mounting hole, a detachable connection between the first roller 131 and the mounting member 11 can be achieved, as well as a rotatable connection between the first roller 131 and the mounting member 11. For example, the first fastener 14 can be a screw. The first fastener 14 can be threaded into the mounting hole.

[0081] Of course, the first roller 131 can also be detachably connected to the mounting member 11 through other structures. For example, in some other embodiments, one of the first roller 131 and the mounting member 11 can be formed with a pivot, and the other can be formed with a pivot hole, with the pivot located inside the pivot hole. In this way, the first roller 131 and the mounting member 11 can also be detachably and rotatably connected through the connection of the pivot and the pivot hole.

[0082] In some embodiments, such as Figure 1 and Figure 2 As shown, there can be multiple first rollers 131. Each sidewall 122 can abut against multiple first rollers 131. Thus, by having multiple first rollers 131 abut against the sidewall 122, the limiting effect of the first rollers 131 on the sidewall 122 can be ensured.

[0083] The specific number of the first rollers 131 can be designed according to actual conditions. For example, such as... Figure 1 and Figure 2 As shown, each sidewall 122 can abut against the two first rollers 131.

[0084] In some embodiments, a plurality of first rollers 131 abutting against each sidewall 122 are spaced apart along the extending direction of the guide member 12. In this way, the plurality of first rollers 131 can abut against different positions of the guide member 12 along the extending direction of the guide member 12, thereby allowing the first rollers 131 to limit the guide member 12 at different positions and ensure the limiting effect.

[0085] Of course, in other embodiments, each sidewall 122 may abut against only one first roller 131. In this case, a single first roller 131 can also serve as a limiting device.

[0086] In some embodiments, a plurality of first rollers 131 are disposed opposite to each other on both sides of the guide member 12, and respectively abut against the side wall 122. In this way, the first rollers 131 on both sides can apply abutting force to the guide member 12 at opposite positions, so that the force-bearing positions on both sides of the guide member 12 are opposite, avoiding deflection due to force.

[0087] Similarly, in some embodiments, such as Figure 1 and Figure 2As shown, the limiting mechanism 13 may include a second roller 132. The second roller 132 is rotatably connected to the mounting member 11, and its circumference abuts against the top wall 121, for rotating as the guide member 12 slides. Thus, since the second roller 132 can roll as the guide member 12 slides, the friction between the two can be relatively reduced, making the sliding of the guide member 12 in the state of abutting against the second roller 132 smoother.

[0088] Of course, in some other embodiments, the limiting mechanism 13 can also be a fixed component. In this case, the limiting mechanism 13 and the top wall 121 can also slide relative to each other in an abutting state. In this case, in order to make the relative sliding between the limiting mechanism 13 and the top wall 121 smoother, the surfaces in contact with the top wall 121 and the limiting mechanism 13 can be smooth surfaces, which can reduce the friction between them and make the sliding smoother.

[0089] In some embodiments, the second roller 132 is detachably connected to the mounting member 11. Therefore, the second roller 132 can also be removed from the mounting member 11 for easy maintenance or replacement. Of course, in other embodiments, the second roller 132 may be non-detachably connected to the mounting member 11.

[0090] To achieve a detachable connection between the second roller 132 and the mounting member 11, in some embodiments, such as Figure 1 As shown, the mounting member 11 has a plurality of spaced-apart limiting portions 114 on the side near the top wall 121. The second roller 132 is located between two adjacent limiting portions 114. The guide rail mechanism 10 also includes a second fastener 15. The second fastener 15 passes through one of the two adjacent limiting portions 114 and the second roller 132, and is detachably connected to the other of the two adjacent limiting portions 114.

[0091] Thus, the second roller 132 can be confined between two adjacent limiting portions 114. At the same time, by passing through one of the two adjacent limiting portions 114 and the second roller 132 with the second fastener 15, and being detachably connected to the other of the two adjacent limiting portions 114, a detachable connection and a rotatable connection between the second roller 132 and the mounting member 11 can be achieved.

[0092] Of course, the second roller 132 can also be detachably connected to the mounting member 11 in other ways. For example, in some other embodiments, one of the second roller 132 and the mounting member 11 may be formed with a pivot, and the other may be formed with a pivot hole, with the pivot located inside the pivot hole. In this way, the second roller 132 and the mounting member 11 can be detachably and rotatably connected through the connection of the pivot and the pivot hole.

[0093] In some embodiments, the number of second rollers 132 may also be multiple. The top wall 121 may abut against multiple first rollers 131. Thus, by having multiple second rollers 132 abut against the top wall 121, the limiting effect of the second rollers 132 on the top wall 121 can be ensured.

[0094] The specific number of the second rollers 132 can be designed according to actual needs. For example, such as... Figure 1 and Figure 2 As shown, the top wall 121 can abut against the four second rollers 132.

[0095] In some embodiments, a plurality of second rollers 132 are arranged in multiple columns at intervals along the extension direction of the guide member 12, with one or more rollers arranged in each column along the direction of the first rotation axis. In this way, the plurality of second rollers 132 can abut against different positions of the guide member 12 along the extension direction of the guide member 12, so that the first rollers 131 can limit the different positions of the guide member 12 and ensure the limiting effect.

[0096] For example, such as Figure 1 and Figure 2 As shown, the number of second rollers 132 can be four. The four second rollers 132 are arranged in two rows along the extension direction of the guide member 12, with two rollers arranged in each row along the direction of the first rotation axis.

