Finger, robot hand and robot

Abstract

finger, characterized in that the finger has the following features: a mounting frame (10); a finger sleeve (20) which is rotatably provided on the mounting frame (10); a finger section (30) which is rotatably provided on the mounting frame (10) and is located in the finger sleeve (20) and slides in the finger sleeve (20); a drive component (40) for driving the finger section (30) so that the finger section slides relative to the finger sleeve (20) so that the finger sleeve (20) and the finger section (30) are rotatable relative to the mounting frame (10).

Description

Technical field

[0001] The present invention relates to the field of robots and in particular to a finger, a robot hand and a robot. Technical background

[0002] A robotic hand is usually modeled after a human hand; a finger of the robotic hand has several knuckles that are connected to each other in a rotatable manner to allow the fingers to bend and extend.

[0003] In the prior art, the finger of a robot hand primarily achieves the rotation of the finger knuckles via a drive structure; the drive structure is usually mounted on the palm of the robot hand, and the finger drive structure occupies space in the palm, resulting in an uneven structure distribution.

[0004] Therefore, the existing technology needs to be improved and further developed. Disclosure of the invention

[0005] The technical problem to be solved by the present invention is to provide a finger, a robot hand and a robot, the aim being to solve the problem that in the existing technology the drive structure of the fingers occupies the space of the palm, resulting in an uneven structure distribution.

[0006] To solve the technical problems, the present invention uses the following technical solutions: Finger that exhibits the following: a mounting frame; a finger sleeve which is rotatably provided on the mounting frame; a finger section which is rotatably provided on the mounting frame and is located in the finger sleeve and slides in the finger sleeve; a drive component designed / used to drive the finger section so that the finger section slides relative to the finger sleeve, allowing the finger sleeve and finger section to rotate relative to the mounting frame.

[0007] The finger is designed to also have the following features: a base that is rotatably connected to the mounting frame; and a first drive element that is arranged on the base; wherein the first drive element is designed / used to drive the mounting frame to rotate.

[0008] The finger is designed so that the direction of rotation of the base relative to the mounting frame is perpendicular to the direction of rotation of the finger sleeve relative to the mounting frame.

[0009] The finger is designed to have a resistance adjustment structure on its base, the resistance adjustment structure being designed / used to adjust the resistance of the mounting frame to rotation relative to the base.

[0010] The finger is designed / used as a folding motor for the first drive element.

[0011] The finger is designed so that the drive component has the following features: a second drive element located on the finger section; and a connecting element connected to the finger sleeve; wherein the second drive element drives the connecting element in order to move the connecting element relative to the finger section.

[0012] The finger is designed so that the output shaft of the second drive element is equipped with a threaded rod; and The connecting element is provided with a screw hole, wherein the screw hole and the threaded rod are screwed together. The finger is designed to also have the following features: an extension finger, which is rotatably connected to the finger sleeve and the finger section.

[0013] Robotic hand that has one finger according to one of the above-mentioned solutions.

[0014] A robot that has a finger according to one of the above-mentioned solutions or a robot hand as described above.

[0015] Advantageous effects include: the drive component propels the finger segment, causing it to slide relative to the finger sleeve, thereby rotating the finger sleeve and finger segment relative to the mounting frame. This results in the rotation of the finger knuckle formed by the finger sleeve and finger segment. The drive component can be mounted on the finger segment or the finger sleeve and does not need to be mounted on the mounting frame, thus making the entire finger structure more compact and freeing up space from other structures. Description of the characters Fig. Figure 1 is a schematic structural representation of a finger in an embodiment of the present invention. Fig. Figure 2 is a schematic structural representation of a finger in an embodiment of the present invention after the finger sleeve has been removed. Fig. Figure 3 is a schematic sectional view of a finger in an embodiment of the present invention. Fig. Figure 4 is a schematic structural representation of a finger section in an embodiment of the present invention. Fig. Figure 5 is a schematic structural representation of a finger sleeve in an embodiment of the present invention. Fig. Figure 6 is a schematic structural representation of a finger in an embodiment of the present invention after the extension finger has been removed. Fig. Figure 7 is a schematic structural representation of a resistance adjustment structure in an embodiment of the present invention. Fig. Figure 8 is a flowchart of a method for controlling the finger in an embodiment of the present invention. Explanation of reference symbols:

[0016] 10. Mounting frame; 20. Finger sleeve; 30. Finger section; 40. Drive component; 41. Second drive element; 411. Threaded rod; 42. Connecting element; 421. Screw hole; 50. Base; 60. First drive element; 70. Resistance adjustment structure; 80. Extension finger. Detailed description

[0017] To clarify the tasks, technical solutions, and advantages of the present invention, it will be described in more detail below with reference to the accompanying drawings and embodiments. It is understood that the specific embodiments described herein serve only to explain the present invention and not to limit it.

