CN107962578B

CN107962578B - Spiral-driven finger mechanism

Info

Publication number: CN107962578B
Application number: CN201710950652.5A
Authority: CN
Inventors: 白劲实
Original assignee: Zorpia Robot Co ltd
Current assignee: Zorpia Robot Co ltd
Priority date: 2017-10-13
Filing date: 2017-10-13
Publication date: 2020-06-12
Anticipated expiration: 2037-10-13
Also published as: CN107962578A

Abstract

The invention provides a spiral-driven finger mechanism which comprises a base finger joint, a finger rack, a screw rod, a first motor, a second pull rod, a third rotating shaft, a fourth rotating shaft, a fifth rotating shaft, a sixth rotating shaft, a seventh rotating shaft. According to the spiral driving finger mechanism provided by the invention, the finger mechanism, the motor, the pull rod, the screw rod and the nut are specially assembled, so that the space occupied by axial transmission output is saved.

Description

Spiral-driven finger mechanism

Technical Field

The embodiment of the invention relates to a finger mechanism, in particular to a spiral-driven finger mechanism.

Background

The manipulator can imitate some action functions of human hand and arm, and can be used for grabbing, carrying article or operating automatic operation device of tool according to fixed program. The manipulator can replace the heavy labor of people to realize the mechanization and automation of production, can operate under the harmful environment to protect the personal safety, and is widely applied to various departments of industrial production. In addition, many manipulators are designed for disabled persons to serve as prostheses for the disabled persons, thereby providing the disabled persons with a certain ability to grasp objects.

The transmission mechanism of the manipulator in the prior art is complex in structure and not easy to maintain. In addition, the transmission mechanism in the prior art occupies a large space, so that the manipulator is large in size and inconvenient to use.

Disclosure of Invention

The embodiment of the invention provides a spiral-driven finger mechanism to realize more reasonable structural layout.

The embodiment of the invention provides a spiral-driven finger mechanism, which comprises a finger rack, a screw rod, a nut matched with the screw rod, a first motor and a base finger joint, wherein the base finger joint is rotatably connected with the finger rack through a third rotating shaft, one end of the screw rod is matched with the internal thread of the nut, the other end of the screw rod is in transmission connection with an output shaft at the front end of the first motor, a cavity is arranged in the base finger joint, the first motor is arranged in the cavity of the base finger joint, the first motor can move in the axial direction relative to the base finger joint, a second pull rod is arranged between the base finger joint and the finger rack, one end of the second pull rod is rotatably connected with the first motor through a fourth rotating shaft, and the other end of the second pull rod is rotatably connected with the finger rack through a fifth rotating shaft, the fifth rotating shaft is arranged above the third rotating shaft, the nut is arranged on the finger rack, the nut is fixed in the axial direction and does not rotate relative to the axis where the screw rod is located, when the screw rod rotates, the first motor is driven to move in the axial direction, and the first motor is connected with one end of the second pull rod through the fourth rotating shaft and used for driving the basal finger joint to rotate relative to the finger rack through the movement of the first motor in the axial direction.

According to the screw-driven finger mechanism provided by the embodiment of the invention, through a manner that the screw rod arranged on the output shaft of the first motor is matched with the nut to rotate and the second pull rod arranged between the base finger joint and the finger rack, in the process of axial movement of the first motor, the second pull rod pulls the finger rack, and a moment is formed between the fifth rotating shaft and the third rotating shaft. The first motor is arranged in the cavity of the base knuckle, the shape of the second pull rod cannot be changed, and when the second pull rod is extruded by the first motor, the outer wall of the first motor, which is far away from the second pull rod, extrudes the inner wall of the base knuckle cavity, which is far away from the second pull rod, namely, the finger bending movement is carried out; when the second pull rod is stretched by the first motor, the outer wall of the first motor close to the second pull rod extrudes the inner wall of the base knuckle cavity close to the second pull rod, namely, the expansion finger moves. Under the extrusion and stretching action of the first motor, the base knuckle rotates by taking the third rotating shaft as the center. The base finger joints can perform finger bending and finger stretching movement relative to the finger rack only by reasonably combining the second pull rod, the first motor and the screw and nut mechanism, the movement of the fingers is realized by a simple structure, and the space is fully saved. In addition, the first motor is arranged in the cavity of the base knuckle, transmission is achieved only through the second pull rod, the size of the first motor is reduced, the occupied space of the transmission mechanism is reduced, the size of the base knuckle is reduced, the size of the manipulator is reduced, and the manipulator is convenient to use. In addition, the number of parts in the driving mechanism is small, the structure of the manipulator is simplified, the consumption of torque in the transmission process is reduced, and fingers have large clamping force.

Drawings

Fig. 1 is a schematic diagram of a screw-driven finger mechanism according to a first embodiment of the present invention.

Fig. 2 is a second schematic diagram of the spiral-driving finger mechanism according to the first embodiment of the present invention.

Fig. 3 is a third schematic diagram of the spiral-driving finger mechanism according to the first embodiment of the present invention.

Fig. 4 is a fourth schematic diagram of the principle of the spiral-driving finger mechanism according to the first embodiment of the present invention.

Fig. 5 is a schematic diagram of a screw-driven finger mechanism according to a second embodiment of the present invention.

Fig. 6 is a second schematic diagram of the screw-driven finger mechanism according to the second embodiment of the present invention.

Fig. 7 is a third schematic diagram of a spiral-driving finger mechanism according to a second embodiment of the present invention.

Fig. 8 is a fourth schematic diagram of the principle of the spiral-driving finger mechanism according to the second embodiment of the present invention.

Fig. 9 is a fifth schematic view of the principle of the spiral-driving finger mechanism according to the second embodiment of the present invention.

Fig. 10 is a sixth schematic view of the screw-driven finger mechanism according to the second embodiment of the present invention.

Fig. 11 is a seventh schematic diagram of the spiral-driving finger mechanism according to the second embodiment of the present invention.

Fig. 12 is an eighth schematic diagram of the principle of the spiral-driving finger mechanism according to the second embodiment of the present invention.

Fig. 13 is one of the principle diagrams of the worm gear and worm driven finger mechanism according to the third embodiment of the present invention.

Fig. 14 is a second schematic diagram of the finger mechanism driven by the worm gear and the worm according to the third embodiment of the present invention.

Fig. 15 is a third schematic diagram of a finger mechanism driven by a worm gear and a worm according to a third embodiment of the present invention.

Fig. 16 is a fourth schematic diagram of the finger mechanism driven by the worm gear and the worm according to the third embodiment of the present invention.

Fig. 17 is one of the principle diagrams of the finger mechanism of the screw drive and the worm gear drive according to the fourth embodiment of the present invention.

Fig. 18 is a second schematic diagram of the finger mechanism of the screw drive and worm gear drive according to the fourth embodiment of the present invention.

Fig. 19 is a third schematic diagram of the finger mechanism of the screw drive and worm gear drive according to the fourth embodiment of the present invention.

Fig. 20 is a fourth schematic diagram of the finger mechanism of the screw drive and worm gear drive according to the fourth embodiment of the present invention.

Fig. 21 is a schematic view of a robot according to a fifth embodiment of the present invention.

Fig. 22 is a second schematic diagram of the robot according to the fifth embodiment of the present invention.

The reference numbers illustrate: 1-a first electric machine; 2-a first pull rod; 3-a screw; 4-a nut; a 5-basal knuckle; 6-proximal knuckle; 7-a first rotating shaft; 8-a second rotating shaft; 9-a finger rack; 10-a second pull rod; 11-a third shaft; 12-a fourth shaft; 13-a fifth rotating shaft; 14-a sixth rotating shaft; 15-a worm; 16-a worm gear; 17-a second electric machine; 18-a motor support; 19-a palm rack; 20-a seventh rotating shaft; 21-finger body; 211-joint rotation axis; 22-motor support mounting groove.

