WO2019183908A1

WO2019183908A1 - Mechanical finger and manipulator

Info

Publication number: WO2019183908A1
Application number: PCT/CN2018/081215
Authority: WO
Inventors: 汪志康; 张洪铨; 申杰; 徐熠; 胡德民; 张�浩
Original assignee: 深圳蓝胖子机器人有限公司
Priority date: 2018-03-30
Filing date: 2018-03-30
Publication date: 2019-10-03
Also published as: CN111344122A

Abstract

A mechanical finger and a manipulator. The mechanical finger comprises a base (20), a finger mechanism (10), and at least one flexion and extension driving mechanism (21). The finger mechanism (10) comprises at least two sequentially hinged finger segments (11), wherein the finger segment mounted on the base (20) is a base finger segment (11a), and the finger segment away from the base finger segment (11a) at the other end of the finger mechanism (10) is a fingertip (11c). The at least one flexion and extension driving mechanism (21) is disposed inside the base (20), and one flexion and extension driving mechanism (21) correspondingly drives one finger segment to rotate in a forward or reverse direction with respect to another finger segment hinged thereto and positioned closer to a base side of the finger mechanism. In the above manner, it is possible to precisely control the finger segments and achieve more grabbing and holding postures.

Description

a mechanical finger and robot

【技术领域】[Technical Field]

The present application relates to the field of robots, and in particular to a mechanical finger and a robot.

【背景技术】【Background technique】

With the development of artificial intelligence, the requirements for machines that simulate human motion are becoming higher and higher. The mechanical finger is used to simulate the function of the human finger. Because the mechanical finger not only needs to grasp the target, but also needs to have a good grip function, it can have better handling performance on the target, in order to achieve flexibility close to human fingers. Degree and precision.

【发明内容】 [Summary of the Invention]

The technical problem mainly solved by the present application is to provide a mechanical finger and a robot capable of accurately controlling the knuckles and having more grasping postures.

In order to solve the above technical problem, one technical solution adopted by the present application is to provide a mechanical finger. The mechanical finger comprises a base, a finger mechanism, at least one set of flexion and extension drive mechanism, the finger mechanism comprises at least two knuckles hingedly connected in sequence, the knuckles mounted on the base are tail end knuckles, and the finger mechanism is away from the tail end finger The other end of the knuckle is a fingertip; at least one set of flexion and extension driving mechanism is disposed in the base, and a set of flexing and driving mechanisms correspondingly drive a knuckle hinged relative thereto and facing the side of the tail end of the finger mechanism The knuckles are rotated in the forward or reverse direction.

In order to solve the above technical problem, another technical solution adopted by the present application is to provide a robot. The robot includes a plurality of mechanical fingers as described above, and a plurality of mechanical fingers form a robot by sequential splicing.

The beneficial effects of the present application are: Different from the prior art, the present application discloses a mechanical finger and a robot. The mechanical finger comprises a base, a finger mechanism, at least one set of flexion and extension drive mechanism, the finger mechanism comprises at least two knuckles hingedly connected in sequence, the knuckles mounted on the base are tail end knuckles, and the finger mechanism is away from the tail end finger The other end of the knuckle is a fingertip; at least one set of flexion and extension driving mechanism is disposed in the base, and a set of flexing and driving mechanisms correspondingly drive a knuckle hinged relative thereto and facing the side of the tail end of the finger mechanism The knuckles are rotated in the forward or reverse direction. In the above manner, the present application uses an independent driving mechanism for forward or directional driving of each phalanx except the distal phalanx, thereby accurately controlling the phalanx except the distal phalanx, thereby The knuckle can be controlled to drive in a single direction, and the knuckle of the mechanical finger of the present application is controlled with higher precision. The mechanical finger of the present application has a more flexible, diverse, controllable and accurate grasping posture.

【附图说明】 [Description of the Drawings]

1 is a schematic structural view of an embodiment of a mechanical finger provided by the present application;

Figure 2 is a schematic view showing the internal structure of the mechanical finger in the embodiment of Figure 1;

Figure 3 is a schematic structural view of a finger mechanism in the embodiment of Figure 1;

Figure 4 is a schematic view showing the internal structure of the finger mechanism in the embodiment of Figure 1;

Figure 5 is a schematic side view showing the structure of the finger mechanism of the embodiment of Figure 1;

Figure 6 is a schematic view showing the structure of the retracting mechanism and the guiding mechanism in the embodiment of Figure 1;

Figure 7 is a schematic structural view of a reel assembly in the retracting mechanism of the embodiment of Figure 6;

Figure 8 is another schematic structural view of the reel assembly and the reel assembly in the retracting mechanism of the embodiment of Figure 6;

Figure 9 is a schematic structural view of the guiding mechanism in the embodiment of Figure 6;

Figure 10 is a top plan view showing the guiding mechanism of the embodiment of Figure 6;

Figure 11 is a schematic view showing the structure of the rotary drive mechanism, the connecting block, the rotating shaft and the guiding block in the embodiment of Figure 1;

Figure 12 is a schematic structural view of a connecting block in the embodiment of Figure 11;

Figure 13 is a top plan view of the guiding block in the embodiment of Figure 11;

Figure 14 is a schematic structural view of a guiding block in the embodiment of Figure 11;

FIG. 15 is a schematic structural view of an embodiment of a manipulator provided by the present application.

