CN108274482A - The finger mechanism of screw drives - Google Patents

Abstract

The present invention provides the finger mechanisms of screw drives, base finger joint is rotatably connected by third shaft and finger rack, one end of third screw rod coordinates with third nut, the other end of third screw rod is sequentially connected with the output shaft of third motor front end, the rear end of third motor is fixedly connected with one end of third pull rod, the other end of third pull rod is rotatably connected with base finger joint by eighth-turn axis, third motor and third pull rod are arranged in finger machine frame inside, and third motor is rotatably connected by third pull rod and base finger joint.The finger mechanism of screw drives provided by the invention saves axial transmission and exports occupied space by carrying out special assembling to finger mechanism, motor, pull rod, screw rod and nut.

Description

The finger mechanism of screw drives

Technical field

The present embodiments relate to a kind of finger mechanism more particularly to a kind of finger mechanisms of screw drives.

Background technology

Manipulator can imitate certain holding functions of human hand and arm, to press fixed routine crawl, carry object or operation The automatic pilot of tool.Manipulator can replace the heavy labor of people to realize the mechanization and automation of production, can have Operation is to protect personal safety under evil environment, thus is widely used in industrial each department.In addition, many manipulators It is to be designed for disabled person, to serve as the artificial limb of disabled person, to allow disabled person that there is the ability of certain crawl object.It is existing The transmission mechanism structure of manipulator is cumbersome in technology, is not easy to safeguard.In addition, the transmission mechanism occupied space of the prior art compared with Greatly, cause the size of manipulator larger, it is inconvenient to use.

Invention content

The present invention provides a kind of finger mechanism of screw drives, to realize more rational topology layout.

An embodiment of the present invention provides a kind of finger mechanisms of screw drives comprising third motor, third pull rod, third Screw rod and third nut, finger rack and the base finger joint coordinated with the third screw rod, the base finger joint pass through third and turn Axis is rotatably connected with the finger rack, the screw-internal thread fit of one end of the third screw rod and the third nut, described The output shaft of the other end of third screw rod and third motor front end is sequentially connected, the rear end of the third motor and described the One end of three pull rods is fixedly connected, and the other end of the third pull rod is rotatably connected with the base finger joint by eighth-turn axis, The eighth-turn axis is arranged in the lower section of the third shaft, and the finger machine frame inside is provided with cavity, the third motor And the cavity inside in the finger rack is arranged in the third pull rod, the third motor and the third pull rod can The relatively described finger rack moves in the axial direction, and the third nut is fixed in the finger rack, the third spiral shell It fixes on female axial direction and is not rotated relative to the axis where the third screw rod, when the third screw rod rotates, The third motor is driven to move in the axial direction, the third motor is rotatable by the third pull rod and the base finger joint Connection, for driving the base finger joint to turn relative to the finger rack by the movement of the third motor in the axial direction It is dynamic.

The finger mechanism of screw drives provided in an embodiment of the present invention passes through the third spiral shell being arranged on third motor output shaft The mode of bar and the cooperation rotation of third nut, it is solid on third nut axial direction when third motor is rotated forward and inverted Determine and do not rotated relative to the axis where third screw rod, third screw rod pulls and push third motor to carry out axial fortune Dynamic, third motor pulls and third pull rod is pushed to be axially moved, and forms torque between eighth-turn axis and third shaft, makes Base finger joint is obtained to be rotated centered on third shaft.Only pass through reasonable combination third pull rod, third motor and third screw rod Third nut body, realizes that base finger joint is counted on one's fingers relative to finger rack and exhibition refers to movement, simplifies structure, easy to maintain.This Outside, third motor and third pull rod are arranged in the cavity of finger rack, by reducing the size of third motor and third pull rod, Reduce transmission mechanism the space occupied, reduces the size of finger rack, the size of manipulator is reduced, convenient for making to manipulator With the quantity of component, simplifies robot manipulator structure in reduction driving mechanism, reduces consumption of the torque in transmission process so that hand Referring to has larger chucking power.

Description of the drawings

Fig. 1 is one of the principle schematic of finger mechanism of screw drives of the embodiment of the present invention one.

Fig. 2 is the two of the principle schematic of the finger mechanism of the screw drives of the embodiment of the present invention one.

Fig. 3 is the three of the principle schematic of the finger mechanism of the screw drives of the embodiment of the present invention one.

Fig. 4 is the four of the principle schematic of the finger mechanism of the screw drives of the embodiment of the present invention one.

Fig. 5 is one of the principle schematic of finger mechanism of screw drives of the embodiment of the present invention two.

Fig. 6 is the two of the principle schematic of the finger mechanism of the screw drives of the embodiment of the present invention two.

Fig. 7 is the three of the principle schematic of the finger mechanism of the screw drives of the embodiment of the present invention two.

Fig. 8 is the four of the principle schematic of the finger mechanism of the screw drives of the embodiment of the present invention two.

Fig. 9 is the five of the principle schematic of the finger mechanism of the screw drives of the embodiment of the present invention two.

Figure 10 is the six of the principle schematic of the finger mechanism of the screw drives of the embodiment of the present invention two.

Figure 11 is the seven of the principle schematic of the finger mechanism of the screw drives of the embodiment of the present invention two.

Figure 12 is the eight of the principle schematic of the finger mechanism of the screw drives of the embodiment of the present invention two.

Figure 13 is one of the principle schematic of finger mechanism that the worm and gear of the embodiment of the present invention three drives.

Figure 14 is the two of the principle schematic for the finger mechanism that the worm and gear of the embodiment of the present invention three drives.

Figure 15 is the three of the principle schematic for the finger mechanism that the worm and gear of the embodiment of the present invention three drives.

Figure 16 is the four of the principle schematic for the finger mechanism that the worm and gear of the embodiment of the present invention three drives.

Figure 17 be the embodiment of the present invention four screw drives and worm and gear driving finger mechanism principle schematic it One.

Figure 18 be the embodiment of the present invention four screw drives and worm and gear driving finger mechanism principle schematic it Two.

Figure 19 be the embodiment of the present invention four screw drives and worm and gear driving finger mechanism principle schematic it Three.

Figure 20 be the embodiment of the present invention four screw drives and worm and gear driving finger mechanism principle schematic it Four.

Figure 21 is one of the principle schematic of manipulator of the embodiment of the present invention five.

Figure 22 is the two of the principle schematic of the manipulator of the embodiment of the present invention five.

Figure 23 is one of the principle schematic of finger mechanism of screw drives of the embodiment of the present invention six.

Figure 24 is the two of the principle schematic of the finger mechanism of the screw drives of the embodiment of the present invention six.

Figure 25 is the three of the principle schematic of the finger mechanism of the screw drives of the embodiment of the present invention six.

Figure 26 is the four of the principle schematic of the finger mechanism of the screw drives of the embodiment of the present invention six.

Figure 27 be the embodiment of the present invention seven screw drives and worm and gear driving finger mechanism principle schematic it One.

Figure 28 be the embodiment of the present invention seven screw drives and worm and gear driving finger mechanism principle schematic it Two.

Figure 29 be the embodiment of the present invention seven screw drives and worm and gear driving finger mechanism principle schematic it Three.

Figure 30 be the embodiment of the present invention seven screw drives and worm and gear driving finger mechanism principle schematic it Four.

Drawing reference numeral explanation：1- first motors；The first pull rods of 2-；The first screw rods of 3-；The first nuts of 4-；5- base finger joints；6- Nearly finger joint；7- first rotating shafts；The second shafts of 8-；9- finger racks；The second pull rods of 10-；11- third shafts；The 4th shafts of 12-； The 5th shafts of 13-；The 6th shafts of 14-；15- worm screws；16- worm gears；The second motors of 17-；18- electric machine supports；19- palm racks； The 7th shafts of 20-；21- finger ontologies；The joints 211- shaft；22- electric machine support mounting grooves；The second screw rods of 23-；24- third spiral shells Bar；The 4th screw rods of 25-；The second nuts of 26-；27- third nuts；The 4th nuts of 28-；29- third motors；30- third pull rods； The 4th motors of 31-；32- four-pull-rods；33- eighth-turn axis；The 9th shafts of 34-；The 5th pull rods of 35-；The tenth shafts of 36-； 37- 11st shaft.

Specific implementation mode

Embodiment one

As shown in Figures 1 to 4, it is the principle schematic of the finger mechanism of the screw drives of the embodiment of the present invention, this hair The finger mechanism of the screw drives of bright embodiment include first motor 1, the first pull rod 2, the first screw rod 3 and with the first screw rod 3 The first nut 4, base finger joint 5 and nearly finger joint 6, base finger joint 5 and the nearly finger joint 6 coordinated is rotatably connected by first rotating shaft 7, the The screw-internal thread fit of one end of one screw rod 3 and the first nut 4, the output of the other end and 1 front end of first motor of the first screw rod 3 Axis is sequentially connected, and the rear end of first motor 1 is fixedly connected with one end of the first pull rod 2.In practical applications, due to first motor The rotating speed of 1 output may with the rotating speed of actual needs difference, and hence it is also possible to include reduction assemblies, to the first electricity The rotating speed of machine output is adjusted, and the output end in first motor 1 is arranged in reduction assemblies, and output shaft passes through reduction assemblies and first The output end of motor 1 connects.In addition, it can include shaft coupling, shaft coupling is arranged on the output shaft of first motor 1 (here Described first motor output shaft actually refers to the output shaft connected by reduction assemblies and the output end of first motor), The output axis connection that the other end of first screw rod 3 passes through shaft coupling and first motor 1.

