Finger, method for its control, mechanical hand and robot

Abstract

The invention discloses a finger and a method for controlling it, a mechanical hand, and a robot. The finger comprises a mounting frame; a finger shell, rotatable on the mounting frame; a finger element, rotatable on the frame within the shell and sliding within it; and a drive assembly for driving the finger element to slide relative to the shell, such that the shell and the finger element are rotated relative to the frame. The drive assembly rotates the shell and the finger element relative to the mounting frame, thereby enabling the rotation of the phalanx formed by the finger shell and the finger element.

Description

Title of the invention: Finger, method for its control, mechanical hand and robot. Technical field

[0001] The present invention relates to the field of robotics, and more particularly concerns a finger, a hand control method, a mechanical hand and a robot. Prior art

[0002] A mechanical hand is generally designed by imitating the human hand. The fingers of a mechanical hand have several phalanges, connected successively in a rotational manner, in order to achieve flexion and extension of the finger.

[0003] In the prior art, the rotation of the finger phalanges of a mechanical hand is primarily achieved by means of a drive structure, which is generally mounted in the palm of the mechanical hand. The finger drive structure thus occupies the space of the palm, resulting in a non-uniform structural distribution.

[0004] Consequently, the state of the art remains to be improved and developed. Description of the invention

[0005] The technical problem to be solved by the present invention consists, in order to remedy the aforementioned defects of the prior art, in providing a finger, a method for its control, a mechanical hand and a robot, in order to solve the problem whereby the finger drive structure of the prior art occupies the space of the palm, resulting in a non-uniform structural distribution.

[0006] The technical solution adopted by the present invention to solve the technical problem is as follows:

[0007] a finger, which includes:

[0008] a mounting frame;

[0009] a finger shell, arranged in a rotatable manner on the mounting frame;

[0010] a finger element, rotatably arranged on the mounting frame, located at the inside of the finger shell and sliding inside it;

[0011] a drive assembly, intended to drive the finger element to slide relative to the finger shell, so that the finger shell and the finger element are rotated relative to the mounting frame.

[0012] In some embodiments, the finger further comprises:

[0013] a base, rotatably connected to the mounting chassis;

[0014] a first drive element, arranged on the base;

[0015] in which the first drive element is intended to drive the rotation of the mounting frame.

[0016] In some embodiments, the direction of rotation of the base relative to the mounting frame is perpendicular to the direction of rotation of the finger shell relative to the mounting frame.

[0017] In some embodiments, a resistance adjustment mechanism is disposed on the base, and the resistance adjustment mechanism is intended to adjust the resistance to rotation of the mounting frame relative to the base.

[0018] In some embodiments, the first drive element is a folded motor.

[0019] In some embodiments, the training set comprises:

[0020] a second drive element, disposed on the finger element;

[0021] a connecting element, connected to the finger shell;

[0022] in which the second drive member drives the connecting element to be moved relative to the finger element.

[0023] In certain embodiments, an output shaft of the second drive element is provided with a screw; and

[0024] the connecting element is provided with a threaded hole, and the threaded hole is in threaded connection with the screw.

[0025] In certain embodiments, the finger further comprises:

[0026] an extension finger, respectively rotationally connected to the finger shell and the finger element.

[0027] The invention also relates to a finger control method as described above, which includes the step of:

[0028] control the drive assembly to cause the finger element to slide relative to the finger shell, so that the finger shell and the finger element pivot relative to the mounting frame.

[0029] In some embodiments, the process further includes the step of:

[0030] control the first drive assembly to drive the mounting chassis to pivot relative to the base.

[0031] The invention also relates to a mechanical hand, which includes a finger as described above.

[0032] The invention also relates to a robot, which includes a finger as described above, or a mechanical hand as described above.

[0033] Beneficial effects: The drive assembly causes the finger element to slide relative to the finger shell, thereby rotating both the finger shell and the finger element relative to the mounting frame, and thus rotating the phalanx formed by the finger shell and the finger element. The assembly The drive unit can be mounted on the finger element or on the finger shell, without needing to be mounted on the mounting frame, so that the entire finger structure is more concentrated and does not occupy space from other structures. Brief description of the figures

[0034] Fig. 1 is an illustrative structural diagram of a finger according to an embodiment of the present invention.

[0035] Fig. 2 is an illustrative structural diagram of a finger according to an embodiment of the present invention, where the finger shell is removed.