Detailed Description

Example one

As shown in fig. 1 to 4, which are schematic diagrams illustrating a principle of a spiral-driving finger mechanism according to an embodiment of the present invention, the spiral-driving finger mechanism according to the embodiment of the present invention includes a first motor 1, a first pull rod 2, a screw rod 3, and a nut 4, a base knuckle 5, and a proximal knuckle 6, which are engaged with the screw rod 3, the base knuckle 5 and the proximal knuckle 6 are rotatably connected by a first rotating shaft 7, one end of the screw rod 3 is engaged with an internal thread of the nut 4, the other end of the screw rod 3 is in transmission connection with an output shaft at a front end of the first motor 1, and a rear end of the first motor 1 is fixedly connected with one end of the first pull rod 2. In practical application, because the rotating speed output by the first motor 1 may be different from the actually required rotating speed, the electric vehicle may further include a speed reducing assembly for adjusting the rotating speed output by the first motor, the speed reducing assembly is disposed at the output end of the first motor 1, and the output shaft is connected with the output end of the first motor 1 through the speed reducing assembly. In addition, a coupling may be included, the coupling is disposed on an output shaft of the first motor 1 (the first motor output shaft is actually an output shaft connected to an output end of the first motor through a speed reduction assembly), and the other end of the screw rod 3 is connected to the output shaft of the first motor 1 through the coupling.

The other end of the first pull rod 2 is rotatably connected with the near knuckle 6 through a second rotating shaft 8, the second rotating shaft 8 is arranged below the first rotating shaft 7, a cavity is formed in the base knuckle 5, the first motor 1 and the first pull rod 2 are arranged in the cavity of the base knuckle 5, the first motor 1 and the first pull rod 2 can move in the axial direction relative to the base knuckle 5, the nut 4 is fixed in the axial direction and does not rotate relative to the axis where the screw rod 3 is located, when the screw rod 3 rotates, the first motor 1 is driven to move in the axial direction, the first motor 1 is connected with the near knuckle 6 through the first pull rod 2, and the first motor is used for driving the near knuckle to rotate relative to the base knuckle through the movement of the first motor in the axial direction.

In the present embodiment, the directions such as "up" and "down" refer to relative positions in the members, and as shown in fig. 3, when the finger mechanism is placed in a finger-stretched and palm-fitted state, the upper side of the mechanism shown in fig. 3 is the back of the finger mechanism, the lower side of the mechanism shown in fig. 3 is the palm of the finger mechanism, the lower side of the mechanism shown in fig. 3 is the ground, the back of the proximal knuckle and the back of the base knuckle in fig. 3 are away from the ground, the finger mechanism is stretched parallel to the horizontal plane, and "up" and "down" refer to the upper and lower positions relative to the ground plane.

Through the structure, when the first motor 1 rotates positively and reversely, the nut 4 is fixed in the axial direction and does not rotate relative to the axis where the screw rod 3 is located, the screw rod 3 pulls and pushes the first motor 1 to move axially, the first motor 1 pulls and pushes the first pull rod 2 to move axially, and torque is formed between the second rotating shaft 8 and the first rotating shaft 2, so that the near knuckle 6 rotates by taking the first rotating shaft 7 as the center, and the near knuckle is bent.

As an alternative scheme of the transmission connection scheme of the other end of the screw and the output shaft at the front end of the first motor: the output shaft of first motor can be for D shape cross-section diameter of axle, and the other end of screw rod can be provided with D shape cross-section shaft hole, D shape cross-section diameter of axle and the adaptation of D shape cross-section shaft hole, and the output shaft of first motor can be connected with the other end transmission of screw rod through the mode that D shape cross-section diameter of axle inserted D shape cross-section shaft hole.

In the above structure, the rear end of the first motor 1 is fixedly connected with one end of the first pull rod 2, for example, welded and integrally formed, but not rotatably connected, in this connection manner, the other end of the first pull rod 2 is rotatably connected with the proximal knuckle 6 through the second rotating shaft 8, the proximal knuckle 6 and the second rotating shaft 8 can prevent the first pull rod 2 from rotating in the circumferential direction, the rear end of the first motor 1 is fixedly connected with one end of the first pull rod 2, and the first pull rod 2 can prevent the first motor 1 from rotating in the circumferential direction and the radial direction. By means of the structure, the design of circumferential and radial fixed axial sliding can be achieved under the condition that the complexity of the mechanical finger structure is low, the mechanical finger structure is compact, and space is saved.

The nut 4 being fixed in the axial direction and not rotating relative to the axis of the screw 3 means that the nut 4 is constrained in the axial direction and the nut 4 does not rotate relative to the axis of the screw 3, so that when the screw 3 is screwed into the nut 4, the nut 4 does not move in the axial direction relative to the screw 3 and the nut 4 does not rotate due to the screwing of the screw 3, achieving the purpose of axial movement of the screw 3. For the fixing position of the nut 4, the nut 4 may be fixed in the cavity of the base knuckle 5, for example, as shown in fig. 4, the nut 4 may be fixed in the cavity of the base knuckle 5 by a sixth rotating shaft 14, the sixth rotating shaft 14 may be disposed on the outer circumference of the nut 4 in the radial direction and parallel to the first rotating shaft 7, the nut 4 may be rotatably connected with the base knuckle 5 by the sixth rotating shaft 14, one side of the base knuckle 5 near the first motor 1 may be two base knuckle side plates, the two base knuckle side plates may sandwich the nut 4, and the nut 4 may be rotatable in the base knuckle 5. The nut being rotatable in the base knuckle means here that the nut is fixed in the axial direction and does not rotate relative to the axis on which the screw is located. It is of course also possible to weld the nut 4 in the cavity of the base knuckle 5, and to provide a further seat for fixing the nut 4, as long as it is ensured that the nut 4 is fixed in the axial direction and does not rotate relative to the axis on which the screw 3 is located. In addition, one side of the nut 4 far away from the first motor 1 may be an open structure, that is, the internal threaded hole of the nut 4 may be a through hole, the screw rod 3 may penetrate through the nut 4, and after the screw rod 3 penetrates through the internal threaded through hole of the nut 4, the screw rod may further be screwed in, so as to increase the transmission distance of the screw rod 3.

In the screw and nut structure, the screw and nut mechanism has a self-locking function, when the first motor stops outputting torque, the positions of the screw and the first motor can be kept still, so that the screw and nut structure has a certain position memory function, and under the condition that the output of the first motor stops, the finger mechanism can not move in the opposite direction, so that the finger mechanism is kept still at the current position, and the position locking function of the finger mechanism is achieved.

In addition, the finger mechanism can be a thumb mechanism, the base knuckle can be a thumb base knuckle, and the proximal knuckle can be a thumb proximal knuckle. It should be noted that the finger mechanism of the present embodiment is not limited to the thumb mechanism, and may also be applied to finger mechanisms other than the thumb mechanism, such as the index finger, the middle finger, the ring finger, and the small finger, the corresponding base knuckles may be the index finger base knuckle, the middle finger base knuckle, the ring finger base knuckle, and the small finger base knuckle, and the corresponding near knuckles may be the index finger near knuckle, the middle finger near knuckle, the ring finger near knuckle, and the small finger near knuckle.

