Robot hand fingers, robot hand and robot

Abstract

To provide a robot hand finger, a robot hand, and a robot. [Solution] The finger of the robot hand includes a mounting frame (10), a fingerstall (20) rotatably mounted on the mounting frame, a finger (30) rotatably mounted on the mounting frame and positioned and sliding within the fingerstall, and a drive assembly (40) for driving the finger to slide relative to the fingerstall so that the fingerstall and finger rotate relative to the mounting frame. The drive assembly slides the finger relative to the fingerstall and rotates both the fingerstall and the finger relative to the mounting frame, thereby realizing rotation of the finger joint formed by the fingerstall and the finger. Because the drive assembly can be attached to the fingers or the fingerstall and does not need to be attached to the mounting frame, the overall structure of the finger is more compact and does not occupy space for other structures.

Description

[Technical Field]

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

[0002] Robotic hands are typically manufactured to mimic the human hand, with the fingers having multiple knuckles that are connected in a rotatable manner to allow the fingers to flex and extend.

[0003] In the prior art, the rotation of the finger joints of a robotic hand is mainly achieved by a drive structure, which is usually mounted on the palm of the robotic hand, and the finger drive structure occupies space on the palm, resulting in uneven distribution of the structure. Therefore, there is room for further improvement and development in the prior art. Summary of the Invention [Problem to be solved by the invention]

[0004] In view of the above-mentioned shortcomings of the prior art, the present invention aims to provide a robotic hand finger, a robotic hand, and a robot, which solves the problem in the prior art that the drive structure of the fingers of a robotic hand occupies space on the palm and results in uneven structural distribution. [Means for solving the problem]

[0005] In order to solve the above problems, the fingers of the robot hand according to the present disclosure include: A mounting frame and a finger cot rotatably attached to the mounting frame; a finger portion rotatably provided on the mounting frame, positioned within the finger sack, and sliding within the finger sack; a drive assembly for driving the fingers to slide relative to the fingerstall so that the fingerstall and the fingers rotate relative to the mounting frame.

[0006] According to one embodiment, the fingers of the robotic hand include: a base rotatably connected to the mounting frame; a first driving element provided on the base, The first driving element is used to drive the mounting frame to rotate.

[0007] Furthermore, the rotation direction of the base relative to the mounting frame is perpendicular to the rotation direction of the fingerstall relative to the mounting frame.

[0008] Furthermore, the base is provided with a resistance adjustment structure, which is used to adjust the resistance force when the mounting frame rotates relative to the base.

[0009] Furthermore, the first driving element employs a folding motor.

[0010] Further, the drive assembly a second driving element provided on the finger portion; a connecting part connected to the finger cot, The second drive element drives the connecting piece to move relative to the finger.

[0011] Furthermore, a screw rod is provided on the output shaft of the second driving element, The connecting part has a screw hole, and the screw hole and the screw rod are screwed together by a screw.

[0012] Furthermore, the fingers of the robotic hand further include extension fingers rotatably connected to the fingerstall and the finger portions, respectively.

[0013] In addition, a method for controlling fingers of a robot hand according to the present disclosure includes a step of controlling a drive assembly to slide the fingers relative to a fingerstall, thereby rotating the fingerstall and the fingers relative to a mounting frame.

[0014] According to one embodiment, the method for controlling fingers of a robot hand further includes a step of controlling a first driving element to drive the mounting frame with the first driving element to rotate relative to a base.

[0015] A robotic hand according to the present disclosure includes a finger of the robotic hand according to any one of the above aspects.

[0016] Furthermore, a robot according to the present disclosure includes a finger of the robot hand according to any one of the above aspects, or a robot hand as described above. [Effects of the Invention]

[0017] According to the present disclosure, the drive assembly slides the finger relative to the finger stall, rotating both the finger stall and the finger relative to the mounting frame, thereby realizing rotation of the finger joint formed by the finger stall and the finger. Because the drive assembly can be attached to the finger or the finger stall and does not need to be attached to the mounting frame, the overall finger structure is more compact and does not occupy space for other structures. [Brief explanation of the drawings]

