Finger mechanism, robot hand and robot

Abstract

The utility model relates to a kind of finger mechanism, manipulator and robot, belong to robot technical field.The finger mechanism includes fixed assembly, first phalanx, second phalanx, connecting rod and drive part.Second phalanx is rotationally connected around first axis with fixed assembly, and second phalanx is rotationally connected around second axis with first phalanx.Connecting rod is rotationally connected around third axis with fixed assembly, and connecting rod is rotationally connected around fourth axis with first phalanx.Drive part is installed in fixed assembly, and the output end of drive part is drivingly connected with second phalanx, for driving second phalanx to rotate around first axis.Wherein, first axis, second axis, third axis and fourth axis are parallel with each other, and present isosceles trapezoidal distribution, and third axis and fourth axis are located on the same diagonal of isosceles trapezoid.The utility model can improve the stability of finger mechanism movement.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a finger mechanism, a robotic hand, and a robot. Background Technology

[0002] By simulating the structure and movement of a human hand, the robotic hand of anthropomorphic robots can perform grasping actions, and the finger mechanism is a crucial component for the robotic hand to achieve flexible grasping and stable holding. However, because the finger mechanism has a high degree of freedom, the stability of its movement is not easily guaranteed, which can easily affect the stability of the robotic hand during grasping. Utility Model Content

[0003] Therefore, this utility model provides a finger mechanism, a robotic hand, and a robot, which can improve the stability of the finger mechanism's movement. The technical solution is as follows: In a first aspect, a finger mechanism is provided, the finger mechanism comprising: a fixing component, a first phalanx, a second phalanx, a connecting rod, and a driving part; The second phalanx is rotatably connected to the fixing component about the first axis, and the second phalanx is rotatably connected to the first phalanx about the second axis; The connecting rod is rotatably connected to the fixed assembly about a third axis, and the connecting rod is rotatably connected to the first finger joint about a fourth axis; The drive unit is mounted on the fixed assembly, and the output end of the drive unit is connected to the second phalanx for driving the second phalanx to rotate around the first axis. The first axis, the second axis, the third axis, and the fourth axis are parallel to each other and are distributed in an isosceles trapezoidal shape, with the third axis and the fourth axis located on the same diagonal of the isosceles trapezoid.

[0004] In some possible implementations, the fixing component includes a mounting base and a third phalanx; Both the third phalanx and the drive unit are mounted on the mounting base; Both the third phalanx and the second phalanx are shell structures; The output end of the drive unit is located inside the third phalanx and is connected to the second phalanx via a transmission connection. The first end of the connecting rod is rotatably connected to the third phalanx within the third phalanx, and the second end of the connecting rod is rotatably connected to the first phalanx within the second phalanx.

[0005] In some possible implementations, a portion of the third phalanx is in close contact with the mounting base along a first side in the compression direction; The fixing component also includes a clamping member, which is U-shaped. The two ends of the clamping member are respectively connected to the mounting base and are located on opposite sides of the third finger joint. The concave part in the middle of the clamping member is in close contact with the second side of the third finger joint along the extrusion direction.

[0006] In some possible implementations, the extrusion direction is perpendicular to the first axis.

[0007] In some possible implementations, the third phalanx has a limiting segment located within the second phalanx and on the rotation path of the connecting rod, such that the limiting segment abuts against the connecting rod.

[0008] In some possible implementations, the third phalanx is formed by two detachably connected first half-shells enclosing each other; And / or, The second phalanx is formed by two detachably connected second half-shells.

[0009] In some possible implementations, at least a portion of the third phalanx is located within the second phalanx; The third phalanx is provided with a first pivot, which extends along the first axis. Both ends of the first pivot protrude from the third phalanx and are fixedly connected to the second phalanx. The output end of the drive unit is connected to the first rotating shaft for driving the first rotating shaft to rotate.