[0097] Of course, in some other embodiments, the top wall 121 may abut against only one second roller 132. In this case, the single second roller 132 can also serve as a limiting device.

[0098] In some embodiments, such as Figure 1 and Figure 2 As shown, the mounting component 11 includes a first mounting component 115 and a second mounting component 116. The second mounting component 116 is detachably connected to the first mounting component 115. The first mounting component 115 and the second mounting component 116 form a mounting groove. Therefore, the first mounting component 115 and the second mounting component 116 can be separated from each other. When installing or removing the guide component 12, the first mounting component 115 and the second mounting component 116 can be detached from each other for installation, facilitating the installation and removal of the guide component 12.

[0099] Of course, in some other embodiments, the mounting member 11 can also be an integral structure. In this case, the guide member 12 can be installed or removed from the slot of the mounting groove.

[0100] The detachable connection method of the first mounting member 115 and the second mounting member 116 can be designed according to actual conditions. For example, the first mounting member 115 and the second mounting member 116 can be detachably connected by a third fastener. At the same time, the specific shapes of the first mounting member 115 and the second mounting member 116 can be designed according to actual needs, and the embodiments of this application do not impose further limitations.

[0101] In some embodiments, such as Figure 3 As shown, the guide rail mechanism 10 may also include an adapter 16. The adapter 16 can be connected to the guide 12 and the knuckle assembly 20, and the guide 12 can be connected to the knuckle assembly 20 through the adapter 16.

[0102] It is understood that the specific connection method between the adapter 16, the guide 12, and the knuckle assembly 20 can be designed according to actual conditions. For example, the adapter 16, the guide 12, and the knuckle assembly 20 can be detachably connected via a fourth fastener. Furthermore, the specific shape and structure of the adapter 16 can also be designed according to actual conditions, and this application embodiment does not further limit it.

[0103] In some embodiments, the knuckle assembly 20 can be a movable structure. In this way, the knuckle assembly 20 itself can move, and its shape can be changed when picking up items, so as to better complete operations such as picking up and putting down.

[0104] In some embodiments, such as Figure 1 As shown, the knuckle assembly 20 can form a receiving cavity with an opening. Based on this, when the actuator functions as a data acquisition device, the operator's fingers can be inserted into the receiving cavity of the knuckle assembly 20 to move the knuckle assembly 20 for operation. When the actuator functions as a dexterous hand, the receiving cavity can be used to house a drive device to drive the knuckle mechanism 100 to move.

[0105] To enable the mobility of the knuckle assembly 20, in some embodiments, such as Figure 1 As shown, the knuckle assembly 20 may include a first knuckle 21 and a second knuckle 22. One end of the first knuckle 21 can be connected to the guide 12, and one end of the second knuckle 22 can be rotatably connected to the end of the first knuckle 21 away from the guide 12. Thus, the first knuckle 21 and the second knuckle 22 can rotate relative to each other, thereby giving the knuckle assembly 20 a high degree of flexibility and making it more adaptable to the human finger.

[0106] Of course, the knuckle assembly 20 can also be other structures, and the specific design can be made according to the actual situation. The embodiments in this application are only used as examples for illustration and are not further limited.

[0107] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments. The above descriptions are merely specific implementations of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A guide rail mechanism, characterized in that, include: The mounting component has a mounting groove with openings at both ends; A guide member, inserted into the mounting groove and slidably connected to it; the guide member extends along an arc; the guide member includes a top wall and two side walls; the top wall is arranged along the circumferential direction of the guide member, and the two side walls are arranged at intervals on both sides of the top wall, both side walls are connected to the top wall and extend radially along the guide member; at least one of the two side walls is inclined, and the distance between the two side walls gradually decreases in the direction away from the top wall; and, A limiting mechanism is connected to the mounting component; the limiting mechanism abuts against the top wall and the two side walls to limit the displacement of the guide within the mounting groove.

2. The guide rail mechanism according to claim 1, characterized in that, The limiting mechanism includes: Multiple first rollers are rotatably connected to the mounting component, with their circumferences abutting against the sidewall, and are used to rotate as the guide component slides.

3. The guide rail mechanism according to claim 2, characterized in that, The first roller is detachably connected to the mounting component.

4. The guide rail mechanism according to claim 3, characterized in that, The mounting component has mounting holes; the guide rail mechanism further includes: A first fastener passes through the first roller and is detachably connected to the mounting hole.

5. The guide rail mechanism according to any one of claims 1-4, characterized in that, The limiting mechanism includes: The second roller is rotatably connected to the mounting component, and its circumference abuts against the top wall, and is used to rotate as the guide component slides.

6. The guide rail mechanism according to claim 5, characterized in that, The second roller is detachably connected to the mounting component.

7. The guide rail mechanism according to claim 6, characterized in that, The mounting component has a plurality of spaced-apart limiting portions on the side near the top wall; the second roller is located between two adjacent limiting portions; The guide rail mechanism also includes: The second fastener passes through one of the two adjacent limiting portions and the second roller, and is detachably connected to the other of the two adjacent limiting portions.

8. The guide rail mechanism according to any one of claims 1-4, characterized in that, The mounting component includes: The first mounting component; and, The second mounting component is detachably connected to the first mounting component; wherein the first mounting component and the second mounting component form the mounting groove.

9. A knuckle mechanism, characterized in that, The guide rail mechanism includes any one of claims 1-8.

10. An actuator, characterized in that, Includes the knuckle mechanism as described in claim 9.

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