[0036] Fig. 3 is a cross-sectional view of a finger according to an embodiment of the present invention.

[0037] The [Fig.4] is an illustrative structural diagram of a finger element according to an embodiment of the present invention.

[0038] Fig. 5 is an illustrative structural diagram of a finger shell according to an embodiment of the present invention.

[0039] Fig. 6 is an illustrative structural diagram of a finger according to an embodiment of the present invention, where the extension finger is removed.

[0040] Fig. 7 is an illustrative structural diagram of a resistance adjustment mechanism according to an embodiment of the present invention.

[0041] Fig. 8 is a diagram of a method for controlling a finger according to an embodiment of the present invention.

[0042] Presentation of numerical references:

[0043] 10, mounting frame; 20, finger shell; 30, finger element; 40, assembly drive; 41, second drive element; 411, screw; 42, connecting element; 421, threaded hole; 50, base; 60, first drive element; 70, resistance adjustment mechanism; 80, extension finger. Detailed description of the implementation methods

[0044] In order to make the object, the technical solution, and the advantages of the present invention clearer and more precise, it is described in more detail below with examples and reference to the figures. It should be understood that the specific examples described herein serve only to explain the present invention and do not limit it.

[0045] With reference to Figures 1 to 7, the present invention provides several examples of the realization of a finger.

[0046] As illustrated in Figures 1 and 2, a finger according to the present invention comprises:

[0047] a mounting frame 10;

[0048] a finger shell 20, rotatably arranged on the mounting frame 10;

[0049] a finger element 30, rotatably arranged on the mounting frame 10, located inside the finger shell 20 and sliding inside it;

[0050] a drive assembly 40, intended to drive the finger element 30 to slide relative to the finger shell 20, so that the finger shell 20 and the finger element 30 are rotated relative to the mounting frame 10.

[0051] In concrete terms, the mounting frame 10 allows the finger to be mounted on other structures, for example, the mounting frame 10 is mounted on the base 50. The finger shell 20 and the finger element 30 form a phalanx, the finger shell 20 and the finger element 30 both being rotationally connected to the mounting frame 10, the finger element 30 being located inside the finger shell 20 and sliding inside it (as illustrated in Figures 3, 4 and 5). When the finger shell 20 and the finger element 30 are both rotating relative to the mounting frame 10, the finger element 30 slides relative to the finger shell 20; Conversely, when the finger element 30 slides relative to the finger shell 20, both the finger shell 20 and the finger element 30 are rotating relative to the mounting frame 10.The drive assembly 40 causes the finger element 30 to slide relative to the finger shell 20, thereby rotating both the finger shell 20 and the finger element 30 relative to the mounting frame 10, thus rotating the phalanx formed by the finger shell 20 and the finger element 30. The drive assembly 40 can be mounted on the finger element 30 or on the finger shell 20, without needing to be mounted on the mounting frame 10, so that the entire finger structure is more compact and does not occupy space for other structures.

[0052] The drive assembly 40 is intended to drive the finger element 30 to slide relative to the finger shell 20, and does not directly drive the rotation of the finger shell 20 or the finger element 30 relative to the mounting frame 10. The drive assembly 40, by driving the finger element 30 to slide relative to the finger shell 20, indirectly drives the rotation of both the finger shell 20 and the finger element 30 relative to the mounting frame 10, which allows the use of different types of drive assemblies 40 to achieve the rotation of the finger and offers greater diversity in the arrangement of the structure.

[0053] In a preferred embodiment of an example of the present invention, as illustrated in Figures 1 to 3, the finger further comprises:

[0054] a base 50, rotatably connected to the mounting chassis 10;

[0055] a first drive element 60, arranged on the base 50;

[0056] in which the first drive element 60 is intended to drive the rotation of the mounting frame 10.

[0057] 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 disposed on the base 50, connected to the mounting frame 10. and intended to drive the rotation of the mounting frame 10 relative to the base 50. The drive assembly 40 can be mounted on the phalanx, while the first drive element 60 is mounted on the base 50, so that the drive assembly 40 and the first drive element 60 are mounted in different locations, which disperses the drive mechanism and further promotes the arrangement of the structure.

[0058] In a preferred embodiment of an example of the present invention, as illustrated in Figures 1 and 2, the direction of rotation of the base 50 with respect to the mounting frame 10 is perpendicular to the direction of rotation of the finger shell 20 with respect to the mounting frame 10.