【具体实施方式】【detailed description】

Referring to FIG. 1, a schematic structural view of an embodiment of a mechanical finger provided by the present application.

Referring to FIGS. 2 and 3, the mechanical finger includes a base 20 and a finger mechanism 10, and the finger mechanism 10 is mounted on the base 20. The finger mechanism 10 includes at least two knuckles 11 that are hinged in sequence, the knuckles mounted on the base 20 being the tail end knuckles 11a, and the other end knuckles on the finger mechanism 10 remote from the trailing end phalanx 11a being the finger tips 11c. The base 20 includes at least one set of flexion drive mechanisms 21, and a set of flexion drive mechanisms 21 correspondingly drive a knuckle 11 to be hinged relative thereto and toward the phalanx 11 on the side of the trailing end of the finger mechanism 10. Rotate in the opposite direction.

In the present embodiment, the number of the flexion and extension drive mechanisms 21 is the same as the number of the phalanx 11 except the distal end phalanx 11a of the finger mechanism 10, and the corresponding phalanx 11 other than the distal end phalanx 11a is independently driven to perform positive Rotate in the opposite direction. In another embodiment, the end knuckle 11a is rotationally coupled to the base 20, such as hinged, and the number of flexion and extension drive mechanisms 21 is the same as the number of phalanx 11 in the finger mechanism 10, and the corresponding phalanx 11 is independently driven. Perform a forward or reverse rotation.

Optionally, each set of flexion and extension drive mechanism 21 includes a first motor 211 and a drive cable 212. One end of the drive cable 212 is connected to the first motor 211, and the other end is connected to the corresponding knuckle 212. The first motor 211 passes through the traction drive cable 212. The corresponding phalanx 11 is rotated in a forward or reverse direction with respect to the phalanx 11 hinged thereto and facing the tail end of the finger mechanism 10, thereby realizing the buckling or stretching action of the finger mechanism 10. The flexion and extension drive mechanism 21 can also drive the corresponding knuckles for forward or reverse rotation in other manners, such as a gear transmission shaft system, a linkage system, and the like.

For example, the number of the transmission ropes 212 is two. As shown in FIG. 4, the flexure transmission rope 212b and the extension transmission rope 212a are included. The extension transmission rope 212a and the flexion transmission rope 212b are driven by the first motor 211 to drive the corresponding knuckle 11 to extend and flex. . In another embodiment, if a driving rope 212 is used to drive the corresponding knuckle to rotate in the forward or reverse direction, the present application does not limit this.

Hereinafter, in order to facilitate understanding of the principles of the present invention, the finger mechanism 10 and the base 20 will be sequentially described in conjunction with specific embodiments.

In one embodiment, the finger mechanism 10 includes a trailing end knuckle 11a and a fingertip 11c that is rotatable relative to the trailing end knuckle 11a and the trailing end knuckle 11a is mounted to the base 20. As shown in Fig. 3, in the present embodiment, the finger mechanism 10 includes three knuckles 11 that are hinged in sequence: a tail end knuckle 11a, a middle knuckle 11b, and a fingertip 11c. The tail end knuckle 11a is designed in an "L" shape, and one end thereof is mounted on the base 20, and the other end is hinged to the middle knuckle 11b. In the example of Fig. 3, the other end phalanx 11 of the finger mechanism 10 remote from the trailing knuckle 11a is arranged to distinguish the fingertip 11c design of the other knuckles 11. In this manner, the fingertip 11c can provide the finger mechanism 10 to perform the "pinch" action more flexibly. In other ways, all knuckles 11 can be of a unified modular design. The tail end knuckle 11a at the end of the finger mechanism 10 is mounted on the base 20, and the knuckles 11 are rotatable relative to their hinged positions. In another embodiment, the central knuckle 11b can be added to adjust the number of knuckles 11 of the finger structure 10. There are various ways of connecting between the knuckles 11 and a connection manner similar to the rotation effect between the knuckles 11 in the present application is within the scope of protection of the present application.

Specifically, referring to FIG. 3, the bottom end knuckle 11a is attached to the base 20 at the bottom, and the knuckles 11 are connected by a shaft (not shown). For example, the end of the end phalanx 11a and the middle phalanx 11b near the fingertip 11c is provided with a first engaging portion 111, and the end of the fingertip 11c and the middle phalanx 11b near the end phalanx 11a is provided with a second engaging portion. 112, the first engaging portion 111 is engaged with the second engaging portion 112 and connected by a shaft, and the second engaging portion 112 is disposed outside the first engaging portion 111, so that the adjacent knuckles 11 are relatively rotatable. Further, the first engaging portion 111 and the second engaging portion 112 are designed as a matching structure such that the adjacent knuckles 11 can rotate in the forward direction and the direction, for example, the fingertips 11c are at a certain position (such as the fingertip 11c and When the middle phalanx 11b is in a straight state, the fingertip 11c can be rotated forward by 90 degrees with respect to the central phalanx 11b; while the fingertip 11c is still in this position, the fingertip 11c can also be rotated 90 degrees with respect to the central phalanx 11b. . Here, for example only, the present application does not limit the forward and reverse rotation angles between the knuckles 11.

