CN107253208A

CN107253208A - Bilayer turn back driving two-stage revolution finger mechanism

Info

Publication number: CN107253208A
Application number: CN201710310295.6A
Authority: CN
Inventors: 白劲实
Original assignee: Hangzhou If Robot Technology Co Ltd
Current assignee: Hangzhou If Robot Technology Co Ltd
Priority date: 2017-03-16
Filing date: 2017-05-05
Publication date: 2017-10-17

Abstract

The embodiments of the invention provide the finger mechanism of the two-stage revolution of double-deck driving of turning back, base finger joint is connected with finger frame, and base finger joint and the connection of nearly finger joint, the first pull bar are connected with finger frame, first pull bar is rotatably connected with nearly finger joint, the first pull bar and base finger joint formation chi structure；Motor is connected with first gear；Chute is provided with base finger joint, bearing pin is provided with chute, bearing pin can be slided in chute, and nut is connected by flexible attachment components or bent connection member with bearing pin, and resetting-mechanism is arranged on nearly finger joint and base finger joint junction.Bilayer provided in an embodiment of the present invention turn back driving two-stage revolution finger mechanism, turned back drive mechanism by using bilayer, coordinate the particular design of screw rod and nut, so that the original output of power source and the driving output to finger body are located at two layers respectively, so as to save space axially shared by transmission output.

Description

Bilayer turn back driving two-stage revolution finger mechanism

Technical field

The present embodiments relate to a kind of finger mechanism, more particularly to a kind of bilayer turns back the finger of the two-stage revolution of driving Mechanism.

Background technology

Manipulator can imitate some holding functions of human hand and arm, to be captured by fixed routine, carry object or operation The automatic pilot of instrument.The heavy labor that manipulator can replace people can have to realize the mechanization and automation of production Operated under evil environment to protect personal safety, thus be widely used in each industrial department.In addition, many manipulators It is for disabled person's design, to serve as the artificial limb of disabled person, so as to allow disabled person that there is certain ability for capturing object.In machine , it is necessary to drive arm or finger by drive mechanism in the mechanism of tool hand so that arm or finger can turn along joint It is dynamic, so as to realize the crawl to object.Typically completed in the prior art by motor driving, and motor passes through output shaft rotation Mode export power and drive it to rotate, it is necessary to just can be output on arm or finger by transmission mechanism design.Existing skill The transmission mechanism design space-consuming of art is larger, or influences larger to articular portion.

The content of the invention

The embodiment of the present invention provides a kind of finger mechanism for the two-stage revolution that bilayer turns back driving, to save finger mechanism Space shared by drive mechanism.

The embodiments of the invention provide a kind of bilayer turn back driving two-stage revolution finger mechanism, it includes finger machine Frame, gear drive group, motor, screw rod and nut, finger body and the resetting-mechanism coordinated with screw rod, the finger body Including base finger joint and nearly finger joint, the base finger joint is rotatably connected by first rotating shaft with the finger frame, the base finger joint It is rotatably connected with nearly finger joint by the second rotating shaft, the first pull bar is provided between the nearly finger joint and the finger frame, One end of first pull bar is rotatably connected by the 3rd rotating shaft with the finger frame, and the other end of first pull bar leads to Cross the 4th rotating shaft to be rotatably connected with the nearly finger joint, the 3rd rotating shaft is arranged at the top of the first rotating shaft, described Four rotating shafts are arranged at the lower section of second rotating shaft, first pull bar and base finger joint formation chi structure；The motor It is fixed in the finger frame, and be connected by output shaft with the first gear of gear drive group；The screw rod and nut are set The lower section of the finger frame is placed in, one end of the screw rod is connected with the second gear of the gear drive group, described first It is connected between gear and second gear, the nut is arranged on the finger frame lower, and the nut is in radial direction On fixed relative to the finger frame, and can relatively described finger frame move in the axial direction, the nut and institute The homonymy that motor is located at the gear drive group is stated, the axial direction of the screw rod is fixed, when the screw rod is rotated, drive institute State nut to move in the axial direction, chute is provided with the base finger joint, bearing pin, the bearing pin are provided with the chute It can be slided in the chute, the nut is connected by flexible attachment components or bent connection member with the bearing pin Connect, it is described for driving the base finger joint relative to the finger gantry rotation by the motion of the nut in the axial direction Resetting-mechanism is arranged on the nearly finger joint and the base finger joint junction, for applying reset force to the nearly finger joint.

Bilayer provided in an embodiment of the present invention turn back driving two-stage revolution finger mechanism, turned back biography by using bilayer Dynamic structure, coordinates the particular design of screw rod and nut so that the original output of power source and the driving output point to finger body Wei Yu not be two layers, and realized and turn back by interlayer transmission mechanism, so as to save space axially shared by transmission output.This Outside, by the way that the bilayer drive mechanism that turns back is arranged in manipulator palm so that base finger joint can according to actual needs flexibly really Measured length, simplifies robot manipulator structure.

Brief description of the drawings

Fig. 1 turns back one of the principle schematic of finger mechanism of driving for the bilayer of the embodiment of the present invention one.

Fig. 2 for the embodiment of the present invention one bilayer turn back driving finger mechanism principle schematic two.

Fig. 3 for the embodiment of the present invention one bilayer turn back driving finger mechanism principle schematic three.

Fig. 4 for the embodiment of the present invention one bilayer turn back driving finger mechanism principle schematic four.

Fig. 5 for the embodiment of the present invention one bilayer turn back driving finger mechanism principle schematic five.

Fig. 6 turns back one of the principle schematic of finger mechanism of driving for the bilayer of the embodiment of the present invention three.

Fig. 7 for the embodiment of the present invention three bilayer turn back driving finger mechanism principle schematic two.

Fig. 8 for the embodiment of the present invention three bilayer turn back driving finger mechanism principle schematic three.

Fig. 9 for the embodiment of the present invention three bilayer turn back driving finger mechanism principle schematic four.

Figure 10 for the embodiment of the present invention three bilayer turn back driving finger mechanism principle schematic five.

Figure 11 for the embodiment of the present invention three bilayer turn back driving finger mechanism principle schematic six.

Figure 12 turns back one of the principle schematic of finger mechanism of driving for the bilayer of the embodiment of the present invention four.

Figure 13 for the embodiment of the present invention four bilayer turn back driving finger mechanism principle schematic two.

Figure 14 for the embodiment of the present invention four bilayer turn back driving finger mechanism principle schematic three.

Figure 15 for the embodiment of the present invention four bilayer turn back driving finger mechanism principle schematic four.

Figure 16 turns back one of the principle schematic of finger mechanism of driving for the bilayer of the embodiment of the present invention five.

Figure 17 for the embodiment of the present invention five bilayer turn back driving finger mechanism principle schematic two.

Figure 18 turns back one of the principle schematic of finger mechanism of driving for the bilayer of the embodiment of the present invention six.

Figure 19 for the embodiment of the present invention six bilayer turn back driving finger mechanism principle schematic two.

Figure 20 for the embodiment of the present invention six bilayer turn back driving finger mechanism principle schematic three.

Figure 21 for the embodiment of the present invention six bilayer turn back driving finger mechanism principle schematic four.

Figure 22 for the embodiment of the present invention six bilayer turn back driving finger mechanism principle schematic five.

Figure 23 for the embodiment of the present invention six bilayer turn back driving finger mechanism principle schematic six.

Figure 24 turns back one of the principle schematic of finger mechanism of driving for the bilayer of the embodiment of the present invention seven.

Figure 25 for the embodiment of the present invention seven bilayer turn back driving finger mechanism principle schematic two.

Figure 26 for the embodiment of the present invention seven bilayer turn back driving finger mechanism principle schematic three.

Figure 27 for the embodiment of the present invention seven bilayer turn back driving finger mechanism principle schematic four.

Figure 28 for the embodiment of the present invention seven bilayer turn back driving finger mechanism principle schematic five.

Figure 29 for the embodiment of the present invention seven bilayer turn back driving finger mechanism principle schematic six.

Figure 30 for the embodiment of the present invention seven bilayer turn back driving finger mechanism principle schematic seven.

Drawing reference numeral explanation：31- finger frames；32- gear drive groups；311- motors；33- palm frames；34- screw rods； 35- nuts；321- first gears；322- second gears；323- upper stratas bearing；324- lower floors bearing；38- finger bodies；40- One rotating shaft；42- base finger joints；The nearly finger joints of 43-；The rotating shafts of 44- second；The pull bars of 45- first；The rotating shafts of 46- the 3rd；The rotating shafts of 47- the 4th； The torsion springs of 48- first；The torsion springs of 49- second；The copper sheathings of 50- first；52- baffle rings；53- finger frame mounting grooves；54- base finger joint mounting ears Plate；The remote finger joints of 55-；The rotating shafts of 56- the 5th；The pull bars of 57- second；The rotating shafts of 58- the 6th；The rotating shafts of 59- the 7th；The torsion springs of 60- the 3rd；61- 4th torsion spring；62- chutes；63- bearing pins；64- blocking mechanisms；The torsion springs of 65- the 5th；The torsion springs of 66- the 6th.

Embodiment

Embodiment one

As shown in Figures 1 to 5, its for the embodiment of the present invention bilayer turn back driving finger mechanism principle schematic, The bilayer of the embodiment of the present invention turn back driving finger mechanism include finger frame, gear drive group, motor, screw rod and and spiral shell Nut and finger body that bar coordinates.Wherein, gear drive group includes intermeshing first gear and second gear, finger Body is rotatably connected with finger frame by first rotating shaft.

Motor 311 is fixed in finger frame 31, and is connected by output shaft and the first gear 321 of gear drive group 32 Connect.In actual applications, the rotating speed exported due to motor 311 may with the rotating speed being actually needed difference, and hence it is also possible to Including reduction assemblies, the rotating speed that motor is exported to be adjusted, motor 311 and reduction assemblies are fixed with screw fixation method In in finger frame 31, reduction assemblies are arranged on the output end of motor 311, and output shaft is defeated by reduction assemblies and motor 311 Go out end connection.Screw rod 34 and nut 35 are arranged at the lower section of finger frame 31, and the of one end of screw rod 34 and gear drive group 32 Two gears 322 are connected, and nut 35 is arranged on the bottom of finger frame 31, and nut 35 is solid relative to finger frame 31 in radial directions It is fixed, and can in the axial direction be moved with respect to finger frame 31, nut 35 is located at the same of gear drive group 32 with motor 311 Side, the axial direction of screw rod 34 is fixed, when screw rod 34 is rotated, and drives nut 35 to move in the axial direction, nut 34 is by soft Property connection member or bent connection member be connected with finger body 38, for being driven by nut motion in the axial direction Finger body is relative to finger gantry rotation.Nut 35 mentioned here is fixed relative to finger frame 31 in radial directions Refer to, nut 35 is bound in radial directions, and decontroled on axial direction, so that when screw rod 34 is rotated, nut 35 can be Radially move.For example, nut 35 diametrically can be fixedly connected with finger frame 31 by pin, and pin can pass through The chute being arranged in finger frame 31 is moved in the axial direction.For another example finger frame 31 and nut 35 can also be passed through The fixation of radial direction is realized in shape design, and the shape of finger frame 31 and nut 35 is designed as pasting each other in radial directions Merge and rotate mutual exclusion, nut 35 can be slided in the lower surface of finger frame 31, and such as finger frame 31 and nut 35 are all provided with It is calculated as square, and fits each other, in the case where nut 35 is fitted with the lower surface of finger frame 31, nut 35 can not be in footpath It is rotated up to side, so that being relatively fixed diametrically is realized, can be complicated in mechanical finger structure by such structure Realized in the case that degree is very low it is radially fixed design in axial sliding, and cause mechanical finger structure close, save space.