The other end of above-mentioned first pull rod 2 is rotatably connected with nearly finger joint 6 by the second shaft 8, and the second shaft 8 is set to The lower section of first rotating shaft 7, base finger joint 5 are internally provided with cavity, and the sky in base finger joint 5 is arranged in first motor 1 and the first pull rod 2 Intracavitary portion, first motor 1 and the first pull rod 2 can in the axial direction be moved with respect to base finger joint 5,4 axial direction side of the first nut Fixed upwards and relative to 3 place of the first screw rod axis does not rotate, and when the first screw rod 3 rotates, first motor 1 is driven to exist Axial direction moves, and first motor 1 is connect by the first pull rod 2 with nearly finger joint 6, for passing through first motor in the axial direction Movement drive nearly finger joint to be rotated relative to base finger joint.

It should be noted that the orientation such as "upper", "lower" described in the present embodiment are the relative positions in finger, such as scheme Shown in 3, when above-mentioned finger mechanism refers in exhibition and detains the setting of palmate state, the upside of mechanism shown in Fig. 3 is the hand of finger mechanism The back of the body, the downside of structure shown in Fig. 3 are the palm of the hand of finger mechanism, and the lower section of Fig. 3 is ground, the back of the nearly finger joint in Fig. 3 and The back of base finger joint is far from ground, and finger mechanism exhibition refers to and parallel with horizontal plane, and "upper", "lower" refer to relative to the upper of ground Under.

By above structure, when first motor 1 is rotated forward and inverted, fixed simultaneously on 4 axial direction of the first nut And do not rotated relative to the axis where the first screw rod 3, the first screw rod 3 pulls and first motor 1 is pushed to be axially moved, First motor 1 pulls and the first pull rod 2 is pushed to be axially moved, and torque is formed between the second shaft 8 and first rotating shaft 2, So that nearly finger joint 6 is rotated centered on first rotating shaft 7, realize that nearly finger joint is counted on one's fingers movement.

The replaceable side of the output shaft drive connection scheme of the other end and first motor front end as above-mentioned first screw rod Case：The output shaft of first motor can be the D-section diameter of axle, and the other end of the first screw rod can be provided with D-section axis hole, D The tee section diameter of axle is adapted to D-section axis hole, and the output shaft of first motor can be inserted into D-section axis by the D-section diameter of axle The mode in hole and the other end of the first screw rod are sequentially connected.

In above structure, the rear end of first motor 1 is to be fixedly connected with one end of the first pull rod 2, such as welding or one It generates, rather than is rotatably connected, under this connection type, the other end and the nearly finger joint 6 of the first pull rod 2 pass through the second shaft 8 are rotatably connected, and nearly finger joint 6 and the second shaft 8 can prevent the first pull rod 2 from being rotated in the circumferential, first motor 1 Rear end is fixedly connected with one end of the first pull rod 2, and the first pull rod 2 can prevent first motor 1 from being carried out circumferentially and radially Rotation.Circumferential and radially fixed axis can be realized in the case where mechanical finger structure complexity is very low through this structure To the design of sliding, and make mechanical finger structure close, saves space.

It fixes on first nut, 4 axial direction mentioned here and is not rotated relative to the axis where the first screw rod 3 Refer to that the first nut 4 is bound in the axial direction, and the first nut 4 does not turn relative to the axis where the first screw rod 3 It is dynamic so that when the first screw rod 3 screws in the first nut 4, the first nut 4 will not in the axial direction be moved up relative to the first screw rod 3 It is dynamic, and the first nut 4 will not be rotated because of the screw-in of the first screw rod 3, realize the purpose that the first screw rod 3 is axially moved.It is right In the fixed position of the first nut 4, the first nut 4 can be fixed in the cavity of base finger joint 5, for example, as shown in figure 4, can The first nut 4 to be fixed on by the 6th shaft 14 in the cavity of base finger joint 5, the 6th shaft 14 can be arranged in the first spiral shell On the periphery of the radial direction of mother 4 and it is parallel to first rotating shaft 7, the first nut 4 can pass through the 6th shaft 14 and base finger joint 5 It is rotatably connected, base finger joint 5 can be two base finger joint side plates close to the side of first motor 1, and two base finger joint side plates can be with First nut 4 is folded in centre, the first nut 4 can rotate in base finger joint 5.First nut referred to herein can refer in base Rotation refers to fixing on the first nut axial direction and not rotated relative to the axis where the first screw rod in section.Certainly First nut 4 can be welded in the cavity of base finger joint 5, in addition a pedestal can also be set, pedestal is for fixing first Nut 4, as long as ensureing to fix on 4 axial direction of the first nut and not rotated relative to the axis where the first screw rod 3. In addition, the side of the separate first motor 1 of the first nut 4 can be open architecture, that is to say, that the internal thread of the first nut 4 Hole could be provided as through-hole, and the first screw rod 3 can run through the first nut 4, and the first screw rod 3 is logical through the internal thread of the first nut 4 After hole, precession is can also continue to, increases the transmission distance of the first screw rod 3.

In above-mentioned first screw rod and the first nut structure, the first screw rod and the first nut body have self-locking function, when the When one motor stops output torque, the position of the first screw rod and first motor can remain stationary as, to have certain position Memory function, but also in the case where first motor exports stopping, finger mechanism will not be moved to negative direction so that finger machine Structure is maintained at that current location is motionless, to the position lock function to finger mechanism.

In addition, above-mentioned finger mechanism can be thumb mechanism, base finger joint can be thumb base finger joint, and nearly finger joint can be thumb Refer to nearly finger joint.It should be noted that the finger mechanism of the present embodiment is not limited to thumb mechanism, can also be applied to remove thumb mechanism Except finger mechanism, such as index finger, middle finger, the third finger and little finger, corresponding base finger joint can be index finger base finger joint, in Refer to base finger joint, nameless base finger joint and little finger base finger joint, corresponding nearly finger joint can closely refer to for the nearly finger joint of index finger, middle finger Section, nameless nearly finger joint and the nearly finger joint of little finger.

The mechanism of the present embodiment, by being carried out to finger mechanism, first motor, pull rod, the first screw rod and the first nut Special assembling refers to by finger mechanism, first motor, pull rod, the first screw rod and the first nut in a manner of being axially driven from base Section is directed to nearly finger joint, keeps the power output direction of first motor so that the original output of power source and the driving to finger Output is respectively positioned on same layer, and occupied space is exported to save axial transmission, need not be to the connection of base finger joint and nearly finger joint Part carries out complicated design, reduces the complexity of this part.In addition, the mechanism of the present embodiment, takes full advantage of base finger joint Space carry power source, so as to being further reduced the size of finger mechanism.In addition, by by the original defeated of power source Go out and same layer be set to the driving output of finger, reduces the setting of the driving output mechanism to finger, simplify robot manipulator structure, Reduce consumption of the torque in transmission process so that finger has larger chucking power.

In addition it is also necessary to explanation, the finger mechanism of the present embodiment is more than the field that can be applied to manipulator, also It can be applied to other and have articulate bionic mechanical structure division, for example, the mechanical structure of simulation thigh and shank, base finger joint Can be thigh, nearly finger joint can be shank.

Embodiment two

It is the principle schematic of the finger mechanism of the screw drives of embodiment two as shown in Fig. 5 to Figure 12.The present embodiment Difference lies in embodiment adds finger rack 9 and the second pull rod 10, base finger joint 5 is turned by third with embodiment one Axis 11 is rotatably connected with finger rack 9.

It counts on one's fingers movement relative to base finger joint since the finger mechanism in embodiment one refers to nearly finger joint, is actually answering In, it may be necessary to which base finger joint is counted on one's fingers movement relative to finger rack, and therefore, as shown in Fig. 5 to Fig. 8, the present embodiment is in base The second pull rod 10 is provided between finger joint 5 and finger rack 9, one end of the second pull rod 10 passes through the 4th shaft 12 and the first electricity Machine 1 is rotatably connected, and the other end of the second pull rod 10 is rotatably connected by the 5th shaft 13 with finger rack 9, the 5th shaft 13 are arranged in the top of third shaft 11, and the second nut 26 is arranged in finger rack 9, and first motor 1 passes through the 4th shaft 12 It is connect with one end of the second pull rod 10, for driving base finger joint relative to finger machine by the movement of first motor in the axial direction Frame rotates, and is squeezed and is stretched by the second pull rod of first motor pair, realizes that base finger joint is counted on one's fingers relative to finger rack Movement.

Further, due to when base finger joint counts on one's fingers movement relative to finger rack, base finger joint, finger rack and the The movement locus of two pull rod threes is respectively different, and when base finger joint is parallel relative to finger rack with the second pull rod, is easy Deadlock phenomenon occurs, therefore, the second pull rod 10 is arc-shaped, to avoid locked.In addition, the second pull rod 10 can be y-type structure.The Otic placode is provided on the outer wall of one motor 1, the single head end of y-type structure can turn by the otic placode of the 4th shaft 12 and first motor 1 Finger rack 9 is clipped in the middle by dynamic connection, the double end end of y-type structure, and the double end end of y-type structure passes through the 5th shaft 13 and finger Rack 9 is rotatably connected.Finger rack is clipped in the middle by the double end end of y-type structure so that when the second pull rod of first motor pair into When row is squeezed and stretched, the second pull rod will not shake to the both sides of finger finger joint, and what the second pull rod was stablized be axially moved, Further avoid the generation of deadlock phenomenon.