[0018] [Figure 1] 1 is a schematic diagram of the structure of a finger of a robot hand according to an embodiment of the present invention; [Figure 2] 1 is a schematic structural view of a robot hand according to an embodiment of the present invention after the fingers have had their finger cots removed; FIG. [Figure 3] 1 is a cross-sectional view of a finger of a robot hand according to an embodiment of the present invention. [Figure 4] 3 is a schematic diagram of the structure of a finger according to an embodiment of the present invention; [Figure 5] 1 is a schematic diagram of the structure of a finger cot according to an embodiment of the present invention; [Figure 6] 1 is a schematic diagram of the structure of the robot hand after the extension fingers are removed in an embodiment of the present invention; FIG. [Figure 7]2 is a structural schematic diagram of a resistance adjusting structure according to an embodiment of the present invention; [Figure 8] 1 is a flowchart of a method for controlling fingers of a robot hand according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0019] In order to clarify the purpose, technical contents and advantages of the present invention, the present invention will be described in more detail below with reference to the accompanying drawings. Note that the specific examples described here are only for the purpose of illustrating the present invention and are not intended to limit the present invention.

[0020] As can be seen from FIGS. 1 to 7, the present invention provides several embodiments of fingers for a robotic hand.

[0021] As shown in FIGS. 1 and 2, the fingers of the robot hand according to the present invention are: a mounting frame 10; A finger cot (20) rotatably attached to the mounting frame (10); a finger portion 30 rotatably provided on the mounting frame 10, positioned within the finger sack 20, and sliding within the finger sack 20; and a drive assembly 40 for driving the finger portion 30 to slide relative to the finger portion 20 so that the finger portion 30 rotates relative to the mounting frame 10.

[0022] Specifically, the mounting frame 10 is used to attach the fingers of the robot hand to another structure. For example, the mounting frame 10 is attached to a base 50. The fingerstall 20 and the fingers 30 form a single knuckle. Both the fingerstall 20 and the fingers 30 are rotatably connected to the mounting frame 10. Furthermore, the fingers 30 are positioned within the fingerstall 20 and slide within the fingerstall 20 (as shown in FIGS. 3, 4, and 5). When both the fingerstall 20 and the fingers 30 rotate relative to the mounting frame 10, the fingers 30 slide relative to the fingerstall 20. Conversely, when the fingers 30 slide relative to the fingerstall 20, both the fingerstall 20 and the fingers 30 rotate relative to the mounting frame 10. The drive assembly 40 allows the finger 30 to slide relative to the finger stall 20, thereby allowing both the finger stall 20 and the finger 30 to rotate relative to the mounting frame 10 and further allowing the finger joints formed by the finger stall 20 and the finger 30 to rotate. Because the drive assembly 40 can be attached to the finger 30 or the finger stall 20 and does not need to be attached to the mounting frame 10, the overall finger structure is more compact and does not occupy space for other structures.

[0023] The drive assembly 40 is used to slide the finger 30 relative to the finger stall 20, but does not directly rotate the finger stall 20 or the finger 30 relative to the mounting frame 10. By driving the finger 30 to slide relative to the finger stall 20, the drive assembly 40 indirectly moves the finger stall 20 and the finger 30, causing both to rotate relative to the mounting frame 10. This makes it possible to employ drive assemblies 40 with different structures to achieve finger rotation, further diversifying the structural layout.

[0024] In a preferred embodiment of the present invention, as shown in FIGS. 1 to 3, the fingers of the robot hand further include: The mounting frame further includes a base 50 rotatably connected to the mounting frame 10 and a first driving element 60 provided on the base 50. Here, the first driving element 60 is used to drive the mounting frame 10 to rotate.

[0025] Specifically, the mounting frame 10 is assembled to a base 50 and is rotatable relative to the base 50. The first drive element 60 is provided on the base 50 and connected to the mounting frame 10 for rotating the mounting frame 10 relative to the base 50. The drive assembly 40 can be attached to a knuckle, and the first drive element 60 is attached to the base 50. In this way, the drive assembly 40 and the first drive element 60 are attached to different positions to distribute the drive structure, which can further optimize the structural layout.

[0026] In one preferred embodiment of the present invention, as shown in FIGS. 1 and 2, the direction in which the base 50 rotates relative to the mounting frame 10 is perpendicular to the direction in which the fingerstall 20 rotates relative to the mounting frame 10.