In said structure, as shown in Fig. 2 the double-deck bearing (company of being fixed to one another being fixed in finger frame can also be included The upper strata bearing and lower floor's bearing connect), output shaft passes through the upper strata bearing 323 of double-deck bearing to be connected with first gear 321, screw rod 34 pass through lower floor's bearing 324 of double-deck bearing to be connected with second gear 322.By double-deck bearing can by lower floor's screw rod 34 and The lower parts such as nut 35 are fixed in finger frame 31 in radial directions, play certain fixation and carrying effect, each other The upper strata bearing 323 and lower floor's bearing 324 being fixedly connected enable to levels drive mechanism to be tightly secured together, and improve whole The stability of body mechanism.Nut 35 is arranged on the bottom of finger frame 31, and can be slided with respect to finger frame 31, (nut in Fig. 1 The four-headed arrow of lower section represents the glide direction of nut) nut 35 and motor 311 be located at the homonymy of gear drive group 32.It is preferred that Ground, the side of the remote gear drive group 32 of nut 35 is enclosed construction, and flexible attachment components or bent connection member connect On the end face for being connected to enclosed construction side.

Further, because the movement locus and nut 35 of finger body 38 are different, and movement locus is nor parallel Or point-blank, therefore, flexible attachment components or bent company are preferred to use between finger body 38 and nut 35 Relay part, locked to avoid, connection member can be connected on nut 35.Specifically, can between finger body 38 and nut 35 To be connected by body of restricting (such as Fig. 3 and Fig. 4) or linkage (such as Fig. 1 and Fig. 2), wherein, linkage can be using two sections Or two section the above connecting rod.By said structure, during nut 35 is moved along a straight line, rope body or connecting rod Mechanism pulls finger body 38, and rope body or linkage are formed between the fixing point and first rotating shaft 40 on finger body 38 Torque, so that finger body 38 is rotated centered on first rotating shaft 40.

In addition, (horizontal direction in figure) is fixed in the axial direction for the screw rod 34 being arranged at below finger frame 31, work as spiral shell When bar 34 is rotated, nut 35 is driven to move in the axial direction.Finger body 38 can be turned by first rotating shaft 40 with finger frame 31 Dynamic connection, (four-headed arrows of the Fig. 3 into Fig. 4 below nut represents the glide direction of nut), finger under the driving of nut 35 Body 38 can rotate that (arrow of finger body tip represents the rotation side of finger body in Fig. 3 relative to finger frame 31 To).

In addition, resetting-mechanism is also provided with finger frame 31, for applying with nut 35 to finger body 38 The opposite reset force of driving force.The effect of the reset force is to enable to finger body 38 to be acted on by both direction all the time Power, i.e., the driving force from nut 35 and the reset force from resetting-mechanism, so that finger body 38 is in motion process And stable state is remained in the state of stopping at an arbitrary position, in addition, the effect of the resetting-mechanism also resides in and works as spiral shell When mother 35 moves right along in figure, finger body 38 is enabled to be rotated up by the traction of reset force, so as to realize multiple Position, generally, the driving force that nut 35 applies enable to finger body 38 to rotate down, and reset force causes the finger sheet Body 38 is rotated up.The resetting-mechanism can be arranged on the junction of finger body 38 and finger frame 31.Specifically, the reset Mechanism can be provided in the first torsion spring 48 or offer and the rotation direction phase of finger body 38 in first rotating shaft 40 Other power sources of anti-driving force a, for example, elastomeric element can be set in finger frame 31, and by the elastomeric element It is connected between finger body 38 by compliant member, when finger body 38 is rotated down, elastomeric element is stretched offer one Individual counter force, or it is reset force.For another example as shown in figure 5, resetting-mechanism can also be connected to frame and finger sheet Elastomer 41 between body, the elastomer 41 when finger body 38 is rotated down there is provided the pulling force opposite with rotation direction, from And when motor is rotated backward, enable to finger body 38 to be rotated up by the pulling force of elastomer 41.

In above-mentioned screw rod and nut structure, screw rod 34 and the mechanism of nut 35 have auto-lock function, when motor 311 stops exporting During moment of torsion, the position of nut 35 can be remained stationary as, so as to certain position memory function, also to export in motor 311 In the case of stopping, finger body 38 will not be moved to opposite direction, on this basis, if also there is reset force, can be caused Finger body 38 is maintained at that current location is motionless, so that with the position lock function to finger body 38.

It should be noted that above-mentioned resetting-mechanism is a kind of preferred embodiment, needing to reset under scene, can also not With setting special resetting-mechanism, but resetted by external strength, for example, when in the double-deck finger mechanism of driving that turn back Screw rod and nut (accompanying drawing is rotated clockwise 90 degree) when setting vertically downward, finger body can exist by the gravity of itself Component perpendicular to screw rod direction provides reset force.

The mechanism of the present embodiment, the power for exporting motor to be directed to lower floor from upper strata by way of turning back, and The power output direction of motor is changed, the power output of motor is directly over finger body and finger frame so as to avoid Coupling part, carries out complicated design, so as to reduce this without the coupling part to finger body and finger frame Partial complexity.It should be noted that in manipulator field, finger body and the coupling part of finger frame can be considered as It is articular portion, the mechanism design of the present embodiment sufficiently lower the complexity of articular portion.For example, above-mentioned finger body Can be the finger of manipulator, and the finger mechanism of double-deck driving of turning back can be arranged in palm.In addition it is also necessary to explanation It is that the drive mechanism of the present embodiment is more than that the field of manipulator can be applied to, and can also be applied to other tools articulate Bionic mechanical structure division, for example, the mechanical structure of simulation thigh and shank, finger frame and bolt and nut structure are located at thigh On, finger body can be shank.

It should be noted that the orientation such as described " on ", " under " in the present embodiment is the relative position in finger, when So above-mentioned bilayer turn back the finger mechanism of driving set along vertical direction when, " on ", " under " be refer to it is upper relative to ground Under, above-mentioned guide rail and bilayer bearing will provide for the bearing capacity for gravity.But those skilled in the art should Work as understanding, when above-mentioned bilayer turn back the finger mechanism of driving set along other directions when, such as horizontal positioned, above-mentioned guide rail And double-deck bearing can also provide and resist other pulling force from horizontal direction etc., so that the driving part of levels is close Link together.In addition, as a kind of distressed structure, the turn back finger mechanism of driving of above-mentioned bilayer can be arranged at cavity In, the driving structure of levels is tightly secured together each other in radial directions by cavity, the cavity can be reserved Opening is connected with finger body.

Embodiment two

Compared with embodiment one, present embodiments provide relative in radial directions on nut 35 in one embodiment one The alternative scheme for the implementation fixed in finger frame 31.Nut 35 is fixed relative to finger frame 31 in radial directions Refer to, nut 35 is bound in radial directions, and decontroled on axial direction, when screw rod 34 is rotated, nut 35 can be in footpath Motion upwards.The bottom of finger frame 31 is provided with rail plate, and nut 35 is connected with finger frame 31 by rail plate, made Obtain the nut 35 to be fixedly connected with finger frame 31 in radial directions, can slide in the axial direction.The rail plate Constraint effect radially can be provided solely for, more preferably, nut 35 is connected in rail plate without carrying effect On so that the rail plate plays certain carrying effect, i.e. nut 35 except axial direction in addition to it can move, other directions The free degree fixed by rail plate, so, nut 35 is connected by rail plate with finger frame 31 can be by finger frame 31 as lower floor's screw rod 34 and the supporting body of the mechanism of nut 35, i.e. rail plate except playing leading for the horizontal movement to nut 35 To beyond effect, the effect of the certain load-bearing also acted, so as to reduce the load-bearing in mechanism of lower floor to a certain extent Structure, we are referred to as slide rail type bilayer and turned back the finger mechanism of driving this bilayer can the turn back finger mechanism of driving.

Embodiment three

As shown in Fig. 6 to Figure 11, its for embodiment three bilayer turn back driving finger mechanism principle schematic.This reality Apply example with the difference of embodiment two to be, the finger body of the present embodiment includes base finger joint and nearly finger joint, correspondingly, nut pair The mode that it drives is also different.

Above-mentioned base finger joint 42 is rotatably connected by first rotating shaft 40 with finger frame 31, and base finger joint 42 and nearly finger joint 43 are logical Cross the second rotating shaft 44 to be rotatably connected, the first pull bar 45, the first pull bar 45 are provided between nearly finger joint 43 and finger frame 31 One end be rotatably connected by the 3rd rotating shaft 46 and finger frame 31, the other end of the first pull bar 45 by the 4th rotating shaft 47 with Nearly finger joint 43 is rotatably connected, and the 3rd rotating shaft 46 is arranged at the top of first rotating shaft 40, and the 4th rotating shaft 47 is arranged at the second rotating shaft 44 lower section, the first pull bar 45 and the formation chi structure of base finger joint 42.In addition, generally, the tooth of first gear 321 and second Wheel 322 may be in same plane in radial directions.Further, due to the movement locus and base finger joint of the first pull bar 45 42 is different, and movement locus, nor parallel or point-blank, therefore, base finger joint 42 can be provided with hollow area Domain, the first pull bar 45 forms chi structure through the hollow region with base finger joint 42.Further, since the movement locus of base finger joint 42 It is different with nut 35, and movement locus, nor parallel or point-blank, therefore, base finger joint 42 can pass through flexibility Connection member or bent connection member are as connection member, and to avoid the appearance of locking state, connection member can be connected On nut 35, for driving base finger joint relative to finger gantry rotation by the motion of nut in the axial direction.Specifically, base Between finger joint 42 and nut 35 can by restrict body or linkage it is (as shown in Figure 6) connection, wherein, linkage can be adopted With two sections or the connecting rod of the two section above.

By said structure, during nut 35 is moved along a straight line, rope body or linkage pull base finger joint 42, rope body or linkage form torque between the fixing point and first rotating shaft 40 in base finger joint 42, so that base refers to Section 42 is rotated centered on first rotating shaft 40.During base finger joint 42 is moved, the first pull bar 45 is at the 4th turn Torque is formed between the rotating shaft 44 of axle 47 and second, so that nearly finger joint 43 is rotated centered on the second rotating shaft 44, is realized Apply driving force in near-end, remote action can be made simultaneously.As shown in fig. 6, in the state of Fig. 6, base finger joint 42 and nearly finger joint 43 are in horizontality, when under drive of the nut 35 in motor 311 to left movement, and base finger joint 42 and nearly finger joint 43 occur to turn It is dynamic, final base can be controlled according to the formation design and the design of the connection member between nut and base finger joint 42 of nut 35 The slewing area of finger joint 42 and nearly finger joint 43, as shown in fig. 7, base finger joint 42 and nearly finger joint 43 can under the drive of nut 35 from Fig. 6 state change is the state shown in Fig. 7.