By above structure, as shown in figure 11, during first motor 1 is axially moved, the second pull rod 10 is drawn It starts to refer to rack 9, torque is formed between the 5th shaft 13 and third shaft 11, in practical applications, finger rack 9 is usually fixed Motionless, therefore, under the interaction of finger rack 9, the second pull rod 2 and first motor 1, base finger joint 5 is with third shaft 11 Centered on rotated.Here the second pull rod 10 can be arc-shaped, and arc can be protruded to the outside of finger mechanism the back of the hand, arc The concave side of shape can correspond to the back of base finger joint and the back of finger rack, and the second pull rod can be rigid material, and second draws The shape of bar will not change, and first motor can be arranged in the cavity of base finger joint, and the shape of the second pull rod will not change, and second When pull rod is squeezed by first motor, outer wall of the first motor far from the second pull rod squeezes in base finger joint cavity to be drawn far from second The inner wall of bar, that is, movement of counting on one's fingers；When second pull rod is stretched by first motor, first motor is squeezed close to the outer wall of the second pull rod The inner wall close to the second pull rod in base finger joint cavity, i.e. exhibition is pressed to refer to movement.Under the extruding of first motor and stretching action, base Finger joint is rotated centered on third shaft.

In above structure, third shaft 11 can be arranged on the periphery of the radial direction of the second nut 26 and be parallel to First rotating shaft 7, the second nut 26 can be rotatably connected by third shaft 11 and finger rack 9, and finger rack 9 is close to base 5 side of finger joint can be two finger framework lateral plates, and the second nut 26 can be folded in centre by two finger framework lateral plates, the Two nuts 26 can rotate in finger rack 9.It refers to second that second nut 26 referred to herein can rotate in finger rack It fixes on nut axial direction and is not rotated relative to the axis where the second screw rod 23.In addition, the second nut 26 is separate The side of first motor can be open architecture, that is to say, that the internal thread hole of the second nut 26 could be provided as through-hole, and second Screw rod 23 can run through the second nut 26, and the second screw rod 23 can also continue to after the internal thread through hole of the second nut 26 Precession increases the transmission distance of the second screw rod 23.

By above structure, third shaft 11 is arranged on the periphery of the radial direction of the second nut 26 and is parallel to First rotating shaft 7, the second nut 26 are rotatably connected by third shaft 11 and finger rack 9 so that the second nut 26 and second Screw rod, first motor and the first pull rod during the motion, are always positioned at same layer, and the second screw rod can normally screw in second In the internal thread of nut, ensures that the second screw rod, first motor and the first pull rod can be axially moved, reduce shaft number Amount.In addition, the second nut 26 is rotatably connected by third shaft 11 and finger rack 9, the second nut 26 and finger rack 9 Connecting shaft and base finger joint 5 and the connecting shaft of finger rack 9 be third shaft 11 so that base finger joint can be along third shaft It normally counts on one's fingers movement, for first motor when squeezing and stretching the second pull rod, the second nut being capable of the second spiral shell of face always Bar and first motor prevent the second nut from base finger joint being hindered normally to count on one's fingers along third shaft and move.In addition, second The connecting shaft of nut and finger rack be not with the connecting shaft of base finger joint and finger rack it is coaxial in the case of, the second nut, the The same layer transmission mechanism and base finger joint and finger rack of two screw rods, first motor and the first pull rod will form three and join end to end The locked situation of connecting rod.

In addition, above-mentioned finger mechanism can be thumb mechanism, base finger joint can be thumb base finger joint.It should be noted that The finger mechanism of the present embodiment is not limited to thumb mechanism, can also be applied to the finger mechanism in addition to thumb mechanism, such as eat Finger, middle finger, the third finger and little finger, corresponding base finger joint can be index finger base finger joint, middle finger base finger joint, nameless base finger joint And little finger base finger joint.

The mechanism of the present embodiment, by being carried out to finger mechanism, first motor, pull rod, the second screw rod and the second nut Special assembling refers to by finger mechanism, first motor, pull rod, the second screw rod and the second nut in a manner of being axially driven from base Section is directed to finger rack, keeps the power output direction of first motor so that the original output of power source and the drive to finger Dynamic output is respectively positioned on same layer, and occupied space is exported to save axial transmission, need not be to base finger joint and finger rack Coupling part carries out complicated design, reduces the complexity of this part.In addition, passing through original output by power source and opponent The driving output of finger is set to same layer, reduces the setting of the driving output mechanism to finger, simplifies robot manipulator structure, reduce torque Consumption in transmission process so that finger has larger chucking power.

It should be noted that the orientation such as "upper", "lower" described in the present embodiment are the relative positions in finger, such as scheme Shown in 7 and Figure 11, when above-mentioned finger mechanism is in, exhibition refers to and when detaining the setting of palmate state, the upside of mechanism shown in Fig. 7 and Figure 11 is The downside of structure shown in the back of the hand of finger mechanism, Fig. 7 and Figure 11 is the palm of the hand of finger mechanism, and the lower section of Fig. 7 and Figure 11 are ground, Far from ground, finger mechanism exhibition refers to and parallel with horizontal plane for the back of nearly finger joint in Fig. 7 and Figure 11 and the back of base finger joint, "upper", "lower" refer to relative to above and below ground.

In addition it is also necessary to explanation, the finger mechanism of the present embodiment is more than the field that can be applied to manipulator, also It can be applied to other and have articulate bionic mechanical structure division, for example, the mechanical structure of simulation thigh and shank, finger machine Frame can be thigh, and base finger joint can be shank.

Embodiment three

As shown in figure 13 to figure 16, the principle schematic of the finger mechanism driven for the worm and gear of embodiment three.By What is be related in the movement of finger ontology in the prior art is only movement of counting on one's fingers, in practical applications, it may be necessary to finger ontology It gestures relative to manipulator palm and adjusts movement, such as finger ontology is needed to make oscillating motion relative to manipulator palm.Appearance State adjustment can be used for adjusting the direction for movement of counting on one's fingers, in addition, finger ontology can also be used as relative to the motion itself of palm One of the action link realized manipulator crawl object or realize other functions.Therefore, the worm and gear driving of the present embodiment Finger mechanism include finger rack 9, worm screw 15 and the worm gear 16, the second motor 17 and the electric machine support that coordinate with worm screw 15 18, electric machine support 18 is arranged in manipulator palm, and electric machine support 18 can be turned by one end of the 7th shaft 20 and finger rack 9 Dynamic connection, the other end of finger rack 9 are provided with finger ontology 21, joint shaft of the 7th shaft 20 perpendicular to finger ontology 21 211, the second motor 17 is fixed in electric machine support 18, and is driven and is connected by one end of the output shaft of the second motor 17 and worm screw 15 Connect, in practical applications, due to the output of the second motor rotating speed may with the rotating speed of actual needs difference, may be used also To include reduction assemblies, the rotating speed to be exported to the second motor is adjusted, and reduction assemblies can be arranged in the second motor 17 Output end, output shaft connect by reduction assemblies with the output end of the second motor 17.

It refers to that the output shaft of the second motor 17 is (here that the output shaft of above-mentioned second motor and one end of worm screw, which are sequentially connected, The second described motor output shaft actually refers to the output shaft being connect with the output end of the second motor by reduction assemblies) it can Think that the D-section diameter of axle, one end of worm screw 15 can be provided with D-section axis hole, the D-section diameter of axle can be with D-section axis Hole is adapted to, the output shaft of the second motor 17 can in such a way that the D-section diameter of axle is inserted into D-section axis hole with worm screw 15 one End is sequentially connected.Output shaft and the snail of the second motor 17 are realized by the mutual clamping of the D-section diameter of axle and D tee section axis holes One end of bar 15 is sequentially connected.Certainly, one end of the output shaft of the second motor 17 and worm screw 15 is sequentially connected mode is simultaneously unlimited In foregoing manner, such as：Can also include shaft coupling, shaft coupling can be arranged on the output shaft of the second motor 17, worm screw 15 One end can pass through the output axis connection of shaft coupling and the second motor 17.

The other end and worm gear of above-mentioned worm screw drive worm gear 16 to rotate when worm screw 15 rotates, worm gear 16 and hand Refer to rack 9 to be sequentially connected, for rotating along the circumferential direction of manipulator palm by the rotation driving finger rack of worm gear.This In described manipulator palm circumferential direction refer to the centre of the palm and manipulator palm in addition to manipulator palm the palm back side remaining End face.It realizes that finger ontology gestures relative to manipulator palm and adjusts movement, improve the bionical performance of manipulator.

Pass through the D-section diameter of axle and D-section axis when the second motor is rotated forward and inverted by above structure The mode that hole is mutually clamped drives worm screw to rotate forward and invert, the other end and worm gear of worm screw, and the rotation of worm screw drives snail Wheel rotates forward and reversion, and worm screw and finger rack are sequentially connected, the rotation of worm gear drive finger rack and finger ontology along The circumferential direction of manipulator palm rotates.(the two-way circular arc arrow in Figure 13 and Figure 16 on finger ontology represent finger ontology with And the finger rack rotation direction that line rotates centered on the 7th shaft) realize that finger ontology is waved relative to manipulator palm Movement.

