Finger structure and robot

Abstract

A finger structure, characterized in that it comprises a wire drive assembly (1), a proximal phalanx (2), a middle phalanx (3), a distal phalanx (4), and a flexible cable (5), wherein the wire drive assembly (1) comprises a motor (11), a worm (12), and a worm wheel (13) which are sequentially connected, wherein the proximal phalanx (2), the middle phalanx (3), and the distal phalanx (4) are rotatably connected sequentially, wherein one end of the flexible cable (5) is wound around the worm wheel (13) and the other end is connected to the distal phalanx (4), wherein the motor (11), the worm (12), and the worm wheel (13) sequentially gear the flexible cable (5) to tension and / or relax it, thereby causing the distal phalanx (4) and the middle phalanx (3) to flex and / or extend.

Description

TECHNICAL FIELD

[0001] The present utility model relates to the field of robotics, in particular to a finger structure and a robot. STATE OF THE ART

[0002] With the rapid development of the robotics industry in recent years, the design, research, and development of dexterous hands, an important branch of robotics, aims to simulate the dexterity and fine motor skills of human hands. However, most dexterous hands on the market are mainly driven by a four-bar linkage mechanism. Driving through such a structure is too mechanical, resulting in inflexible finger trajectories and limited finger movement ranges. As a result, dexterous hands cannot effectively achieve adaptive grasping, resulting in a poor user experience. DISCLOSURE OF THE UTILITY MODEL

[0003] In order to overcome at least one of the deficiencies of the prior art described above, the present utility model provides a finger structure and a robot that solve the problem that the dexterous hands in the prior art perform finger movements that lack flexibility and have a limited range and cannot well achieve adaptive grasping.

[0004] The technical solution used by the present utility model to solve the problem is as follows: In a first aspect, the embodiments of the present utility model disclose a finger structure comprising a wire drive assembly, a proximal phalanx, a middle phalanx, a distal phalanx, and a flexible cable, wherein the wire drive assembly comprises a motor, a worm, and a worm wheel connected one after the other, wherein the proximal phalanx, the middle phalanx, and the distal phalanx are rotatably connected one after the other, wherein one end of the flexible cable is wound around the worm wheel and the other end is connected to the distal phalanx, wherein the motor, the worm, and the worm wheel successively drive the flexible cable to be tensioned and / or relaxed, thereby causing the distal phalanx and the middle phalanx toto bend and / or stretch.,

[0005] As an optional embodiment, in an embodiment according to the first aspect of the present utility model, it is provided that the wire drive assembly further comprises a fixed support, wherein the motor is attached to the fixed support, wherein both the worm and the worm wheel are rotatably arranged on the fixed support.

[0006] As an optional embodiment, in an embodiment according to the first aspect of the present utility model, it is provided that the fixed support comprises a first support body and a second support body, wherein the motor is mounted on one side of the first support body and the second support body is fastened on the other side of the first support body, wherein one end of the worm is mounted on the first support body and the other end is mounted on the second support body, wherein a first connecting nose is provided below the first support body, wherein the worm wheel is connected to the first connecting nose via a first rotary shaft.

[0007] As an optional embodiment, in an embodiment according to the first aspect of the present utility model, it is provided that the wire drive assembly further comprises a first bearing and a second bearing, wherein the other end of the worm is mounted on the second support body via the first bearing, wherein a first mounting hole is provided on the first connecting lug, wherein the second bearing is mounted on the first rotary shaft and lies in the first mounting hole.

[0008] As an optional embodiment, in an embodiment according to the first aspect of the present utility model, a winding disc is provided on one side of the worm wheel and the flexible cable is wound around the winding disc.

[0009] As an optional embodiment, in an embodiment according to the first aspect of the present utility model, it is provided that the proximal finger joint is provided with a second connecting lug, wherein the middle finger joint is provided with a third connecting lug and a fourth connecting lug, wherein the distal finger joint is provided with a fifth connecting lug, wherein the second connecting lug and the third connecting lug are connected via a second rotary shaft, wherein the fourth connecting lug and the fifth connecting lug are connected via a third rotary shaft.

[0010] As an optional embodiment, in an embodiment according to the first aspect of the present utility model, it is provided that the finger structure further comprises a third bearing and a fourth bearing, wherein a second mounting hole is provided on the second connecting lug, wherein the third bearing is mounted on the second rotary shaft and lies in the second mounting hole, wherein a third mounting hole is provided on the fifth connecting lug, wherein the fourth bearing is mounted on the third rotary shaft and lies in the third mounting hole.