[0018] With simultaneous reference to Fig. Figures 1 to 7 of the present invention provide some embodiments of a finger.

[0019] As in Fig. 1 to Fig. As shown in 2, the finger of the present invention has the following features: a mounting frame 10; a finger sleeve 20 which is rotatably provided on the mounting frame 10; a finger section 30 which is rotatably provided on the mounting frame 10 and is located in the finger sleeve 20 and slides in the finger sleeve 20; a drive component 40 for driving the finger section 30, so that the finger section slides relative to the finger sleeve 20, so that the finger sleeve 20 and the finger section 30 are rotatable relative to the mounting frame 10.

[0020] Specifically, the mounting frame 10 mounts the finger to another structure; for example, the mounting frame 10 is mounted to the base 50. The finger sleeve 20 and the finger section 30 form a finger knuckle, and both the finger sleeve 20 and the finger section 30 are rotatably connected to the mounting frame 10, with the finger section 30 being located in and sliding within the finger sleeve 20 (as shown in Figure 1). Fig. 3, Fig. 4 and Fig. (5 shown). When both the finger sleeve 20 and the finger section 30 rotate relative to the mounting frame 10, the finger section 30 slides relative to the finger sleeve 20; conversely, when the finger section 30 slides relative to the finger sleeve 20, both the finger sleeve 20 and the finger section 30 rotate relative to the mounting frame 10. The drive component 40 drives the finger section 30 so that it slides relative to the finger sleeve 20, thereby allowing the finger sleeve 20 and the finger section 30 to rotate relative to the mounting frame 10, thus achieving rotation of the finger knuckle formed by the finger sleeve 20 and the finger section 30. The drive component 40 can be mounted on the finger section 30 or on the finger sleeve 20 and does not need to be mounted on the mounting frame 10. This makes the structure of the entire finger more compact and does not occupy space for other structures.

[0021] The drive component 40 is used to drive the finger section 30 so that it slides relative to the finger sleeve 20, but it does not directly drive the finger sleeve 20 or the finger section 30 to rotate relative to the mounting frame 10. The drive component 40 drives the finger section 30 so that it slides relative to the finger sleeve 20, thereby indirectly driving the finger sleeve 20 and the finger section 30 so that they rotate relative to the mounting frame 10. This facilitates the use of drive components 40 with different structures to achieve finger rotation and allows for greater structural versatility.

[0022] In a preferred implementation of the exemplary embodiments of the present invention, as described in Fig. 1 to Fig. 3 shown, provided that the finger also has the following: a base 50 which is rotatably connected to the mounting frame 10; and a first drive element 60, which is arranged on the base 50; wherein the first drive element 60 is designed / used to drive the mounting frame 10 for rotation.

[0023] Specifically, the mounting frame 10 is mounted on the base 50, and the mounting frame 10 rotates relative to the base 50. The first drive element 60 is located on the base 50 and connected to the mounting frame 10 and is used to drive the mounting frame 10 so that it rotates relative to the base 50. The drive component 40 can be mounted on the knuckle, the first drive element 60 is mounted on the base 50, and the drive component 40 and the first drive element 60 are mounted in different positions, thus distributing the drive structure and further simplifying the structural arrangement.

[0024] In a preferred implementation of the exemplary embodiments of the present invention, as described in Fig. 1 to Fig. 2 shown, provided that the direction of rotation of the base 50 relative to the mounting frame 10 is perpendicular to the direction of rotation of the finger sleeve 20 relative to the mounting frame 10.

[0025] Specifically, the direction of rotation of the mounting frame 10 relative to the base 50 is the first direction, and the direction of rotation of the finger sleeve 20 or finger section 30 relative to the mounting frame 10 is the second direction. The first and second directions are different directions; for example, the first direction is perpendicular to the second direction.