Due in said mechanism, adding base finger joint and nearly finger joint, and base finger joint and nearly finger joint are with rotatable Mode is sequentially connected with finger frame, therefore, and said mechanism may also be referred to as the hand of the two-stage revolution of double-deck driving of turning back Refer to mechanism.

In addition, resetting-mechanism is also provided with base finger joint 42 and the junction of finger frame 31, for applying and first The opposite reset force of the driving force of connecting rod and second connecting rod to base finger joint 42.The effect of the reset force is to enable to base to refer to Section 42 is all the time by the active force of both direction, i.e., driving force from first connecting rod and second connecting rod and from resetting-mechanism Reset force so that base finger joint 42 remains stable in motion process and in the state of stopping at an arbitrary position State, in addition, the effect of the resetting-mechanism is also resided in when nut 35 is moved right along in figure, passes through the traction energy of reset force Enough so that base finger joint 42 is rotated up, so as to realize reset, generally, the driving force that nut 35 applies enables to base finger joint 42 and nearly finger joint 43 rotate down, and reset force causes base finger joint 42 to be rotated up.The resetting-mechanism can be provided in Other power of the first torsion spring 48 or the offer driving force opposite with the rotation direction of base finger joint 42 in one rotating shaft 40 Source, for example, an elastomeric element can be set in finger frame 31, and by between the elastomeric element and base finger joint 42 by soft Property part connection, when base finger joint 42 is rotated down, elastomeric element is stretched one counter force of offer, or cries reset Power.For example, as shown in Figure 8 and Figure 9, the first torsion spring 48 has two extensions, respectively to finger frame 31 and the side of base finger joint 42 To extension, and applying to finger frame 31 and base finger joint 42 makes finger frame 31 and base finger joint 42 return to the reset of predetermined angle Power, so as to when motor 311 is rotated backward, enable to base finger joint 42 to be rotated up (in Fig. 9 by the elastic force of the first torsion spring 48 The arrow for being respectively perpendicular to base finger joint and finger frame represents the direction of reset force).

As shown in figure 9, in the state of figure 9, base finger joint 42 and finger frame 31 are in plumbness, when nut 35 is in electricity When being moved right under the drive of machine 311, base finger joint 42 and finger frame 31 rotate, and are designed according to the formation of the first torsion spring 48 And the design between base finger joint 42 and finger frame 31 can control the rotation model of final base finger joint 42 and finger frame 31 Enclose, as shown in figure 8, base finger joint 42 and finger frame 31 can from Fig. 9 state change be Fig. 8 under the drive of the first torsion spring 48 Shown state.

As a kind of alternative scheme of above-mentioned resetting-mechanism, it can be provided with the junction of base finger joint 42 in nearly finger joint 43 Resetting-mechanism, for applying the reset force opposite with the driving force of 45 pairs of nearly finger joints 43 of the first pull bar.The reset force is acted on In causing nearly finger joint 43 all the time by the active force of both direction, i.e., driving force from the first pull bar 45 and from resetting-mechanism Reset force so that nearly finger joint 43 remains stable in motion process and in the state of stopping at an arbitrary position State, in addition, the effect of the resetting-mechanism is also resided in when nut 35 is moved right along in figure, is made by the traction of reset force Nearly finger joint 43 is rotated up, so as to realize resets, generally, the driving force of the application of nut 35 enable to base finger joint 42 with And nearly finger joint 43 is rotated down, and reset force causes nearly finger joint 43 to be rotated up.The resetting-mechanism can be provided in second turn Other power sources of the second torsion spring 49 or the offer driving force opposite with the rotation direction of nearly finger joint 43 on axle 44, For example, an elastomeric element can be set in base finger joint 42, and flexible part will be passed through between the elastomeric element and nearly finger joint 43 Part is connected, when nearly finger joint 43 is rotated down, and elastomeric element, which is stretched, to be provided a counter force or be reset force.Example Such as, as shown in Figure 10 and Figure 11, the second torsion spring 49 has two extensions, prolongs respectively to base finger joint 42 and the direction of nearly finger joint 43 Exhibition, and applying to base finger joint 42 and nearly finger joint 43 makes base finger joint 42 and nearly finger joint 43 return to the reset force of predetermined angle, in electricity When machine 311 is rotated backward, nearly finger joint 43 is enabled to be rotated up (being respectively perpendicular in Figure 11 by the elastic force of the second torsion spring 49 The arrow of base finger joint and nearly finger joint represents the direction of reset force).As shown in figure 11, in the state of Figure 11, base finger joint 42 and near Finger joint 43 is in plumbness, and when being moved right under drive of the nut 35 in motor 311, base finger joint 42 and nearly finger joint 43 occur Rotate, the design between formation design and the first pull bar 45 and base finger joint 42 and nearly finger joint 43 according to the second torsion spring 49 can To control the slewing area of final base finger joint 42 and nearly finger joint 43, as shown in Figure 10, base finger joint 42 and nearly finger joint 43 can be From Figure 11 state change it is the state shown in Figure 10 under the drive of second torsion spring 49.

As described in embodiment one, screw rod 34 and the mechanism of nut 35 have auto-lock function, when motor 311 stops output torque When, the position of nut 35 can be remained stationary as, and with certain position memory function, also cause the feelings that stopping is exported in motor 311 Under condition, nearly finger joint 43 will not be moved to opposite direction, on this basis, if also there is reset force, and nearly finger joint 43 can be caused to protect Hold motionless in current location, so that with the position lock function to nearly finger joint 43.Due in said mechanism, adding two-stage Finger finger joint and resetting-mechanism, therefore, the finger mechanism of the two-stage revolution of also referred to as double-deck driving of turning back.Above-mentioned resetting-mechanism Simply a kind of preferred embodiment, is needing to reset under scene, also can be without setting special resetting-mechanism, but is answered by external force Position, for example, (being rotated clockwise accompanying drawing when the screw rod and nut in the finger mechanism that bilayer turns back driving are set vertically downward 90 degree), nearly finger joint can be by gravity in the component offer reset force perpendicular to screw rod direction.

The mechanism of the present embodiment, the power for exporting motor to be directed to lower floor from upper strata by way of turning back, and Change the power output direction of motor, it is not necessary to which the power output of motor is directly over base finger joint, nearly finger joint and finger machine The coupling part of frame, complicated design, drop are carried out without the coupling part to base finger joint, nearly finger joint and finger frame The low complexity of this part.Wherein, the coupling part of base finger joint, nearly finger joint and finger frame is considered as articular portion, The mechanism design of the present embodiment, sufficiently lower the complexity of articular portion.The drive mechanism of the present embodiment can apply to incessantly The field of manipulator, can also be applied to other articulate bionic mechanical structure divisions of tool, for example, simulation thigh and shank Mechanical structure, finger frame and bolt and nut structure are located on thigh, and base finger joint can be shank, and nearly finger joint can be pin.

Example IV

The structure of manipulator, manipulator finger and its each several part is described the present embodiment combination accompanying drawing.The present embodiment Finger mechanism in multiple embodiments three is arranged in palm frame, manipulator is formed.As shown in Figure 12 to Figure 15, Tu12He Be in 13 by the pronation of the manipulator, the back of the hand upwards and stretch in the schematic diagram of placement, Figure 14 be manipulator top view, Figure 15 is the assembling schematic diagram of manipulator, and the global shape of the manipulator is similar to human hand profile, wearable on human arm, The elemental motion of human hand can be completed.

The manipulator of the present embodiment includes：At least one finger frame peace is provided with palm frame 33, palm frame 33 Tankage 53, base finger joint mounting ear wrench, which refers to, is embedded with finger mechanism in frame mounting groove 53, finger frame mounting groove 53 and finger Frame 31 is adapted to, and frame is slapped for base finger joint mounting ear plate finger mechanism to be arranged on into base finger joint mounting ear wrench.Here institute The finger mechanism said can be identical with the finger mechanism in embodiment three.Above-mentioned palm frame 33 is the installation branch of finger mechanism Frame, the profile of palm frame 33 can be similar to human body palm, and the shape of palm frame 33 can be with generally rectangular, such as Figure 13 institutes Show, surround the scope scope that substantially palm frame is included with dotted line A in Figure 13, the inside of palm frame 33 is cavity, machine After tool hand is completed, finger frame 31, gear drive group 32, motor 311, screw rod 34 and the nut coordinated with screw rod 34 35 can be respectively positioned in the cavity of palm frame 33.Five finger frame mounting grooves, five can be provided with above-mentioned palm frame Five finger mechanisms can be provided with by being respectively embedded into individual finger frame mounting groove in the palm frame of finger mechanism, i.e., one, Each finger mechanism each has an independent finger frame 31, can be by five during the overall package of manipulator Finger mechanism is connected and fixed on finger frame mounting groove 53 by respective finger frame 31 respectively, forms manipulator.Here institute Five finger mechanisms said can respectively to human body five fingers, for example respectively thumb, forefinger, middle finger, it is nameless with And little finger.The manipulator middle finger of the embodiment of the present invention, forefinger, middle finger, the size of five fingers of the third finger and little finger And profile is identical.

It should be noted that in view of the motion mode of other fingers (also referred to as general finger) beyond thumb more connects Closely, accordingly it is also possible to which the finger mechanism of the embodiment of the present invention is only applied into general finger, and the structure of thumb can be used Ripe structure or other feasible structures etc. in the prior art, therefore, Tu15Zhong, the not shown specific knot in part of thumb Structure, but only draw the schematical mounting groove for being used to fix thumb mechanism.In addition it is also possible to by the hand of the embodiment of the present invention Refer to mechanism and be only applied to one or several general fingers, and the structure of thumb and remaining general finger can use other Structure etc..

In above-mentioned finger rack construction, as shown in figure 13, surround what scope substantially finger frame 31 was included with dotted line B Scope, as a kind of example arrangement, finger frame 31 is substantially L-shaped, and the inside of finger frame 31 is cavity, finger frame 31 The bold portion being provided with cavity in motor 311, figure illustrate only main functional parts in finger frame 31, art technology Personnel are appreciated that in the scope irised out, and can flexibly set various structures, so that the finger frame 31 forms necessary Closing or semi-enclosed structure.

As viewed from the perspective of from figure, in the plan view of finger frame 31, bold portion includes left and right two parts and is used for Connect the part of motor and base finger joint, the left part of finger frame 31 wherein in figure (close to the part of second gear 322) Outer wall can be connected on the finger frame mounting groove 53 of palm frame 33, and the inwall of the left part can be with motor 311 One end is connected, and the inwall of the right part (close to the part of base finger joint) of finger frame 31 is connected with the other end of motor 311, right The outer wall section of side part and one end of base finger joint 42 are rotatably connected, and one end of the other end of base finger joint 42 and nearly finger joint 43 can Rotate connection.