[0027] Specifically, if the rotation direction of the mounting frame 10 relative to the base 50 is defined as the first direction, and the rotation direction of the finger cot 20 or finger portion 30 relative to the mounting frame 10 is defined as the second direction, the first direction and the second direction are different directions, for example, the first direction is perpendicular to the second direction.

[0028] 6 and 7, the base 50 is provided with a resistance adjustment structure 70. The resistance adjustment structure 70 is used to adjust the resistance force when the mounting frame 10 rotates relative to the base 50.

[0029] Specifically, a resistance adjustment structure 70 is provided on the base 50, and the resistance adjustment structure 70 adjusts the resistance to rotation of the mounting frame 10 relative to the base 50, thereby adjusting the difficulty of the mounting frame 10 rotating relative to the base 50 and making the rotation of the mounting frame 10 relative to the base 50 more stable and reliable.

[0030] In one preferred embodiment of the present invention, as shown in FIGS. 1 to 3, the first driving element 60 employs a folding motor.

[0031] Specifically, motors can be classified into linear, folded (folding) and vertical types based on the motor arrangement. In linear motors, the main body and the output shaft are coaxial. A folded motor (also called a folding motor) or vertical motor includes a main body and a transmission structure. The transmission structure has an output shaft. In folded motors, the main body and the output shaft are parallel to each other. In vertical motors, the main body is perpendicular to the output shaft. The first driving element 60 can be a folding motor. A folding motor occupies less space and has more advantageous structural layout.

[0032] In one preferred embodiment of the present invention, as shown in FIGS. 1 to 3, the drive assembly 40 includes a second drive element 41 provided on the finger portion 30 and a connecting part 42 connected to the finger cot 20. Here, the second driving element 41 drives the connecting piece 42 to move it relative to the finger 30 .

[0033] Specifically, the connecting part 42 is provided on the fingerstall 20, and the second driving element 41 is provided on the finger portion 30. When the second driving element 41 moves the connecting part 42 relative to the finger portion 30, the fingerstall 20 is moved relative to the finger portion 30, and the finger portion 30 slides within the fingerstall 20.

[0034] The second driving element 41 can be a telescopic driving element (for example, a telescopic electric cylinder). The output shaft of the telescopic driving element is telescopic and connected to the connecting part 42. By changing the distance between the connecting part 42 and the finger 30, the finger 30 can slide within the finger stall 20.

[0035] In one preferred embodiment of the present invention, as shown in Figures 2, 3 and 6, the output shaft of the second driving element 41 is provided with a screw rod 411, the connecting part 42 is provided with a threaded hole 421, and the threaded hole 421 and the screw rod 411 are screwed together.

[0036] Specifically, when second drive element 41 rotates screw rod 411, connecting part 42 is fixed to finger stall 20, so when screw rod 411 rotates, the position of connecting part 42 on screw rod 411 changes, and the distance between second drive element 41 and connecting part 42 changes. This causes finger 30 to slide relative to finger stall 20. Screw rod 411 and connecting part 42 convert the rotational movement of the output shaft of second drive element 41 into relative movement between connecting part 42 and second drive element 41.

[0037] In one preferred embodiment of the present invention, as shown in FIGS. 1 to 3, the fingers of the robot hand further include extension fingers 80 rotatably connected to the fingerstall 20 and the finger portion 30, respectively.

[0038] Specifically, the extended finger 80 is an extended finger joint based on the finger joint formed by the finger stall 20 and the finger portion 30. The extended finger 80 is rotatably connected to each of the finger stall 20 and the finger portion 30. When the finger stall 20 and the finger portion 30 slide relative to each other, the extended finger 80 rotates relative to the finger stall 20 (or the finger portion 30), and the drive assembly 40 moves the finger stall 20 (or the finger portion 30) to rotate it relative to the mounting frame 10, while simultaneously rotating the extended finger 80 relative to the finger stall 20 (or the finger portion 30). This causes the fingers of the robot hand to bend.

[0039] Based on the finger of the robot hand described in any one of the above embodiments, the present invention further provides a method for controlling the finger of the robot hand.

[0040] As shown in FIG. 8, the method for controlling fingers of a robot hand of the present invention includes the following step S100. In step S100, the drive assembly is controlled to drive the fingers to slide relative to the fingerstall, thereby rotating the fingerstall and the fingers relative to the mounting frame.