In above-mentioned worm gear and worm structure, worm gear and worm mechanism have self-locking function, are turned round when the second motor stops output When square, the position of worm gear can remain stationary as, and to have the function of certain position memory, stop but also being exported in the second motor In the case of, finger rack and finger ontology will not be moved to negative direction so that finger rack and finger ontology are maintained at Current location is motionless, to the position lock function to finger rack and finger ontology.

Above-mentioned electric machine support can be arranged close to the side of finger rack there are two electric machine support side plate, two electric machine supports Side plate can be parallel to the back of finger rack 9, and finger rack 9 can be folded in centre, finger by two electric machine support side plates Rack 9 can rotate in electric machine support 18.Two electric machine support side plates of electric machine support can prevent finger rack and hand Refer to ontology to shake in the up-down direction so that finger rack and finger ontology can be along the circumferential direction sides of manipulator palm To smoothly being rotated.

In order to reduce the overall weight of manipulator, worm gear 16 can be semicircular structure, and semicircular arc end can lean on Nearly electric machine support 18, semicircular rectilinear end can be close to finger racks 9.It through this structure can be in mechanical finger structure In the case that complexity is very low, realize that finger rack can be set along what the circumferential direction of manipulator palm was smoothly rotated Meter, the worm gear of the semicircular arc lighter in weight for the round worm gear of same diameter, reduces the overall weight of manipulator, and And make mechanical finger structure close, save space.

In addition, above-mentioned finger mechanism can be thumb mechanism, it should be noted that the finger mechanism of the present embodiment is not limited to Thumb mechanism can also be applied to the finger mechanism in addition to thumb mechanism, such as index finger, middle finger, the third finger and little finger.

In addition, the mode that above-mentioned worm gear is sequentially connected with finger rack can be：The center of worm gear 16 is provided in worm gear Heart hole, one end of the 7th shaft 20 can sequentially pass through the centre bore of finger rack 9 and worm gear, the 7th shaft 20 it is another End can be rotatably connected with electric machine support 18, one end of worm gear 16 can be fixedly connected with finger rack 9, worm gear 16 it is another End can be rotatably connected with electric machine support 18.Electric machine support 18 is two electric machine support sides close to one end of finger rack 9 Plate is respectively arranged with electric machine support side plate shaft hole on two electric machine support side plates, and the other end of the 7th shaft 20 is rotationally It is inserted into an electric machine support side plate shaft hole, one end of the 7th shaft 20 through finger rack 9 and is inserted into worm gear centre bore, The other end of worm gear 16 is provided with the flange coaxial with worm gear centre bore, and flange is rotatably inserted another electric machine support side plate In shaft hole.Wherein, the mode that one end of worm gear 16 can be fixedly connected with finger rack 9 can be：Worm gear 16 and finger machine Frame 9 is integrally formed, and can also be other fixed forms for being fixedly connected with one end of worm gear 16 with finger rack 9, for example, by snail One end of wheel 16 is welded in finger rack 9.Arc-shaped concave is provided in finger rack 9, worm gear 16 may be mounted at finger In the arc-shaped concave of rack 9, the engaging by worm gear with arc-shaped concave is formed between worm gear and finger rack and is sequentially connected. The semicircular arc end of worm gear 16 can protrude finger rack 9, that is to say, that the tooth of worm gear 16 can protrude finger rack 9 so that worm screw 15 can be driven with worm gear 16 to be coordinated.

As a kind of alternative scheme of above-mentioned worm gear and finger rack drive connection mode, one end of the 7th shaft 20 can Think the D-section diameter of axle, the other end of the 7th shaft 20 can be drawing method diameter, and D-shaped can be provided in finger rack 9 Section axis hole, worm gear centre bore can be D-section axis hole, and the D-section diameter of axle is adapted to D-section axis hole, the 7th shaft 20 The D-section diameter of axle of one end can sequentially pass through the D-section axis hole of finger rack 9 and the D-section axis hole of worm gear 16, the The other end of seven shafts 20 can be rotatably connected with electric machine support 18, and the other end of worm gear 16 can turn with electric machine support 18 Dynamic connection, when worm gear rotates, worm gear can drive finger gantry rotation.For driving the by the D-section axis hole of worm gear Seven shafts rotate, and finger gantry rotation is driven by the D-section diameter of axle of the 7th shaft.Wherein, electric machine support 18 is close to finger One end of rack 9 is two electric machine support side plates, and electric machine support side plate shaft hole is respectively arranged on two electric machine support side plates, The other end of 7th shaft 20 is rotatably inserted in an electric machine support side plate shaft hole, and hand is run through in one end of the 7th shaft 20 Refer to rack 9 and be inserted into worm gear centre bore, the other end of worm gear 16 is provided with the flange coaxial with worm gear centre bore, and flange can turn It is inserted into dynamicly in another electric machine support side plate shaft hole.Arc-shaped concave is provided in finger rack 9, worm gear 16 can be installed In the arc-shaped concave of finger rack 9 so that on the one hand cut by the D-section diameter of axle and D-shaped between worm gear and finger rack The cooperation of face axis hole, which is realized, to be sequentially connected.On the other hand, the engaging by worm gear with arc-shaped concave forms worm gear and finger machine It is sequentially connected between frame.The semicircular arc end of worm gear 16 can protrude finger rack 9, that is to say, that the tooth of worm gear 16 can To protrude finger rack 9 so that worm screw 15 can be driven with worm gear 16 to be coordinated.

By above structure, the transmission shaft and finger rack and the shaft of electric machine support between worm gear and finger rack are equal For the 7th shaft, it is coaxially disposed transmission mechanism and rotating mechanism, deadlock phenomenon occurs when worm gear being prevented to be driven with finger rack, letter Change transmission mechanism so that finger mechanism it is compact-sized.

The mechanism of the present embodiment, by one end of finger rack rotatably arranged with electric machine support, by electric machine support Setting is assembled in finger rack and motor in manipulator palm, and by the second motor, worm gear mechanism by special designing In holder so that finger rack can be rotated relative to electric machine support, realize that finger ontology is waved relative to manipulator palm Movement, to realize the pose adjustment of finger rack, improves the bionical performance of manipulator.In addition, passing through worm gear mechanism reality The pose adjustment of existing finger rack, rationally utilizes the self-locking function of worm and gear so that the more adjunction of the movement locus of finger rack The movement locus of nearly human finger reduces the setting of the driving output mechanism to finger, simplifies robot manipulator structure.

It should be noted that the orientation such as "upper", "lower" described in the present embodiment are the relative positions in finger, such as scheme Shown in 15, when above-mentioned finger mechanism refers in exhibition and detains the setting of palmate state, the upside of mechanism shown in Figure 15 is finger mechanism The back of the hand, the downside of structure shown in Figure 15 are the palm of the hand of finger mechanism, and the lower section of Figure 15 is ground, the back of the nearly finger joint in Figure 15 And the back of base finger joint is far from ground, finger mechanism exhibition refers to and parallel with horizontal plane, and "upper", "lower" refer to relative to ground Up and down.

Example IV

As shown in Figure 17 to Figure 20, for the principle of the finger mechanism of screw drives and the worm and gear driving of example IV Schematic diagram.The present embodiment and embodiment one, embodiment two and embodiment three the difference is that, the finger sheet of the present embodiment Body 21 includes base finger joint 5 and nearly finger joint 6.

The finger mechanism of screw drives and the worm and gear driving of the embodiment of the present invention includes finger rack 9, first motor 1, the second motor 17, electric machine support 18, worm screw 15 and with worm screw 15 coordinate worm gear 16, the first pull rod 2, the second screw rod 23 with And it is arranged in manipulator palm with the second nut 26 of the second screw rod 3 cooperation, base finger joint 5 and nearly finger joint 6, electric machine support 18 In, electric machine support 18 is rotatably connected by one end of the 7th shaft 20 and finger rack 9, and the other end of finger rack 9 passes through Third shaft 11 and one end of base finger joint 5 are rotatably connected, and the other end of base finger joint 5 can be turned by first rotating shaft 7 and nearly finger joint 6 Dynamic connection, the screw-internal thread fit of one end of the second screw rod 23 and the second nut 26, the other end and first motor of the second screw rod 23 The output shaft of 1 front end is sequentially connected, and the rear end of first motor 1 is fixedly connected with one end of the first pull rod 2, the first pull rod 2 it is another One end is rotatably connected with nearly finger joint 6 by the second shaft 8, and the second shaft 8 is set to the lower section of first rotating shaft 7, base finger joint 5 It is internally provided with cavity, the cavity inside in base finger joint 5, first motor 1 and is arranged in first motor 1 and the first pull rod 2 One pull rod 2 can in the axial direction be moved with respect to base finger joint 5.