In above-mentioned robot manipulator structure, the first mounting hole can be provided with the inwall of the left part of finger frame 31, electricity Machine 311 is cylindrical structural, and one end of motor 311 is plugged in the first mounting hole of finger frame 31, the right side of finger frame 31 The second mounting hole can be provided with the inwall of side part, the other end of motor 311 is plugged on the second of finger frame 31 and installed Kong Zhong.The finger frame otic placode for linker finger joint 42, hand can be provided with the outer wall of the right part of finger frame 31 Refer to and be provided with the first finger frame pin shaft hole in the middle part of frame otic placode, base finger joint 42 can be by two side plate be arrangeding in parallel groups Into the side of biside plate is respectively arranged with the first base finger joint pin shaft hole, and the biside plate of base finger joint 42 clamps finger frame otic placode In centre, the first base finger joint pin shaft hole and the first finger frame pin shaft hole are run through by bearing pin so that the right side of finger frame 31 The outer wall of side part and the side of base finger joint 42 are rotatably connected.Nearly finger joint 43 can be cylindrical structural, the one of nearly finger joint 43 Sidepiece is provided with the middle part of the first nearly finger joint pin shaft hole, the opposite side of base finger joint biside plate and is provided with the second base finger joint pin shaft hole, base The side of the biside plate of finger joint 42 nearly finger joint 43 is clamped in centre, runs through the second base finger joint pin shaft hole and first by bearing pin Nearly finger joint pin shaft hole so that the opposite side of base finger joint 42 and the side of nearly finger joint 43 are rotatably connected.

(1) finger frame 31

It is provided with first mounting hole of finger frame 31 on internal thread hole, one end outer wall of motor 311 and is provided with outer spiral shell Line, one end of motor 311 is plugged on by the external screw thread of its one end outer wall in the internal thread hole of finger frame 31.Motor 311 Output end can be provided with decelerator, and in order to take into account the requirement of motor appearance and size and output torque, motor can use miniature Direct current generator.Current of electric on-line checking loop can be set in terms of control system, in manipulator, enabling sense mechanism Two limit of sports record of hand finger and the chucking power to being crawled object.Motor and reducer assemblies are arranged at palm frame Inside, that is, be arranged on palm portion, without being provided in base finger joint so that base finger joint can be determined flexibly according to actual needs Length.

The output shaft of motor 311 runs through the first mounting hole of finger frame 31, and the output shaft of motor 311 exposes finger frame 31 and stretch out to the left, be provided with the side of motor output shaft in first gear 321, first gear 321 and be provided with D-section D-section axle journal is provided with axis hole, motor output shaft, D-section axis hole is adapted to D-section axle journal, first gear 321 is led to The constraint for crossing D-section axis hole is connected on the D-section axle journal of motor output shaft, and first gear 321 is located at finger frame 31 Expose the side of finger frame 31 close to the output shaft of motor 311.It is arranged between first gear 321 and the first end of finger frame 31 First copper sheathing 50, the first copper sheathing is used for axially position first gear 321.

It is provided with the lower section of finger frame 31 in screw rod 34, finger frame 31 and is provided with screw rod mounting hole, screw rod is installed The second copper sheathing is provided with hole, screw rod 34 runs through the through hole of the second copper sheathing, and screw rod 34 can be turned round in the through hole of the second copper sheathing, The lower part such as lower floor's screw rod 34 and nut 35 can be fixed in radial directions by finger frame 31 by the second copper sheathing On, certain fixation and carrying effect is played, the stability of integrated model is improved, meanwhile, the second copper sheathing is installed equivalent to screw rod The protective layer of hole inwall, the second copper sheathing can prevent from causing abrasion to the inwall of screw rod mounting hole when screw rod 34 from rotating.In addition, the One end of the flange of two copper sheathings is connected to the bottom of the first end of finger frame 31, and screw rod 34 is located at the bronze medal of second gear 322 and second The diameter of axle between set is more than the diameter of axle at the other positions of screw rod 34, screw rod 34 can be located at into the copper sheathing of second gear 322 and second Between the diameter of axle be referred to as first diameter of axle, the diameter of axle at the other positions of screw rod 34 can be referred to as second diameter of axle, the first of screw rod 34 The diameter of axle is abutted with the handing-over ladder end face of second diameter of axle with the other end of the second copper sheathing flange, prevents screw rod 34 to be axially toward The direction of nut 35 is moved, and realizes screw rod 34 towards the axially position on the direction of nut 35.Expose finger machine in one end of screw rod 34 The left part of frame 31.Second gear 322, second gear 322 and the phase of first gear 321 are provided with the lower section of first gear 321 Engagement, second gear 322 is arranged on one end of screw rod 34, in order that obtaining second gear 322 screw rod 34 can be driven to rotate, and prevent Only in the gear hole of second gear 322 skidding occurs for screw rod 34, and the keyway in mechanical transmission structure can be used to coordinate Mode is connected, it would however also be possible to employ the D-section diameter of axle is connected with D-section shaft hole matching mode, is used in the embodiment of the present invention It is to be provided with D-section axis hole in the latter, second gear 322, one end of screw rod 34 is provided with D-section axle journal, second gear 322 are connected on one end D-section axle journal of screw rod 34 by the constraint of D-section axis hole, the D-section diameter of axle and D-section The advantage of shaft hole matching mode is, the cross sectional shape of the diameter of axle and axis hole is designed into D-shaped, the straight border of the D-section diameter of axle Abutted with the straight border of D-section axis hole and mutually clamping, be easy to the installation of the diameter of axle and axis hole, and can effectively prevent screw rod 34 occur skidding in the gear hole of second gear 322.Herein, the first mounting hole and second that finger frame 31 is provided Mounting hole serves the effect of the double-deck bearing in above example.

A baffle ring 52 is arranged with the screw rod 34 of the lower section of motor 311, one end of baffle ring 52 is connected to finger frame It is respectively arranged with the bottom of 31 right part, baffle ring 52 and screw rod 34 on positioning through hole, baffle ring 52 and screw rod 34 Positioning through hole is run through by pin so that baffle ring 52 will not be moved dislocation on the axial direction of screw rod 34, prevent screw rod 34 are axially toward the motion of the direction of second gear 322, realize that screw rod 34 is determined towards the axial direction on the direction of second gear 322 Position.

It is arranged with the other end of screw rod 34 on nut 35, the outer wall of screw rod 34 and is provided with external screw thread, the screw thread of nut 35 Internal thread is provided with hole, nut 35 passes through threaded engagement with screw rod 34.Nut 35 is provided with circular arc close to the side of motor 311 Shape groove, arc-shaped groove can be slidably matched with the formation of the cylindrical outer wall of motor 311.When screw rod 34 is turned round, the edge of nut 35 The outer wall for motor 311 makees parallel axial movement.

The other end of nut 35 has open slot, and the both sides of open slot, which are symmetrically arranged with a pair of otic placodes, a pair of otic placodes, to be divided It is not provided with coaxial otic placode pin shaft hole, the axis of the axis of otic placode pin shaft hole perpendicular to nut 35.The otic placode other end is set successively Be equipped with first connecting rod and second connecting rod, the two ends of first connecting rod and second connecting rod be respectively arranged with first connecting rod pin shaft hole with And second connecting rod pin shaft hole, the otic placode pin shaft hole that the first connecting rod pin shaft hole of first connecting rod one end passes through bearing pin and nut 35 joins Connect, the first connecting rod pin shaft hole of the first connecting rod other end is joined by bearing pin and the second connecting rod pin shaft hole of one end of second connecting rod Connect.

Mechanical drive train is two layers of formula structure of turning back by the manipulator of the embodiment of the present invention so that manipulator internal structure is tight Gather, reduce the entire length of mechanical transmission structure, so as to reduce the entire length of manipulator.

(2) base finger joint and nearly finger joint

One end of base finger joint 42 is provided with arc chute, and the second connecting rod pin shaft hole of the second connecting rod other end passes through bearing pin Couple with the chute of base finger joint 42, bearing pin can along base finger joint 42 slide.Nearly finger joint 43 passes through bearing pin and base finger joint 42 rotate connection, and nearly finger joint 43 can do gyration around the axis of bearing pin.The one end of base finger joint 42 upside and base finger joint 42 are another End downside is respectively arranged with perforate, is provided with the first pull bar 45, the two ends of the first pull bar 45 the cavity of base finger joint 42 is tilted The tapping on the upside of the one end of base finger joint 42 and on the downside of the other end of base finger joint 42 exposes respectively.In the outer right wall of finger frame 31 Top be provided with second finger frame pin shaft hole, the two ends of the first pull bar 45 are respectively arranged with link pin axis hole, the first pull bar The pin shaft hole of 45 one end is rotated with the second finger frame pin shaft hole of finger frame 31 by bearing pin and is connected；In nearly one end of finger joint 43 Bottom be provided with the second nearly finger joint pin shaft hole, the pin shaft hole of the other end of the first pull bar 45 passes through the second of bearing pin and nearly finger joint 43 Nearly finger joint pin shaft hole rotates connection.The second torsion spring 49 is arranged with bearing pin between base finger joint 42 and nearly finger joint 43, second turns round The extension of the one end of spring 49 abuts the upper inside walls of the cavity of base finger joint 42, and the extension of the other end of the second torsion spring 49 abuts nearly finger joint The upper inside walls of 43 cavitys.

The movement locus of manipulator is carried out below and the movement relation of each part is discussed in detail：In manipulator stretch-like Under state, if need manipulator count on one's fingers motion when, the Positive work of controlled motor 311, motor output shaft drive decelerator input shaft Operating, is slowed down by decelerator, and the output shaft of decelerator drives first gear 321 to operate, and first gear 321 drives second gear 322 operatings, second gear 322 drives screw rod 34 to operate, the operating of screw rod 34 so that axis of the nut 35 along screw rod 34 is to hand Side movement is slapped, nut 35 pulls base finger joint 42 by first connecting rod and second connecting rod, base finger joint 42 is counted on one's fingers downwards and turns Dynamic, as base finger joint 42 is counted on one's fingers downwards rotation, the first pull bar 45 is bent downwards to the nearly finger joint 43 of oblique top pulling, nearly finger joint 43 Refer to motion, while the second torsion spring of inner wall compressive 49 of nearly finger joint 43 so that the second torsion spring 49 is in compressive state.Bent in manipulator Under finger-like state, if need the manipulator to be extended motion, the antiport of controlled motor 311, motor output shaft drives the defeated of decelerator Enter axle operating, slowed down by decelerator, the output shaft of decelerator drives first gear 321 to operate, and first gear 321 drives second Gear 322 is operated, and second gear 322 drives screw rod 34 to operate, the operating of screw rod 34 so that axis of the nut 35 along screw rod 34 Moved to finger side, because the second torsion spring 49 is in compressive state, screw rod 34 is connected by nut 35, first connecting rod and second Bar release base finger joint 42；And under the elastic force effect of the second torsion spring 49, the second torsion spring 49 carries for the upper inside walls of nearly finger joint 43 For an elastic force obliquely, nearly finger joint 43 is extended motion upwards, and nearly finger joint 43 is that the first pull bar 45 provides one obliquely Pulling force, promote base finger joint 42 to be extended rotation upwards by the coupling part of base finger joint 42 and nearly finger joint 43.