Further, referring to FIG. 4, the knuckle 11 includes two fixing posts 113 and a plurality of first pulleys 114. One end of the extension driving rope 212a and the flexing transmission rope 212b is fixed to the corresponding fixing column 113 through a plurality of first pulleys. 114 is guided to the flexion and extension drive mechanism 21. The tail end knuckle 11a is not provided with the fixing post 113. If, in another embodiment, the end knuckle 11a is hinged to the base 20, the end knuckle 11a is also provided with a fixed post 113. A second pulley 115 is also provided at the hinge between the knuckles 11, and the drive cable 212 is also guided via the second pulley 115 to the next knuckle 11 adjacent to the trailing knuckle 11a.

Specifically, referring to FIG. 4, two fixing posts 113 are disposed in the knuckle 11. In this embodiment, a threaded hole is disposed in the knuckle 11 and is fixed in the threaded hole by screws and a section of the screw column is reserved as a The column 113 is fixed. The two fixing posts 113 are disposed in a dislocation manner, and each of them is correspondingly provided with a first pulley 114. After the two driving ropes 212 are guided by the corresponding first pulley guides 114, respectively, the adjacent lower fingers are guided from both sides of the second pulley 115 at the hinge. Section 11. For example, one end of the extension transmission cord 212a is fixed to the fixing post 113 on the side of the knuckle 11 near the grasping object, and one end of the flexure transmission cord 212b is fixed to the fixing post 113 on the side of the knuckle 11 away from the grasping object.

Correspondingly, a transmission rope passage 116 is further provided in the next knuckle 11, such as the extension line direction of the transmission rope passage 116 is tangent to the second pulley 115, or the transmission rope 212 is redirected along the other first pulley 114. The axis of the driveline passage 116 enters. The above arrangement can ensure that the transmission ropes 212 are isolated from each other in the knuckles 11 without interference, and the wear energy consumption of the transmission ropes 212 during the pulling process can be effectively reduced.

The shape of the end knuckle 11a is designed to be "L" shaped to increase the gripping space of the robot composed of a plurality of mechanical fingers 10. Thus, two sets of pulleys are provided in the end knuckle 11a. The two sets of pulleys include a plurality of first pulleys 114 that guide the corresponding drive strings 212 to the flexion and extension drive mechanism 21. For example, the pulley block corresponding to the flexure drive cable 212a includes three first pulleys 114 to guide the extension drive cable 212a to the flexion drive mechanism 21; the pulley block corresponding to the flexion drive cable 212b includes two first pulleys 114 to bias the flexure drive cable 212b The bending and extension driving mechanism 21 is guided. In another embodiment, the end knuckle 11a is designed to have other shapes for some effects, and the pulley block can be flexibly arranged to form a transmission rope passage. This application does not limit this and adopts a similar design concept. The designs are all within the scope of this application.

Optionally, referring to FIG. 5, the driving rope 212 connecting the fingertips 11c extends from the central knuckle 11b, and is also guided to the flexion and extension driving mechanism 21 via the corresponding driving rope passage 116 and the first pulley 114 on the tail end knuckle 11a. When the middle knuckle 11b is rotated relative to the distal end knuckle 11a, the connecting fingertip 11c and the transmission cord 212 of the buckling drive mechanism 21 may be loosened or tightened. When the fingertip 11c is driven, the first motor 211 is first rotated by a certain angle to eliminate The condition that the drive rope is slack or tight is not conducive to the operability of the mechanical finger. Thus, the central knuckle 11b and the drive line passage on the end knuckle 11a corresponding to the fingertip 11c are also connected by a spring sheath (not shown), the spring sheath at the middle knuckle 11b opposite the end knuckle 11a The rotation process can be flexibly deformed to support the transmission rope 212, and the tension state of the transmission rope 212 can be maintained, which facilitates the driving of the fingertip 11c by the first motor 211. In addition, a Teflon tube is disposed in the spring sheath to reduce wear between the drive shaft 212 and the spring sheath.

Further, an angle sensor (not shown) is disposed outside the second engaging portion 112 for detecting the rotation angle of the corresponding knuckle 11 to facilitate adjustment of the knuckle 11 . Further, a tactile sensor (not shown) and/or a distance sensor (not shown) are provided on the knuckle 11 . The tactile sensor is used to determine whether the phalanx 11 is in contact with the object, and can also be used to detect the distribution of force and the magnitude of the force after contacting the object. The distance sensor is used to detect the distance of the object from the phalanx, so that the mechanical finger can adjust the action of the finger mechanism 10 when grasping the object according to the detected data and grasp the object with a suitable force. In this embodiment, the tactile sensor and the distance sensor are integrated on one circuit board, disposed in the middle of the knuckle 11 and on the side for grasping the object. In other embodiments, the tactile sensor and the distance sensor may also be separately disposed on the phalanx 11 , which is not limited in this application.