[0041] Specifically, when the drive assembly is controlled to slide the fingers relative to the fingerstall, both the fingerstall and the fingers rotate relative to the mounting frame, realizing rotation of the fingers of the robotic hand to assume a flexed or extended state. When extended fingers are provided, the degree of flexion of the fingers of the robotic hand is greater.

[0042] The above step S100 specifically includes the following substeps: In step S110, a bending command is received, and the second driving element is driven to rotate in the positive direction, thereby bringing the connecting part closer to the second driving element. In step S120, an extension command is received, and the second drive element is driven to rotate in the opposite direction, thereby moving the connecting part away from the second drive element.

[0043] Specifically, when the fingers of the robot hand need to be bent, a bending command is transmitted. When the second drive element is rotated in the forward direction based on the bending command, the connecting part and the second drive element move closer to each other, both the finger cot and the finger portion rotate in the forward direction relative to the mounting frame, and the fingers of the robot hand are bent. When the fingers of the robot hand need to be extended, an extension command is transmitted. When the second drive element is rotated in the reverse direction based on the extension command, the connecting part and the second drive element move away from each other, both the finger cot and the finger portion rotate in the reverse direction relative to the mounting frame, and the fingers of the robot hand are extended.

[0044] The above-described method for controlling the fingers of a robot hand further includes the following step S200. In step S200, the first driving element is controlled to drive the mounting frame with the first driving element to rotate it relative to the base.

[0045] More specifically, the orientation of the fingers of the robot hand 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. By combining the two, the fingers of the robot hand can form a plurality of different postures.

[0046] Based on the fingers of the robot hand described in any one of the above embodiments, the present invention further provides a robot hand.

[0047] The robot hand of the present invention includes the fingers of the robot hand described in any one of the above embodiments.

[0048] Based on the robotic finger or robotic hand described in any one of the above embodiments, the present invention further provides a robot.

[0049] The robot of the present invention includes the finger of the robot hand described in any one of the above embodiments, or the robot hand described in any one of the above embodiments.

[0050] The scope of protection of the present invention is not limited to the above examples, and those skilled in the art may make improvements or modifications based on the above description, and all such improvements and modifications should be included in the scope of the utility model claims attached to the present invention. [Explanation of symbols]

[0051] 10 Mounting frame 20 Finger Cots 30 fingers 40 Drive Assembly 41 second driving element 411 Screw Rod 42 Connecting parts 421 screw hole 50 bases 60 first driving element 70 resistance adjustment structure 80 Extended Fingers

Claims

1. A finger of a robotic hand, A mounting frame and a finger cot rotatably attached to the mounting frame; a finger portion rotatably provided on the mounting frame, positioned within the finger sack, and sliding within the finger sack; a drive assembly for driving the fingers to slide relative to the fingerstall such that the fingerstall and the fingers rotate relative to the mounting frame; 1. A robotic hand comprising:

2. The fingers of the robotic hand a base rotatably connected to the mounting frame; a first driving element provided on the base, The robot hand finger according to claim 1 , wherein the first driving element is used to drive the mounting frame to rotate.

3. 3. The finger of the robot hand according to claim 2, wherein the rotation direction of the base relative to the mounting frame is perpendicular to the rotation direction of the fingerstall relative to the mounting frame.

4. The base is provided with a resistance adjustment structure, 3. The finger of the robot hand according to claim 2, wherein the resistance adjustment structure is used to adjust the resistance force when the mounting frame rotates relative to the base.

5. The robot hand finger according to claim 2 , wherein the first driving element employs a folding motor.

6. The drive assembly includes: a second driving element provided on the finger portion; a connecting part connected to the finger cot, The robot hand finger according to claim 1 , wherein the second driving element drives the connecting part to move relative to the finger portion.

7. a screw rod is provided on the output shaft of the second driving element; The connecting part is provided with a screw hole, The finger of the robot hand according to claim 6, wherein the screw hole and the screw rod are threadedly engaged with a screw.

8. The finger of the robot hand according to claim 1 , further comprising an extension finger rotatably connected to the finger cot and the finger portion, respectively.

9. A robot hand, comprising the fingers of the robot hand according to any one of claims 1 to 8.

10. A robot comprising the robot hand according to claim 9.

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