[0059] In concrete terms, the direction of rotation of the mounting frame 10 with respect to the base 50 is a first direction, while the direction of rotation of the finger shell 20 or the finger element 30 with respect to the mounting frame 10 is a second direction, the first direction and the second direction being different, for example, the first direction being perpendicular to the second direction.

[0060] In a preferred embodiment of an example of the present invention, as illustrated in Figures 6 and 7, a resistance adjustment mechanism 70 is disposed on the base 50, the resistance adjustment mechanism 70 being intended to adjust the resistance to rotation of the mounting frame 10 relative to the base 50.

[0061] In concrete terms, the base 50 is provided with the resistance adjustment mechanism 70, and the resistance to the rotation of the mounting frame 10 relative to the base 50 is adjusted by means of the resistance adjustment mechanism 70, so as to adjust the degree of difficulty of the rotation of the mounting frame 10 relative to the base 50, and to make the rotation of the mounting frame 10 relative to the base 50 more stable and more reliable.

[0062] In a preferred embodiment of an example of the present invention, as illustrated in Figures 1 to 3, the first drive member 60 is a folded motor.

[0063] In practical terms, depending on the motor's arrangement, it can be classified as a linearly arranged, folded, or vertically arranged motor. In a linearly arranged motor, the main structure and the output shaft are located on the same axis. A folded-arrangement motor (also called a folding motor) or a vertically arranged motor comprises a main structure and a transmission structure, with the output shaft located on the transmission structure. In a folded-arrangement motor, the main structure is parallel to the output shaft, while in a vertically arranged motor, the main structure is perpendicular to the output shaft. The first drive element 60 can be a folded engine, which occupies less space and promotes better structural arrangement.

[0064] In a preferred embodiment of an example of the present invention, as illustrated in Figures 1 to 3, the drive assembly 40 comprises:

[0065] a second drive member 41, disposed on the finger element 30;

[0066] a connecting element 42, connected to the finger shell 20;

[0067] in which the second drive member 41 causes the connecting element 42 to move relative to the finger element 30.

[0068] In concrete terms, the connecting element 42 is disposed on the finger shell 20 and the second drive member 41 is disposed on the finger element 30. As the second drive member 41 is intended to drive the connecting element 42 to move relative to the finger element 30, which also causes the finger shell 20 to move relative to the finger element 30, the finger element 30 slides inside the finger shell 20.

[0069] The second drive member 41 can be an extendable drive member, for example an extendable electric actuator. The output shaft of the extendable drive member can extend or retract, and the output shaft of the extendable drive member is connected to the connecting element 42, thereby changing the gap between the connecting element 42 and the finger element 30, so as to enable the finger element 30 to slide inside the finger housing 20.

[0070] In a preferred embodiment of an example of the present invention, as illustrated in Figures 2, 3 and 6, the output shaft of the second drive member 41 is provided with a screw 411#; the connecting element 42 is provided with a threaded hole 421, the threaded hole 421 being in threaded connection with the screw 411.

[0071] Specifically, the second drive member 41 causes the rotation of the screw 411#; since the connecting element 42 is fixed relative to the finger housing 20, when the screw 411 rotates, the position of the connecting element 42 on the screw 411 changes, thus modifying the distance between the second drive member 41 and the connecting element 42, which causes the finger element 30 to slide relative to the finger housing 20. The screw 411 and the connecting element 42 transform the rotation of the output shaft of the second drive member 41 into a relative displacement between the connecting element 42 and the second drive member 41.

[0072] In one embodiment of an example of the present invention, as illustrated in Figures 1 to 3, the finger further comprises#:

[0073] an extension finger 80, respectively rotationally connected to the finger shell 20 and to the finger element 30.

[0074] Specifically, the extension finger 80 constitutes an extended phalanx from the phalanx formed by the finger shell 20 and the finger element 30. The The extension finger 80 is rotationally connected to the finger housing 20 and the finger element 30. When the finger housing 20 and the finger element 30 slide relative to each other, the extension finger 80 rotates relative to the finger housing 20 (or the finger element 30). By means of the drive assembly 40, which causes the finger housing 20 (or the finger element 30) to rotate relative to the mounting frame 10, and also causes the extension finger 80 to rotate relative to the finger housing 20 (or the finger element 30), the finger is brought into a flexed position.

[0075] Based on a finger according to any one of the examples described above, the present invention also provides a preferred example of a finger control method#:

[0076] As illustrated in [Fig.8], the finger control method of the present invention comprises the following steps#:

[0077] Step S100#: Control the drive assembly to drive the finger element to slide relative to the finger shell, so as to rotate the finger shell and the finger element relative to the mounting frame.