The second pull rod 10 is provided between above-mentioned base finger joint 5 and finger rack 9, one end of the second pull rod 10 passes through the 4th Shaft 12 is rotatably connected with first motor 1, and the other end of the second pull rod 10 can be turned by the 5th shaft 13 with finger rack 9 Dynamic connection, the 5th shaft 13 are arranged in the top of third shaft 11, and the second nut 26 is arranged in finger rack 9, third shaft 11 are arranged on the periphery of the radial direction of the second nut 26 and are parallel to first rotating shaft 7, and the second nut 26 is turned by third Axis 11 is rotatably connected with finger rack 9, and finger rack 9 is two finger framework lateral plates, two fingers close to 5 side of base finger joint Second nut 26 is folded in centre by framework lateral plate, and the second nut 26 can rotate in finger rack 9, and the second nut 26 is axial It fixes on direction and is not rotated relative to the axis where the second screw rod 23, when the second screw rod 23 rotates, drive the first electricity Machine 1 moves in the axial direction, and first motor 1 is connect by the first pull rod 2 with nearly finger joint 6, for passing through first motor in axial direction The movement in direction drives nearly finger joint to be rotated relative to base finger joint, first motor 1 pass through the 4th shaft 12 and the second pull rod 10 one End connection, for driving base finger joint relative to finger gantry rotation by first motor movement in the axial direction,

It should be noted that due to base finger joint relative to finger rack count on one's fingers movement when, base finger joint, finger rack with And second pull rod three movement locus it is respectively different, and when base finger joint is parallel relative to finger rack with the second pull rod, It is easy to happen deadlock phenomenon, therefore, the second pull rod 10 can be arc-shaped, and to avoid locking, arc can be to 9 hand of finger mechanism It protrudes in the outside of the back of the body.In addition, the second pull rod 10 can be y-type structure.Otic placode, Y can be provided on the outer wall of first motor 1 The single head end of type structure can be rotatably connected by the 4th shaft 12 with first motor 1, and the double end end of y-type structure can incite somebody to action Finger rack 9 is clipped in the middle, and the double end end of y-type structure can be rotatably connected by the 5th shaft 13 with finger rack 9.Y types Finger rack 9 is clipped in the middle by the double end end of structure so that when the second pull rod of first motor pair is squeezed and is stretched, the Two pull rods will not shake to the both sides of finger finger joint, and what the second pull rod was stablized be axially moved, and further avoids deadlock phenomenon Generation.

It is fixed on 26 axial direction of the second nut when first motor 1 is rotated forward and inverted by above structure And it is not rotated relative to the axis where the second screw rod 23, the second screw rod 23 pulls and first motor 1 is pushed to carry out axial direction Movement, first motor 1 pull and the first pull rod 2 are pushed to be axially moved, formed between the second shaft 8 and first rotating shaft 2 Torque realizes that nearly finger joint is counted on one's fingers movement and nearly finger joint exhibition so that nearly finger joint 6 is rotated centered on first rotating shaft 7 Refer to movement.At the same time, under the extruding of first motor and stretching action, base finger joint 5 is carried out centered on third shaft 11 Rotation.Specifically, when the second pull rod is squeezed by first motor, outer wall of the first motor 1 far from the second pull rod 10 squeezes base Inner wall far from the second pull rod 10 in 5 cavity of finger joint so that base finger joint 5 is rotated centered on third shaft 11, i.e., base refers to Save movement of counting on one's fingers；When second pull rod is stretched by first motor, first motor 1 squeezes base close to the outer wall of the second pull rod 10 and refers to The inner wall close to the second pull rod 10 in 5 cavitys is saved, i.e. base finger joint exhibition refers to movement.Only it can be achieved at the same time by a first motor Counting on one's fingers and open up for nearly finger joint and base finger joint refers to movement, the setting of reduction driving mechanism and transmission mechanism, simplification manipulator knot Structure saves driving mechanism and the occupied space of transmission mechanism, reduces consumption of the torque in transmission process so that finger has There is larger chucking power, since nearly finger joint and base finger joint are by the drive control of first motor so that nearly finger joint and base finger joint energy It enough synchronizes to be counted on one's fingers and opened up and refers to movement.

Above-mentioned second motor 17 is fixed in electric machine support 18, and passes through the output shaft of the second motor 17 and the one of worm screw 15 End is sequentially connected, in practical applications, since the rotating speed of first motor 1 and the output of the second motor 17 may be with actual needs Rotating speed difference, therefore, the output end of the output end of first motor 1 and the second motor 17 can also be respectively arranged with deceleration group The output shaft of part, the output shaft of first motor 1 and the second motor 17 can pass through the defeated of reduction assemblies and first motor 1 respectively The output end of outlet and the second motor 17 connects.In addition, 1 and second motor 17 of first motor mentioned here can be identical Motor, such as first motor 1 and the second motor 17 can be miniature DC motor.

The other end of worm screw 15 coordinates with worm gear 16, when worm screw 15 rotates, worm gear 16 is driven to rotate, worm gear 16 is fixed In finger rack 9, the 7th shaft 20 runs through worm gear centre bore, and worm gear 16 is sequentially connected with finger rack 9, for passing through worm gear Rotation driving finger rack along manipulator palm circumferential direction rotate, the 7th shaft 20 perpendicular to third shaft 11 with And first rotating shaft 7, for driving finger rack, base finger joint and nearly finger joint to be put relative to electric machine support by the rotation of worm gear Refer to movement.

By above structure, when the second motor 17 is rotated forward and inverted, the second motor 17 drives worm screw 15 to rotate forward And reversion, the other end and the worm gear 16 of worm screw 15 coordinate, the rotation of worm screw 15 drives the rotating forward of worm gear 16 and reversion, worm screw 15 It is sequentially connected with finger rack 9, the rotation of worm gear 16 drives finger rack 9, base finger joint 5 and nearly finger joint 6 along manipulator hand The circumferential direction of the palm rotates.Realize that finger rack, base finger joint and nearly finger joint make oscillating motion relative to manipulator palm.This reality It applies the manipulator of example while realizing：Nearly finger joint, which is counted on one's fingers and opened up relative to base finger joint, refers to movement, base finger joint relative to finger Rack, which is counted on one's fingers and opened up, refers to movement and finger rack, base finger joint and nearly finger joint relative to the palm work for being equipped with electric machine support Pendulum refers to movement, and the counting on one's fingers and open up of nearly finger joint and base finger joint, which refers to movement and coordinate to put, refers to movement so that manipulator can be realized more The grasp motion of posture so that the movement of manipulator and human finger is closer, improves the bionical performance of manipulator, improves hand Refer to the flexibility of mechanism.

Above-mentioned electric machine support 18 can be two electric machine support side plates, two electric machine supports close to the side of finger rack 9 Side plate can be parallel to the back of finger rack 9, and finger rack 9 can be folded in centre, finger by two electric machine support side plates Rack 9 can rotate in electric machine support 18.Two electric machine support side plates of electric machine support can prevent finger rack and hand Refer to ontology to shake in the up-down direction so that finger rack and finger ontology can be along the circumferential direction sides of manipulator palm To smoothly being rotated.

In addition, the mode that above-mentioned worm gear is sequentially connected with finger rack can be：The center of worm gear 16 is provided in worm gear The one end in heart hole, the 7th shaft 20 can sequentially pass through finger rack 9 and worm gear centre bore, the other end of the 7th shaft 20 It can be rotatably connected with electric machine support 18, one end of worm gear 16 can be fixedly connected with finger rack 9, the other end of worm gear 16 It can be rotatably connected with electric machine support 9.Electric machine support 18 close to one end of finger rack 9 be two electric machine support side plates, two Electric machine support side plate shaft hole is respectively arranged on a electric machine support side plate, the other end of the 7th shaft 20 is rotatably inserted one In a electric machine support side plate shaft hole, one end of the 7th shaft 20 through finger rack 9 and is inserted into worm gear centre bore, worm gear 16 The other end be provided with the flange coaxial with worm gear centre bore, flange is rotatably inserted another electric machine support side plate shaft hole In.Wherein, the mode that one end of worm gear 16 can be fixedly connected with finger rack 9 can be：Worm gear 16 and 9 one of finger rack Molding, can also be other fixed forms for being fixedly connected with one end of worm gear 16 with finger rack 9, for example, by worm gear 16 One end is welded in finger rack 9.Arc-shaped concave is provided in finger rack 9, worm gear 16 may be mounted at finger rack 9 In arc-shaped concave.The semicircular arc end of worm gear 16 can protrude finger rack 9, that is to say, that the tooth of worm gear 16 can be with Protrude from protrusion finger rack 9 so that worm screw can coordinate with worm-drive.

As a kind of alternative scheme of above-mentioned worm gear and finger rack drive connection mode, one end of the 7th shaft 20 can Think the D-section diameter of axle, the other end of the 7th shaft 20 can be drawing method diameter, and D-shaped can be provided in finger rack 9 The centre bore of section axis hole, worm gear can be D-section axis hole, and the D-section diameter of axle can be adapted to D-section axis hole, the 7th The D-section diameter of axle of 20 one end of shaft can sequentially pass through the D tee sections axis hole of finger rack 9 and the D-section of worm gear 16 The other end of axis hole, the 7th shaft 20 can be rotatably connected with electric machine support 18, and the other end of worm gear 16 can be with motor branch Frame 18 is rotatably connected, and when worm gear rotates, worm gear can drive finger gantry rotation.Wherein, electric machine support 18 is close to finger One end of 9 frame of machine is two electric machine support side plates, and electric machine support side plate shaft hole is respectively arranged on two electric machine support side plates, The other end of 7th shaft 20 is rotatably inserted in an electric machine support side plate shaft hole, and hand is run through in one end of the 7th shaft 20 Refer to rack 9 and be inserted into worm gear centre bore, the other end of worm gear 16 is provided with the flange coaxial with worm gear centre bore, and flange can turn It is inserted into dynamicly in another electric machine support side plate shaft hole.