Referring to FIG. 2, the drive cable 212 is guided to the flexion and extension drive mechanism 21 via the distal end knuckle 11a and is coupled to the first motor 211. The first motor 211 rotates forward, the traction extension transmission rope 212a is tightened, and the corresponding knuckle 11 is extended, and the flexion transmission rope 212b is relaxed, so that the corresponding knuckle 11 is extended; the first motor 211 is reversed, and the traction buckling transmission rope 212b is tightened. , the corresponding knuckle 11 is flexed, and the flexion transmission 212a is relaxed, so that the corresponding knuckle 11 is flexed.

In this embodiment, two flexion and extension driving mechanisms 21 are disposed in the base 20, and the central knuckle 11b and the fingertip 11c are driven to rotate in the forward and reverse directions.

Optionally, the mechanical finger further includes a retracting mechanism 22 coupled to the first motor 211, and one end of the extension transmission cord 212a and the flexion extension cord 212b are fixed to the retracting mechanism 22. The first motor 211 drives the retracting mechanism 22 to tighten and loosen the corresponding driving rope 212, and drives the knuckle 11 hinged with respect to the knuckle 11 and toward the knuckle 11 on the side of the tail end of the finger mechanism 10 to perform forward or reverse rotation. And a retracting mechanism 22 corresponds to a flexing and extension driving mechanism 21.

Referring to Figure 6, in one embodiment, the retracting mechanism 22 includes a reel assembly 221, the reel assembly 221 is coupled to the first motor 211, and the extension drive cable 212a and the flex drive cable 212b are secured and wrapped around the reel On component 221. Wherein, the extension drive line 212a and the flex drive line 212b are wound in opposite directions. For example, the retracting mechanism 22 includes a reel assembly 221 and a mounting frame 222. The reel assembly 221 has an integral structure and is rotatably mounted on the mounting frame 222. One end of the reel assembly 221 extends out of the mounting frame 222 and the first motor. 211 connection.

Optionally, referring to FIG. 7, the reel assembly 221 includes a shaft portion 2211 of a unitary structure, a first chuck portion 2212, a blocking portion 2213, and a second chuck portion 2214. The first chuck portion 2212 is blocked. The portion 2213 and the second chuck portion 2214 are both disposed on the shaft portion 2211, and the blocking portion 2213 is located between the first chuck portion 2212 and the second chuck portion 2214 to isolate the extension transmission cord 212a and the flexure transmission cord 212b. Each of the first chuck portion 2212 and the second chuck portion 2214 is provided with a card slot 2215 for accommodating the receiving drive cable 212.

The driving cable 212 is inserted into the slot 2215, and the end portion thereof is formed by winding or the like to form a large head which is stopped at the outer end of the slot 2215. By providing a screw hole beside the slot 2215, the mounting screw is blocked by the cover. The drive cable 212 slides out of the slot of the card slot 2213. For example, the extension drive cable 212a is inserted into the slot 2215 of the first chuck portion 2212, the end portion of which is wound into a knot to be stopped in the card slot 2215, and the extension drive cable 212a is wound around the first chuck portion 2212 and the barrier portion. The shaft portion 2211 between the 2213; the flexure transmission cord 212b is fixed and wound in the same manner as the extension transmission cord 212a, and the flexion transmission cord 212b is opposite to the winding direction of the extension transmission cord 212a.

Referring to FIG. 6 and FIG. 8 , in another embodiment, the retracting mechanism 22 further includes a rotating shaft assembly 223 , the reel assembly 224 is disposed on the rotating shaft assembly 223 , and the rotating shaft assembly 223 is coupled to the first motor 211 , and the rotating shaft assembly 223 The first motor 211 is rotated forward or reversed to cause the reel assembly 224 to tighten or loosen the drive cable 212. For example, the bobbin assembly 224 has a hollow shaft portion, and the reel assembly 224 is sleeved on the shaft assembly 223 and fixed to the shaft assembly 223 by screws or the like.

Further, the reel assembly 224 is of a segmented design and includes a first chuck portion 2241, a barrier portion 2242, and a second chuck portion 2243. The first chuck portion 2241 and the second chuck portion 2243 are disposed on the rotating shaft assembly 223. The end of the extended driving rope 212a is disposed on the first chuck portion 2241, and the flexing transmission rope 212b is disposed on the second chuck portion 2243. The baffle 2242 is used to block the extension drive line 212a and the flex drive line 212b.

Specifically, the structure of the first chuck portion 2241, the barrier portion 2242 and the second chuck portion 2243 is combined into the structure of the reel assembly 224 and the structure of the reel assembly 221 in the embodiment of FIG. 7, and details are not described herein. The segmented design facilitates the adjustment of the degree of tightness between the extension drive line 212a, the flexure drive line 212b and the corresponding knuckle 11 respectively. For example, when the tension of the extension drive cable 212a connecting the first chuck portion 2241 and the knuckle 11 is appropriate, the second chuck portion 2243 and the buckling transmission cord 212b of the corresponding knuckle 11 are connected to be too long, causing it to be in a relaxed state. The second chuck portion 2243 can be adjusted to be rotated at a proper angle around the rotating shaft assembly 223 and fixed so that the flexing transmission rope 212b is kept in a tightened state at all times.