[0010] In some possible implementations, the drive unit includes a power source and a first bevel gear and a second bevel gear that mesh with each other; The power source is installed on the fixed component, and the output end of the power source is connected to the first bevel gear to drive the first bevel gear to rotate. The second bevel gear is rotatably connected to the fixed assembly about the first axis and is fixedly connected to the second finger joint.

[0011] In a second aspect, a robotic hand is provided, the robotic hand comprising: any of the finger mechanisms described in the first aspect.

[0012] Thirdly, a robot is provided, the robot comprising: the robotic arm described in the second aspect.

[0013] In the solution shown in this utility model, since the first, second, third, and fourth axes are parallel to each other and arranged in an isosceles trapezoidal shape, with the third and fourth axes located on the same diagonal of the isosceles trapezoid, when the driving unit drives the second phalanx to rotate relative to the fixed component, it can also drive the first phalanx to rotate relative to the second phalanx. Furthermore, the angle of rotation of the second phalanx relative to the fixed component can be equal to the angle of rotation of the first phalanx relative to the second phalanx. Thus, the total rotation angle of the first phalanx is twice the rotation angle of the second phalanx, thereby achieving a movement state that more closely resembles that of a human hand finger, resulting in higher stability during movement. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1 This is a schematic diagram of the structure of a finger mechanism provided in an embodiment of the present utility model; Figure 2 This is a schematic diagram of the internal structure of a finger mechanism provided in an embodiment of this utility model; Figure 3 This is a first cross-sectional structural diagram of a finger mechanism provided in an embodiment of the present invention; Figure 4 This is a second cross-sectional structural diagram of a finger mechanism provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of the internal structure of a finger mechanism provided in an embodiment of this utility model.

[0016] Explanation of reference numerals in the attached figures 001. Extrusion direction; 1. Fixing component; 11. Mounting base; 12. Third finger joint; 121. Limiting section; 122. First half-shell; 13. Clamping component; 131. Fixing component; 2. First finger joint; 3. Second finger joint; 31. Second half-shell; 4. Connecting rod; 5. Drive unit; 51. Power source; 52. First bevel gear; 53. Second bevel gear; 01. First rotating shaft; 02. Second rotating shaft; 03. Third rotating shaft; 04. Fourth rotating shaft. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of this utility model clearer, the embodiments of this utility model will be described in further detail below with reference to the accompanying drawings.

[0018] Firstly, this embodiment relates to a finger mechanism, as shown in the reference... Figure 1 and Figure 2 As shown, the finger mechanism includes a fixing component 1, a first phalanx 2, a second phalanx 3, a connecting rod 4, and a drive unit 5.

[0019] Among them, reference Figure 2 As shown, the second finger joint 3 is rotatably connected to the fixing component 1 on the first axis, and the second finger joint 3 is rotatably connected to the first finger joint 2 on the second axis.

[0020] For example, the second finger joint 3 and the fixing component 1 can be respectively provided with a first rotating shaft 01 and a first rotating hole that match each other. The rotational connection between the second finger joint 3 and the fixing component 1 around the first axis can be realized through the cooperation of the first rotating shaft 01 and the first rotating hole.

[0021] The second phalanx 3 and the first phalanx 2 can be respectively provided with a matching second rotating shaft 02 and a second rotating hole. Through the cooperation of the second rotating shaft 02 and the second rotating hole, the second phalanx 3 and the first phalanx 2 can be rotated around the second axis.

[0022] Continue to refer to Figure 2 As shown, the connecting rod 4 is rotatably connected to the fixed assembly 1 on the third axis, and the connecting rod 4 is rotatably connected to the first finger joint 2 on the fourth axis.

[0023] For example, the connecting rod 4 and the fixed component 1 can be respectively provided with a matching third rotating shaft 03 and a third rotating hole. Through the cooperation of the third rotating shaft 03 and the third rotating hole, the connecting rod 4 and the fixed component 1 can be rotated around the third axis.

[0024] The connecting rod 4 and the first finger joint 2 can be respectively provided with a matching fourth rotating shaft 04 and a fourth rotating hole. Through the cooperation of the fourth rotating shaft 04 and the fourth rotating hole, the connecting rod 4 and the first finger joint 2 can be rotated around the fourth axis.

