WO2019144266A1 - Mechanical finger and manipulator - Google Patents

Abstract

Provided is a mechanical finger, wherein the mechanical finger comprises a base (20), a finger mechanism (10) and at least one group of flexion and extension drive mechanism (22), wherein the finger mechanism (10) comprises at least two knuckles hinged successively, the knuckle mounted on the base is a tail knuckle (11), and the other end of the knuckle located on the finger mechanism away from the tail knuckle is a fingertip (12); the flexion and extension drive mechanism (22) is disposed in the base, and one group of the flexion and extension drive mechanism (22) correspondingly drives a knuckle to rotate relative to the knuckle hinged thereto and located on the side facing the tail end of the finger mechanism (10), and the mechanical finger can accurately control the knuckles and have more grasping postures. Also, a manipulator is provided.

Description

a mechanical finger and robot

[Technical Field]

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

 【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.

 [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, located on the finger mechanism away from the tail end 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 to the side of the finger mechanism The knuckles are rotated.

In order to solve the above technical problem, another technical solution adopted by the present application is to provide a robot. The robot includes at least two mechanical fingers as described above, each of which is modular in design and forms a robot by 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, located on the finger mechanism away from the tail end 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 to the side of the finger mechanism The knuckles are rotated. In the above manner, the present application drives each phalanx except the distal phalanx by an independent driving mechanism, so that the knuckles other than the distal knuckles can be accurately controlled, thereby being relative to the underdrive device. The relative position between the knuckle and the phalanx of the applied mechanical finger is controlled with higher precision, and the mechanical finger of the present application has a more flexible, diverse, controllable and accurate grasping posture.

 [Description of the Drawings]

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings to be used in the embodiments or the prior art description will be briefly described below. Obviously, the drawings in the following description are only It is a certain embodiment of the present application, and other drawings can be obtained according to the drawings without any creative work for those skilled in the art.

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 connection structure between the finger joints of the finger mechanism of the embodiment of Figure 1;

Figure 5 is a schematic structural view of a connecting device in the embodiment of Figure 1;

Figure 6 is a schematic structural view of a connecting member of the connecting device in the embodiment of Figure 5;

Figure 7 is a schematic structural view of a guiding block in the embodiment of Figure 1;

Figure 8 is a top plan view of the guiding block in the embodiment of Figure 1;

Figure 9 is a schematic structural view of the rotary driving device, the rotating shaft and the guiding block in the embodiment of Figure 1;

Figure 10 is a schematic structural view of the rotary driving device, the rotating shaft, the slip ring device and the guiding block in the embodiment of Figure 1;

Figure 11 is a schematic structural view of a slip ring device in the embodiment of Figure 10;

Figure 12 is a schematic view showing the structure of the flexing and extension driving mechanism, the guiding pulley block and the guiding block in the embodiment of Figure 1;

FIG. 13 is a schematic structural view of an embodiment of a manipulator provided by the present application.

【Detailed ways】

The technical solutions in the embodiments of the present application are clearly and completely described in the following with reference to the drawings in the embodiments of the present application. It is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present application without departing from the inventive scope are the scope of the present application.

The terms "first", "second", and "third" in the present application are used for descriptive purposes only, and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, features defining "first", "second", and "third" may include at least one of the features, either explicitly or implicitly. In the description of the present application, the meaning of "a plurality" is at least two, such as two, three, etc., unless specifically defined otherwise. Furthermore, the terms "comprises" and "comprising" and "comprising" are intended to cover a non-exclusive inclusion. For example, a process, method, system, product, or device that comprises a series of steps or units is not limited to the listed steps or units, but optionally also includes steps or units not listed, or alternatively Other steps or units inherent to these processes, methods, products or equipment.

References to "an embodiment" herein mean that a particular feature, structure, or characteristic described in connection with the embodiments can be included in at least one embodiment of the present application. The appearances of the phrases in various places in the specification are not necessarily referring to the same embodiments, and are not exclusive or alternative embodiments that are mutually exclusive. Those skilled in the art will understand and implicitly understand that the embodiments described herein can be combined with other embodiments.