[0011] As an optional embodiment, in an embodiment according to the first aspect of the present utility model, the finger structure further comprises a first torsion spring and a second torsion spring, wherein the first torsion spring is mounted on the second rotary shaft and is usable or used to drive the middle phalanx, when the flexible cable is relaxed, to retract relative to the proximal phalanx until it is extended; wherein the second torsion spring is mounted on the third rotary shaft and is usable or used to drive the distal phalanx, when the flexible cable is relaxed, to retract relative to the middle phalanx until it is extended.

[0012] As an optional embodiment, in an embodiment according to the first aspect of the present utility model, it is provided that the proximal phalanx is provided with a first wire passage channel, wherein the middle phalanx is provided with a second wire passage channel, wherein the distal phalanx is provided with a third wire passage channel, wherein the other end of the flexible cable is guided through the first wire passage channel, the second wire passage channel and the third wire passage channel in order to be connected to the distal phalanx.

[0013] In a second aspect, the embodiments of the present utility model disclose a robot comprising the finger structure described above.

[0014] The implementation of the embodiments of the present utility model offers the following advantageous effects:

[0015] The present utility model provides a finger structure comprising a wire drive assembly, a proximal phalanx, a middle phalanx, a distal phalanx, and a flexible cable, the wire drive assembly comprising a motor, a worm, and a worm wheel connected in series, the proximal phalanx, the middle phalanx, and the distal phalanx being rotatably connected in series, one end of the flexible cable being wound around the worm wheel and the other end being connected to the distal phalanx, the motor, the worm, and the worm wheel sequentially gearing the flexible cable to tension and / or relax it, thereby causing the distal phalanx and the middle phalanx to flex and / or extend.Using such a design, the flexible cable is tensioned and / or relaxed by the worm and worm gear. When the flexible cable is tensioned, the middle and distal phalanges bend, allowing the finger to flex. When the flexible cable is relaxed, the middle and distal phalanges straighten, allowing the finger to extend. Due to the flexible properties of the flexible cable, the finger can adaptively adjust its state during flexion and extension, enabling flexible adaptive gripping and flexible handling of objects of different shapes and sizes. Since the worm gear and worm also possess self-locking properties, the finger has a high load-bearing capacity. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly explain the technical solutions in the embodiments of the present utility model and in the prior art, the drawings required to describe the embodiments or the prior art are briefly presented below. Obviously, the drawings in the following description represent only some embodiments of the present utility model. A person of ordinary skill in the art can also obtain further drawings based on these drawings without inventive effort. Fig. 1 shows a schematic structural view of a palm in an embodiment of the present utility model; Fig. 2 shows a schematic structural view of a finger structure in an embodiment of the present utility model; Fig. 3 shows a schematic structural exploded view of a partial structure of the finger structure in an embodiment of the present utility model; and Fig. 4 shows a schematic structural exploded view of a wire drive assembly of the finger structure in an embodiment of the present utility model. List of reference symbols:

[0017] 1-Wire drive assembly; 11-Motor; 12-Worm; 13-Worm wheel; 131-Winding pulley; 14-Fixed bracket; 141-First bracket body; 1411-First connecting lug; 1412-First mounting hole; 142-Second bracket body; 15-First rotating shaft; 16-First bearing; 17-Second bearing; 2-Proximal phalanx; 21-Second connecting lug; 22-Second mounting hole; 3-Middle phalanx; 31-Third connecting lug; 32-Fourth connecting lug; 4-Distal phalanx; 41-Fifth connecting lug; 411-Third mounting hole; 5-Flexible rope; 6-Second rotating shaft; 7-Third rotating shaft; 8-Third bearing; 9-fourth bearing; 10-first torsion spring; 20-second torsion spring. DETAILED EMBODIMENTS

[0018] In the following, the technical solutions in the embodiments of the present invention are described clearly and completely in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention and do not encompass all embodiments. All other embodiments that can be achieved by a person of ordinary skill in the art without inventive effort based on the embodiments in the present utility model fall within the scope of protection of the present utility model.

[0019] In the present utility model, the orientation or positional relationship indicated by the terms such as "top", "bottom", "left", "right", "front", "back", "apex", "bottom", "inner", "outer", "center", "vertical", "horizontal", "lateral", "longitudinal", etc., is based only on the orientation or positional relationship shown in the drawings. These terms are mainly used to better describe the present utility model and do not imply that the specified devices, elements or components must have a particular orientation or be constructed and operated in a particular orientation.