[0025] Continue to refer to Figure 2 As shown, the drive unit 5 is mounted on the fixed assembly 1, and the output end of the drive unit 5 is connected to the second phalanx 3 for driving the second phalanx 3 to rotate around the first axis. For example, the drive unit 5 is used to drive the second phalanx 3 to rotate around the pivot 01, and at the same time, it can also drive the first phalanx 2 to rotate around the second pivot 02, thereby realizing the flexion and extension movement of the finger mechanism.

[0026] Among them, such as Figure 2As shown, the first, second, third, and fourth axes are parallel to each other and arranged in an isosceles trapezoidal shape. The third and fourth axes lie on the same diagonal of the isosceles trapezoid. For example, the first axis of rotation O1, the second axis of rotation O2, the third axis of rotation O3, and the fourth axis of rotation O4 are parallel to each other, and the corresponding central axes can all be projected into four points in the projection plane. These four points can become the four vertices of the isosceles trapezoid.

[0027] Therefore, since the distances between the first and third axes, the second and fourth axes, the first and second axes, and the third and fourth axes remain unchanged, when the driving unit 5 drives the second phalanx 3 to rotate relative to the fixed component 1, the lengths of the two legs and the two diagonals of the isosceles trapezoid remain unchanged, while the sizes of the interior angles change. Furthermore, since the isosceles trapezoid is symmetrical, the angle of rotation of the second phalanx 3 relative to the fixed component 1 is equal to the angle of rotation of the first phalanx 2 relative to the second phalanx 3. Thus, the total rotation angle of the first phalanx 2 is twice the rotation angle of the second phalanx 3, allowing the finger mechanism to achieve a movement state that closely resembles that of a human hand finger, resulting in higher stability during movement.

[0028] In some examples, reference Figure 1 As shown, the fixing component 1 includes a mounting base 11 and a third phalanx 12.

[0029] Both the third phalanx 12 and the drive unit 5 are mounted on the mounting base 11. For example, the third phalanx 12 and the drive unit 5 can be fixedly connected to the mounting base 11 by means of bolts, screws, etc.

[0030] Both the third phalanx 12 and the second phalanx 3 are shell structures. Figure 2 The diagram shows the internal structure of the third phalanx 12 and the second phalanx 3.

[0031] Continue to refer to Figure 2 As shown, the output end of the drive unit 5 is located inside the third phalanx 12 and is connected to the second phalanx 3 via a transmission connection. For example... Figure 2 As shown, the first end of the third finger joint 12 can be fixedly connected to the mounting base 11, and the second end of the third finger joint 12 can be covered by the first end of the second finger joint 3. The first rotating shaft 01 can be located inside the third finger joint 12, and first rotating holes can be respectively provided on the opposite side walls of the third finger joint 12. The two ends of the first rotating shaft 01 can respectively pass through the corresponding first rotating holes of the third finger joint 12 and be fixedly connected to the second finger joint 3. The first rotating shaft 01 and the second finger joint 3 can be fixedly connected by welding, bolts, or other methods. The output end of the drive unit 5 can be drivenly connected to the first rotating shaft 01, thereby realizing the drive connection with the second finger joint 3.

[0032] Furthermore, the first end of the connecting rod 4 is rotatably connected to the third joint 12 within the third joint 12, and the second end of the connecting rod 4 is rotatably connected to the first joint 2 within the second joint 3.

[0033] For example Figure 2 As shown, third rotating shafts 03 can be respectively provided on the opposite sides of the first end of the connecting rod 4, and third rotating holes can be respectively provided on the opposite inner walls of the third finger joint 12. The two third rotating shafts 03 can be engaged with the two third rotating holes respectively, thereby realizing the rotational connection between the connecting rod 4 and the third finger joint 12. The third rotating shafts 03 and the connecting rod 4 can be integrally formed, or they can be two independent structural parts that are fixedly connected together by welding, bolts, or other methods.