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

Referring also to FIG. 2, the mechanical finger includes a base 20 and a finger mechanism 10, and the finger mechanism 10 is mounted on the base 20. The base 20 includes a flexion and extension drive mechanism 22 disposed within the base 20 for driving the finger mechanism 10 to perform a flexing motion and a stretching motion to grasp or release the article. The rotary drive mechanism 21 is disposed in the base 20 and is coupled to the finger mechanism 10 to drive the finger mechanism 10 to rotate relative to the base 20. 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 this embodiment, the finger mechanism 10 includes a tail end knuckle 11 and a fingertip 12, the fingertip 12 being rotatable relative to the tail end knuckle 11, and the tail end knuckle 11 being mounted to the base 20. Further, the finger mechanism 10 includes at least two knuckles 11 that are hinged in sequence, and the phalanx 11 mounted on the base 20 is a tail end knuckle 11 on the other end of the finger mechanism 10 away from the end phalanx 11 11 is the fingertip 12. Referring to FIG. 3, in the present embodiment, the finger mechanism 10 includes four knuckles 11 hinged in order from the beginning to the end. In the example of FIG. 3, the other end knuckle 11 on the finger mechanism 10 remote from the trailing knuckle 11 is arranged to distinguish the fingertip 12 design of the other knuckles 11. In this manner, the fingertip 12 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 11 at the tail end of the finger mechanism is mounted on the base 20, and the knuckle 11 and the knuckle 11 and the fingertip 12 are rotatable relative to the hinged position thereof. There are various ways of connecting between the knuckles 11 and between the knuckles 11 and the fingertips 12, and a connection manner similar to that between the knuckles 11 and the knuckles 11 and the fingertips 12 in the present application can be achieved. All are within the scope of protection of this application.

Referring to FIG. 2 and FIG. 4, the bottom end of the knuckle 11 is fixed on the base 20, and the knuckle 11 and the knuckle 11 and the fingertip 12 are connected by a rotating shaft 111. The rotating shaft 111 is fixed at a relatively far end. The knuckle 11 or the fingertip 12 is disposed on the knuckle, and the middle portion of the rotating shaft 111 is provided with a rotating wheel 112. The rotating wheel 112 is fixed relative to the rotating shaft 111, and the rotating wheel 112 can be driven to drive the knuckle 11 or the fingertip 12 to be hinged thereto. The phalanx 11 toward the tail end side of the finger mechanism 10 is rotated.

The knuckle 11 and the fingertip 12 are provided with an engaging portion 113. The knuckle 11 is provided with an engaging portion 114 at the tail portion. The engaging portion 113 and the engaging portion 114 are both connected to the rotating shaft 111, and the rotating shaft 111 is fixed to the engaging portion 113. . The engaging portion 114 is provided with a receiving groove for accommodating the rotating wheel 112. The engaging portion 114 is also disposed in the engaging portion 113 of the adjacent knuckle 11 at the same time, and the rotating wheel 112 is driven to make the engaging portion 113 relatively The engaging portion 114 rotates.

Referring to FIG. 3 and FIG. 4, an angle sensor 115 is further disposed at the end position of the rotating shaft 112 for detecting the rotation angle of the phalanx 11 or the fingertip 12 to facilitate the control of the finger mechanism 10. And, the haptic sensor 116 and the distance sensor 117 are provided on both the knuckle 11 and the fingertip 12. The tactile sensor 116 is used to determine whether the phalanx 11 or the fingertip 12 is in contact with an 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 117 is used to detect the distance of the object from the knuckles or fingertips, so that the mechanical finger can adjust the action of the finger mechanism 10 when grasping the object and grasp the object with an appropriate force according to the detected data. In this embodiment, the tactile sensor 116 and the distance sensor 117 are integrated on a circuit board, disposed in the middle of the phalanx 11 or the fingertip 12 and on the side for grasping the object. In other embodiments, the tactile sensor 116 and the distance sensor 117 can also be separately disposed on the phalanx 11 or the fingertip 12, which is not limited in this application.