According to the mechanism, the finger mechanism, the first motor, the pull rod, the screw rod and the nut are specially assembled, the finger mechanism, the first motor, the pull rod, the screw rod and the nut are guided to the near knuckle from the base knuckle in an axial transmission mode, the power output direction of the first motor is kept, the original output of a power source and the drive output of the finger are located on the same layer, the space occupied by the axial transmission output is saved, the complex design of the connection part of the base knuckle and the near knuckle is not needed, and the complexity of the part is reduced. In addition, the mechanism of the embodiment fully utilizes the space of the base knuckle to bear the power source, thereby further reducing the size of the finger mechanism. In addition, the original output of the power source and the drive output of the fingers are arranged on the same layer, so that the arrangement of a drive output mechanism of the fingers is reduced, the structure of the manipulator is simplified, the consumption of torque in the transmission process is reduced, and the fingers have larger clamping force.

In addition, it should be noted that the finger mechanism of the present embodiment can be applied not only to the field of manipulators, but also to other bionic mechanical structure parts having joints, for example, a mechanical structure simulating a thigh and a shank, where the base knuckle may be the thigh and the proximal knuckle may be the shank.

Example two

Fig. 5 to 12 are schematic diagrams of the screw-driving finger mechanism according to the second embodiment. The difference between this embodiment and the first embodiment is that the present embodiment adds a finger frame 9 and a second pull rod 10, and the base knuckle 5 is rotatably connected with the finger frame 9 through a third rotating shaft 11.

Since the finger mechanism in the first embodiment involves a flexion movement of the proximal knuckle relative to the base knuckle, in practical applications, it may be necessary to perform a finger bending motion on the base knuckle relative to the finger frame, therefore, as shown in fig. 5 to 8, in this embodiment, a second pull rod 10 is disposed between the base knuckle 5 and the finger frame 9, one end of the second pull rod 10 is rotatably connected to the first motor 1 through a fourth rotating shaft 12, the other end of the second pull rod 10 is rotatably connected to the finger frame 9 through a fifth rotating shaft 13, the fifth rotating shaft 13 is disposed above the third rotating shaft 11, the nut 4 is disposed on the finger frame 9, the first motor 1 is connected to one end of the second pull rod 10 through the fourth rotating shaft 12, for driving the base finger knuckle to rotate relative to the finger rest by movement of the first motor in an axial direction, the second pull rod is extruded and stretched through the first motor, and the base knuckle is enabled to do finger bending movement relative to the finger rack.

Further, when the base knuckle makes a bending motion relative to the finger frame, the movement tracks of the base knuckle, the finger frame and the second pull rod are respectively different, and when the base knuckle and the second pull rod are parallel to the finger frame, the locking phenomenon is easy to occur, so that the second pull rod 10 is arc-shaped to avoid locking. Further, the second draw bar 10 may have a Y-shaped configuration. Be provided with the otic placode on the outer wall of first motor 1, the single-end of Y type structure passes through the otic placode rotatable coupling of fourth pivot 12 with first motor 1, and the double-end of Y type structure is held the frame 9 clamp of pointing in the centre, and the double-end of Y type structure is held through fifth pivot 13 and is pointed frame 9 rotatable coupling. The double-end of Y type structure is with pointing the frame clamp in the middle of for when first motor extrudeed and tensile the second pull rod, the second pull rod can not rock to the both sides of pointing the knuckle, and the second pull rod is stable rotates, further avoids the emergence of locking the phenomenon.

With the above-mentioned structure, as shown in fig. 11, in the process of the axial movement of the first motor 1, the second pull rod 10 pulls the finger frame 9, a moment is formed between the fifth rotating shaft 13 and the third rotating shaft 11, and in practical applications, the finger frame 9 is usually fixed, so that the base knuckle 5 rotates around the third rotating shaft 11 under the interaction of the finger frame 9, the second pull rod 2 and the first motor 1. The second pull rod 10 can be arc-shaped, the arc shape can protrude to the outer side of the hand back of the finger mechanism, the concave side of the arc shape can correspond to the back of the base knuckle and the back of the finger rack, the second pull rod can be made of rigid materials, the shape of the second pull rod cannot be changed, the first motor can be arranged in the cavity of the base knuckle, the shape of the second pull rod cannot be changed, and when the second pull rod is extruded by the first motor, the outer wall of the first motor, which is far away from the second pull rod, extrudes the inner wall, which is far away from the second pull rod, in the cavity of the base knuckle, so that the finger bending movement is realized; when the second pull rod is stretched by the first motor, the outer wall of the first motor close to the second pull rod extrudes the inner wall of the base knuckle cavity close to the second pull rod, namely, the expansion finger moves. Under the extrusion and stretching action of the first motor, the base knuckle rotates by taking the third rotating shaft as the center.

In the above structure, the third rotating shaft 11 may be disposed on the outer periphery of the nut 4 in the radial direction and parallel to the first rotating shaft 7, the nut 4 may be rotatably connected to the finger rack 9 through the third rotating shaft 11, one side of the finger rack 9 close to the base finger joint 5 may be two finger rack side plates, the two finger rack side plates may sandwich the nut 4, and the nut 4 may rotate in the finger rack 9. The nut being rotatable in the finger rest means that the nut is axially fixed and does not rotate relative to the axis of the screw. In addition, one side of the nut 4 far away from the first motor can be an open structure, that is, the internal thread hole of the nut 4 can be a through hole, the screw rod 3 can penetrate through the nut 4, and after the screw rod 3 penetrates through the internal thread through hole of the nut 4, the screw rod can be further screwed in, so that the transmission distance of the screw rod 3 is increased.

Through above-mentioned structure, set up third pivot 11 in the periphery of the radial direction of nut 4 and be on a parallel with first pivot 7, nut 4 is through third pivot 11 and finger frame 9 rotatable coupling for nut and screw rod, first motor and first pull rod are located the same layer all the time at the motion in-process, and the screw rod can normally be in the internal thread of screw in nut, guarantees that screw rod, first motor and first pull rod can carry out axial motion, reduces pivot quantity. In addition, the nut 4 is rotatably connected with the finger rack 9 through the third rotating shaft 11, the connecting shaft of the nut 4 and the finger rack 9 and the connecting shafts of the base finger joint 5 and the finger rack 9 are the third rotating shaft 11, so that the base finger joint can normally make a finger bending motion along the third rotating shaft, when the first motor extrudes and stretches the second pull rod, the nut can always be over against the screw rod and the first motor, and the nut is prevented from blocking the base finger joint from normally making a finger bending motion along the third rotating shaft. In addition, under the condition that the connecting shaft of the nut and the finger rack is not coaxial with the connecting shafts of the base finger joint and the finger rack, the same-layer transmission mechanism of the nut, the screw rod, the first motor and the first pull rod, the base finger joint and the finger rack form a dead locking condition of three end-to-end connecting rods.

In addition, the finger mechanism can be a thumb mechanism, and the base knuckle can be a thumb base knuckle. It should be noted that the finger mechanism of the present embodiment is not limited to the thumb mechanism, and may also be applied to finger mechanisms other than the thumb mechanism, such as the index finger, middle finger, ring finger, and small finger, and the corresponding base knuckles may be the index finger base knuckle, middle finger base knuckle, ring finger base knuckle, and small finger base knuckle.

The mechanism of this embodiment, through carrying out special equipment to finger mechanism, first motor, pull rod, screw rod and nut, with finger mechanism, first motor, pull rod, screw rod and nut with axial transmission's mode, guide to the finger frame from the base finger festival, keep the power take off direction of first motor for the original output of power supply and the drive output to the finger all are located the same floor, thereby save the space that axial transmission output took, need not carry out complicated design to the coupling part of base finger festival and finger frame, reduced the complexity of this part. In addition, the original output of the power source and the drive output of the fingers are arranged on the same layer, so that the arrangement of a drive output mechanism of the fingers is reduced, the structure of the manipulator is simplified, the consumption of torque in the transmission process is reduced, and the fingers have larger clamping force.