The finger mechanism of the present embodiment, that includes the motor being carried in finger frame, gear transmission group, screw rod and spiral shell Parent agency, the base finger joint being connected in finger frame and nearly finger joint, these parts constitute a complete unit, by by this The modularized design of sample, is easy to manufacture, and also allows for installing, convenient to carry out by being provided with the palm frame of mounting groove Assembling, during failure, also allows for integral replacing etc..

Embodiment five

Compared with example IV, the embodiments of the invention provide in one embodiment four on finger body and finger frame The alternative scheme for the implementation being rotatably connected by first rotating shaft.As shown in Figure 16 and Figure 17, Figure 17 is manipulator Assembling schematic diagram, the manipulator of the embodiment of the present invention includes being provided with least one base finger joint peace in palm frame, palm frame Otic placode is filled, base finger joint is installed and is provided with finger mechanism on otic placode.

Above-mentioned finger mechanism includes：Finger frame, gear drive group, motor, screw rod and the nut coordinated with screw rod, hand Refer to body and resetting-mechanism.Finger body includes base finger joint and nearly finger joint, and base finger joint is installed by first rotating shaft and base finger joint One end of otic placode is rotatably connected, and base finger joint and nearly finger joint are rotatably connected by the second rotating shaft, in nearly finger joint and finger frame Between be provided with the first pull bar, one end that otic placode is installed in one end of the first pull bar by the 3rd rotating shaft and base finger joint rotatably connects Connect, the other end of the first pull bar is rotatably connected by the 4th rotating shaft and nearly finger joint, and the 3rd rotating shaft is arranged at the upper of first rotating shaft Side, the 4th rotating shaft is arranged at the lower section of the second rotating shaft, the first pull bar and base finger joint formation chi structure.Further, motor One end is fixed in finger frame, and is connected by output shaft with the first gear of gear drive group；Screw rod and nut are arranged at The lower section of motor, one end of screw rod is connected with the second gear of gear drive group, the company of transmission between first gear and second gear Connect, nut is arranged on motor lower portion, nut is fixed relative to motor in radial directions, and can be with respect to motor in the axial direction Upper motion, nut is located at the homonymy of gear drive group with motor, and the axial direction of screw rod is fixed, when screw rod is rotated, and drives spiral shell Mother is moved in the axial direction, and nut is connected by flexible attachment components or bent connection member with base finger joint, for passing through The motion of nut in the axial direction drives base finger joint relative to finger gantry rotation；Resetting-mechanism is arranged on nearly finger joint and base finger joint Junction, for applying reset force to nearly finger joint；The other end of the motor away from first gear installs the another of otic placode with base finger joint End connection；Base finger joint is installed otic placode and is adapted to base finger joint, for finger mechanism to be arranged on into palm frame.

Above-mentioned palm frame 33 is the overall mounting bracket of manipulator, and the profile of palm frame 33 is similar to human body palm, The shape of palm frame 33 as shown in figure 16, scope substantially palm frame 33 can be surrounded with dotted line C with generally rectangular Comprising scope, the inside of palm frame 33 is cavity, after manipulator is completed, finger frame 31, gear drive group 32, Motor 311, screw rod 34 and the nut 35 coordinated with screw rod 34 can be respectively positioned in the cavity of palm frame 33.Such as Figure 17 institutes Show, finger frame 31 is in vacant state in palm frame 33, positioned at the smooth working of the finger mechanism of palm machine frame inside, Mainly the fixation between otic placode is installed to realize by motor and base finger joint.It should be noted that finger frame is in palmtop computer Frame mode inside frame is not limited to above-mentioned hanging mode.For example, finger frame 31 can be integrally formed with palm frame 33, hand Refer to branch's Extension support that frame 31 can be palmtop computer frame 33.

Five base finger joints for being used to install base finger joint 42 can be provided with above-mentioned palm frame 33 otic placode 54, five are installed Finger mechanism has been respectively embedded into finger frame mounting groove, that is to say, that five fingers can be provided with a palm frame Mechanism, each finger mechanism each has independent motor 311 and base finger joint 42, during the overall package of manipulator, The base that five finger mechanisms can be affixed into palm frame 33 by respective motor 311 and base finger joint 42 respectively refers to Section is installed on otic placode, forms manipulator.

Further, base finger joint is installed otic placode 54 and can be adapted to two side plates of base finger joint 42, and base finger joint can be installed In base finger joint installs otic placode 54, manipulator is divided into five fingers, and each finger each has an independent base finger joint 42, During the overall package of manipulator, five base finger joints can be fixed to palm frame 33 by respective two side plate clamping connections respectively Base finger joint install otic placode 54 on, formed manipulator.

It is similar with preceding embodiment situation, in view of the fortune of other fingers (also referred to as general finger) in addition to thumb Flowing mode is closer to, alternatively, can be only applied to the finger mechanism of the embodiment of the present invention typically Finger, and the structure of thumb can be using ripe in the prior art structure or other feasible structures etc., therefore, in figure In 17, the not shown concrete structure in part of thumb, but only draw the schematical mounting ear for being used to fix thumb mechanism Plate.In addition it is also possible to the finger mechanism of the embodiment of the present invention is only applied into one or several general fingers, and thumb and The structure of remaining general finger can be using ripe in the prior art structure or other feasible structures etc..

In above-mentioned finger rack construction, as shown in figure 16, scope substantially palm frame 33 is surrounded with dotted line C in Figure 16 Comprising scope, surround the scope scope that substantially finger frame 31 is included with dotted line D, be used as a kind of example arrangement, hand Slap frame 33 generally rectangular, can be provided with motor 311 in the cavity of palm frame 33, the first end of finger frame 31 with One end connection of motor 311, the other end of motor 311 is connected with the first end of palm frame 33, the second end of palm frame 33 It is rotatably connected with one end of base finger joint 42, the other end of base finger joint 42 and one end of nearly finger joint 43 are rotatably connected.In figure Bold portion illustrate only main functional parts in palm frame 33, it will be understood by those skilled in the art that needing to be irised out Scope in, various structures can be flexibly set so that the palm frame 33 formed it is necessary closing or semi-enclosed structure. In above-mentioned robot manipulator structure, the first mounting hole is provided with the first end position of finger frame 31, motor 311 is tied for cylinder Structure, one end of motor 311 is plugged in the first mounting hole of finger frame 31, is provided with the first end position of palm frame 33 Second mounting hole, the other end of motor 311 is plugged in the second mounting hole of palm frame 33.Second end of palm frame 33 is set It is equipped with and otic placode is installed for the base finger joint of linker finger joint 42, base finger joint is installed and is provided with the first palm frame pin in the middle part of otic placode Axis hole, base finger joint 42 is made up of two side plates be arrangeding in parallel, and one end of biside plate is respectively arranged with the first base finger joint pin shaft hole, Second end of palm frame 33 is clamped in centre by the biside plate of base finger joint 42, by bearing pin through the first base finger joint pin shaft hole with And the first palm frame pin shaft hole so that the second end and one end of base finger joint 42 of palm frame are rotatably connected.Nearly finger joint 43 Can be that the first nearly finger joint pin shaft hole is provided with the middle part of cylindrical structural, one end of nearly finger joint 43, base finger joint biside plate it is another End middle part is provided with the second base finger joint pin shaft hole, and one end of the biside plate nearly finger joint 43 of base finger joint 42 is clamped in centre, passed through Bearing pin runs through the second base finger joint pin shaft hole and the first nearly finger joint pin shaft hole so that the other end of base finger joint 42 and nearly finger joint 43 One end is rotatably connected.

(1) finger frame 31

It is provided with first mounting hole of finger frame 31 on internal thread hole, one end outer wall of motor 311 and is provided with outer spiral shell Line, one end of motor 311 is plugged on by the external screw thread of its one end outer wall in the internal thread hole of finger frame 31.Wherein, motor 311 output end can be provided with decelerator, in order to which two aspects for taking into account motor appearance and size and output torque require that motor can To use DC micromotor.Current of electric on-line checking loop can be set in terms of control system, in manipulator so that this The manipulator of inventive embodiments is capable of two limit of sports record of sense mechanism hand finger and the chucking power to being crawled object.This hair Motor and reducer assemblies are arranged at the inside of palm frame by bright embodiment, that is, are arranged on the palm portion of manipulator, and It is not arranged in base finger joint so that base finger joint can flexibly determine length according to actual needs.

The output shaft of motor 311 runs through the first mounting hole of finger frame 31, and the output shaft of motor 311 exposes finger frame 31 the second end, is provided with first gear 321, first gear 321 in the side of motor output shaft and is provided with D-section axle D-section axle journal is provided with hole, motor output shaft, D-section axis hole is adapted to D-section axle journal, and first gear 321 passes through The constraint of D-section axis hole is connected on the D-section axle journal of motor output shaft, and first gear 321 is leaned on positioned at finger frame 31 The nearly output shaft of motor 311 exposes the side of the diameter of axle at the end of finger frame 31 second.First gear 321 and the end of finger frame 31 second Between be arranged with the first copper sheathing 50, the first copper sheathing is used for axially position first gear 321.