[0020] Furthermore, some of the above terms can be used to convey other meanings in addition to indicating a directional or positional relationship. For example, the term "on" can also be used in some cases to indicate a dependency or connection relationship. The average person skilled in the art can understand the specific meaning of these terms in the present utility model depending on specific situations.

[0021] Furthermore, the terms "install," "adjust," "provide," "connect," and "connect" are to be interpreted broadly. For example, it can refer to a fixed connection, a detachable connection, or an integral connection; a mechanical or electrical connection; a direct connection or an indirect connection via an intermediate medium; or an internal connection between two devices, elements, or components. For the average person skilled in the art, the specific meaning of the above terms in the present utility model can be understood depending on specific situations.

[0022] Furthermore, the terms "first," "second," and the like are used only to distinguish different devices, elements, or components, whose specific types and structures may be identical or different, and are not used to indicate or imply the relative importance or number of the designated devices, elements, or components. Unless otherwise specified, "plural" means two or more.

[0023] The technical solutions of the present utility model are described in more detail below in conjunction with embodiments and the attached drawings.

[0024] With joint reference to Fig. 1 to Fig.4, the embodiments of the present utility model disclose a robot comprising a finger structure arranged on a palm.The finger structure according to this solution comprises a wire drive assembly 1, a proximal phalanx 2, a middle phalanx 3, a distal phalanx 4, and a flexible cable 5, wherein the wire drive assembly 1 comprises a motor 11, a worm 12, and a worm wheel 13 connected one after the other, wherein the proximal phalanx 2, the middle phalanx 3, and the distal phalanx 4 are rotatably connected one after the other, wherein one end of the flexible cable 5 is wound around the worm wheel 13 and the other end is connected to the distal phalanx 4, wherein the motor 11, the worm 12, and the worm wheel 13 successively gear the flexible cable 5 to tension and / or relax it, thereby causing the distal phalanx 4 and the middle phalanx 3 to flex and / or extend.Using such a configuration, the flexible cable 5 is tensioned and / or relaxed by the worm 12 and the worm gear 13. When the flexible cable 5 is tensioned, the middle phalanx 3 and the distal phalanx 4 bend to allow flexion of the finger. When the flexible cable 5 is relaxed, the middle phalanx 3 and the distal phalanx 4 stretch to allow extension of the finger. Due to the flexible properties of the flexible cable 5, the finger can adaptively adjust its state during flexion and extension, thereby enabling a flexible adaptive gripping function and flexible handling of objects of different shapes and sizes. Since the worm gear 13 and the worm 12 also have self-locking properties, the finger has a high load-bearing capacity.

[0025] In order to better wind the flexible cable 5 around the worm wheel 13, a winding disc 131 is preferably provided on one side of the worm wheel 13, wherein the flexible cable 5 is wound around the winding disc 131, ie the winding and unwinding of the flexible cable 5 are achieved by the winding disc 131.

[0026] In some embodiments, it is provided that for mounting the motor 11, the worm 12 and the worm wheel 13, the wire drive assembly 1 further comprises a fixed bracket 14, wherein the motor 11 is fastened to the fixed bracket 14, wherein both the worm 12 and the worm wheel 13 are rotatably arranged on the fixed bracket 14.

[0027] It is further provided that the fixed holder 14 comprises a first holder body 141 and a second holder body 142, wherein the motor 11 is mounted on one side of the first holder body 141 and the second holder body 142 is fastened on the other side of the first holder body 141, wherein one end of the worm 12 is mounted on the first holder body 141 and the other end is mounted on the second holder body 142, wherein a first connection nose 1411 is provided below the first holder body 141, wherein the worm wheel 13 is connected to the first connection nose 1411 via a first rotary shaft 15. Using such a configuration, the structure of the entire wire drive assembly 1 can be made more compact.

[0028] It is further provided that the wire drive assembly 1 further comprises a first bearing 16 and a second bearing 17, wherein the other end of the worm 12 is mounted on the second support body 142 via the first bearing 16, wherein a first mounting hole 1412 is provided on the first connecting lug 1411, wherein the second bearing 17 is placed on the first rotary shaft 15 and lies in the first mounting hole 1412.