[0034] The second end of the second finger joint 3 can cover the first end of the first finger joint 2. The first end of the first finger joint 2 can be provided with a fourth rotating hole, and the second end of the connecting rod 4 can be provided with a fourth rotating shaft 04. The fourth rotating shaft 04 and the fourth rotating hole can cooperate to realize the rotational connection between the first finger joint 2 and the connecting rod 4. The connecting rod 4 and the fourth rotating shaft 04 can be integrally formed, or they can be two independent structural parts that are fixedly connected together by welding, bolts, or other methods.

[0035] A second rotating shaft 02 can be respectively provided on the two opposite sides of the first end of the first phalanx 2, and a second rotating hole can be respectively provided on the inner wall of the two opposite sides of the second end of the second phalanx 3. The two second rotating shafts 02 and the two second rotating holes respectively cooperate to realize the rotational connection between the first phalanx 2 and the second phalanx 3. The first phalanx 2 and the second rotating shaft 02 can be integrally formed, or they can be two independent structural parts that are fixedly connected together by welding, bolts or other methods.

[0036] In this way, the third joint 12 and the second joint 3 are both housings, the output end of the drive unit 5 is located inside the third joint 12, and the connecting rod 4 passes through the third joint 12 and the second joint 3, which can shield and protect the transmission components, improve the aesthetics, and prevent the transmission components from being exposed and easily damaged.

[0037] In some examples, reference Figure 1 As shown, a portion of the third phalanx 12 is tightly abutted against the mounting base 11 along the first side of the extrusion direction 001. For example... Figure 1 and Figure 3 As shown, the extrusion direction 001 can be up or down, and the lower side of the first end of the third finger joint 12 can be in close contact with the mounting base 11.

[0038] refer to Figure 1 and combined Figure 3 As shown, the fixing assembly 1 also includes a clamping member 13, which is U-shaped. The two ends of the clamping member 13 are respectively connected to the mounting base 11 and are located on opposite sides of the third finger joint 12. For example, in... Figure 3 In this configuration, the two ends of the clamping member 13 can be located on the left and right sides of the third finger joint 12, respectively, and can be fixedly connected to the mounting base 11 by means of the fixing member 131. The fixing member 131 can be a bolt, pin, etc., and can pass through the corresponding end of the clamping member 13 and be screwed into the fixing hole of the mounting base 11.

[0039] The concave portion in the middle of the clamping member 13 is in close contact with the second side of the third finger joint 12 along the extrusion direction 001. For example, in Figure 3 In the middle, the clamping member 13 can be tightly attached to the upper side of the first end of the third finger joint 12.

[0040] Therefore, the clamping member 13 and the mounting base 11 can clamp the third finger joint 12, thereby improving the stability of the third finger joint 12 and preventing problems such as shaking of the third finger joint 12.

[0041] In some examples, reference Figure 4 As shown, the extrusion direction 001 is perpendicular to the first axis. For example, in Figure 3 In the process, the extrusion direction 001 can be vertical, and the first axis can extend horizontally.

[0042] Thus, since the extrusion direction 001 is perpendicular to the first axis, the clamping force of the clamping member 13 and the mounting base 11 can effectively stabilize the second finger joint 3 when it rotates.

[0043] In some examples, reference Figure 2 As shown, the third phalanx 12 has a limiting segment 121, which is located within the second phalanx 3 and on the rotation path of the link 4, allowing the limiting segment 121 to abut against the link 4. For example, when the limiting segment 121 abuts against the link 4, the finger mechanism can be in an extended state.

[0044] For example Figure 2 As shown, the limiting segment 121 can be located at the second end of the third finger joint 12, and above the path of the connecting rod 4 as it rotates around the third pivot 03. When the limiting segment 121 abuts against the connecting rod 4, the connecting rod 4 can be restricted from continuing to rotate upward.

[0045] In this way, when the limiting segment 121 abuts against the connecting rod 4, if the first phalanx 2 or the second phalanx 3 is subjected to an external force that continues to compress the limiting segment 121 by the connecting rod 4, the limiting segment 121 can support the connecting rod 4, thereby improving the stability of the finger mechanism in the extended state and helping to avoid damage to the finger mechanism.