In addition, it should be noted that the finger mechanism of the present embodiment can be applied not only to the field of manipulators, but also to other bionic mechanical structure parts with joints, for example, a mechanical structure simulating thighs and calves, the finger frame can be the thighs, and the base knuckle can be the calves.

EXAMPLE III

Fig. 13 to 16 are schematic diagrams of a worm gear and worm driven finger mechanism according to a third embodiment. Since the motion of the finger body in the prior art only involves a flexion motion, in practical applications, a posture adjustment motion of the finger body relative to the manipulator palm may be required, for example, a swinging motion of the finger body relative to the manipulator palm may be required. The posture adjustment can be used for adjusting the direction of the movement of the fingers, and in addition, the movement of the finger body relative to the palm can also be used as one of action links for realizing the grabbing of objects by the manipulator or other functions. Therefore, the finger mechanism driven by the worm gear and the worm of the embodiment includes a finger rack 9, a worm 15, a worm wheel 16 matched with the worm 15, a second motor 17 and a motor support 18, the motor support 18 is arranged in the palm of the manipulator, the motor support 18 is rotatably connected with one end of the finger rack 9 through a seventh rotating shaft 20, the other end of the finger rack 9 is provided with a finger body 21, the seventh rotating shaft 20 is perpendicular to a joint rotating shaft 211 of the finger body 21, the second motor 17 is fixed in the motor support 18 and is in transmission connection with one end of the worm 15 through an output shaft of the second motor 17, in practical application, since the rotating speed output by the second motor may be different from the actually required rotating speed, therefore, a speed reducing component may be further included to adjust the rotating speed output by the second motor, and the speed reducing component may be arranged at the output end of the second motor 17, the output shaft is connected with the output end of the second motor 17 through a speed reducing assembly.

The above-mentioned transmission connection of the output shaft of the second motor and one end of the worm means that the output shaft of the second motor 17 (the output shaft of the second motor is actually the output shaft connected with the output end of the second motor through the speed reduction assembly) may have a D-section shaft diameter, one end of the worm 15 may be provided with a D-section shaft hole, the D-section shaft diameter may be adapted to the D-section shaft hole, and the output shaft of the second motor 17 may be in transmission connection with one end of the worm 15 by inserting the D-section shaft diameter into the D-section shaft hole. The output shaft of the second motor 17 is connected with one end of the worm 15 in a transmission way through the mutual clamping of the shaft diameter of the D-shaped section and the shaft hole of the D-shaped section. Of course, the way of driving and connecting the output shaft of the second motor 17 and one end of the worm 15 is not limited to the foregoing way, for example: a coupling may be further included, which may be disposed on the output shaft of the second motor 17, and one end of the worm 15 may be connected with the output shaft of the second motor 17 through the coupling.

The other end of the worm is matched with the worm wheel, when the worm 15 rotates, the worm wheel 16 is driven to rotate, and the worm wheel 16 is in transmission connection with the finger rack 9 and used for driving the finger rack to rotate along the circumferential direction of the manipulator palm through rotation of the worm wheel. The circumferential direction of the hand palm herein means the end surfaces other than the palm surface of the hand palm and the palm back surface of the hand palm. The gesture adjustment movement of the finger body relative to the palm of the manipulator is realized, and the bionic performance of the manipulator is improved.

Through above-mentioned structure, when the second motor carries out corotation and reversal, the mode through the mutual joint in D shape cross-section diameter of axle and D shape cross-section shaft hole drives worm corotation and reversal, the other end and the worm wheel cooperation of worm, the rotation of worm drives worm wheel corotation and reversal, the worm is connected with the transmission of finger frame, the rotation of worm wheel drives finger frame and finger body and rotates along the circumferential direction of manipulator palm. (the two-way arc arrow on the finger body in fig. 13 and 16 represents the rotation direction of the finger body and the finger rack rotating with the seventh rotating shaft as the center line) to realize the swinging motion of the finger body relative to the manipulator palm.

In the worm wheel and worm structure, the worm wheel and worm mechanism has a self-locking function, when the second motor stops outputting torque, the position of the worm wheel can be kept still, so that the worm wheel and worm structure has a certain position memory function, and under the condition that the output of the second motor stops, the finger rack and the finger body cannot move in the opposite direction, so that the finger rack and the finger body can be kept still at the current position, and the worm wheel and worm mechanism has a position locking function for the finger rack and the finger body.

One side of the motor support close to the finger rack can be provided with two motor support side plates, the two motor support side plates can be parallel to the back of the finger rack 9, the finger rack 9 can be clamped between the two motor support side plates, and the finger rack 9 can rotate in the motor support 18. Two motor support curb plates of motor support can prevent that finger frame and finger body from appearing rocking in the up-down direction for finger frame and finger body can rotate along the circumferential direction of manipulator palm steadily.

In order to reduce the overall weight of the manipulator, the worm wheel 16 may be of a semi-circular configuration, with the circular arc end of the semi-circle being adjacent the motor mount 18 and the straight end of the semi-circle being adjacent the finger rest 9. Through the structure, the finger rack can be stably designed to rotate along the circumferential direction of the palm of the manipulator under the condition that the structural complexity of the mechanical finger is low, the semi-arc worm wheel has light weight relative to the circular worm wheel with the same diameter, the whole weight of the manipulator is reduced, the structure of the mechanical finger is compact, and the space is saved.

The finger mechanism may be a thumb mechanism, and it should be noted that the finger mechanism of the present embodiment is not limited to the thumb mechanism, and may be applied to finger mechanisms other than the thumb mechanism, such as an index finger, a middle finger, a ring finger, and a pinky finger.

In addition, the worm wheel and the finger rack can be in transmission connection in a mode that: the center of the worm wheel 16 is provided with a worm wheel center hole, one end of the seventh rotating shaft 20 can sequentially penetrate through the center holes of the finger rack 9 and the worm wheel, the other end of the seventh rotating shaft 20 can be rotatably connected with the motor bracket 18, one end of the worm wheel 16 can be fixedly connected with the finger rack 9, and the other end of the worm wheel 16 can be rotatably connected with the motor bracket 18. The end of the motor bracket 18 close to the finger rack 9 is provided with two motor bracket side plates, the two motor bracket side plates are respectively provided with a motor bracket side plate rotating shaft hole, the other end of the seventh rotating shaft 20 is rotatably inserted into one motor bracket side plate rotating shaft hole, one end of the seventh rotating shaft 20 penetrates through the finger rack 9 and is inserted into a worm wheel center hole, the other end of the worm wheel 16 is provided with a flange coaxial with the worm wheel center hole, and the flange is rotatably inserted into the other motor bracket side plate rotating shaft hole. Wherein, the mode that one end of worm wheel 16 can be with finger frame 9 fixed connection can be: the worm wheel 16 is integrally formed with the finger frame 9, or one end of the worm wheel 16 may be fixedly connected to the finger frame 9 by other fixing means, for example, one end of the worm wheel 16 is welded to the finger frame 9. The finger rack 9 is provided with an arc concave surface, the worm wheel 16 can be installed in the arc concave surface of the finger rack 9, and the worm wheel and the finger rack are in transmission connection through the clamping of the worm wheel and the arc concave surface. The semicircular arc ends of the worm wheel 16 may protrude out of the finger rest 9, that is, the teeth of the worm wheel 16 may protrude out of the finger rest 9, so that the worm 15 can be in driving engagement with the worm wheel 16.