The shaft assembly 223 includes a shaft portion 2231 and a connecting portion 2232 of a unitary structure. The bobbin assembly 224 is disposed on the shaft portion 2231. The connecting portion 2232 is coupled to the first motor 211, thereby driving the winding disc to rotate forward or reverse. The shaft portion 2231 has a regular quadrangular shape, and the shaft portion 2231 is inscribed with the hollow passage of the reel unit 224. The connecting portion 2232 is further provided with a bearing retaining ring for being rotatably disposed on the mounting frame 222 by a bearing. The first chuck portion 2241 and the second chuck portion 2243 are fixed to the shaft portion 2231 by screws or pins. Since the axial portion of the shaft portion 2231 is a regular quadrangle, the screw or the pin is fixed to the shaft portion 2231, and is also structurally The possibility that the spindle assembly 223 is rotated relative to the first chuck portion 2241 and the second chuck portion 2243 is restricted, that is, the shaft portion 2231 must be cut to rotate relative to the first chuck portion 2241 and the second chuck portion 2243.

The shape of the shaft portion 2231 is not limited to a regular quadrilateral, and may have various shapes such as a regular hexagon and a regular octagon. The cross-sectional shape of the shaft portion 2231 is a regular polygon, and the more the number of sides of the regular polygon, the smaller the angle at which the first chuck portion 2241 and the second chuck portion 2243 need to be adjusted when disposed on the shaft portion 2231, and it is advantageous at the same time. The first chuck portion 2241 and the second chuck portion 2243 adjust the corresponding drive cord 212. And a positioning structure may be disposed between the first chuck portion 2241, the blocking portion 2242, and the second chuck portion 2243 to further ensure their common axes.

Alternatively, in conjunction with FIG. 9, the mechanical finger further includes a guide mechanism 23 that includes a guide wheel 231 that is positioned such that the drive cable 212 remains tangent to the reel assembly 224. The guide mechanism 23 includes two guide wheels 231 that are axially stacked and offset along the spool assembly 224, which respectively correspond to the guide extension drive cable 212a and the flex drive cable 212b. The extension drive line 212a and the flex drive line 212b are guided from the finger structure 10 to the flexion drive mechanism 21, and the path guide mechanism 23 is coupled to the retraction mechanism 22.

In the present embodiment, in conjunction with FIG. 6, two retracting mechanisms 22 are disposed on both sides of the guiding mechanism 23. The guiding mechanism 23 includes four guiding wheels 231, and the two guiding wheels 231 corresponding to the same flexing and driving mechanism 21 are axially stacked and dislocated along the reel assembly 224 to extend the driving rope 212 reversing via the corresponding guiding wheel 231. The direction is tangent to the reel assembly 224. Further, referring to FIG. 9 and FIG. 10, the guiding mechanism 23 adopts a layered design, and the first layer guiding mechanism 23a and the second layer guiding mechanism 23b are stacked and configured in the same manner, and the first layer guiding mechanism 23a is inverted by 180 degrees. The two-layer guiding mechanism 23b is completely identical, and the guiding mechanism 23 can be formed by screw connection, which effectively reduces the difficulty of the manufacturing process, and is advantageous for the replacement of components and the improvement of assembly efficiency.

It can be understood that, in another embodiment, the guiding mechanism 23 corresponding to the one or more flexing and driving mechanisms 21 adopts a similar design principle, and one of the first layer guiding mechanism 23a and the second layer guiding mechanism 23b can be correspondingly disposed. Or a plurality of guide wheels 231 will not be described again.

Optionally, the guiding mechanism 23 and the retracting mechanism 22 are mounted in the same mounting frame 222 to facilitate modular assembly of the mechanical fingers. In addition, the guiding mechanism 23 and the retracting mechanism 22 can also be separately and independently provided, which is not limited in this application.

Further, referring to FIG. 2 and FIG. 11, the mechanical finger may further include a rotation driving mechanism 24 disposed in the base 20 and connected to the tail end knuckle 11a through the connecting block 25 for driving the finger mechanism 10 to rotate. . The rotary drive mechanism 24 includes a second motor 241 and a transmission mechanism 242 that drives the finger mechanism 10 to rotate by a transmission mechanism 242.

The transmission mechanism 242 includes a first bevel gear 2421 and a second bevel gear 2422 that are in mesh with each other. The first bevel gear 2421 is coupled to the output shaft of the second motor 241, and the second bevel gear 2422 is fixedly coupled to the connection block 25 so that The torque output by the two motors 241 is transmitted to the connecting block 25 via the first bevel gear 2421 and the second bevel gear 2422, thereby driving the finger mechanism 10 to rotate.

Specifically, the first bevel gear 2421 is horizontally disposed, and is connected to the output shaft of the motor through a connecting member; the second bevel gear 2422 is vertically disposed, and is rotatably mounted on the base 20 to be engaged with the first bevel gear 2421, that is, the first The axis of the bevel gear 2421 intersects the axis of the second bevel gear 2422 perpendicularly.