[0046] In some examples, reference Figure 3 and combined Figure 2As shown, the third phalanx 12 is formed by two detachably connected first half-shells 122. For example, the two first half-shells 122 can be detachably connected together by bolts, screws, etc., and the first ends of the two first half-shells 122 can be fixedly connected to the mounting base 11, and the second ends of the two first half-shells 122 can be provided with limiting sections 121.

[0047] Thus, the third phalanx 12 can conveniently cover the output end of the drive unit 5, while achieving a reliable connection between the third phalanx 12 and the mounting base 11.

[0048] In some examples, reference Figure 1 and combined Figure 4 As shown, the second phalanx 3 is formed by two detachably connected second half-shells 31. For example, the two second half-shells 31 can be detachably connected together by bolts, screws, etc., and the two second half-shells 31 can be fixedly connected to both ends of the first rotating shaft 01 respectively.

[0049] Thus, the two ends of the second phalanx 3 can be conveniently covered on the first end of the first phalanx 2 and the second end of the third phalanx 12, respectively, which facilitates the reliable installation of the second phalanx 3.

[0050] In some examples, reference Figure 2 As shown, at least a portion of the third phalanx 12 is located within the second phalanx 3. For example, the second end of the third phalanx 12 may be located within the second phalanx 3.

[0051] The first rotating shaft 01 can be located inside the third finger joint 12. The first rotating shaft 01 extends along the first axis, and first rotating holes can be respectively provided on the opposite side walls of the third finger joint 12. The two ends of the first rotating shaft 01 can respectively pass through the corresponding first rotating holes to exit the third finger joint 12 and be fixedly connected to the second finger joint 3.

[0052] The output end of the drive unit 5 is connected to the first rotating shaft 01 for driving the first rotating shaft 01 to rotate.

[0053] Therefore, the drive unit 5 can drive the second phalanx 3 to rotate by driving the first rotating shaft 01 to rotate. It has a simple structure, high stability, and can achieve a stable rotational connection between the third phalanx 12 and the second phalanx 3.

[0054] In some examples, reference Figure 5 As shown, the drive unit 5 includes a power source 51 and a first bevel gear 52 and a second bevel gear 53 that mesh with each other. The power source 51 can be a motor, a servo motor, etc.

[0055] The power source 51 is mounted on the fixed assembly 1, and the output end of the power source 51 is connected to the first bevel gear 52 to drive the first bevel gear 52 to rotate. Taking the power source 51 as a servo motor as an example, the output shaft of the servo motor can be coaxially and fixedly connected to the first bevel gear 52.

[0056] The second bevel gear 53 is rotatably connected to the fixed assembly 1 around the first axis and is fixedly connected to the second finger joint 3. For example, the second bevel gear 53 can be coaxially fixedly connected to the first rotating shaft 01. Bearings or wear-resistant bushings can be respectively provided at both ends of the first rotating shaft 01, and rotatably connected to the corresponding first rotating hole through the bearings or wear-resistant bushings. The two ends of the first rotating shaft 01 and the corresponding sidewalls of the second finger joint 3 can be fixedly connected by bolts, welding, or other means.

[0057] In this way, the direction of the rotational force transmitted by the power source 51 can be changed by the first bevel gear 52 and the second bevel gear 53, making its arrangement space more flexible.

[0058] Secondly, this embodiment also provides a robotic hand, which includes any of the finger mechanisms described in the first aspect.

[0059] This utility model embodiment employs any of the finger mechanisms of the first aspect, and therefore can have the beneficial effects of any of the embodiments of the first aspect.

[0060] Thirdly, this embodiment also provides a robot, which includes the robotic arm of the second aspect.

[0061] This embodiment of the utility model employs a robotic arm, which can therefore have the beneficial effects of the second aspect.