As an alternative to the above-mentioned transmission connection mode of the worm wheel and the finger rack, one end of the seventh rotating shaft 20 may be a shaft diameter with a D-shaped cross section, the other end of the seventh rotating shaft 20 may be a shaft diameter with a circular cross section, a shaft hole with a D-shaped cross section may be provided in the finger rack 9, a central hole of the worm wheel may be a shaft hole with a D-shaped cross section, a shaft diameter with a D-shaped cross section is adapted to the shaft hole with the D-shaped cross section, a shaft diameter with a D-shaped cross section of one end of the seventh rotating shaft 20 may sequentially penetrate the shaft hole with the D-shaped cross section of the finger rack 9 and the shaft hole with the D-shaped cross section of the worm wheel 16, the other end of the seventh rotating shaft 20 may be rotatably connected to the motor. And the shaft hole with the D-shaped section for passing through the worm wheel drives the seventh rotating shaft to rotate, and the shaft diameter with the D-shaped section for passing through the seventh rotating shaft drives the finger rack to rotate. The other end of the seventh rotating shaft 20 is rotatably inserted into a rotating shaft hole of the motor bracket side plate, one end of the seventh rotating shaft 20 penetrates through the finger rack 9 and is inserted into a central hole of a worm wheel, and the other end of the worm wheel 16 is provided with a flange coaxial with the central hole of the worm wheel, and the flange is rotatably inserted into a rotating shaft hole of the other motor bracket side plate. The finger rack 9 is provided with an arc concave surface, and the worm wheel 16 can be installed in the arc concave surface of the finger rack 9, so that transmission connection between the worm wheel and the finger rack is realized through the matching of the shaft diameter of the D-shaped section and the shaft hole of the D-shaped section. On the other hand, the worm wheel is connected with the finger rack in a transmission manner through the clamping of the worm wheel and the arc concave surface. The semicircular arc ends of the worm wheel 16 may protrude out of the finger rest 9, that is, the teeth of the worm wheel 16 may protrude out of the finger rest 9, so that the worm 15 can be in driving engagement with the worm wheel 16.

Through the structure, the transmission shaft between the worm wheel and the finger rack and the rotating shafts of the finger rack and the motor support are the seventh rotating shaft, the transmission mechanism and the rotating mechanism are coaxially arranged, the phenomenon of locking when the worm wheel and the finger rack are transmitted is prevented, the transmission mechanism is simplified, and the structure of the finger mechanism is compact.

The mechanism of this embodiment rotationally sets up the motor support through the one end at the finger frame, sets up the motor support in the manipulator palm to assemble second motor, worm gear mechanism in finger frame and motor support through special design, make the finger frame rotate for the motor support, realize that the finger body does the swing motion for the manipulator palm, thereby realize the gesture adjustment of finger frame, improve the bionical performance of manipulator. In addition, the posture adjustment of the finger rack is realized through the worm gear mechanism, the self-locking function of the worm gear is reasonably utilized, the motion track of the finger rack is closer to the motion track of human fingers, the arrangement of a driving output mechanism of the fingers is reduced, and the structure of the manipulator is simplified.

Example four

As shown in fig. 17 to 20, it is a schematic diagram of the finger mechanism of the screw drive and the worm gear drive of the fourth embodiment. The difference between the present embodiment and the first, second and third embodiments is that the finger body 21 of the present embodiment includes a base knuckle 5 and a proximal knuckle 6.

The finger mechanism driven by the screw and the worm and gear comprises a finger rack 9, a first motor 1, a second motor 17, a motor bracket 18, a worm 15, a worm wheel 16 matched with the worm 15, a first pull rod 2, a screw rod 3, a nut 4 matched with the screw rod 3, a base finger joint 5 and a near finger joint 6, wherein the motor bracket 18 is arranged in a palm of the manipulator, the motor bracket 18 is rotatably connected with one end of the finger rack 9 through a seventh rotating shaft 20, the other end of the finger rack 9 is rotatably connected with one end of the base finger joint 5 through a third rotating shaft 11, the other end of the base finger joint 5 is rotatably connected with the near finger joint 6 through a first rotating shaft 7, one end of the screw rod 3 is matched with the internal thread of the nut 4, the other end of the screw rod 3 is in transmission connection with an output shaft at the front end of the first motor 1, the rear end of the first motor 1 is fixedly connected with one end of the first pull rod 2, the other end of the first pull rod 2 is rotatably connected with the near knuckle 6 through a second rotating shaft 8, the second rotating shaft 8 is arranged below the first rotating shaft 7, a cavity is arranged inside the base knuckle 5, the first motor 1 and the first pull rod 2 are arranged inside the cavity of the base knuckle 5, and the first motor 1 and the first pull rod 2 can move in the axial direction relative to the base knuckle 5.

A second pull rod 10 is arranged between the base finger joint 5 and the finger rack 9, one end of the second pull rod 10 is rotatably connected with the first motor 1 through a fourth rotating shaft 12, the other end of the second pull rod 10 is rotatably connected with the finger rack 9 through a fifth rotating shaft 13, the fifth rotating shaft 13 is arranged above the third rotating shaft 11, the nut 4 is arranged on the finger rack 9, the third rotating shaft 11 is arranged on the periphery of the nut 4 in the radial direction and is parallel to the first rotating shaft 7, the nut 4 is rotatably connected with the finger rack 9 through the third rotating shaft 11, one side of the finger rack 9 close to the base finger joint 5 is provided with two finger rack side plates, the nut 4 is clamped between the two finger rack side plates, the nut 4 can rotate in the finger rack 9, the nut 4 is fixed in the axial direction and does not rotate relative to the axis of the screw rod 3, when the screw rod 3 rotates, the first motor 1 is driven to move in the axial direction, the first motor 1 is connected with the near knuckle 6 through the first pull rod 2 and is used for driving the near knuckle to rotate relative to the base knuckle through the movement of the first motor in the axial direction, the first motor 1 is connected with one end of the second pull rod 10 through the fourth rotating shaft 12 and is used for driving the base knuckle to rotate relative to the finger frame through the movement of the first motor in the axial direction,

it should be noted that, because the movement tracks of the base knuckle, the finger frame and the second pull rod are different when the base knuckle makes a bending movement relative to the finger frame, and the locking phenomenon is easily generated when the base knuckle and the second pull rod are parallel to the finger frame, the second pull rod 10 may be arc-shaped to avoid locking, and the arc-shaped may protrude to the outer side of the back of the hand of the finger mechanism 9. Further, the second draw bar 10 may have a Y-shaped configuration. The outer wall of the first motor 1 can be provided with the ear plate, the single end of the Y-shaped structure can be rotatably connected with the first motor 1 through the fourth rotating shaft 12, the double end of the Y-shaped structure can clamp the finger rack 9 in the middle, and the double end of the Y-shaped structure can be rotatably connected with the finger rack 9 through the fifth rotating shaft 13. The double-end of Y type structure will point frame 9 to press from both sides in the centre for when first motor extrudeed and tensile to the second pull rod, the second pull rod can not rock to the both sides of pointing the knuckle, and the second pull rod is stable rotates, further avoids the emergence of locking the phenomenon.

Through the structure, when first motor 1 corotation and reversal, fixed and do not rotate for the axis at screw rod 3 place on 4 axial directions of nut, screw rod 3 pulling and promotion first motor 1 carry out axial motion, first motor 1 pulling and promotion first pull rod 2 carry out axial motion, form moment between second pivot 8 and the first pivot 2 to make nearly knuckle 6 use first pivot 7 to rotate as the center, realize nearly knuckle and bend to indicate the motion and nearly knuckle exhibition to indicate the motion. Meanwhile, the base knuckle 5 rotates around the third rotation shaft 11 by the pressing and stretching action of the first motor. Specifically, when the second pull rod is extruded by the first motor, the outer wall of the first motor 1, which is far away from the second pull rod 10, extrudes the inner wall of the cavity of the base knuckle 5, which is far away from the second pull rod 10, so that the base knuckle 5 rotates around the third rotating shaft 11, namely, the base knuckle bends fingers; when the second pull rod is pulled by the first motor, the outer wall of the first motor 1 close to the second pull rod 10 presses the inner wall of the cavity of the base knuckle 5 close to the second pull rod 10, namely, the base knuckle stretches. The finger bending and spreading movement of the near knuckle and the base knuckle can be realized simultaneously only through one first motor, the arrangement of a driving mechanism and a transmission mechanism is reduced, the structure of a mechanical arm is simplified, the space occupied by the driving mechanism and the transmission mechanism is saved, the consumption of torque in the transmission process is reduced, and the finger has larger clamping force.