It is provided with the bottom of palm frame 33 in screw rod 34, finger frame 31 and is provided with screw rod mounting hole, screw rod is installed The second copper sheathing is provided with hole, screw rod 34 runs through the through hole of the second copper sheathing, and screw rod 34 can be turned round in the through hole of the second copper sheathing, The lower part such as lower floor's screw rod 34 and nut 35 can be fixed in radial directions by finger frame 31 by the second copper sheathing On, certain fixation and carrying effect is played, the stability of integrated model is improved, meanwhile, the second copper sheathing is installed equivalent to screw rod The protective layer of hole inwall, the second copper sheathing can prevent from causing abrasion to the inwall of screw rod mounting hole when screw rod 34 from rotating.In addition, the One end of the flange of two copper sheathings is connected to the bottom at the end of finger frame 31 second, and screw rod 34 is located at the bronze medal of second gear 322 and second The diameter of axle between set is more than the diameter of axle at the other positions of screw rod 34, screw rod 34 can be located at into the copper sheathing of second gear 322 and second Between the diameter of axle be referred to as first diameter of axle, the diameter of axle at the other positions of screw rod 34 can be referred to as second diameter of axle, the first of screw rod 34 The diameter of axle is abutted with the handing-over ladder end face of second diameter of axle with the other end of the second copper sheathing flange, prevents screw rod 34 to be axially toward The direction of nut 35 is moved, and realizes screw rod 34 towards the axially position on the direction of nut 35.Expose finger machine in one end of screw rod 34 Second end of frame 31.Second gear 322, second gear 322 and the phase of first gear 321 are provided with the lower section of first gear 321 Engagement, can drive screw rod 34 to rotate, and prevent screw rod 34 in the gear hole of second gear 322 in order that obtaining second gear 322 Middle generation skidding, can use the keyway fit system connection in mechanical transmission structure, it would however also be possible to employ the D-section diameter of axle It is connected with D-section shaft hole matching mode, is used in the embodiment of the present invention and D-shaped section is provided with the latter, second gear 322 Face axis hole, one end of screw rod 34 is provided with D-section axle journal, and second gear 322 is connected in spiral shell by the constraint of D-section axis hole On one end D-section axle journal of bar 34, the D-section diameter of axle and the advantage of D-section shaft hole matching mode are, by the diameter of axle and axle The cross sectional shape in hole is designed to D-shaped, and the straight border of the D-section diameter of axle is abutted and mutual with the straight border of D-section axis hole Clamping, is on the one hand easy to the installation of the diameter of axle and axis hole, on the other hand, can effectively prevent screw rod 34 in the tooth of second gear 322 Skidding occurs in wheel bore.The first mounting hole and the second mounting hole that finger frame 31 is provided actually serve implementation above The effect of double-deck bearing in example.A baffle ring 52 is arranged with the screw rod 34 of the lower section of motor 311, one end of baffle ring 52 is supported It is connected on the first end bottom of finger frame 31, baffle ring 52 and screw rod 34 and is respectively arranged with positioning through hole, baffle ring 52 and spiral shell Positioning through hole on bar 34 is run through by pin so that baffle ring 52 will not be moved dislocation on the axial direction of screw rod 34, One end of baffle ring 52 is connected to the first end bottom of finger frame 31, prevents screw rod 34 to be axially toward the side of second gear 322 To motion, realize screw rod 34 towards the axially position on the direction of second gear 322.

The other end of nut 35 has open slot, and the both sides of open slot, which are symmetrically arranged with a pair of otic placodes, a pair of otic placodes, to be divided It is not provided with coaxial otic placode pin shaft hole, the axis of the axis of otic placode pin shaft hole perpendicular to nut 35.The otic placode other end is set successively Be equipped with first connecting rod and second connecting rod, the two ends of first connecting rod and second connecting rod be respectively arranged with first connecting rod pin shaft hole with And second connecting rod pin shaft hole, the link pin axis hole of first connecting rod one end coupled by bearing pin with the otic placode pin shaft hole of nut 35, and The link pin axis hole of the one connecting rod other end is coupled by bearing pin with the link pin axis hole of one end of second connecting rod.

Mechanical drive train is set to two layers of formula structure of turning back by the manipulator of the embodiment of the present invention so that inside manipulator Compact conformation, reduces the length of mechanical transmission structure, also reduces the entire length of manipulator.

(2) base finger joint and nearly finger joint

One end of base finger joint 42 is provided with arc chute 62, and the link pin axis hole of the second connecting rod other end passes through bearing pin 63 Slide and connect with the chute 62 of base finger joint 42, bearing pin 63 can be slided along the chute 62 of base finger joint 42.Nearly finger joint 43 passes through bearing pin 63 are connected with the rotation of base finger joint 42, and nearly finger joint 43 can do gyration around the axis of bearing pin 63.On the upside of the one end of base finger joint 42 and Perforate is respectively arranged with the downside of the other end of base finger joint 42, the first pull bar 45, first is provided with the cavity of base finger joint 42 is tilted Tapping of the two ends of pull bar 45 respectively on the upside of the one end of base finger joint 42 and on the downside of the other end of base finger joint 42 exposes.In palmtop computer The top at the end of frame 33 second is provided with the second palm frame pin shaft hole, and the two ends of the first pull bar 45 are respectively arranged with pitman pin Hole, the pin shaft hole of the one end of the first pull bar 45 is rotated by bearing pin with the second palm frame pin shaft hole of palm frame 33 to be connected； The bottom of nearly one end of finger joint 43 is provided with the second nearly finger joint pin shaft hole, the pin shaft hole of the other end of the first pull bar 45 by bearing pin with it is near Second nearly finger joint pin shaft hole of finger joint 43 rotates connection.The second torsion is arranged with bearing pin between base finger joint 42 and nearly finger joint 43 Spring 49, the extension of the one end of the second torsion spring 49 abuts the upper inside walls of the cavity of base finger joint 42, and the extension of the other end, which is abutted, closely to be referred to Save the upper inside walls of 43 cavitys.

Embodiment six

As shown in Figure 18 to 23, the principle schematic of its drive mechanism of being turned back for the bilayer of embodiment six.With embodiment three Difference is that the present embodiment finger body includes base finger joint, nearly finger joint and remote finger joint, and correspondingly, nut is to its side of driving Formula is also different.Above-mentioned remote finger joint 55 and nearly finger joint 43 are rotatably connected by the 5th rotating shaft 56, base finger joint 42 and remote finger joint The second pull bar 57 is provided between 55, one end of the second pull bar 57 is rotatably connected by the 6th rotating shaft 58 and base finger joint 42, the The other end of two pull bars 57 is rotatably connected by the 7th rotating shaft 59 with remote finger joint 55, and the 6th rotating shaft 58 is arranged at the second rotating shaft 44 Top, the 7th rotating shaft 59 is arranged at the lower section of the 5th rotating shaft 56.Further, due to the movement locus of the second pull bar 57 and near Finger joint is different, and movement locus, nor parallel or in a straight line, therefore, nearly finger joint 43 can be provided with hollow area Domain, the second pull bar 57 forms chi structure through the hollow region with nearly finger joint.

By said structure, during nut 35 is moved along a straight line, rope body or linkage pull base finger joint 42, rope body or linkage form torque between the fixing point and first rotating shaft 40 in base finger joint 42, so that base refers to Section 42 is rotated centered on first rotating shaft 40.During base finger joint 42 is moved, the first pull bar 45 is at the 4th turn Torque is formed between the rotating shaft 44 of axle 47 and second, so that nearly finger joint 43 is rotated centered on the second rotating shaft 44, near During finger joint 43 is moved, the second pull bar 57 forms torque between the 7th rotating shaft 59 and the 5th rotating shaft 56, so that Obtain nearly finger joint 43 to be rotated centered on the 5th rotating shaft 56, realize and apply driving force in near-end, remote action can be made simultaneously. As shown in figure 18, in the state of Figure 18, base finger joint 42, nearly finger joint 43 and remote finger joint 55 are in horizontality, when nut 35 exists When under the drive of motor 311 to left movement, base finger joint 42, nearly finger joint 43 and remote finger joint 55 rotate, according to the shape of nut 35 Into design and the design of connection member between nut and base finger joint 42 can control final base finger joint 42, nearly finger joint 43 and The slewing area of remote finger joint 55, as shown in figure 19, base finger joint 42, nearly finger joint 43 and remote finger joint 55 can be under the drives of nut 35 It is the state shown in Figure 19 from Figure 18 state change.

Due in said mechanism, adding base finger joint, nearly finger joint and remote finger joint, and base finger joint, nearly finger joint and far refer to Section is pivotally sequentially connected with finger frame, therefore, and said mechanism may also be referred to as bilayer and turn back driving Three-level revolution finger mechanism.

In addition, resetting-mechanism is also provided with base finger joint 42 and the junction of finger frame 31, for applying and first The opposite reset force of the driving force of connecting rod and second connecting rod to base finger joint 42.The effect of the reset force is that base finger joint 42 can be made All the time by the active force of both direction, i.e., the driving force from first connecting rod and second connecting rod and the reset from resetting-mechanism Power, so that base finger joint 42 remains stable state in motion process and in the state of stopping at an arbitrary position, In addition, the effect of the resetting-mechanism is also resided in when nut 35 is moved right along in figure, it can be made by the traction of reset force Obtain base finger joint 42 to be rotated up, so as to realize reset, generally, the driving force that nut 35 applies enables to base finger joint 42 near Finger joint 43 and remote finger joint 55 are rotated down, and reset force causes base finger joint 42 to be rotated up.The resetting-mechanism can be set The 3rd torsion spring 60 in first rotating shaft 40 or other that the driving force opposite with the rotation direction of base finger joint 42 is provided Power source, for example, an elastomeric element can be set in finger frame 31, and will lead between the elastomeric element and base finger joint 42 Compliant member connection is crossed, when base finger joint 42 is rotated down, elastomeric element, which is stretched, to be provided a counter force or cry multiple Position power.For example, as shown in figs 20 and 21, the 3rd torsion spring 60 has two extensions, respectively to finger frame 31 and base finger joint 42 Direction is extended, and applying to finger frame 31 and base finger joint 42 makes finger frame 31 and base finger joint 42 return to answering for predetermined angle Position power, when motor 311 is rotated backward, enables to base finger joint 42 to be rotated up (in Figure 21 by the elastic force of the 3rd torsion spring 60 The arrow for being respectively perpendicular to base finger joint and finger frame represents the direction of reset force).

As shown in figure 21, in the state of Figure 21, base finger joint 42 and finger frame 31 are in plumbness, when nut 35 exists When being moved right under the drive of motor 311, base finger joint 42 and finger frame 31 rotate, and are set according to the formation of the 3rd torsion spring 60 Meter and the design between base finger joint 42 and finger frame 31 can control the rotation of final base finger joint 42 and finger frame 31 Scope, as shown in figure 20, base finger joint 42 and finger frame 31 can be under the drives of the 3rd torsion spring 60 from Figure 21 state change For the state shown in Figure 20.

As the another alternative of above-mentioned resetting-mechanism, it can be set with the junction of base finger joint 42 in nearly finger joint 43 There is resetting-mechanism, for applying the reset force opposite with the driving force of 45 pairs of nearly finger joints 43 of the first pull bar.The effect of the reset force It is to enable to nearly finger joint 43 all the time by the active force of both direction, i.e., driving force from the first pull bar 45 and carrys out runback The reset force of position mechanism, so that nearly finger joint 43 is protected all the time in motion process and in the state of stopping at an arbitrary position Stable state is held, in addition, the effect of the resetting-mechanism is also resided in when nut 35 is moved right along in figure, passes through reset force Traction enables to nearly finger joint 43 to be rotated up, so as to realize reset, generally, the driving force that nut 35 applies is enabled to Base finger joint 42 and nearly finger joint 43 are rotated down, and reset force causes nearly finger joint 43 to be rotated up.

Further, can also can be provided with resetting-mechanism in remote finger joint and the nearly junction of finger joint 43, for apply with The opposite reset force of driving force of second pull bar to remote finger joint.The effect of the reset force be to enable to remote finger joint all the time by The active force of both direction, i.e., the driving force from the second pull bar and the reset force from resetting-mechanism, so that remote finger joint Stable state is remained in motion process and in the state of stopping at an arbitrary position, in addition, the work of the resetting-mechanism With also residing in when nut 35 is moved right along in figure, remote finger joint is enabled to be rotated up by the traction of reset force, from And realize and reset, generally, the driving force that nut 35 applies enable to base finger joint 42, nearly finger joint 43 and remote finger joint 55 to It is lower to rotate, and reset force causes remote finger joint to be rotated up.It is above-mentioned that nearly finger joint 43 and the junction of base finger joint 42 are provided with reset machine Structure and can individually it be used in two technical schemes that remote finger joint 55 is provided with resetting-mechanism with the nearly junction of finger joint 43, Also it can use simultaneously, selection of the embodiment of the present invention is while using by two schemes.