In the present application, the base 20 includes a rotary drive mechanism 21 and a flexion drive mechanism 22. Among them, the rotation drive mechanism 21 drives the finger mechanism 10 to rotate, and the flexion and extension drive mechanism 22 drives the finger mechanism to complete the flexion motion and the extension motion.

Next, in order to facilitate understanding of the principles of the present invention, the rotary drive mechanism 21 and the flexion and extension drive mechanism 22 will be sequentially described in conjunction with specific embodiments.

2 and 5, the rotary drive mechanism 21 is coupled to the distal phalanx 11 by a connecting device 23 to drive the finger mechanism 10 to rotate. The connecting device 23 includes a connecting block 231 and a connecting block 232. The connecting block 231 has a thin shell structure, and a side surface and a tail end knuckle 11 are fixed by screws, and the opposite side is open. The connecting block 231 is fastened to the connecting block 232 and fixed to the connecting block 232 by screws. The connecting block 232 is connected to the rotary drive mechanism 21, and the rotary drive mechanism 21 drives the finger mechanism 10 to rotate by the connecting device 23.

Referring to FIG. 6, the connecting block 232 is provided with at least one guiding hole 2321 and a signal line hole 2322. The connecting block 231 is provided with a correspondingly-sized through hole at a position corresponding to the connecting block 232 to facilitate the driving rope 222 and Signal line or FPC (Flexible Printed The circuit, the flexible circuit board passes, and the number of the guiding holes 2321 is the same as the number of the driving ropes 222, so that the respective transmission ropes 222 can be isolated from each other, preventing frictional loss between the transmission ropes and being entangled in one place, and the transmission rope 222 The finger mechanism 10 and the base 20 are connected via corresponding guiding holes 2321.

Please refer to FIG. 5 and FIG. 6 . In this embodiment, the connecting block 232 includes three guiding holes 2321 and one signal hole 2322 . The three guiding holes 2321 penetrate into the signal hole 2322 , and the three guiding holes 2321 and A port of a signal hole 2322 is disposed on a side surface 2323 of the connecting block 232 toward the tail end knuckle 11, and the other port of the signal hole 2322 is disposed at a center position of the opposite side 2324. The connecting block 232 further includes an extending portion 2325 having an annular shape, disposed at the center of the end surface 2324, and enclosing the other port of the signal hole 2322. The connecting block 232 is fixed to the rotary driving mechanism 21 by screws by the extending portion 2325, and a bearing 2326 (as shown in FIG. 9) is further disposed outside the extending portion 2325 to support the rotation of the finger mechanism 10 and reduce the rotation of the connecting device 23. The coefficient of friction ensures the rotation accuracy of the connecting device 23.

Referring to FIG. 9 or FIG. 10, the mechanical finger further includes a rotating shaft 24. The rotating shaft 24 is coupled to the rotary drive mechanism 21, and the rotary shaft 24 is rotatably supported by the mounting hole in the base 20 via the bearing 2326. The rotating shaft 24 is provided with a hollow passage in the axial direction, and the hollow passage communicates with the signal hole 2322, and the transmission line 222 and the signal line or FPC are connected to the finger mechanism 10 via the hollow passage.

The rotary drive mechanism 21 includes a motor 211 and a transmission mechanism 212. The motor 211 drives the connection device 23 through the transmission mechanism 212 to drive the finger mechanism 10 to rotate.

The transmission mechanism 212 includes a bevel gear 2121 and a bevel gear 2122. The bevel gear 2121 is horizontally disposed, and is connected to the output shaft of the motor 211 through a connecting member 2123. The bevel gear 2122 is vertically disposed to mesh with the bevel gear 2121, that is, the first bevel gear 2121 The axis intersects the axis of the second bevel gear 2122 perpendicularly. A threaded hole may be provided outside the second bevel gear 2122 to be fastened to the rotating shaft 24 by screws. The outer side of the end of the rotating shaft 24 may be provided with a thread. The bevel gear 2122 is screwed to the outer side of the end of the rotating shaft 24, and the connecting member 232 is fixed to the second bevel gear 2122 by screws so that the output of the second motor 211 is output. The torque is transmitted to the connecting device 23 via the bevel gear 2121 and the second bevel gear 2122, thereby driving the connecting device 23 to rotate to drive the finger mechanism 10 to rotate.