In addition, above-mentioned finger mechanism can be thumb mechanism, base finger joint can be thumb base finger joint, and nearly finger joint can be thumb Refer to nearly finger joint.It should be noted that the finger mechanism of the present embodiment is not limited to thumb mechanism, can also be applied to remove thumb mechanism Except finger mechanism, such as index finger, middle finger, the third finger and little finger, corresponding base finger joint can be index finger base finger joint, in Refer to base finger joint, nameless base finger joint and little finger base finger joint, corresponding nearly finger joint can closely refer to for the nearly finger joint of index finger, middle finger Section, nameless nearly finger joint and the nearly finger joint of little finger.

Finger mechanism provided in this embodiment so that the scale of base finger joint and nearly finger joint is more nearly with human hand, and base refers to pass The motion range of section and nearly articulations digitorum manus is also close with the motion range in each joint of human finger, improves bionical performance.Reduce hand Refer to the radial dimension of mechanism, external form is more attractive, has larger chucking power, improves the practical performance of finger mechanism.

It should be noted that the orientation such as "upper", "lower" described in the present embodiment are the relative positions in finger, such as scheme Shown in 19, when above-mentioned finger mechanism refers in exhibition and detains the setting of palmate state, the upside of mechanism shown in Figure 19 is finger mechanism The back of the hand, the downside of structure shown in Figure 19 are the palm of the hand of finger mechanism, and the lower section of Figure 19 is ground, the back of the base finger joint in Figure 19 Far from ground, finger mechanism exhibition refers to and parallel with horizontal plane, and "upper", "lower" refer to relative to the upper and lower of ground.

Embodiment five

Finger mechanism in multiple example IVs is arranged in palm rack the present embodiment, forms manipulator.Such as Figure 21 Shown in Figure 22, Figure 21 and Figure 22 are the assembling schematic diagrams of manipulator, and the global shape of the manipulator is similar to human hand shape, can It is worn on human arm, the elemental motion of human hand can be completed.

The manipulator of the present embodiment includes：Palm rack 19 is provided at least one electric machine support peace in palm rack 19 Tankage 22 is embedded with finger mechanism in electric machine support mounting groove 22, and electric machine support mounting groove 22 is adapted to electric machine support 18, is used for Finger mechanism is mounted in palm rack.Finger mechanism mentioned here can be identical as the finger mechanism in example IV. Above-mentioned palm rack 19 is the mounting bracket of finger mechanism, and the shape of palm rack 19 can be similar to human body palm, palm rack 19 shape can be generally rectangular, and the inside of palm rack 19 can be cavity, after manipulator is completed, second Motor 17, electric machine support 18 and worm screw 15 can be respectively positioned in the cavity of palm rack 19.It should be noted that this field Technical staff is appreciated that in the cavity range of palm rack, and various structures can flexibly be arranged, so that the palm rack shape At necessary closing or semi-enclosed structure.

It can be arranged in above-mentioned palm rack 19 there are five electric machine support mounting groove 22, in five electric machine support mounting grooves 22 It has been respectively embedded into finger mechanism, can be arranged in a palm rack 19 there are five finger mechanism, each finger mechanism respectively has It can be by five finger mechanisms respectively by each during the overall package of manipulator there are one independent electric machine support 18 From electric machine support 18 be fixed on electric machine support mounting groove 22, formed manipulator.Five finger mechanisms mentioned here It can be respectively to five fingers of human body, such as respectively thumb, index finger, middle finger, the third finger and little finger.The present invention is real Manipulator middle finger, index finger, middle finger, the size of five fingers of the third finger and little finger and the shape for applying example are identical.

It should be noted that the motion mode of the finger mechanism and thumb in view of the embodiment of the present invention is closer to, because The finger mechanism of the embodiment of the present invention, can also be only applied to thumb by this, and the structure of general finger may be used it is existing Specific knot is not shown in ripe structure or other feasible structures etc. in technology, therefore, the part of Tu22Zhong, general finger Structure, but only draw the schematical mounting groove for fixing general finger mechanism.In addition it is also possible to by the embodiment of the present invention Finger mechanism is only applied to one or several general fingers, and the structure of thumb and remaining general finger may be used now There are structure ripe in technology or other feasible structures etc..

(1) electric machine support

Side of the electric machine support 18 far from palm rack 19 is arranged symmetrically, and there are two electric machine support side plate, two electric machine supports Side plate is parallel to the back of palm rack 9, and electric machine support side plate shaft hole, motor are respectively arranged on two electric machine support side plates Holder 18 is rotatablely connected by the 7th shaft 20 and finger rack 9, two electric machine support side plates can by finger rack 9 and The worm gear 15 being arranged in finger rack 9 is folded in centre, and finger rack 9 can rotate in electric machine support 18.

Electric machine support 18 is substantially in cuboid, electric machine support 18 be provided with to the palm of the hand close to one end of palm rack 19 and The web of the back of the hand direction protrusion, there are five electric machine support mounting grooves 22, web can be connected to palm for setting in palm rack 19 On the electric machine support mounting groove 22 of rack 19, side of the electric machine support 18 far from finger rack 9 can be provided with the second motor peace Hole is filled, the second motor installing hole is through-hole, and the second motor installing hole is internally provided with internal thread, and the second motor 17 is cylindrical ties Structure is provided with external screw thread on the outer wall of 17 output end of the second motor, and the second motor 17 is matched by internal thread and externally threaded spiral The side for closing the second motor installing hole for being plugged on electric machine support 18, is provided with worm screw 15, worm screw in the second motor installing hole 15 side is provided with D-section axis hole, and the output shaft of the second motor 17 is the D-section diameter of axle, the output shaft of the second motor 17 It is sequentially connected with one end of worm screw 15 in such a way that the D-section diameter of axle is inserted into D-section axis hole, in the output of the second motor 17 End is provided with retarder, after the second motor 17 is slowed down by retarder, torque is sent to worm screw 15, in the second motor 17 Pressure copper packing is provided between output shaft and worm screw 15, pressure copper packing is sleeved on the output shaft of the second motor 17, for bearing Axial force.

The other side of worm screw 15 is provided with D-section axis hole, and the other side of worm screw 15 is provided with worm screw axis pin, worm screw axis pin One end be the D-section diameter of axle, the other end of worm screw axis pin is the circular cross-section diameter of axle, and one end of worm screw axis pin passes through D-section The mode that the diameter of axle is inserted into D-section axis hole is connect with the other side of worm screw 15, and the other side of the second motor installing hole is provided with snail Lever pin hubcap, worm pin hubcap by screw be mounted on electric machine support 18 on, worm pin hubcap it is centrally disposed useful In the worm screw bearing pin mounting hole of installation worm screw axis pin, the other end of worm screw axis pin is rotatably inserted in worm screw bearing pin mounting hole, For preventing worm screw from eccentric rotary occurs.The other end of worm screw 15 is provided with screw thread, for the tooth with the worm gear in finger rack Engagement.

(2) finger rack

Finger rack 9 is provided with the 7th shaft mounting hole close to the side of electric machine support 18, and the 7th shaft 20 runs through motor The 7th shaft mounting hole on electric machine support side plate shaft hole and finger rack 9 on holder 18, finger rack 9 pass through Seven shafts 20 are rotatably connected with electric machine support 18, and the center of worm gear 16 is provided with worm gear centre bore, one end of the 7th shaft 20 The other end for the D-section diameter of axle, the 7th shaft 20 is the circular cross-section diameter of axle, and D-section axis hole is provided in finger rack 9, Worm gear centre bore is D-section axis hole, and the D-section diameter of axle is adapted to D-section axis hole.

Electric machine support 18 is two electric machine support side plates close to one end of finger rack 9, is divided on two electric machine support side plates Be not provided with electric machine support side plate shaft hole, be provided with copper sheathing in an electric machine support side plate shaft hole, the 7th shaft 20 it is another One end is rotatably inserted in the copper sheathing of an electric machine support side plate shaft hole, and finger rack 9 is run through in one end of the 7th shaft 20 The 7th shaft mounting hole and be inserted into worm gear centre bore, the other end of worm gear 16 is provided with and coaxial convex of worm gear centre bore Edge, flange are rotatably inserted in another electric machine support side plate shaft hole.Worm gear 16 is semicircular structure, in finger rack 9 It is provided with arc-shaped concave, worm gear 16 is mounted in the arc-shaped concave of finger rack 9, and the semicircular arc end of worm gear 16 is convex Go out finger rack 9.For being engaged with the screw thread of the worm screw on electric machine support.

There are two finger framework lateral plate, finger rack 9 passes through third for side setting of the finger rack 9 far from electric machine support 18 Shaft 11 is connect with base finger joint 5, and third shaft 11 is arranged on the periphery of the radial direction of the second nut 26, the second nut 26 Both sides are designed with coaxial third shaft 11, and the second nut 26 is placed between two finger framework lateral plates of finger rack 9, two Third shaft mounting hole is respectively arranged on finger framework lateral plate, the both sides of third shaft 11 are inserted into the of finger rack 9 respectively In three shaft mounting holes, the second nut 26 can be turned round around the center line of third shaft mounting hole.