The second motor 17 is fixed in the motor bracket 18 and is in transmission connection with one end of the worm 15 through an output shaft of the second motor 17, in practical application, because the output speeds of the first motor 1 and the second motor 17 may be different from the actually required rotation speed, the output end of the first motor 1 and the output end of the second motor 17 may further be respectively provided with a speed reduction assembly, and the output shaft of the first motor 1 and the output shaft of the second motor 17 may be respectively connected with the output end of the first motor 1 and the output end of the second motor 17 through the speed reduction assembly. In addition, the first motor 1 and the second motor 17 may be the same motor, for example, the first motor 1 and the second motor 17 may be both micro dc motors.

The other end of the worm 15 is matched with a worm wheel 16, when the worm 15 rotates, the worm wheel 16 is driven to rotate, the worm wheel 16 is fixed on the finger rack 9, a seventh rotating shaft 20 penetrates through a worm wheel center hole, the worm wheel 16 is in transmission connection with the finger rack 9 and used for driving the finger rack to rotate along the circumferential direction of a manipulator palm through rotation of the worm wheel, and the seventh rotating shaft 20 is perpendicular to the third rotating shaft 11 and the first rotating shaft 7 and used for driving the finger rack, the base finger joint and the near finger joint to perform finger swinging movement relative to the motor support through rotation of the worm wheel.

Through the structure, when the second motor 17 rotates forwards and backwards, the second motor 17 drives the worm 15 to rotate forwards and backwards, the other end of the worm 15 is matched with the worm wheel 16, the worm 15 rotates to drive the worm wheel 16 to rotate forwards and backwards, the worm 15 is in transmission connection with the finger rack 9, and the rotation of the worm wheel 16 drives the finger rack 9, the base knuckle 5 and the near knuckle 6 to rotate along the circumferential direction of the manipulator palm. The swinging motion of the finger frame, the base knuckle and the near knuckle relative to the palm of the manipulator is realized. The manipulator of this embodiment has realized simultaneously: the proximal knuckle performs flexion and extension movements relative to the basal knuckle, the basal knuckle performs flexion and extension movements relative to the finger rack, the finger rack performs swing movements relative to a palm provided with a motor support, and the flexion and extension movements of the proximal knuckle and the basal knuckle are matched with the swing movements, so that the manipulator can realize gripping actions with more postures, the manipulator is closer to the movement of fingers of a human body, the bionic performance of the manipulator is improved, and the flexibility of the finger mechanism is improved.

One side of the motor support 18 close to the finger rack 9 can be provided with two motor support side plates, the two motor support side plates can be parallel to the back of the finger rack 9, the finger rack 9 can be clamped between the two motor support side plates, and the finger rack 9 can rotate in the motor support 18. Two motor support curb plates of motor support can prevent that finger frame and finger body from appearing rocking in the up-down direction for finger frame and finger body can rotate along the circumferential direction of manipulator palm steadily.

In addition, the worm wheel and the finger rack can be in transmission connection in a mode that: the center of the worm wheel 16 is provided with a worm wheel center hole, one end of the seventh rotating shaft 20 can sequentially penetrate through the finger rack 9 and the worm wheel center hole, the other end of the seventh rotating shaft 20 can be rotatably connected with the motor support 18, one end of the worm wheel 16 can be fixedly connected with the finger rack 9, and the other end of the worm wheel 16 can be rotatably connected with the motor support 9. The end of the motor bracket 18 close to the finger rack 9 is provided with two motor bracket side plates, the two motor bracket side plates are respectively provided with a motor bracket side plate rotating shaft hole, the other end of the seventh rotating shaft 20 is rotatably inserted into one motor bracket side plate rotating shaft hole, one end of the seventh rotating shaft 20 penetrates through the finger rack 9 and is inserted into a worm wheel center hole, the other end of the worm wheel 16 is provided with a flange coaxial with the worm wheel center hole, and the flange is rotatably inserted into the other motor bracket side plate rotating shaft hole. Wherein, the mode that one end of worm wheel 16 can be with finger frame 9 fixed connection can be: the worm wheel 16 is integrally formed with the finger frame 9, or one end of the worm wheel 16 may be fixedly connected to the finger frame 9 by other fixing means, for example, one end of the worm wheel 16 is welded to the finger frame 9. The finger rack 9 is provided with a circular arc concave surface, and the worm wheel 16 can be arranged in the circular arc concave surface of the finger rack 9. The semicircular arc end of the worm wheel 16 may protrude out of the finger rest 9, i.e. the teeth of the worm wheel 16 may protrude out of the protruding finger rest 9, so that the worm can be in driving engagement with the worm wheel.

As an alternative to the above-mentioned transmission connection mode between the worm wheel and the finger rack, one end of the seventh rotating shaft 20 may be a shaft diameter with a D-shaped cross section, the other end of the seventh rotating shaft 20 may be a shaft diameter with a circular cross section, a shaft hole with a D-shaped cross section may be provided in the finger rack 9, a central hole of the worm wheel may be a shaft hole with a D-shaped cross section, a shaft diameter with a D-shaped cross section may be adapted to the shaft hole with a D-shaped cross section, a shaft diameter with a D-shaped cross section of one end of the seventh rotating shaft 20 may sequentially pass through the shaft hole with a D-shaped cross section of the finger rack 9 and the shaft hole with a D-shaped cross section of the worm wheel 16, the other end of the seventh rotating shaft 20 may be rotatably connected to the motor. The other end of the seventh rotating shaft 20 is rotatably inserted into the rotating shaft hole of the motor support side plate, one end of the seventh rotating shaft 20 penetrates through the finger rack 9 and is inserted into the central hole of the worm wheel, the other end of the worm wheel 16 is provided with a flange coaxial with the central hole of the worm wheel, and the flange is rotatably inserted into the rotating shaft hole of the other motor support side plate.

The finger mechanism provided by the embodiment enables the sizes of the base knuckle and the near knuckle to be closer to the size of a human hand, the motion ranges of the base knuckle and the near knuckle are also close to the motion ranges of all the joints of the human finger, and the bionic performance is improved. The radial dimension of the finger mechanism is reduced, the appearance is more attractive, the clamping force is higher, and the practicability of the finger mechanism is improved.

EXAMPLE five

In the present embodiment, the finger mechanisms in the fourth embodiment are disposed on the palm frame to form a manipulator. As shown in fig. 21 to 22, fig. 21 and 22 are schematic assembly views of a manipulator, which has an overall shape similar to the shape of a human hand, is wearable on a human arm, and can complete basic motions of the human hand.

The manipulator of this embodiment includes: palm frame 19 is provided with at least one motor support mounting groove 22 on the palm frame 19, and the embedding has finger mechanism in the motor support mounting groove 22, motor support mounting groove 22 and motor support 18 adaptation for with finger mechanism install in the palm frame. The finger mechanism described here may be the same as that in the fourth embodiment. The palm rack 19 is a mounting bracket of the finger mechanism, the shape of the palm rack 19 can be similar to that of a human palm, the palm rack 19 can be approximately rectangular, the interior of the palm rack 19 can be a cavity, and after the manipulator is assembled, the second motor 17, the motor bracket 18 and the worm 15 can be all located in the cavity of the palm rack 19. It should be noted that those skilled in the art will appreciate that various configurations can be flexibly arranged within the cavity of the palm housing to form the necessary closed or semi-closed configuration of the palm housing.