[0029] In order to enable a rotatable connection between the middle phalanx 3 and the proximal phalanx 2 and a rotatable connection between the distal phalanx 4 and the middle phalanx 3, some embodiments provide for the proximal phalanx 2 to be provided with a second connecting lug 21, the middle phalanx 3 to be provided with a third connecting lug 31 and a fourth connecting lug 32, the distal phalanx 4 to be provided with a fifth connecting lug 41, the second connecting lug 21 and the third connecting lug 31 being connected via a second rotating shaft 6, the fourth connecting lug 32 and the fifth connecting lug 41 being connected via a third rotating shaft 7.

[0030] Furthermore, it is provided that the finger structure further comprises a third bearing 8 and a fourth bearing 9, wherein a second mounting hole 22 is provided on the second connecting lug 21, wherein the third bearing 8 is mounted on the second rotary shaft 6 and lies in the second mounting hole 22, wherein a third mounting hole 411 is provided on the fifth connecting lug 41, wherein the fourth bearing 9 is mounted on the third rotary shaft 7 and lies in the third mounting hole 411. By using such a configuration, the finger is smoother when running and the finger has a higher load-bearing capacity because a bearing is mounted in the center of the rotary shaft corresponding to the finger.

[0031] Furthermore, it is provided that the finger structure further comprises a first torsion spring 10 and a second torsion spring 20. The first torsion spring 10 is mounted on the second rotating shaft 6 and is usable, when the flexible cable 5 is relaxed, to drive the middle phalanx 3 so that it is retracted relative to the proximal phalanx 2 until it is extended; the second torsion spring 20 is mounted on the third rotating shaft 7 and is usable, when the flexible cable 5 is relaxed, to drive the distal phalanx 4 so that it is retracted relative to the middle phalanx 3 until it is extended. Using such a configuration, when the flexible cable 5 is relaxed, the phalanxes are pressed apart by an elastic force, which causes a natural extension of the finger and thus improves the flexibility and responsiveness of finger actions.

[0032] Furthermore, it is provided that the proximal phalanx 2 is provided with a first wire passage channel, the middle phalanx 3 is provided with a second wire passage channel, the distal phalanx 4 is provided with a third wire passage channel, and the other end of the flexible cable 5 is guided through the first wire passage channel, the second wire passage channel, and the third wire passage channel to be connected to the distal phalanx 4. Using such a configuration, it is possible for the flexible cable 5 to be partially concealed in the proximal phalanx 2, the middle phalanx 3, and the distal phalanx 4, so that the flexible cable 5 can be positioned and protected.

[0033] In some embodiments, the flexible rope 5 is a steel wire rope, a tungsten wire rope, or a polymer fiber rope. In actual configurations, the specific rope type can be selected depending on the actual situation, which is not limited herein. Preferably, the flexible rope 5 is a steel wire rope. Such a configuration is used because the steel wire rope is wear-resistant and tensile strong, has good flexibility, can withstand shock loads, provides evidence of wire breakage before breaking, has a long service life, and is safe.

[0034] In a robot provided by the present utility model, a finger structure is provided comprising a wire drive assembly 1, a proximal phalanx 2, a middle phalanx 3, a distal phalanx 4, and a flexible cable 5. The wire drive assembly 1 comprises a motor 11, a worm 12, and a worm wheel 13 sequentially connected, the proximal phalanx 2, the middle phalanx 3, and the distal phalanx 4 being rotatably connected sequentially, one end of the flexible cable 5 being wound around the worm wheel 13 and the other end being connected to the distal phalanx 14. The motor 11, the worm 12, and the worm wheel 13 sequentially gear the flexible cable 5 to tension and / or relax it, thereby causing the distal phalanx 4 and the middle phalanx 3 to flex and / or extend.Using such a configuration, the flexible cable 5 is tensioned and / or relaxed by the worm 12 and the worm gear 13. When the flexible cable 5 is tensioned, the middle phalanx 3 and the distal phalanx 4 bend to allow flexion of the finger. When the flexible cable 5 is relaxed, the middle phalanx 3 and the distal phalanx 4 stretch to allow extension of the finger. Due to the flexible properties of the flexible cable 5, the finger can adaptively adjust its state during flexion and extension, thereby enabling a flexible adaptive gripping function and flexible handling of objects of different shapes and sizes. Since the worm gear 13 and the worm 12 also have self-locking properties, the finger has a high load-bearing capacity.