[0026] In a preferred implementation of the exemplary embodiments of the present invention, as described in Fig. 6 to Fig. Figure 7 shows that a resistance adjustment structure 70 is provided on the base 50, wherein the resistance adjustment structure 70 is designed / used to adjust the resistance of the mounting frame 10 to a rotation relative to the base 50.

[0027] Specifically, a resistance adjustment structure 70 is provided on the base 50, wherein the resistance adjustment structure 70 is designed / used to adjust the resistance of the mounting frame 10 to a rotation relative to the base 50, thereby reducing the difficulty of rotating the mounting frame 10 relative to the base 50 and making the rotation of the mounting frame 10 relative to the base 50 more stable and reliable.

[0028] In a preferred implementation of the exemplary embodiments of the present invention, as described in Fig. 1 to Fig. Figure 3 shows that the first drive element 60 is designed / used as a folding motor.

[0029] Specifically, electric motors can be divided into linear, retractable, and vertical motors depending on their design. In a linear motor, the main structure and the output shaft lie on the same axis. The retractable motor (also known as a folding motor) or vertical motor has a main structure and a gearbox structure, and an output shaft is attached to the gearbox structure. In a retractable motor, the main structure runs parallel to the output shaft, while in a vertical motor, the main structure runs perpendicular to the output shaft. The first drive element 60 can be a folding motor, which requires less space and is better suited for structural arrangement.

[0030] In a preferred implementation of the exemplary embodiments of the present invention, as described in Fig. 1 to Fig. 3 shown, provided that the drive component 40 has the following: a second drive element 41, which is provided on the finger section 30; and a connecting element 42 connected to the finger sleeve 20; wherein the second drive element 41 drives the connecting element 42 to move relative to the finger section 30.

[0031] Specifically, the connecting element 42 is provided on the finger sleeve 20, the second drive element 41 is arranged on the finger section 30, the second drive element 41 is used to drive the connecting element 42 so that it moves relative to the finger section 30, thereby driving the finger sleeve 20 so that it moves relative to the finger section 30, so that the finger section 30 slides in the finger sleeve 20.

[0032] The second drive element 41 can be used as a telescopic drive element, for example, a telescopic electric cylinder. The output shaft of the telescopic drive element can be telescopic, and the output shaft of the telescopic drive element is connected to the connecting element 42 to change the distance between the connecting element 42 and the finger section 30. This allows the finger section 30 to slide in the finger sleeve 20.

[0033] In a preferred implementation of the exemplary embodiments of the present invention, as described in Fig. 2, Fig. 3 and Fig. Figure 6 shows that the output shaft of the second drive element 41 is provided with a threaded rod 411; wherein the connecting element 42 is provided with a screw hole 421, the screw hole 421 and the threaded rod 411 are connected to each other by threads.

[0034] Specifically, the second drive element 41 causes the threaded rod 411 to rotate. Since the connecting element 42 is fixed relative to the finger sleeve 20, the position of the connecting element 42 on the threaded rod 411 shifts when the threaded rod 411 rotates, thus changing the distance between the second drive element 41 and the connecting element 42, causing the finger section 30 to slide relative to the finger sleeve 20. The threaded rod 411 and the connecting element 42 convert the rotation of the output shaft of the second drive element 41 into a relative motion between the connecting element 42 and the second drive element 41.

[0035] In a preferred implementation of the exemplary embodiments of the present invention, as described in Fig. 1 to Fig. 3 shown, provided that the finger also has the following: an extension finger 80, which is rotatably connected to the finger sleeve 20 and the finger section 30.

[0036] Specifically, the extension finger 80 is a finger knuckle formed based on the knuckle formed by the finger sleeve 20 and the finger section 30. The extension finger 80 is rotatably connected to both the finger sleeve 20 and the finger section 30. When the finger sleeve 20 and the finger section 30 slide relative to each other, the extension finger 80 rotates relative to the finger sleeve 20 (or the finger section 30). The drive component 40 drives the finger sleeve 20 (or the finger section 30), causing the finger sleeve to rotate relative to the mounting frame 10, and drives the extension finger 80, causing the extension finger to rotate relative to the finger sleeve 20 (or the finger section 30), thus placing the finger in a curved state.

[0037] Based on the finger described in one of the above embodiments, the present invention also provides a preferred embodiment of a method for controlling the finger: as in Fig. As shown in Figure 8, the method for controlling the finger of the present invention comprises the following steps: Step S100: Control the drive component to drive the finger section so that it slides relative to the finger sleeve, allowing the finger sleeve and finger section to rotate relative to the mounting frame.