The palm rack 19 can be provided with five motor support mounting grooves 22, the finger mechanisms are respectively embedded in the five motor support mounting grooves 22, one palm rack 19 can be provided with five finger mechanisms, each finger mechanism is provided with an independent motor support 18, and in the whole assembling process of the manipulator, the five finger mechanisms can be fixed on the motor support mounting grooves 22 through the respective motor supports 18 in a clamping mode to form the manipulator. The five finger mechanism described herein may be applied to five fingers of a human body, such as a thumb, an index finger, a middle finger, a ring finger, and a pinky finger, respectively. The size and the shape of the five fingers of the thumb, the index finger, the middle finger, the ring finger and the little finger in the manipulator are the same.

It should be noted that, in view of the fact that the finger mechanism of the embodiment of the present invention moves closer to the motion of the thumb, the finger mechanism of the embodiment of the present invention may also be applied to the thumb only, and the structure of the general finger may adopt a structure mature in the prior art or other feasible structures, and therefore, in fig. 22, the specific structure of the general finger is not shown, and only the schematic mounting groove for fixing the general finger mechanism is shown. In addition, the finger mechanism of the embodiment of the invention can be applied to only one or a few common fingers, and the structures of the thumb and the rest common fingers can adopt the structures mature in the prior art or other feasible structures.

(1) Motor support

One side of the motor support 18, which is far away from the palm rack 19, is symmetrically provided with two motor support side plates, the two motor support side plates are parallel to the back of the palm rack 9, the two motor support side plates are respectively provided with a motor support side plate rotating shaft hole, the motor support 18 is rotatably connected with the finger rack 9 through a seventh rotating shaft 20, the two motor support side plates can clamp the finger rack 9 and a worm gear 15 arranged on the finger rack 9 in the middle, and the finger rack 9 can rotate in the motor support 18.

The motor support 18 is approximately cuboid, a web plate protruding towards the palm and the back of the hand is arranged at one end of the motor support 18 close to the palm frame 19, five motor support mounting grooves 22 are arranged on the palm frame 19, the web plate can be clamped on the motor support mounting grooves 22 of the palm frame 19, a second motor mounting hole can be arranged at one side of the motor support 18 far away from the finger frame 9, the second motor mounting hole is a through hole, an internal thread is arranged inside the second motor mounting hole, the second motor 17 is of a cylindrical structure, an external thread is arranged on the outer wall of the output end of the second motor 17, the second motor 17 is inserted at one side of the second motor mounting hole of the motor support 18 through the screw matching of the internal thread and the external thread, a worm 15 is arranged in the second motor mounting hole, a shaft hole with a D-shaped cross section is arranged at one side of the worm 15, and the output shaft of the second, an output shaft of the second motor 17 is in transmission connection with one end of the worm 15 in a mode that the shaft diameter of the D-shaped section is inserted into the shaft hole of the D-shaped section, a speed reducer is arranged at the output end of the second motor 17, the second motor 17 transmits torque to the worm 15 after being decelerated by the speed reducer, a pressure copper pad is arranged between the output shaft of the second motor 17 and the worm 15, and the pressure copper pad is sleeved on the output shaft of the second motor 17 and used for bearing axial force.

The other side of the worm 15 is provided with a D-shaped section shaft hole, the other side of the worm 15 is provided with a worm pin shaft, one end of the worm pin shaft is in a D-shaped section shaft diameter, the other end of the worm pin shaft is in a circular section shaft diameter, one end of the worm pin shaft is connected with the other side of the worm 15 in a mode that the D-shaped section shaft diameter is inserted into the D-shaped section shaft hole, the other side of the second motor mounting hole is provided with a worm pin shaft end cover, the worm pin shaft end cover is mounted on the motor support 18 through a screw, a worm pin shaft mounting hole for mounting the worm pin shaft is formed in the center of the worm pin shaft end cover, and the other end of the. The other end of the worm 15 is provided with a thread for engagement with the teeth of a worm wheel on the finger rest.

(2) Finger rack

A seventh rotating shaft mounting hole is formed in one side, close to the motor support 18, of the finger rack 9, a seventh rotating shaft 20 penetrates through a rotating shaft hole of a motor support side plate on the motor support 18 and the seventh rotating shaft mounting hole in the finger rack 9, the finger rack 9 is rotatably connected with the motor support 18 through the seventh rotating shaft 20, a worm wheel center hole is formed in the center of the worm wheel 16, one end of the seventh rotating shaft 20 is a D-shaped cross section shaft diameter, the other end of the seventh rotating shaft 20 is a circular cross section shaft diameter, a D-shaped cross section shaft hole is formed in the finger rack 9, the worm wheel center hole is a D-shaped cross section shaft hole, and the D-shaped cross section shaft diameter is matched.

The end of the motor bracket 18 close to the finger rack 9 is provided with two motor bracket side plates, two motor bracket side plate rotating shaft holes are respectively arranged on the two motor bracket side plates, a copper sleeve is arranged in one motor bracket side plate rotating shaft hole, the other end of the seventh rotating shaft 20 is rotatably inserted into the copper sleeve of the one motor bracket side plate rotating shaft hole, one end of the seventh rotating shaft 20 penetrates through a seventh rotating shaft mounting hole of the finger rack 9 and is inserted into a worm wheel center hole, the other end of the worm wheel 16 is provided with a flange coaxial with the worm wheel center hole, and the flange is rotatably inserted into the other motor bracket side plate rotating shaft hole. The worm wheel 16 is of a semicircular structure, an arc concave surface is arranged on the finger rack 9, the worm wheel 16 is installed in the arc concave surface of the finger rack 9, and the semicircular arc end of the worm wheel 16 protrudes out of the finger rack 9. For engaging with the thread of the worm on the motor bracket.

One side of finger frame 9, which is far away from motor support 18, is provided with two finger frame curb plates, finger frame 9 is connected with base knuckle 5 through third pivot 11, third pivot 11 sets up on the periphery of the radial direction of nut 4, the design of the both sides of nut 4 has coaxial third pivot 11, nut 4 is arranged in between two finger frame curb plates of finger frame 9, be provided with third pivot mounting hole on two finger frame curb plates respectively, insert the third pivot mounting hole of finger frame 9 respectively in the both sides of third pivot 11, nut 4 can be around the central line gyration of third pivot mounting hole.

(3) Base knuckle and proximal knuckle

The base knuckle 5 is connected with the finger frame 9 through a third rotating shaft 11, and the base knuckle 5 can rotate around the center line of the third rotating shaft 11. The proximal knuckle 6 is connected with the base knuckle 5 through the first rotating shaft 1, and the base knuckle 5 and the proximal knuckle 6 can rotate relatively. The base knuckle 5 is provided with a cavity therein, and the first motor 1 is disposed in the cavity of the base knuckle 5 and is axially movable in the cavity of the base knuckle 5. An output screw 3 of the first motor 1 is screwed into an internal thread hole of the nut 4, the rear end of the first motor 1 is connected with one end of the first pull rod 2 through a hinge mechanism, and the other end of the first pull rod 2 is connected with the near knuckle 6 through a second rotating shaft 8.