The transmission mechanism 212 further includes a bevel gear 2124 that is horizontally disposed, coaxial with the bevel gear 2121, and meshes with the bevel gear 2122. The bevel gear 2124 is further coupled to the angle sensor 2125 to enable the angle sensor 2125 to detect the bevel gear 2122. The angle of rotation facilitates control of the angle of rotation of the finger mechanism 10.

Referring to Figures 10 and 11, the other end of the rotating shaft 24, i.e., the end remote from the finger mechanism 10, is provided with a slip ring device 25, and the slip ring device 25 is located between the guiding block 26 and the rotating shaft 24. The slip ring device 25 includes a slip ring mount 251, an outer slip ring 252 and an inner slip ring 253. The slip ring mount 251 is fixed relative to the base 20. The outer slip ring 252 is fixed in the slip ring mount 251, and the inner slip ring 253 sets. It is disposed inside the outer slip ring 252 and is rotatable relative to the outer slip ring 252. The inner slip ring 253 is embedded in the hollow passage of the rotating shaft 24, and is also provided with a hollow passage in the axial direction, that is, the hollow passage of the slip ring device 25 faces the hollow passage of the rotating shaft 24, facilitating the passage of the transmission rope. One end of the inner slip ring 253 near the rotating shaft 24 protrudes from the outer slip ring 252 as a positioning protrusion 2531, and the positioning protrusion 2531 is fitted into the hollow passage of the rotating shaft 24 so that the inner slip ring 253 and the rotating shaft 24 are relatively fixed.

The inner slip ring 253 and the outer slip ring 252 are also electrically connected through the contacts between the two to perform signal transmission. That is, the upper end of the inner slip ring 253 is connected to the signal line extending from the finger mechanism 10, and the lower end of the outer slip ring 252 is connected to the signal line extending from the controller. Wherein, the outer slip ring 252 can be connected to the controller through a bus. When the rotation angle of the finger mechanism 10 reaches a certain level, for example, 180 degrees, the manner in which the signal line is directly connected to the electrical connection may cause the signal line to be twisted and wound, and by setting the slip ring device 25, this can be avoided.

Referring to FIG. 9 , in other implementations, the slip ring device 25 may not be provided, which is not limited in this application.

Referring again to FIGS. 1 and 2, the base 20 includes at least one set of flexion drive mechanisms 22, and a set of flexion drive mechanisms 22 correspondingly drive a knuckle 11 hinged relative thereto and located toward the end of the finger mechanism 10 The knuckle 11 is rotated.

In this embodiment, the number of flexion and extension drive mechanisms 22 is the same as the number of phalanx 11 except the distal end phalanx 11 in the finger mechanism 10, and the corresponding phalanx 11 other than the distal end phalanx 11 is independently driven (including Fingertip 12). In another embodiment, the caudal phalanx 11 is rotationally coupled to the base 20, such as articulated, thereby flexing the number of drive mechanisms 22 and the phalanx 11 (including the trailing knuckle 11 and the fingertip 12) in the finger mechanism 10. The number is the same and the corresponding knuckles 11 are driven independently.

Specifically, each set of flexion and extension drive mechanism 22 includes a motor 221 and a drive cable 222. One end of the drive cable 222 is coupled to the motor 221 and the other end is coupled to a corresponding knuckle 11 or fingertip 12. The motor 221 drives the corresponding phalanx 11 or the fingertip 12 to rotate relative to the knuckle 11 hinged on the side toward the rear end of the finger mechanism 10 by the traction drive cable 222, thereby realizing the buckling action of the finger mechanism 10. In another embodiment, the plurality of motors 221 of the plurality of sets of flexion and extension drive mechanisms 22 are stacked in the axial direction of the rotational axis 24. In addition, a conduit is placed over the drive cable 222 to avoid the introduction of unnecessary friction between the drive cables. In other embodiments, the motor 221 can also have different settings, which is not limited in this application.