The resetting-mechanism can be provided in the second rotating shaft 44 and the 4th torsion spring 61 being arranged in the 5th rotating shaft 56, Other power sources of the driving force opposite with the rotation direction of nearly finger joint 43 and remote finger joint 55 can be to provide, for example, can be with One elastomeric element is set in base finger joint 42 and remote finger joint 55, and by the elastomeric element and nearly finger joint 43 and remote finger joint 55 Between connected by compliant member, when nearly finger joint 43 and remote finger joint 55 are rotated down, elastomeric element is stretched offer one Counter force, or it is reset force.For example, as shown in Figure 22 and Figure 23, the 4th torsion spring 61 has two extensions, left side the Two extensions of four torsion springs 61 extend to base finger joint 42 and the direction of nearly finger joint 43 respectively, two extensions of the torsion spring 61 of right side the 4th Portion extends to nearly finger joint 43 and remote finger joint direction respectively, and makes base finger joint 42 and nearly finger joint to base finger joint 42 and the application of nearly finger joint 43 43 return to the reset force of predetermined angle, and applying to nearly finger joint 43 and remote finger joint 55 recovers nearly finger joint 43 and remote finger joint 55 To the reset force of predetermined angle, so that when motor 311 is rotated backward, remote finger joint is enabled to by the elastic force of the 4th torsion spring 61 It is rotated up (arrow that base finger joint and nearly finger joint are respectively perpendicular in Figure 23 represents the direction of reset force).As shown in figure 23, exist In the state of Figure 23, base finger joint 42 and nearly finger joint 43 and closely finger joint 43 and remote finger joint 55 are in plumbness, when nut 35 exists When being moved right under the drive of motor 311, base finger joint 42 and nearly finger joint 43 and nearly finger joint 43 and remote finger joint 55 rotate, root Formation design and the first pull bar 45 and the second pull bar and base finger joint 42, nearly finger joint 43 and nearly finger joint according to the 4th torsion spring 61 Design between 43 can control the slewing area of final base finger joint 42, nearly finger joint 43 and remote finger joint 55, as shown in figure 22, base Finger joint 42, nearly finger joint 43 and remote finger joint 55 can be under the drive of the 4th torsion spring 61 from Figure 23 state change for shown in Figure 22 State.

As illustrated by embodiment one, screw rod 34 and the mechanism of nut 35 have auto-lock function, are turned round when motor 311 stops output During square, the position of nut 35 can be remained stationary as, so as to certain position memory function, also to stop in the output of motor 311 In the case of only, nearly finger joint 43 and remote finger joint 55 will not be moved to opposite direction, on this basis, if also there is reset force, It can then cause nearly finger joint 43 and remote finger joint 55 are maintained at current location motionless, so that with to nearly finger joint 43 and remote finger joint 55 Position lock function.

It may also be referred to as due in said mechanism, adding three-level finger finger joint and resetting-mechanism, therefore, said mechanism Bilayer turn back driving three-level revolution finger mechanism.It should be noted that above-mentioned resetting-mechanism is the embodiment of the present invention A kind of preferred embodiment, needing to reset under scene, can also be without setting special resetting-mechanism, but by external strength Resetted, for example, when the screw rod and nut in the finger mechanism that bilayer turns back driving are set vertically downward (by accompanying drawing up time Pin rotates 90 degree), nearly finger joint and remote finger joint can be by the gravity of itself in the component offer reset perpendicular to screw rod direction Power.

The mechanism of the present embodiment, the power for exporting motor to be directed to lower floor from upper strata by way of turning back, and The power output direction of motor is changed, the power output of motor is directly over base finger joint, nearly finger joint, remote finger joint so as to avoid And the coupling part of finger frame, without the coupling part to base finger joint, nearly finger joint, remote finger joint and finger frame Complicated design is carried out, so as to reduce the complexity of this part.It is base finger joint, near it should be noted that in manipulator field The coupling part of finger joint, remote finger joint and finger frame can be considered as articular portion, fully the mechanism design of the present embodiment, drop The low complexity of articular portion.In addition, bilayer turns back, drive mechanism can be arranged in palm.In addition, the drive of the present embodiment Motivation structure can not just be applied to the field of manipulator, can also be applied to other articulate bionic mechanical structural portions of tool Point, for example, the mechanical structure of simulation thigh and shank, finger frame and bolt and nut structure are located on thigh, base finger joint can be with For shank, nearly finger joint can be pin, and remote finger joint can be toe.

Embodiment seven

As shown in Figure 24 to Figure 30, its for the embodiment of the present invention seven bilayer turn back driving finger mechanism principle signal Figure.The present embodiment is with the difference of embodiment six, and chute, correspondingly, nut pair are provided with the base finger joint of the present embodiment The mode that it drives is also different.

As shown in figures 24 and 25, the axial direction of screw rod 34 is fixed, when screw rod 34 is rotated, and drives nut 35 in axial direction Move in direction.In actual applications, due to the motion on nut axial direction drive scope that base finger joint rotates may and it is actual The scope that the base finger joint that needs is rotated difference, therefore, is provided with chute 62 in base finger joint 42, is provided with chute 62 Bearing pin 63, bearing pin 63 can be slided in chute 62, and nut 35 passes through flexible attachment components or bent connection member and pin Axle 63 is connected, for driving base finger joint relative to finger gantry rotation by the motion of nut in the axial direction.

Bearing pin mentioned here can be slided in chute to be referred to, bearing pin 63 is fettered by chute 62 in the axial direction, and Decontrol in the radial direction, so that when being rotated under the external force effect beyond motive force of the base finger joint 42 in nut 35, the energy of bearing pin 63 It is enough diametrically to be slided along chute 62.Certainly, in general, the rotational motion referred to is counted on one's fingers or opened up to base finger joint 42 It is all relevant with nut 35, and nut 35 is connected by linkage with bearing pin 63, in this case, bearing pin 63 will block all the time It is connected to the bottom of chute 62.

Design 62 1 main applications of chute are, after nut 35 drives base finger joint 42 to be counted on one's fingers to extreme position, By external force base finger joint 42 is acted on to remain to further carry out counting on one's fingers motion, so as to allow finger state closer to holding Fist, so as to reduce the space of manipulator occupancy, is easy to storage of manipulator etc..For example, the track of chute 62 can be in circle Arc, circular arc can be the center of circle with first rotating shaft 40.With arc chute 62 and base finger joint 42 of the first rotating shaft 40 for the center of circle Movement locus is similar, under external force, and base finger joint can be carried out and arc chute angle identical angle around first rotating shaft The rotation of scope.

In said structure, base finger joint 42 is made up of two side plates be arrangeding in parallel, the approximate triangularity of shape of biside plate, The other end of second connecting rod is clipped in the middle by the biside plate of base finger joint 42, and the middle part of biside plate side end face can be respectively arranged with circle The chute 62 of arc, bearing pin 63 is through chute 62 and the second connecting rod pin shaft hole of the other end of second connecting rod.Wherein, second connects The width of bar can be between base finger joint biside plate crack width be adapted to, naturally it is also possible to bearing pin 63 two ends set pin Cap, prevents bearing pin from being extracted out in chute.

Because the movement locus and nut 35 of bearing pin 63 are different, and movement locus is nor parallel or in straight line On, therefore, flexible attachment components or bent connection member are preferred to use between bearing pin 63 and nut 35 as connection member, To avoid the appearance of locking state, connection member can be connected on nut 35.Specifically, can be between bearing pin 63 and nut 35 By body or the linkage connection of restricting, wherein, linkage can be using two sections or the connecting rod of the two section above.

Further, it is also possible to be provided with one or more bearing pin position-limit mechanisms, bearing pin position-limit mechanism on the track of chute 62 For preventing pin axially adjacent to a lateral movement of nut.Under manipulator Qu Zhizhuan states, nut 35 is located at the high order end of screw rod 34, The stroke of bolt and nut mechanism reaches capacity, and can adjust the bottom of bearing pin 63 from chute 62 to bearing pin position-limit mechanism position Place so that base finger joint 42 can further be bent by the effect of bearing pin position-limit mechanism, and keep base finger joint 42 final Case of bending.

The sphere of action referred to is counted on one's fingers and/or opens up by setting one or more bearing pin position-limit mechanisms neatly to adjust, By bearing pin limit at different bearing pin position-limit mechanisms, it counts on one's fingers and/or opened up the extreme position referred to can be different, Ke Yigen It is adjusted flexibly according to specifically used demand.

As shown in figure 26, Figure 26 is base finger joint structural representation, and bearing pin position-limit mechanism can be the stop of resilientiy stretchable Mechanism 64, blocking mechanism 64 is first side close to the face of the side of nut 35, and the face of the side away from nut is second side, Second side, which is shaped to, stops bearing pin 63 to the lateral movement close to nut 35, and first side is set to what is tilted upward Inclined-plane or cambered surface, when bearing pin 63 to during the lateral movement away from nut 35, blocking mechanism 64 is depressed, (the arrow in Figure 26 Represent the rotation direction of blocking mechanism) bearing pin 63 is passed through blocking mechanism 64.

In above-mentioned blocking mechanism, be folded with connecting plate between the biside plate of base finger joint 42, the both sides of connecting plate respectively with base The inwall of two side plates of finger joint 42 is fixedly connected, and connecting plate is circumferentially positioned at the edge of chute 62, close to nearly finger joint 43 1 Multiple blocking mechanism mounting holes are provided with the end face of the connecting plate of side, blocking mechanism 64 is by blocking mechanism bearing pin and is arranged Blocking mechanism torsion spring on blocking mechanism bearing pin can be rotatably set on end face of the connecting plate away from the side of nut 35, stop Mechanism bearing pin two ends are fixed on connecting plate, and two extensions of blocking mechanism torsion spring are respectively engaged with connecting plate and stop machine On structure 64.Blocking mechanism 64 is approximate triangular in shape, and chute 62 is exposed in the corner of blocking mechanism 64 by blocking mechanism mounting hole. Under external force effect, blocking mechanism 64 can rotate around blocking mechanism rotating shaft, and the corner of blocking mechanism 64 can be pressed into connecting plate Inside, when external force slows down and disappears, in the presence of blocking mechanism torsion spring, the corner of blocking mechanism 64 can recover to expose The state of chute 62.The corner of blocking mechanism 64 includes first side and second side, and first side is inclined-plane, first side On the lower frame that blocking mechanism mounting hole is connected in the presence of blocking mechanism torsion spring, when bearing pin 63 to away from nut 35 one During lateral movement, the corner of blocking mechanism 64 is depressed, and bearing pin 63 is passed through blocking mechanism 64.Second side can be to justify with chute The vertical end face in arc border, or the hook of L-shaped, in a lateral movement of the bearing pin 63 to close nut 35, second side One counter force is provided, or is resistance.