[0038] Specifically, the drive component is controlled so that the finger section slides relative to the finger sleeve, and then both the finger sleeve and the finger section rotate relative to the mounting frame, thus rotating the finger and causing it to assume a curved or extended state. When extension fingers are provided, the fingers curve more pronouncedly.

[0039] Step S100 specifically includes the following: Step S110: Receiving a curvature instruction and controlling the second drive element to rotate in the forward direction, thus bringing the connecting element and the second drive element close together. Step S120: Receiving the extension instruction and controlling the second drive element to allow rotation in the opposite direction, thus removing the connecting element from the second drive element.

[0040] Specifically, if finger curvature is required, a Curve instruction is issued. The second drive element is controlled according to the Curve instruction to rotate forward, bringing the connecting element and the second drive element closer together, causing the finger sleeve and finger section to both rotate forward relative to the mounting frame, and thus curving the finger. If finger extension is required, an Extension instruction is issued. The second drive element is controlled according to the Extension instruction to rotate in the opposite direction, causing the connecting element and the second drive element to move away from each other, with the finger sleeve and finger section both rotating in opposite directions relative to the mounting frame, thus extending the finger.

[0041] The procedure for controlling the finger also includes the following: Step S200: Controlling the first drive element to power the mounting frame and rotate it relative to the base. Specifically, the finger's orientation is changed by controlling the first drive element to rotate the mounting frame relative to the base. Steps S100 and S200 can be performed separately or simultaneously. Through their interaction, the fingers can assume several different positions.

[0042] Based on the finger described in one of the above embodiments, the present invention also provides an embodiment of a robot hand.

[0043] The robotic hand of the present invention has the finger according to one of the above-mentioned embodiments.

[0044] Based on the finger or robot hand according to one of the above embodiments, the present invention also provides an embodiment of a robot.

[0045] The robot of the present invention points the finger according to one of the above embodiments or the robot hand according to one of the above embodiments.

[0046] It is understood that the present invention is not limited to the above examples, and the person skilled in the art in this field may make improvements or modifications based on the above description, and all such improvements and modifications should fall within the scope of protection of the attached claims of the present invention.

Claims

[1] Finger, characterized by , that the finger exhibits the following: a mounting frame (10); a finger sleeve (20) which is rotatably provided on the mounting frame (10); a finger section (30) which is rotatably provided on the mounting frame (10) and is located in the finger sleeve (20) and slides in the finger sleeve (20); a drive component (40) for driving the finger section (30) so that the finger section slides relative to the finger sleeve (20) so that the finger sleeve (20) and the finger section (30) are rotatable relative to the mounting frame (10). [2] Finger according to claim 1, characterized by , that the finger also exhibits the following: a base (50) which is rotatably connected to the mounting frame (10); and a first drive element (60) arranged on the base (50); wherein the first drive element (60) is designed to drive the mounting frame (10) for rotation. [3] Finger according to claim 2, characterized by , that the direction of rotation of the base (50) relative to the mounting frame (10) is perpendicular to the direction of rotation of the finger sleeve (20) relative to the mounting frame (10). [4] Finger according to claim 2, characterized by , that a resistance adjustment structure (70) is provided on the base (50), wherein the resistance adjustment structure (70) is designed to adjust the resistance of the mounting frame (10) to a rotation relative to the base (50). [5] Finger according to claim 2, characterized by , that the first drive element (60) is designed as a folding motor. [6] Finger according to any one of claims 1 to 5, characterized by , that the drive component (40) has the following features: a second drive element (41) provided on the finger section (30); and a connecting element (42) connected to the finger sleeve (20); wherein the second drive element (41) drives the connecting element (42) to move relative to the finger section (30). [7] Finger according to claim 6, characterized by , that the output shaft of the second drive element (41) is provided with a threaded rod (411); wherein the connecting element (42) is provided with a screw hole (421), wherein the screw hole (421) and the threaded rod (411) are connected to each other by threads. [8] Finger according to any one of claims 1 to 5, characterized by , that the finger also exhibits the following: an extension finger (80) which is rotatably connected to the finger sleeve (20) and the finger section (30). [9] Robot hand, characterized by that the robot hand has a finger according to one of claims 1 to 8. [10] Robots, characterized by that the robot has a finger according to one of claims 1 to 8 or a robot hand according to claim 9.

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