More specifically, the drive cable 222 is coupled to the corresponding knuckle 11 about the pulley 112 and the other end to the motor 221 . The motor 221 passes the traction drive cable 222 and guides the direction of the drive rope through the pulley 112 to thereby drive the knuckle 11 or the fingertip 12 to rotate relative to the knuckle 11 hinged thereto and toward the trailing end of the finger mechanism 10.

Further, a reverse biasing element (not shown) is further disposed between the knuckle 11 and the fingertip 12 and between the hinge portion 11 and the knuckle 11 for driving the finger when the motor 221 releases the drive rope The knot 11 or the fingertip 12 is reversely rotated to effect the stretching action of the finger mechanism 10.

Referring to FIG. 2 and FIG. 12, in the embodiment, three sets of flexion and extension driving mechanisms 22 are disposed in the base 20 to respectively drive the two phalanx 11 and one fingertip 12 except the tail end knuckle 11 to be hinged relative thereto. The knuckle 11 on the side of the tail end 10 of the finger mechanism is rotated.

With continued reference to FIG. 12, a guide pulley block 27 and a guide block 26 are also disposed within the base 10. The guide pulley block 27 includes at least one guide wheel 271 which is changed in direction of extension by the corresponding guide wheel 271. Referring to FIG. 10, at least one guiding hole 261 is disposed on the guiding block 26, and the driving rope 222 is connected to the finger mechanism 10 from the corresponding guiding wheel 271 through the corresponding guiding hole 261, and the guiding hole 261 is disposed at a position such that the driving rope 222 is tangential to the corresponding guide wheel 271. It should be clarified that in the present embodiment, the number of the guide wheels 271 and the number of the guide holes 261 are the same as the number of the drive wires 222. In another embodiment, the number of guiding holes 261 may be different from the number of driving wires 222.

One end of the driving rope 222 is fixedly connected to the corresponding knuckle 11 or the fingertip 12, and the driving rope 222 bypasses the rotating wheel 112, and extends from the tail end knuckle 11 to the connecting device 23, passes through the corresponding guiding hole 2321, and passes through the rotating shaft. 24 and the hollow passage on the inner slip ring 253, to the corresponding guide hole 261 on the guide block 26, redirected through the guide hole 261, tangentially enter from the corresponding guide wheel 271, and redirected through the corresponding guide wheel 271 The other end is connected to a rotating wheel disposed on the output shaft of the corresponding motor 221 . The transmission rope 222 is redirected a plurality of times, and the output power drives the finger mechanism 10 to flex and extend in a more reasonable force transmission manner, and each of the guiding holes and the hollow passage also protects the transmission rope.

Referring to FIG. 7, FIG. 8, FIG. 9 or FIG. 10, the guiding block 26 is located at one end of the rotating shaft 24 away from the finger mechanism 10, that is, the rotating shaft 24 is located at the side of the guiding block 26 facing the finger mechanism 10, and the guiding block 26 A positioning protrusion 262 is disposed on a side of the finger mechanism 10, the positioning protrusion 262 faces the hollow passage of the rotating shaft 24, and allows the rotating shaft 24 to rotate relative to the guiding block 26, and the guiding block 26 is fixed in the base 20. . Further, one end of the at least one guiding hole 261 is provided on a side surface of the positioning protrusion 262 facing the rotating shaft 24. In the embodiment of FIG. 10, the guide block 26 is also located below the slip ring assembly 25, i.e., the slip ring assembly 25 is located between the rotating shaft 24 and the guide block 26.

Optionally, in other embodiments, the positioning protrusion 262 can also be configured to fit the hollow channel size of the rotating shaft 24, and the rotating shaft 24 can be rotated relative to the positioning protrusion 262, and the rotating shaft can be limited. Bit, not too much jitter during the rotation.