[0078] Specifically, by controlling the drive assembly so that the finger element slides relative to the finger housing, both the finger housing and the finger element rotate relative to the mounting frame, thus rotating the finger, which is in a flexed or extended state. When the finger is in an extended state, the degree of flexing of the finger will be greater.

[0079] Step S100 specifically includes#:

[0080] step SI 10#: receive a bending command and control the second drive member to be in rotation in the forward direction, so as to bring the connecting element of the second drive member closer.

[0081] step S120#: receive an extension command and control the second drive member to be rotating in the opposite direction, so as to move the linking element away from the second drive member.

[0082] Specifically, when finger flexion is required, a flexion command is issued. According to the flexion command, the second drive member is controlled to rotate in the forward direction, thus bringing the connecting element of the second drive member closer together. Both the finger housing and the finger element rotate in the forward direction relative to the mounting frame, and the finger is flexed. When finger extension is required, an extension command is issued. According to the extension command, the second drive member is controlled to rotate in the opposite direction, thus moving the connecting element of the second drive member away. Both the finger housing and the finger element rotate in the opposite direction relative to the mounting frame, and the finger is extended.

[0083] The finger control method further comprises#:

[0084] step S200#: control the first drive element to drive the rotation of the mounting frame relative to the base.

[0085] Specifically, by controlling the first drive element to rotate the mounting frame relative to the base, the orientation of the finger is changed. Steps S100 and S200 can be performed separately or simultaneously. In combination, the finger can assume various different positions.

[0086] Based on a finger according to any one of the examples described above, the present invention also provides an example of a mechanical hand#:

[0087] The mechanical hand of the present invention comprises the finger according to any one of the examples described above.

[0088] Based on a mechanical finger or hand according to any of the examples described above, the present invention also provides an example of a robot#:

[0089] The robot of the present invention comprises the finger according to any one of the examples described above, or the mechanical hand according to any one of the examples described above.

[0090] It should be understood that the application of the present invention is not limited to the examples described above. For those skilled in the art, modifications or variations may be made based on the above description, and all such modifications and variations shall be considered to fall within the scope of protection of the claims annexed to the present invention.

Claims

Demands

1. Finger, characterized in that it comprises: a mounting frame; a finger shell, rotatably arranged on the mounting frame; a finger element, rotatably arranged on the mounting frame, located inside the finger shell and sliding inside it; a drive assembly, intended to drive the finger element to slide relative to the finger shell, so that the finger shell and the finger element are rotated relative to the mounting frame.

2. Finger according to claim 1, characterized in that it further comprises: a base, rotatably connected to the mounting frame; a first drive member, disposed on the base; wherein the first drive member is intended to drive the rotation of the mounting frame.

3. Finger according to claim 2, characterized in that the direction of rotation of the base relative to the mounting frame is perpendicular to the direction of rotation of the finger shell relative to the mounting frame.

4. Finger according to claim 2, characterized in that a resistance adjustment mechanism is disposed on the base, the resistance adjustment mechanism being intended to adjust the resistance to rotation of the mounting frame relative to the base.

5. Finger according to claim 2, characterized in that the first drive member is a folded motor.

6. Finger according to any one of claims 1 to 5, characterized in that the drive assembly comprises: a second drive member, disposed on the finger element; a linking element, connected to the finger shell; wherein the second drive member drives the linking element to move relative to the finger element.

7. Finger according to claim 6, characterized in that an output shaft of the second drive member is provided with a screw; and in that the connecting element is provided with a threaded hole, the threaded hole being in threaded connection with the screw.

8. Finger according to any one of claims 1 to 5, characterized in that the finger further comprises: an extension finger, respectively rotationally connected to the finger shell and to the finger element.

9. Method of controlling a finger according to any one of claims 1 to 8, comprising the step of: controlling the drive assembly to cause the finger element to slide relative to the finger shell, so that the finger shell and the finger element pivot relative to the mounting frame.

10. A method according to claim 9, further comprising the step of: controlling the first drive assembly to drive the mounting frame to pivot relative to the base.

11. Mechanical hand, characterized in that it includes the finger according to any one of claims 1 to 8.

12. Robot, characterized in that it comprises the finger according to any one of claims 1 to 8, or the mechanical hand according to claim 11.

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