(3) base finger joint and nearly finger joint

Base finger joint 5 is connect by third shaft 11 with finger rack 9, and base finger joint 5 can be returned around the center line of third shaft 11 Turn.Nearly finger joint 6 is connect by first rotating shaft 1 with base finger joint 5, and base finger joint 5 and nearly finger joint 6 can relatively rotate.Base finger joint 5 it is interior Portion is provided with cavity, and first motor 1 is set in the cavity of base finger joint 5 and can be axially moved in the cavity of base finger joint 5.The The second screw rod of output 23 of one motor 1 screws in the internal thread hole of the second nut 26, the rear end of first motor 1 and the first pull rod 2 one end is connected by linkage, and the other end of the first pull rod 2 is connect by the second shaft 8 with nearly finger joint 6.

The front end of first motor 1 is equipped with first motor retarder and shaft coupling, outside the installation of first motor retarder It is threaded into the interior installation threaded hole of first motor front end, the output shaft of first motor retarder is D-section axle journal, connection Axis device is provided centrally with D-section axis hole, and the output shaft of D-section axle journal is inserted into the D-section axis hole at shaft coupling center. Pressure copper packing is provided between shaft coupling and first motor retarder, for bearing axial force, shaft coupling passes through pressure copper packing Four pins are connect with the second screw rod, and the centre bore of first motor end cap made of copper is sleeved on the axle journal of the second screw rod 23, and It being connected by screw on the front end outer wall of first motor 1, the second screw rod 23 can rotate in the centre bore of first motor end cap, For preventing the second screw rod from eccentric rotary occurs.The front end of first motor 1 and the rear end of first motor 1 are respectively designed with hinge branch Frame is provided with pin shaft hole on hinge bracket, for being inserted into the 4th shaft 12 and the axis pin for connecting the first pull rod 2.

The second pull rod 10 is provided between base finger joint 5 and finger rack 9,10 both ends of the second pull rod are respectively arranged with pin The pin shaft hole of axis hole, one end is connected by the 4th shaft 12 and the hinge bracket on 1 procapsid outer wall of first motor, another The pin shaft hole at end is connected by the 5th shaft 13 with finger rack 9.When first motor 1 rotates, pass through the deceleration of retarder And second screw rod 23 transmission, so that base finger joint 5 and nearly finger joint 6 is counted on one's fingers or is opened up and refer to movement.

The movement locus of manipulator is carried out below and the movement relation of each component is discussed in detail：In manipulator stretch-like Under state, if need manipulator count on one's fingers movement when, control 1 Positive work of first motor, the output shaft of first motor drives retarder Input shaft operating, slowed down by retarder, the output shaft of retarder drives the second screw rod 23 to pull first motor 1 in the axial direction It is moved to the direction close to the second nut 26, first motor 1 pulls the first pull rod 2 in the axial direction to close to the side of the second nut 26 To movement, torque is formed between the second shaft 8 and first rotating shaft 2 so that nearly finger joint 6 is rotated centered on first rotating shaft 7, Realize that nearly finger joint 6 is counted on one's fingers movement.At the same time, under the squeezing action of first motor 1, the second pull rod 10 is by first motor 1 Extruding when, outer wall of the first motor 1 far from the second pull rod 10 squeezes the inner wall far from the second pull rod 10 in 5 cavity of base finger joint, So that base finger joint 5 is rotated centered on third shaft 11, i.e. base finger joint 5 is counted on one's fingers movement；

In the case where manipulator counts on one's fingers state, if manipulator is needed to be extended movement, control 1 antiport of first motor, first 1 output shaft of motor drives the input shaft operating of retarder, is slowed down by retarder, and the output shaft of retarder drives the second screw rod 23 First motor 1 is pushed to be moved in the axial direction to the direction far from the second nut 26, first motor 1 pushes the first pull rod 2 in axial direction On move to far from the direction of the second nut 26, form torque between the second shaft 8 and first rotating shaft 2 so that closely finger joint 6 is with the It is rotated centered on one shaft 7, realizes that the exhibition of nearly finger joint 6 refers to movement.At the same time, under the stretching action of first motor 1, the Two pull rods 10 by first motor 1 stretching when, first motor 1 is squeezed close to the outer wall of the second pull rod 10 in 5 cavity of base finger joint Close to the inner wall of the second pull rod 10 so that base finger joint 5 is rotated centered on third shaft 11, i.e. the exhibition of base finger joint 5 refers to movement；

If need manipulator gesture adjustment movement when, control the second motor 17 rotate forward or antiport, the second motor 17 Output shaft drives the input shaft operating of retarder, is slowed down by retarder, and the output shaft of retarder drives worm screw 15 to rotate, worm screw 15 rotation drives worm gear 16 to rotate, and the rotation of worm gear 16 drives finger rack 9 to make oscillating motion, i.e. manipulator gestures tune Whole movement.

The finger mechanism of the present embodiment comprising the finger rack being carried on electric machine support, hand are connected to finger machine Base finger joint on frame and nearly finger joint, these parts constitute a complete unit, modularized design in this way, convenient for life Production manufacture, also allows for installing, convenient to be assembled to finger mechanism by being provided with the palm rack of mounting groove, breaks down When, also allow for integral replacing etc..

Embodiment six

It is the principle schematic of the finger mechanism of the screw drives of the embodiment of the present invention as shown in Figure 23 to Figure 26, this Embodiment and embodiment one include third motor 29, the difference lies in the finger mechanism of, screw drives of the embodiment of the present invention Three pull rods 30, third screw rod 24 and third nut 27, finger rack 9 and the base finger joint 5 coordinated with third screw rod 24, base Finger joint 5 is rotatably connected by third shaft 11 and finger rack 9, one end of third screw rod 24 and the interior spiral shell of third nut 27 Line coordinates, and the other end of third screw rod 24 and the output shaft of 29 front end of third motor are sequentially connected, the rear end of third motor 29 with One end of third pull rod 30 is fixedly connected, in practical applications, since the rotating speed that third motor 29 exports may and be actually needed Rotating speed difference, and hence it is also possible to include reduction assemblies, the rotating speed export to third motor is adjusted, deceleration The output end in third motor is arranged in component, and output shaft is connect by reduction assemblies with the output end of third motor.In addition, may be used also To include shaft coupling, shaft coupling is arranged on the output shaft of third motor that (third motor output shaft mentioned here actually refers to Be the output shaft being connect with the output end of third motor by reduction assemblies), the other end of third screw rod by shaft coupling with The output axis connection of third motor.

The other end of above-mentioned third pull rod 30 is rotatably connected with base finger joint 5 by eighth-turn axis 33, and eighth-turn axis 33 is set It sets in the lower section of third shaft 11, finger rack 9 is internally provided with cavity, and third motor 29 and third pull rod 30 are arranged in hand Referring to the cavity inside of rack 9, third motor 29 and third pull rod 30 can in the axial direction be moved with respect to finger rack 9, Third nut 27 is fixed in finger rack 9, is fixed on 27 axial direction of third nut and relative to where third screw rod 24 Axis do not rotate, when third screw rod 24 rotates, drive third motor 29 to move in the axial direction, third motor 29 passes through Third pull rod 30 is rotatably connected with base finger joint 5, for driving 5 phase of base finger joint by the movement of third motor 29 in the axial direction Finger rack 9 is rotated.

It should be noted that the orientation such as "upper", "lower" described in the present embodiment are the relative positions in finger, such as scheme Shown in 25, when above-mentioned finger mechanism refers in exhibition and detains the setting of palmate state, the upside of mechanism shown in Figure 25 is finger mechanism The back of the hand, the downside of structure shown in Figure 25 are the palm of the hand of finger mechanism, and the lower section of Figure 25 is ground, the back of the base finger joint in Figure 25 Far from ground, finger mechanism exhibition refers to and parallel with horizontal plane, and "upper", "lower" refer to relative to the upper and lower of ground.

It is fixed on 27 axial direction of third nut when third motor 29 is rotated forward and inverted by above structure And it is not rotated relative to the axis where third screw rod 24, third screw rod 24 pulls and third motor 29 is pushed to carry out axial direction Movement, third motor 29 pulls and third pull rod 30 is pushed to be axially moved, between eighth-turn axis 33 and third shaft 11 Torque is formed, so that base finger joint 5 is rotated centered on third shaft 11, realizes that base finger joint is counted on one's fingers movement.

As the other end of above-mentioned third screw rod 24 and replacing for the output shaft drive connection scheme of 29 front end of third motor Change scheme：The output shaft of third motor 29 can be the D-section diameter of axle, and the other end of third screw rod can be provided with D-section Axis hole, the D-section diameter of axle are adapted to D-section axis hole, and the output shaft of third motor 29 can be inserted into D by the D-section diameter of axle The mode of tee section axis hole is sequentially connected with the other end of third screw rod 24.

In above structure, rear end and one end of third pull rod 30 of third motor 29 be fixedly connected, such as welding and One generates, rather than is rotatably connected, and under this connection type, the other end of third pull rod 30 and base finger joint 5 pass through the Eighth-turn axis 33 is rotatably connected, and base finger joint 5 and eighth-turn axis 33 can prevent third pull rod 30 from being rotated in the circumferential, the The rear end of three motors 29 is fixedly connected with one end of third pull rod 30, third pull rod 30 can prevent third motor 29 circumferential direction with And it is radially rotated.It can be realized circumferential in the case where mechanical finger structure complexity is very low through this structure And it is radially fixed and design in axial sliding, and make mechanical finger structure close, save space.