In the present embodiment, the guiding block 26 is provided with three guiding holes 261, and thus one end of the three guiding holes 261 is disposed on one side surface of the positioning protrusion 262 facing the rotating shaft 24. The positioning protrusion 262 has a cylindrical shape, and one port of the three guiding holes 261 is linearly arranged in the middle of the positioning protrusion 262, and the line is parallel to the axis of the bevel gear 2121. The curvature of the channel of the guiding hole 261 is not abrupt, and the other port of the three guiding holes 261 is also linearly arranged on the side surface of the guiding block 26 facing the guiding pulley block 27, and facing the tangential direction of the corresponding guiding wheel 271. In order to change the drive rope through the guide block 26, it enters from the tangential direction of the corresponding guide wheel 271. In other embodiments, the positioning block 26 may not be provided with the positioning protrusion 262, or the positioning protrusion 262 has other shapes, which is not limited in this application.

Specifically, the guiding pulley block 27 is located at a side of the guiding block 26 away from the finger mechanism 10, and includes at least one guiding wheel 271 and a guiding wheel fixing seat 272. The guiding wheel 271 is disposed on the mounting shaft and rotatable relative to the guiding wheel fixing seat 272. The two ends of the mounting shaft are disposed in the corresponding mounting holes of the guide wheel fixing base 272, so that the driving rope is redirected through the corresponding guiding hole 261, and enters the guiding wheel 271 from the tangential direction of the guiding wheel 271.

In the present embodiment, the guide pulley block 27 includes three guide wheels 271 and a guide wheel fixing base 272. The three guide wheels 271 are sequentially shifted and are respectively disposed on the guide wheel fixing base 272 corresponding to the respective guide holes 261, so as to be replaced accordingly. The drive cable is driven at a lower energy consumption and connected to the motor 221.

Referring again to FIG. 12, the mechanical finger further includes a controller 28 disposed in the base for controlling the rotation drive mechanism 21 to drive the finger mechanism 10 to rotate relative to the base 20, or controlling the flexion drive mechanism 22 to drive the finger mechanism 10 to complete. The buckling action and the stretching action, or controlling the rotary drive mechanism 21 and the flexion and extension drive mechanism 22, are not limited in this application.

Referring to Figure 11, 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 two mechanical fingers as described above, each of which is modular in design and forms a robot by splicing.

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 finger mechanism 10 of the mechanical finger 32 has a small rotation angle, and it is not necessary to provide the slip ring device 25, and the mechanical finger 31 and the mechanical finger 33 located outside can be selected to add the slip ring device 25 according to the use condition; in other cases, The rotary drive mechanism 21 is discarded and the finger mechanism 10 is not driven to rotate; or, the knuckles 11 are added to accommodate the size of the article.

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 oppositely arranged to form a robot; or, a plurality of machines The fingers are arranged in two rows, and the buckling directions of the mechanical fingers of each column are relatively set, and the stitching forms a robot. The present invention is only an illustrative example, and the splicing method is various, and this application does not limit this.

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, located on the finger mechanism away from the tail end 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 to the side of the finger mechanism The knuckles are rotated. In the above manner, the present application drives each phalanx except the distal phalanx by an independent driving mechanism, so that the knuckles other than the distal knuckles can be accurately controlled, thereby being relative to the underdrive device. The relative position between the knuckle and the phalanx of the applied mechanical finger is controlled with higher precision, and 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 (20)