As the alternative dispensing means of above-mentioned bearing pin position-limit mechanism, blocking mechanism 64 can be arranged in bearing pin 63, Multiple spacing holes for clamping blocking mechanism corner are provided with the end face of the nearly side of finger joint 42 in connecting plate.This In scheme, bearing pin 63 can only be slided in chute 62 and can not rotated, and be provided with the side wall of side of the bearing pin 63 away from nut 35 Blocking mechanism mounting hole for installing blocking mechanism 64, blocking mechanism 64 installs bearing pin by blocking mechanism and is set in resistance The blocking mechanism torsion spring that retaining device is installed on bearing pin can be rotatably set on the side wall of side of the bearing pin 63 away from nut 35, hinder The two ends that retaining device installs bearing pin are fixed on bearing pin 35, two extensions of blocking mechanism torsion spring be respectively engaged with bearing pin 63 with And on blocking mechanism 64.Blocking mechanism 64 is approximate triangular in shape, and the corner of blocking mechanism 64 is exposed by blocking mechanism mounting hole Chute 62.Under external force, blocking mechanism 62 can be rotated around blocking mechanism bearing pin, and the corner of blocking mechanism 64 can be pressed Enter inside bearing pin 63, when external force slows down and disappears, in the presence of blocking mechanism torsion spring, the corner of blocking mechanism 64 can The state of chute 62 is exposed in recovery.The corner of blocking mechanism 64 includes first side and second side, and first side is inclined-plane, First side is connected in the presence of blocking mechanism torsion spring on the upper side frame of blocking mechanism mounting hole, when pin is axially away from nut During 35 lateral movement, the corner of blocking mechanism 64 is depressed, and bearing pin 63 is passed through blocking mechanism 64.Second side can be with The vertical end face in chute circular arc border, or the hook of L-shaped, in a lateral movement of the bearing pin 63 to close nut 35, the Two side faces provide a counter force, or are resistance.

For the ease of the use and cooperation of bearing pin and bearing pin position-limit mechanism, the control of bearing pin position-limit mechanism can also be included Device, for carrying out switch control to bearing pin position-limit mechanism, to control bearing pin position-limit mechanism preventing pin axially adjacent to the one of nut The first state of lateral movement and pin is allowed to be switched over axially adjacent between the second state of a lateral movement of nut.Wherein, One state prevents pin axially adjacent to a lateral movement of nut to keep the corner of blocking mechanism to expose chute.Second state is pressure The corner of lower blocking mechanism, it is allowed to sell the lateral movement axially adjacent to nut.

In addition, resetting-mechanism is also provided with base finger joint 42 and the junction of finger frame 31, for applying and first The opposite reset force of the driving force of connecting rod and second connecting rod to base finger joint 42.The effect of the reset force is to enable to base to refer to Section 42 is all the time by the active force of both direction, i.e., driving force from first connecting rod and second connecting rod and from resetting-mechanism Reset force so that base finger joint 42 remains stable in motion process and in the state of stopping at an arbitrary position State, in addition, the effect of the resetting-mechanism is also resided in when nut 35 is moved right along in figure, passes through the traction energy of reset force Enough so that base finger joint 42 is rotated up, so as to realize reset, generally, the driving force that nut 35 applies enables to base finger joint 42 and nearly finger joint 43 rotate down, and reset force causes base finger joint 42 to be rotated up.

The 5th torsion spring 65 or provide and base finger joint 42 that the resetting-mechanism can be provided in first rotating shaft 40 The opposite driving force of rotation direction other power sources, for example, an elastomeric element can be set in finger frame 31, and It will be connected between the elastomeric element and base finger joint 42 by compliant member, when base finger joint 42 is rotated down, elastomeric element is drawn One counter force of offer is provided, or is reset force.For example, as shown in Figure 27 and Figure 28, the 5th torsion spring 65 has two and prolonged Extending portion, extends to finger frame 31 and the direction of base finger joint 42 respectively, and makes finger machine to finger frame 31 and the application of base finger joint 42 Frame 31 and base finger joint 42 return to the reset force of predetermined angle, so as to when motor 311 is rotated backward, pass through the 5th torsion spring 65 Elastic force enables to base finger joint 42 to be rotated up, and (arrow that base finger joint and nearly finger joint are respectively perpendicular in Figure 28 represents reset force Direction).As shown in figure 28, in the state of Figure 28, when being moved right under drive of the nut 35 in motor 311, base finger joint 42 Rotated with finger frame 31, according to setting between the formation design and base finger joint 42 and finger frame 31 of the 5th torsion spring 65 Meter can control the slewing area of final base finger joint 42 and finger frame 31, as shown in figure 27, base finger joint 42 and finger frame 31 can from Figure 28 state change be the state shown in Figure 27 under the drive of the 5th torsion spring 65.

The 6th torsion spring 66 or provide and nearly finger joint 43 that the resetting-mechanism can be provided in the second rotating shaft 44 The opposite driving force of rotation direction other power sources, for example, an elastomeric element can be set in base finger joint 42, and will Connected between the elastomeric element and nearly finger joint 43 by compliant member, when nearly finger joint 43 is rotated down, elastomeric element is stretched One counter force is provided, or is reset force.For example, as shown in Figure 29 and Figure 30, the 6th torsion spring 66 has two extensions Portion, extends to base finger joint 42 and the direction of nearly finger joint 43 respectively, and makes base finger joint 42 and near to base finger joint 42 and the application of nearly finger joint 43 Finger joint 43 returns to the reset force of predetermined angle, so that when motor 311 is rotated backward, can by the elastic force of the 6th torsion spring 66 So that nearly finger joint 43 is rotated up (arrow that base finger joint and nearly finger joint are respectively perpendicular in Figure 30 represents the direction of reset force).

As shown in figure 30, in the state of Figure 30, when being moved right under drive of the nut 35 in motor 311, base finger joint 42 and nearly finger joint 43 rotate, according to the formation of the 6th torsion spring 66 design and the first pull bar 45 and base finger joint 42 and near finger Design between section 43 can control the slewing area of final base finger joint 42 and nearly finger joint 43, as shown in figure 29, base finger joint 42 Can from Figure 30 state change be the state shown in Figure 29 under the drive of the 6th torsion spring 66 with nearly finger joint 43.

The mechanism of the present embodiment, by being provided with chute in base finger joint so that the manipulator of the embodiment of the present invention is in electricity When machine is static, by external force, for example, manipulator finger can be made to realize state of counting on one's fingers with hand.The setting of chute so that when first When connecting rod and second connecting rod fold into extreme position, base finger joint can be on the basis of bearing pin extreme position, the chute of base finger joint With respect to bearing pin relative motion, motion of counting on one's fingers is again proceeded with.If without this chute, base finger joint can only do bending for very little angle Refer to motion.Wherein, base finger joint hand move effect under count on one's fingers motion when, first connecting rod then acts on nearly finger joint, make closely finger Section is also counted on one's fingers motion relative to base finger joint.

Claims

The finger mechanism of the two-stage revolution of driving 1. a kind of bilayer turns back, it is characterised in that including finger frame, gear drive Group, motor, screw rod and nut, finger body and the resetting-mechanism coordinated with screw rod, the finger body include base finger joint With nearly finger joint,

The base finger joint is rotatably connected by first rotating shaft with the finger frame, and the base finger joint and nearly finger joint pass through second Rotating shaft is rotatably connected, and the first pull bar, the one of first pull bar are provided between the nearly finger joint and the finger frame End is rotatably connected by the 3rd rotating shaft with the finger frame, the other end of first pull bar by the 4th rotating shaft with it is described Nearly finger joint is rotatably connected, and the 3rd rotating shaft is arranged at the top of the first rotating shaft, and the 4th rotating shaft is arranged at described The lower section of second rotating shaft, first pull bar and base finger joint formation chi structure；

The motor is fixed in the finger frame, and is connected by output shaft with the first gear of gear drive group；

The screw rod and nut are arranged at the lower section of the finger frame, and the of one end of the screw rod and the gear drive group Two gears are connected, and are connected between the first gear and second gear, and the nut is arranged on the finger frame lower, The nut is fixed relative to the finger frame in radial directions, and can relatively described finger frame in the axial direction Motion, the nut is located at the homonymy of the gear drive group with the motor,

The axial direction of the screw rod is fixed, when the screw rod is rotated, and drives the nut to move in the axial direction, described Chute is provided with base finger joint, bearing pin is provided with the chute, the bearing pin can be slided in the chute, the spiral shell Mother be connected by flexible attachment components or bent connection member with the bearing pin, for by the nut in the axial direction Motion drive the base finger joint relative to the finger gantry rotation,

The resetting-mechanism is arranged on the nearly finger joint and the base finger joint junction, is resetted for applying to the nearly finger joint Power.
2. mechanism according to claim 1, it is characterised in that the track of the chute is in circular arc, and the circular arc is with institute First rotating shaft is stated for the center of circle.
3. mechanism according to claim 2, it is characterised in that one or more pins are provided with the track of the chute Axle position-limit mechanism, the bearing pin position-limit mechanism is used to prevent the pin axially adjacent to a lateral movement of the nut.
4. mechanism according to claim 3, it is characterised in that the bearing pin position-limit mechanism is the stop machine of resilientiy stretchable Structure, the blocking mechanism is first side close to the face of the side of the nut, and the face of the side away from the nut is second Sideways, the second side is shaped to the stop pin axially adjacent to a lateral movement of the nut, first side Face is set to the inclined-plane tilted upward or cambered surface, when a lateral movement of the pin axially away from the nut, the stop Mechanism is depressed, and the bearing pin is passed through the blocking mechanism.
5. the mechanism according to claim 3 or 4, it is characterised in that also including bearing pin position-limit mechanism controller, for institute State bearing pin position-limit mechanism and carry out switch control, to control the bearing pin position-limit mechanism preventing the pin axially adjacent to the nut A lateral movement first state and allow the pin to be carried out axially adjacent between the second state of a lateral movement of the nut Switching.
6. mechanism according to claim 1, it is characterised in that the resetting-mechanism is to be arranged in second rotating shaft 6th torsion spring, the 6th torsion spring has two extensions, extends respectively to the base finger joint and the nearly finger joint direction, and to The base finger joint and the nearly finger joint, which apply, makes the base finger joint and the nearly finger joint return to the reset force of predetermined angle.
7. mechanism according to claim 1, it is characterised in that the base finger joint has hollow region, first pull bar Through the hollow region and base finger joint formation chi structure.
8. mechanism according to claim 1, it is characterised in that the nut passes through body or the linkage and the pin of restricting Axle is connected.
9. mechanism according to claim 1, it is characterised in that also including reduction assemblies, the reduction assemblies are arranged on institute The output end of motor is stated, the output shaft is connected by the reduction assemblies with the output end of the motor.
10. mechanism according to claim 1, it is characterised in that the bottom of the finger frame is provided with rail plate, The nut is connected by the rail plate with the finger frame so that the nut in the radial direction with the finger machine Frame is fixedly connected, and can be slided in the axial direction.