The front end of the first motor 1 is provided with a first motor reducer and a coupler, an external mounting thread of the first motor reducer is screwed into an internal mounting thread hole at the front end of the first motor, an output shaft of the first motor reducer is a D-shaped section shaft neck, a D-shaped section shaft hole is formed in the center of the coupler, and an output shaft of the D-shaped section shaft neck is inserted into the D-shaped section shaft hole in the center of the coupler. The pressure copper pad is arranged between the coupler and the first motor reducer and used for bearing axial force, the coupler is connected with the screw through four pins, a central hole of a first motor end cover made of copper is sleeved on a shaft neck of the screw 3 and connected to the outer wall of the front end of the first motor 1 through a screw, and the screw 3 can rotate in the central hole of the first motor end cover and is used for preventing the screw from eccentric rotation. The front end of the first motor 1 and the rear end of the first motor 1 are respectively provided with a hinge bracket, and the hinge bracket is provided with a pin shaft hole for inserting the fourth rotating shaft 12 and connecting the pin shaft of the first pull rod 2.

A second pull rod 10 is arranged between the base knuckle 5 and the finger rack 9, two ends of the second pull rod 10 are respectively provided with a pin shaft hole, the pin shaft hole at one end is connected with a hinge support on the outer wall of the front shell of the first motor 1 through a fourth rotating shaft 12, and the pin shaft hole at the other end is connected with the finger rack 9 through a fifth rotating shaft 13. When the first motor 1 rotates, the base knuckle 5 and the proximal knuckle 6 are subjected to finger bending or finger stretching movement through the speed reduction of the speed reducer and the transmission of the screw 3.

The following describes the movement path of the manipulator and the movement relationship of each component in detail:

under the extension state of the manipulator, if the manipulator needs to do finger bending movement, the first motor 1 is controlled to operate in the forward direction, the output shaft of the first motor drives the input shaft of the speed reducer to operate, the speed is reduced through the speed reducer, the output shaft of the speed reducer drives the screw rod 3 to pull the first motor 1 to move in the direction close to the nut 4 in the axial direction, the first motor 1 pulls the first pull rod 2 to move in the direction close to the nut 4 in the axial direction, torque is formed between the second rotating shaft 8 and the first rotating shaft 2, so that the near knuckle 6 rotates by taking the first rotating shaft 7 as the center, and the finger bending movement of the near knuckle 6 is realized. Meanwhile, under the extrusion action of the first motor 1, when the second pull rod 10 is extruded by the first motor 1, the outer wall of the first motor 1, which is far away from the second pull rod 10, extrudes the inner wall of the cavity of the base knuckle 5, which is far away from the second pull rod 10, so that the base knuckle 5 rotates around the third rotating shaft 11, namely, the base knuckle 5 performs a finger bending motion;

under the manipulator state of bending fingers, if the manipulator needs to do stretching motion, the first motor 1 is controlled to run in the reverse direction, the output shaft of the first motor 1 drives the input shaft of the speed reducer to run, the speed reducer reduces the speed, the output shaft of the speed reducer drives the screw rod 3 to push the first motor 1 to move in the direction away from the nut 4 in the axial direction, the first motor 1 pushes the first pull rod 2 to move in the direction away from the nut 4 in the axial direction, a torque is formed between the second rotating shaft 8 and the first rotating shaft 2, so that the near knuckle 6 rotates by taking the first rotating shaft 7 as the center, and the near knuckle 6 can move in a finger stretching mode. Meanwhile, under the stretching action of the first motor 1, when the second pull rod 10 is stretched by the first motor 1, the outer wall of the first motor 1 close to the second pull rod 10 extrudes the inner wall of the cavity of the base knuckle 5 close to the second pull rod 10, so that the base knuckle 5 rotates around the third rotating shaft 11, namely, the base knuckle 5 performs finger spreading motion;

if the gesture adjusting movement of the manipulator is needed, the second motor 17 is controlled to rotate forwards or backwards, the output shaft of the second motor 17 drives the input shaft of the speed reducer to rotate, the speed of the speed reducer is reduced, the output shaft of the speed reducer drives the worm 15 to rotate, the rotation of the worm 15 drives the worm wheel 16 to rotate, the rotation of the worm wheel 16 drives the finger rack 9 to perform the swinging movement, and therefore the gesture adjusting movement of the manipulator is performed.

The finger mechanism of this embodiment, it has included the finger frame, the hand that bear on motor support and has connected base knuckle and near knuckle in the finger frame, and these parts constitute a complete unit, through such modular design, the manufacturing of being convenient for, the installation of also being convenient for, through the palm frame that is provided with the mounting groove, conveniently assembles finger mechanism, when breaking down, also be convenient for whole change etc..

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A spiral-driven finger mechanism is characterized by comprising a finger rack, a screw rod, a nut matched with the screw rod, a first motor and a base finger joint, wherein the base finger joint is rotatably connected with the finger rack through a third rotating shaft,

one end of the screw rod is matched with the internal thread of the nut, the other end of the screw rod is in transmission connection with an output shaft at the front end of the first motor,

a cavity is arranged in the base knuckle, the first motor is arranged in the cavity of the base knuckle and can move in the axial direction relative to the base knuckle,

a second pull rod is arranged between the base knuckle and the finger rack, one end of the second pull rod is rotatably connected with the first motor through a fourth rotating shaft, the other end of the second pull rod is rotatably connected with the finger rack through a fifth rotating shaft, the fifth rotating shaft is arranged above the third rotating shaft,

the nut is arranged on the finger rack, the nut is fixed in the axial direction and does not rotate relative to the axis where the screw rod is located, when the screw rod rotates, the first motor is driven to move in the axial direction, and the first motor is connected with one end of the second pull rod through a fourth rotating shaft and used for driving the basal finger joint to rotate relative to the finger rack through the movement of the first motor in the axial direction.

2. The finger mechanism of claim 1, wherein said second pull rod is arcuate, said arcuate projecting outwardly of the back of the hand of said finger mechanism.

3. The mechanism of claim 1, further comprising: the first pull rod and the near knuckle are rotatably connected through a first rotating shaft,

the rear end of the first motor is fixedly connected with one end of the first pull rod, the other end of the first pull rod is rotatably connected with the proximal knuckle through a second rotating shaft, the second rotating shaft is arranged below the first rotating shaft,

the first pull rod is arranged inside the cavity of the base finger section and can move in the axial direction relative to the base finger section,

the first motor is connected with the near knuckle through the first pull rod and used for driving the near knuckle to rotate relative to the base knuckle through the movement of the first motor in the axial direction.

4. The mechanism of claim 3, wherein the third rotating shaft is provided on an outer periphery of the nut in a radial direction and parallel to the first rotating shaft, the nut being rotatably connected to the finger rest by the third rotating shaft.

5. The mechanism of claim 1, wherein the finger mechanism is a thumb mechanism and the base knuckle is a thumb base knuckle.

6. The mechanism of claim 1, further comprising a speed reduction assembly disposed at an output of the first electric machine, the output shaft being coupled to the output of the first electric machine through the speed reduction assembly.

7. The mechanism of claim 1, wherein said finger rest is provided with two finger rest side plates on a side thereof adjacent to said proximal knuckle, said two finger rest side plates sandwiching said nut, said nut being rotatable within said finger rest.

8. The mechanism of claim 1, wherein a side of the nut remote from the first motor is open, and the screw is capable of passing through the nut.

9. The mechanism of claim 1, wherein the second tie bar is a Y-shaped structure.

10. The mechanism of claim 9, wherein an ear plate is disposed on an outer wall of the first motor, a single end of the Y-shaped structure is rotatably connected to the first motor through a fourth rotating shaft, a finger rack is sandwiched between two ends of the Y-shaped structure, and the two ends of the Y-shaped structure are rotatably connected to the finger rack through a fifth rotating shaft.