[0062] It should be noted that, in the description of this application, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" 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; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0063] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0064] In the description of this specification, the references to the terms "certain embodiments", "one embodiment", "some embodiments", "illustrative embodiment", "example", "specific example", or "some examples" refer to specific features, structures, materials, or characteristics described in connection with the embodiments or examples that are included in at least one embodiment or example of this application.

[0065] The above are merely embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the principles of this application should be included within the protection scope of this application.

Claims

1. A finger mechanism, characterized in that, The finger mechanism includes: a fixing component (1), a first phalanx (2), a second phalanx (3), a connecting rod (4), and a drive unit (5); The second phalanx (3) is rotatably connected to the fixing component (1) about the first axis, and the second phalanx (3) is rotatably connected to the first phalanx (2) about the second axis; The connecting rod (4) is rotatably connected to the fixed assembly (1) about a third axis, and the connecting rod (4) is rotatably connected to the first finger joint (2) about a fourth axis; The drive unit (5) is mounted on the fixed component (1), and the output end of the drive unit (5) is connected to the second phalanx (3) for driving the second phalanx (3) to rotate around the first axis. The first axis, the second axis, the third axis, and the fourth axis are parallel to each other and are distributed in an isosceles trapezoidal shape, with the third axis and the fourth axis located on the same diagonal of the isosceles trapezoid.

2. The finger mechanism according to claim 1, characterized in that, The fixing component (1) includes a mounting base (11) and a third phalanx (12); The third phalanx (12) and the drive unit (5) are both mounted on the mounting base (11). Both the third phalanx (12) and the second phalanx (3) are shell structures; The output end of the drive unit (5) is located inside the third phalanx (12) and is connected to the second phalanx (3) in a transmission manner; The first end of the connecting rod (4) is rotatably connected to the third phalanx (12) within the third phalanx (12), and the second end of the connecting rod (4) is rotatably connected to the first phalanx (2) within the second phalanx (3).

3. The finger mechanism according to claim 2, characterized in that, A portion of the third phalanx (12) is in close contact with the mounting base (11) along the first side of the extrusion direction (001); The fixing component (1) further includes a clamping member (13), which is shaped like a zigzag. The two ends of the clamping member (13) are respectively connected to the mounting base (11) and are respectively located on opposite sides of the third finger joint (12). The concave part in the middle of the clamping member (13) is closely attached to the second side of the third finger joint (12) along the extrusion direction (001).

4. The finger mechanism according to claim 3, characterized in that, The extrusion direction (001) is perpendicular to the first axis.

5. The finger mechanism according to claim 2, characterized in that, The third phalanx (12) has a limiting segment (121) located inside the second phalanx (3) and on the rotation path of the connecting rod (4), so that the limiting segment (121) can abut against the connecting rod (4).

6. The finger mechanism according to claim 2, characterized in that, The third finger joint (12) is formed by two detachably connected first half-shells (122); And / or, The second phalanx (3) is formed by two detachably connected second half-shells (31).

7. The finger mechanism according to claim 2, characterized in that, At least a portion of the third phalanx (12) is located within the second phalanx (3); The third finger joint (12) is provided with a first rotating shaft (01), which extends along the first axis. Both ends of the first rotating shaft (01) pass through the third finger joint (12) and are fixedly connected to the second finger joint (3). The output end of the drive unit (5) is connected to the first rotating shaft (01) for driving the first rotating shaft (01) to rotate.

8. The finger mechanism according to claim 1, characterized in that, The drive unit (5) includes a power source (51) and a first bevel gear (52) and a second bevel gear (53) that mesh with each other. The power source (51) is installed on the fixed component (1), and the output end of the power source (51) is connected to the first bevel gear (52) to drive the first bevel gear (52) to rotate. The second bevel gear (53) is rotatably connected to the fixed assembly (1) about the first axis and is fixedly connected to the second finger joint (3).

9. A robotic arm, characterized in that, The robotic arm includes the finger mechanism as described in any one of claims 1 to 8.

10. A robot, characterized in that, The robot includes the robotic arm as described in claim 9.

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