Referring to FIG. 12, the connecting block 25 is fixed to the second bevel gear 2422 by screws, so that the torque output by the second motor 241 is transmitted to the connecting block 25 via the first bevel gear 2421 and the second bevel gear 2422, thereby driving the finger. The mechanism 10 rotates. For example, the connecting block 25 has a cylindrical thin shell structure with an opening at one end for easy mounting on the second bevel gear 2422. The other end surface of the connecting block 25 includes a plurality of first guiding holes 251 and first signal line holes 252 to facilitate the transmission line 212 and the signal line or FPC (Flexible Printed Circuit, flexible circuit board), each of the driving ropes 212 corresponding to a first guiding hole 251, so that the driving ropes 212 can be isolated from each other, preventing frictional loss between the driving ropes 212 and entanglement in one place, the tail end The knuckle 11a is fixed to the end surface. The drive cable 212 that is redirected by the plurality of first pulleys 114 passes through the first guide hole 251 in the axial direction of the corresponding first guide hole 251 and is guided to the flexion and extension drive mechanism 21. The side of the connecting block 25 is provided with a screw hole, and the mounting screw 25 fixedly connects the connecting block 25 with the second bevel gear 2422.

The transmission mechanism 242 further includes a third bevel gear 2423 that is horizontally disposed, coaxial with the first bevel gear 2421, and meshed with the second bevel gear 2422. The third bevel gear 2423 is further coupled with an angle sensor 2424 to enable the angle sensor 2424 to detect the angle of rotation of the second bevel gear 2422, thereby facilitating control of the angle of rotation of the finger mechanism 10.

The mechanical finger further includes a rotating shaft 26 connected to the rotary drive mechanism 24, which is provided with a hollow passage 261 in the axial direction, and the drive rope 212 is connected to the flexion and extension drive mechanism 21 via the hollow passage 261. The hollow channel 261 is in communication with the first signal line hole 252 and the first guiding hole 251, and the driving wire 212 and the signal line or FPC are connected to the flexing and driving mechanism 21 via the hollow channel 261. Further, the second bevel gear 2422 is sleeved and fixed on the rotating shaft 26, and the rotating shaft 26 rotates along with the second bevel gear 2422.

Optionally, referring to FIG. 13 and FIG. 14 , the mechanical finger may further include a guiding block 27 disposed at an end of the rotating shaft 26 away from the finger mechanism 10 , and the rotating shaft 26 is rotatably mounted on the guiding block 27 . The guiding block 27 is provided with a plurality of second guiding holes 271, and the driving rope 212 is also guided to the flexing and driving mechanism 21 via the second guiding holes 271. Also, the number of the second guiding holes 271 is the same as the number of the driving strings 212.

A bearing block 272 is disposed on the guiding block 27, and a bearing is mounted in the bearing housing 272, and the rotating shaft 26 is rotatably mounted in the bearing housing 272. The guiding block 27 is provided with a second signal line hole 273 toward one end of the second motor 241 so as to pass the signal line or FPC and extend to the controller via the second signal line hole 273. Specifically, the guiding block 27 is disposed on one side of the finger structure 10 with a wire trough 274, and the second guiding hole 271 and the second signal line hole 273 are both disposed at the bottom of the wire trough 274. The signal line or FPC extended by the angle sensor 2424 is directed to the controller via the second signal line hole 273. The bearing block 272 is spaced from the bottom of the wire trough 274 to ensure that the signal line or FPC is not blocked.

Optionally, the guiding block 27 may further include a guiding cylinder 275 disposed on a side of the guiding block 27 facing the finger mechanism 10, and the guiding cylinder 275 is in communication with the second guiding hole 271 and is contained in Hollow channel 261. After the drive cable 212 passes through the guide cylinder 275, its extension direction is changed to be vertically downward, and is tangential to the corresponding guide wheel 231 on the guide mechanism 23 through the second guide hole 271. The first guiding hole 251 and the second guiding hole 271 are also connected by a spring sheath (not shown). When the finger mechanism 10 is rotated, the first guiding hole 251 and the corresponding second guiding hole 271 are The spacing changes, the spring sheath has a supporting effect on the transmission rope 212, ensuring that the transmission rope 212 is always in a stretched state without slackening, and a Teflon tube is also provided to reduce the wear of the transmission rope 212. The spring sheath tube and the Teflon tube in the present application can be replaced by articles having similar properties, and are not limited to the spring sheath tube and the Teflon tube.

Further, one end of the driving rope 212 is fixed to the corresponding fixing column 113, and the driving rope 212 is guided along the plurality of first pulleys 114, the second pulley 115 and the transmission rope passage 116, and protrudes from the tail end knuckle 11a toward the connecting block 25, Corresponding first guiding holes 251, through the hollow channel 261 on the rotating shaft 26, to the guiding cylinder 275, and then through the corresponding second guiding hole 271, tangentially enter from the corresponding guiding wheel 231, through the corresponding guiding After the wheel 231 is turned, it is wound on the reel assembly 224 from the tangential direction of the reel assembly 224. The driving rope 212 is redirected a plurality of times, and the power driving finger mechanism 10 is flexed or extended in a more reasonable force transmission manner, and each of the guiding holes and the hollow passage also has a protective effect on the driving rope 212.