A mechanical finger, comprising: Pedestal a finger mechanism comprising at least two knuckles hingedly connected to each other, the knuckle mounted on the base being a tail end knuckle, and the other end knuckle located on the finger mechanism away from the tail 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 knuckles hinged relative thereto and located on a side facing the trailing end of the finger mechanism Make a turn. The mechanical finger according to claim 1, wherein the number of the flexion and extension drive mechanisms is the same as the number of phalanx of the finger mechanism other than the distal phalanx, and the corresponding knuckles are independently driven respectively. . The mechanical finger according to claim 1, wherein each of said set 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 The first motor is rotated by pulling the corresponding driving knuckle relative to the knuckle hinged thereto and located on the side of the tail end of the finger mechanism, thereby realizing the finger mechanism Flexing action. The mechanical finger according to claim 3, wherein a hinged position between the knuckle and the knuckle is further provided with a reverse biasing member for releasing the drive rope when the first motor releases The knuckle is driven to rotate in the reverse direction to realize the stretching action of the finger mechanism. The mechanical finger according to claim 3, wherein said mechanical finger further comprises a guide pulley set, said guide pulley set comprising at least one guide wheel, said drive rope changing an extending direction by a corresponding action of said guide wheel. The mechanical finger according to claim 5, wherein the mechanical finger further comprises a guiding block, the guiding block is provided with at least one first guiding hole, and the driving rope is from the corresponding guiding The wheel connects the finger mechanism through the corresponding first guiding hole. The mechanical finger according to claim 6, wherein the first guide hole is positioned such that the drive rope remains tangent to the corresponding guide wheel. The mechanical finger according to claim 6, wherein the mechanical finger further comprises a connecting device and a rotary drive mechanism, the end knuckle is mounted on the connecting device, and the rotary drive mechanism is connected to the connection The device is connected to drive the connecting device to drive the finger mechanism to rotate. The mechanical finger according to claim 8, wherein said rotary drive mechanism comprises a second motor and a transmission mechanism, and said second motor drives said connecting means to drive said finger mechanism to rotate by said transmission mechanism. The mechanical finger according to claim 9, 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 device such that torque output by the second motor is transmitted to the connecting device via the first bevel gear and the second bevel gear, thereby driving the connecting device Turn. The mechanical finger according to claim 10, wherein said transmission mechanism further comprises a third bevel gear and an angle sensor, said third bevel gear meshing with said second bevel gear, said third bevel gear further The angle sensor is coupled such that the angle sensor is capable of detecting a rotation angle of the second bevel gear. The mechanical finger according to claim 8, wherein the mechanical finger further comprises a rotating shaft, the rotating shaft is coupled to the rotary driving mechanism, and the first hollow passage is disposed in an axial direction, the driving rope The finger mechanism is coupled via the first hollow passage. The mechanical finger according to claim 12, wherein the rotating shaft is located on a side of the guiding block facing the finger mechanism, and the guiding block is disposed first to a side of the finger mechanism Positioning the projections, the first positioning projections facing the first hollow passage and allowing the rotating shaft to rotate relative to the guiding block. The mechanical finger according to claim 13, wherein one end of said at least one first guiding hole is provided on a side surface of said positioning projection toward said rotating shaft. The mechanical finger according to claim 13, wherein said mechanical finger further comprises a slip ring device, said slip ring device being located between said guiding block and said rotating shaft, said slip ring device comprising a slip ring and an outer slip ring, wherein the inner slip ring is rotatable relative to the outer slip ring, and the inner slip ring is further electrically coupled to the outer slip ring through a contact, the inner slip ring is axially A second hollow passage is also provided, the second hollow passage being opposite the first hollow passage and allowing the rotational shaft to rotate relative to the slip ring device. The mechanical finger according to claim 15, wherein the inner sliding ring protrudes from the one end of the rotating shaft to protrude the outer sliding ring as a second positioning protrusion, and the second positioning protrusion is embedded in the The first hollow passage is described such that the inner slip ring is relatively fixed to the rotating shaft. The mechanical finger according to claim 12, wherein a plurality of said first motors are stacked in an axial direction of said rotating shaft. The mechanical finger according to claim 8, wherein said connecting means is provided with at least one second guiding hole, and said driving rope is connected to said finger mechanism via said corresponding second guiding hole. The mechanical finger according to claim 1, wherein the knuckles are each provided with a tactile sensor and/or a distance sensor. A robot, characterized in that the robot comprises at least two mechanical fingers according to any one of claims 1 to 19, the mechanical fingers forming the robot by sequential splicing.