[0035] The finger structure and robot disclosed by the embodiments of the present utility model are described in detail above. Herein, the principles and embodiments of the present utility model are explained using individual examples. The explanation of the above embodiments is only intended to assist in understanding the finger structure and robot according to the present utility model and their core idea. Meanwhile, those of ordinary skill in the art may make changes to specific embodiments and the scope of application depending on the idea of ​​the present utility model. In summary, the content of this description should not be construed as a limitation of the present utility model.

Claims

[1] Finger structure, characterized by in that it comprises a wire drive assembly (1), a proximal phalanx (2), a middle phalanx (3), a distal phalanx (4), and a flexible cable (5), the wire drive assembly (1) comprising a motor (11), a worm (12), and a worm wheel (13) which are connected one after the other, the proximal phalanx (2), the middle phalanx (3), and the distal phalanx (4) being rotatably connected one after the other, one end of the flexible cable (5) being wound around the worm wheel (13) and the other end being connected to the distal phalanx (4), the motor (11), the worm (12), and the worm wheel (13) successively gearing the flexible cable (5) to tension and / or relax it, thereby causing the distal phalanx (4) and the middle phalanx (3) to bend and / or extend. [2] Finger structure according to claim 1, characterized byin that the wire drive assembly (1) further comprises a fixed support (14), wherein the motor (11) is fixed to the fixed support (14), wherein both the worm (12) and the worm wheel (13) are rotatably arranged on the fixed support (14). [3] Finger structure according to claim 2, characterized by in that the fixed support (14) comprises a first support body (141) and a second support body (142), wherein the motor (11) is mounted on one side of the first support body (141) and the second support body (142) is fastened on the other side of the first support body (141), wherein one end of the worm (12) is mounted on the first support body (141) and the other end on the second support body (142), wherein a first connecting nose (1411) is provided below the first support body (141), wherein the worm wheel (13) is connected to the first connecting nose (1411) via a first rotary shaft (15). [4] Finger structure according to claim 3, characterized by in that the wire drive arrangement (1) further comprises a first bearing (16) and a second bearing (17), wherein the other end of the worm (12) is mounted on the second support body (142) via the first bearing (16), wherein a first mounting hole (1412) is provided on the first connecting lug (1411), wherein the second bearing (17) is placed on the first rotary shaft (15) and lies in the first mounting hole (1412). [5] Finger structure according to claim 1, characterized by that a winding disc (131) is provided on one side of the worm wheel (13) and the flexible cable (5) is wound around the winding disc (131). [6] Finger structure according to claim 1, characterized byin that the proximal finger joint (2) is provided with a second connecting lug (21), wherein the middle finger joint (3) is provided with a third connecting lug (31) and a fourth connecting lug (32), wherein the distal finger joint (4) is provided with a fifth connecting lug (41), wherein the second connecting lug (21) and the third connecting lug (31) are connected via a second rotary shaft (6), wherein the fourth connecting lug (32) and the fifth connecting lug (41) are connected via a third rotary shaft (7). [7] Finger structure according to claim 6, characterized byin that the finger structure further comprises a third bearing (8) and a fourth bearing (9), wherein a second mounting hole (22) is provided on the second connecting lug (21), wherein the third bearing (8) is placed on the second rotary shaft (6) and lies in the second mounting hole (22), wherein a third mounting hole (411) is provided on the fifth connecting lug (41), wherein the fourth bearing (9) is placed on the third rotary shaft (7) and lies in the third mounting hole (411). [8] Finger structure according to claim 6, characterized byin that the finger structure further comprises a first torsion spring (10) and a second torsion spring (20), wherein the first torsion spring (10) is mounted on the second rotary shaft (6) and is usable, when the flexible cable (5) is relaxed, to drive the middle finger joint (3) so that it is reset relative to the proximal finger joint (2) until it is extended; wherein the second torsion spring (20) is mounted on the third rotary shaft (7) and is usable, when the flexible cable (5) is relaxed, to drive the distal finger joint (4) so ​​that it is reset relative to the middle finger joint (3) until it is extended. [9] Finger structure according to one of claims 1 to 8, characterized byin that the proximal phalanx (2) is provided with a first wire passage channel, the middle phalanx (3) is provided with a second wire passage channel, the distal phalanx (4) is provided with a third wire passage channel, the other end of the flexible cable (5) being guided through the first wire passage channel, the second wire passage channel and the third wire passage channel in order to be connected to the distal phalanx (4). [10] Robots, characterized by that it comprises a finger structure according to one of claims 1 to 9.

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