Optionally, referring to FIG. 2, when the finger mechanism 10 is biased relative to the middle of the base 20 so that a plurality of mechanical fingers are spliced into a robot, other components such as a visual sensor may be disposed in the middle of the base 20. For example, the axis of the rotating shaft 26 is at a distance from the side of the second motor 241 to one side of the base 20, which is greater than the distance from the opposite side, and thus the space in the middle of the base 20 can be provided with other components when spliced into a robot.

Referring again to FIG. 2, the mechanical finger further includes a controller 28 disposed in the base 20 for controlling the rotary drive mechanism 24 to drive the finger mechanism 10 to rotate relative to the base 20, or to control the flexion and extension drive mechanism 21 to drive the finger mechanism 10 The buckling action and the stretching action are completed, or the rotary drive mechanism 24 and the flexion and extension drive mechanism 21 are controlled, which is not limited in this application. It can be understood that the controller 28 can control the rotation angle of the finger mechanism 10 and the rotation angle between the knuckles 11 by using the data collected by the sensors, thereby providing a more flexible, diverse, controllable and accurate grasping posture.

Referring to Figure 15, a schematic structural view of an embodiment of a manipulator provided by the present application.

Please refer to the component numbers of the above embodiments at the same time to facilitate understanding of the component names in this embodiment.

The robot includes at least a plurality of mechanical fingers as described above, each of which is modular in design and forms a robot by splicing. The middle portion of the base of the plurality of mechanical fingers constitutes a palm portion 35, and the palm portion is provided with a visual sensor 36.

In this embodiment, the robot includes a mechanical finger 31, a mechanical finger 32, a mechanical finger 33, and a connecting flange 34. The mechanical finger 31, the mechanical finger 32, and the mechanical finger 33 are mechanical fingers as in the above embodiment, and the connecting flange 34 Used to secure the connection between the entire robot and other external machines. Optionally, the controller 28 is placed in the base 20 of any one of the mechanical fingers, and the bus drawn from the bottom of the other mechanical finger bases is coupled to the controller 28. In other embodiments, a controller 28 may be provided for each mechanical finger. The controller 28 is used to control the mechanical finger 31, the mechanical finger 32, and the mechanical finger 33 to cooperate with each other to grasp or release the article.

Each mechanical finger adopts a modular design. It can be understood that the components constituting the mechanical finger can be selectively added or removed to increase or decrease part of the function of the mechanical finger, and the modular design of the mechanical finger also facilitates the mechanical finger. Repair and replacement of parts.

For example, the rotary drive mechanism 24 can be selectively added to provide the finger mechanism 10 with a rotating function; or, the knuckle 11 can be added to accommodate the size of the item.

The mechanical finger 31, the mechanical finger 32, and the mechanical finger 33 form a robot by splicing. In this embodiment, a plurality of mechanical fingers are arranged in a row, and the bending directions of adjacent mechanical fingers are relatively arranged, and the robot is spliced to form an object to grasp the article; Or a plurality of mechanical fingers are arranged in a row, the bending directions of the plurality of mechanical fingers are the same, and the articles can be gripped; or, the plurality of mechanical fingers are arranged in two rows, and the bending directions of the mechanical fingers of each column are oppositely arranged to form a robot. The present invention is only an illustrative example, and the splicing method is various, and this application does not limit this.

The finger mechanism 10 adopts an offset design, and a vacant space is left in the middle of the base 20. The central portion of the base 20 of the plurality of spliced mechanical fingers constitutes a palm portion 35. The visual sensor 36 can be directly integrated in the palm portion 35 without using an additional mechanism. The addition of the vision sensor 36 further reduces the overall volume of the robot and provides the visual sensor 36 directly to the palm portion 35, effectively increasing the degree of intelligence of the robot.

Different from the prior art, the present application discloses a mechanical finger and a robot. The mechanical finger comprises a base, a finger mechanism, at least one set of flexion and extension drive mechanism, the finger mechanism comprises at least two knuckles hingedly connected in sequence, the knuckles mounted on the base are tail end knuckles, and the finger mechanism is away from the tail end finger The other end of the knuckle is a fingertip; at least one set of flexion and extension driving mechanism is disposed in the base, and a set of flexing and driving mechanisms correspondingly drive a knuckle hinged relative thereto and facing the side of the tail end of the finger mechanism The knuckles are rotated in the forward or reverse direction. In the above manner, the present application uses an independent driving mechanism for forward or directional driving of each phalanx except the distal phalanx, thereby accurately controlling the phalanx except the distal phalanx, thereby The knuckle of the mechanical finger of the present application is controlled with higher precision as far as the knuckle can be driven in a single direction. The mechanical finger of the present application has a more flexible, diverse, controllable and accurate grasping posture.

The above description is only the embodiment of the present application, and thus does not limit the scope of the patent application, and the equivalent structure or equivalent process transformation made by using the specification and the drawings of the present application, or directly or indirectly applied to other related technologies. The fields are all included in the scope of patent protection of this application.

Claims

A mechanical finger, comprising:

Pedestal

a finger mechanism, comprising at least two knuckles hingedly connected to each other, a knuckle mounted on the base is a tail end knuckle, and the other end knuckle of the finger mechanism away from the end knuckle is a fingertip;

At least one set of flexion and extension drive mechanisms disposed within the base, and a set of the flexion and extension drive mechanisms correspondingly driving one of the phalanx hinged relative thereto and facing the knuckle on a side of the trailing end of the finger mechanism Perform a forward or reverse rotation.
The mechanical finger according to claim 1, wherein each of said sets of flexing and extension driving mechanisms comprises a first motor and a drive rope, said one end of said drive rope being coupled to said first motor, and the other end being associated with said corresponding finger Connected, the first motor drives the corresponding knuckle to rotate the corresponding knuckle relative to the knuckle hinged thereto and toward the knuckle on the side of the tail end of the finger mechanism, thereby realizing the forward or reverse rotation The flexing or stretching action of the finger mechanism.
The mechanical finger according to claim 2, wherein the number of the transmission ropes is two, including a buckling transmission rope and an extension transmission rope, and the flexure transmission rope and the extension transmission rope are pulled by the first motor Drive the corresponding knuckles to flex and stretch.
The mechanical finger according to claim 3, wherein said mechanical finger further comprises a retracting mechanism coupled to said first motor, said flexing drive rope and said extension drive cord One end is fixed to the retracting mechanism.
The mechanical finger according to claim 4, wherein said retracting mechanism comprises a reel assembly, said reel assembly being coupled to said first motor, said flexing drive rope and said extension drive rope Fixed and wound on the reel assembly;

Wherein the buckling drive rope is opposite to the extension drive rope.
The mechanical finger according to claim 5, wherein the retracting mechanism further comprises a rotating shaft assembly, the reel assembly is disposed on the rotating shaft assembly, and the rotating shaft assembly is connected to the first motor, The spindle assembly rotates or reverses with the first motor to cause the spool assembly to tighten or loosen the drive cable.
The mechanical finger according to claim 6, wherein the reel assembly includes a first chuck portion, a barrier portion, and a second chuck portion, the first chuck portion and the second card The disk portion is disposed on the rotating shaft assembly, the end of the extended driving rope is disposed on the first chuck portion, the flexing transmission rope is disposed on the second chuck portion, and the blocking portion is used The extension drive line and the flexion drive line are blocked.
The mechanical finger according to claim 5, wherein said mechanical finger further comprises a guiding mechanism, said guiding mechanism comprising a guiding wheel, said guiding wheel being positioned to position said drive rope and said reel assembly Keep tangent.
A mechanical finger according to claim 8, wherein said guide mechanism corresponding to one of said retracting mechanisms comprises two said guide wheels which are axially stacked and offsetly disposed along said reel assembly, The buckling drive rope and the extension drive rope are respectively guided correspondingly.
The mechanical finger according to claim 3, wherein the knuckle includes two fixing posts and a plurality of first pulleys, and one end of the flexing transmission rope and the extension transmission rope is fixed to a corresponding fixing column, The plurality of the first pulleys are guided to the flexion and extension drive mechanism.
The mechanical finger according to claim 10, wherein a hinge between the knuckles is provided with a second pulley, and the transmission rope is further guided adjacent to the rear end by the second pulley The next knuckle of the section.
The mechanical finger according to claim 2, wherein the mechanical finger further comprises a rotation driving mechanism, the rotation driving mechanism is disposed in the base, and is connected to the tail end knuckle through a connecting block, The finger mechanism is driven to rotate.
The mechanical finger according to claim 12, wherein said connecting block comprises a plurality of first guiding holes and signal line holes, and said driving rope is guided to said flexing and extending driving mechanism via said first guiding holes.
The mechanical finger according to claim 12, wherein said rotary drive mechanism comprises a second motor and a transmission mechanism, and said second motor drives said finger mechanism to rotate by said transmission mechanism.
The mechanical finger according to claim 14, wherein said transmission mechanism comprises a first bevel gear and a second bevel gear that mesh with each other, said first bevel gear being coupled to an output shaft of said second motor, The second bevel gear is fixedly coupled to the connecting block such that torque output by the second motor is transmitted to the connecting block via the first bevel gear and the second bevel gear, thereby driving the finger mechanism Turn.
The mechanical finger according to claim 15, wherein said mechanical finger further comprises a rotating shaft, said rotating shaft being coupled to said rotary driving mechanism, wherein said hollow shaft is disposed in an axial direction, said transmission rope passing through The hollow passage connects the flexion and extension drive mechanism.
The mechanical finger according to claim 16, wherein the mechanical finger further comprises a guiding block, the guiding block is disposed at an end of the rotating shaft away from the finger mechanism, and the rotating shaft is rotatably mounted on The guiding block is provided with a plurality of second guiding holes, and the driving rope is further guided to the flexing and extending driving mechanism via the second guiding holes.
The mechanical finger according to claim 17, wherein the guiding block further comprises a guiding cylinder, the guiding cylinder being disposed on a side of the guiding block facing the finger mechanism, the guiding The barrel is in communication with the first guiding hole and is contained in the hollow passage.
A robot, characterized in that the robot comprises a plurality of mechanical fingers according to any one of claims 1-17, the mechanical fingers forming the robot by sequential splicing.
The robot according to claim 19, wherein a central portion of the bases of the plurality of mechanical fingers constitutes a palm portion, and the palm portion is provided with a visual sensor.