It fixes on 27 axial direction of third nut mentioned here and does not turn relative to the axis where third screw rod 24 Dynamic refers to that third nut 27 is bound in the axial direction, and third nut 27 is relative to the axis where third screw rod 24 It does not rotate so that when third screw rod 24 screws in third nut 27, third nut 27 will not be relative to third screw rod 24 in axial direction It is moved on direction, and third nut 27 will not be rotated because of the screw-in of third screw rod 24, realizes the axial fortune of third screw rod 24 Dynamic purpose.For the fixed position of third nut 27, third nut 27 can be fixed in the cavity of finger rack 9, example Such as, as shown in figure 26, third nut 27 can be fixed on by welding in the cavity of finger rack 9, finger rack 9 close to 5 side of base finger joint can be two finger framework lateral plates, and third nut 27 can be folded in by two finger framework lateral plates It is intermediate.Third nut can certainly be fixed on by other means in the cavity of finger rack, as long as ensureing third nut It fixes on axial direction and is not rotated relative to the axis where third screw rod.In addition, third nut 27 far from the The side of three motors 29 can be open architecture, that is to say, that the internal thread hole of third nut 27 could be provided as through-hole, third Screw rod 24 can run through third nut 27, and third screw rod 24 can also continue to after the internal thread through hole of third nut 27 Precession increases the transmission distance of third screw rod 24.

In above-mentioned third screw rod and third nut structure, third screw rod and third nut body have self-locking function, when the When three motors stop output torque, the position of third screw rod and third motor can remain stationary as, to have certain position Memory function, but also in the case where third motor exports stopping, finger mechanism will not be moved to negative direction so that finger machine Structure is maintained at that current location is motionless, to the position lock function to finger mechanism.

In addition, above-mentioned finger mechanism can be thumb mechanism, base finger joint can be thumb base finger joint.It should be noted that The finger mechanism of the present embodiment is not limited to thumb mechanism, can also be applied to the finger mechanism in addition to thumb mechanism, such as eat Finger, middle finger, the third finger and little finger, corresponding base finger joint can be index finger base finger joint, middle finger base finger joint, nameless base finger joint And little finger base finger joint.

The mechanism of the present embodiment passes through third screw rod and the cooperation rotation of third nut being arranged on third motor output shaft Mode is fixed and relative to third screw rod institute when third motor is rotated forward and inverted on third nut axial direction Axis do not rotate, third screw rod pull and push third motor be axially moved, third motor pull and push Third pull rod is axially moved, and torque is formed between eighth-turn axis and third shaft so that during base finger joint is with third shaft The heart is rotated.Only by reasonable combination third pull rod, third motor and third screw rod third nut body, realizes base and refer to Section is counted on one's fingers relative to finger rack and exhibition refers to movement, simplifies structure, easy to maintain.In addition, third motor and third pull rod are set It sets in the cavity of finger rack, by the size of reduction third motor and third pull rod, reduces transmission mechanism the space occupied, The size for reducing finger rack, reduces the size of manipulator, convenient for the use to manipulator, reduces the number of component in driving mechanism Amount simplifies robot manipulator structure, reduces consumption of the torque in transmission process so that finger has larger chucking power.

In addition, the present embodiment is by being arranged third motor, third screw rod, third nut and third pull rod in finger machine In frame, reduce the size of base finger joint and nearly finger joint.

In addition it is also necessary to explanation, the finger mechanism of the present embodiment is more than the field that can be applied to manipulator, also It can be applied to other and have articulate bionic mechanical structure division, for example, the mechanical structure of simulation thigh and shank, finger machine Frame can be thigh, and base finger joint can be shank.

Embodiment seven

It is the finger mechanism of the screw drives and worm and gear driving of the embodiment of the present invention as shown in Figure 27 to Figure 30 Difference lies in screw drives and the worm and gear drivings of the embodiment of the present invention for principle schematic, the present embodiment and example IV Finger mechanism include finger rack 9, the 4th motor 31, four-pull-rod 32, the 4th screw rod 25 and with the 4th screw rod 25 coordinate The 4th nut 28, base finger joint 5 and nearly finger joint 6, finger rack 9 it is rotatable by third shaft 11 and one end of base finger joint 5 Connection, the other end of base finger joint 5 are rotatably connected by first rotating shaft 7 and nearly finger joint 6, one end and the 4th spiral shell of the 4th screw rod 25 The output shaft of the screw-internal thread fit of mother 28,31 front end of the other end and the 4th motor of the 4th screw rod 25 is sequentially connected, the 4th motor 31 rear end is fixedly connected with one end of four-pull-rod 32, in practical applications, since the rotating speed of the 4th motor 31 output may With the rotating speed of actual needs difference, and hence it is also possible to include reduction assemblies, to rotating speed progress export to the 4th motor It adjusts, the output end in the 4th motor is arranged in reduction assemblies, and output shaft is connect by reduction assemblies with the output end of the 4th motor. In addition, it can include shaft coupling, (the 4th motor output shaft mentioned here is arranged on the output shaft of the 4th motor in shaft coupling Actually refer to the output shaft being connect with the output end of the 4th motor by reduction assemblies), the other end of the 4th screw rod 25 is logical Cross the output axis connection of shaft coupling and the 4th motor 31.The other end of four-pull-rod 32 passes through the 9th shaft 34 with finger rack 9 It is rotatably connected, the 9th shaft 34 is set to the lower section of third shaft 11, and base finger joint 5 is internally provided with cavity, the 4th motor 31 And the cavity inside in base finger joint 5 is arranged in four-pull-rod 32, the 4th motor 31 and four-pull-rod 32 can be with respect to base finger joints 5 It moves in the axial direction.

It is provided with the 5th pull rod 35 between above-mentioned base finger joint 5 and nearly finger joint 6, one end of the 5th pull rod 35 passes through the tenth turn Axis 36 is rotatably connected with the 4th motor 31, and the other end of the 5th pull rod 35 is rotatable by the 11st shaft 37 and nearly finger joint 6 Connection, the 11st shaft 37 are arranged in the top of first rotating shaft 7, and the 4th nut 28 is arranged in nearly finger joint 6, third shaft 11 It is arranged on the periphery of the radial direction of the 4th nut 28 and is parallel to first rotating shaft 7, the 4th nut 28 passes through third shaft 11 are rotatably connected with nearly finger joint 6, and nearly finger joint 6 is two nearly finger joint side plates, two nearly finger joint side plates close to 5 side of base finger joint 4th nut 28 is folded in centre, is fixed on 28 axial direction of the 4th nut and relative to the axis where the 4th screw rod 25 Line does not rotate, and when the 4th screw rod 25 rotates, the 4th motor 31 is driven to move in the axial direction, the 4th motor 31 is drawn by the 4th Bar 32 is connect with finger rack 9, for driving base finger joint relative to finger rack by the movement of the 4th motor in the axial direction Rotation, the 4th motor 31 are connect by the tenth shaft 36 with one end of the 5th pull rod 35, for passing through the 4th motor in axial side To movement drive nearly finger joint to be rotated relative to base finger joint.

It should be noted that due to nearly finger joint relative to base finger joint count on one's fingers movement when, nearly finger joint, base finger joint and The movement locus of 5th pull rod three is respectively different, and when nearly finger joint is parallel relative to base finger joint with the 5th pull rod, is easy Deadlock phenomenon occurs, therefore, the 5th pull rod 35 can be arc-shaped, and to avoid locking, arc can be to the outside of 5 the back of the hand of base finger joint The concave side of protrusion, arc can correspond to the back of base finger joint 5 and the back of finger rack 9, and the 5th pull rod 35 can be rigidity The shape of material, the 5th pull rod 35 will not change.In addition, the 5th pull rod 35 can be y-type structure.On the outer wall of 4th motor 31 It can be provided with otic placode, the single head end of y-type structure can be rotatably connected by the tenth shaft 36 with the 4th motor 31, Y type knots The double end end of structure can nearly finger joint 6 be clipped in the middle, and the double end end of y-type structure can pass through the 11st shaft 37 and nearly finger joint 6 It is rotatably connected.The double end end of y-type structure nearly finger joint 6 is clipped in the middle so that when the 4th motor 31 carries out the 5th pull rod 35 When squeezing and stretching, the 5th pull rod 35 will not shake to the both sides of finger finger joint, the carry out axial direction fortune that the 5th pull rod 35 is stablized It is dynamic, further avoid the generation of deadlock phenomenon.

It is fixed on 28 axial direction of the 4th nut when the 4th motor 31 is rotated forward and inverted by above structure And it is not rotated relative to the axis where the 4th screw rod 25, the 4th screw rod 25 pulls and the 4th motor 31 is pushed to carry out axis To movement, the 4th motor 31 pulls and four-pull-rod 32 is pushed to be axially moved, the 9th shaft 34 and third shaft 11 it Between form torque, in practical applications, finger rack is usually fixed, therefore, in finger rack, four-pull-rod and the 4th Under the interaction of motor, so that base finger joint 5 is rotated centered on third shaft 11, realize that base finger joint is counted on one's fingers fortune The exhibition of dynamic and base finger joint refers to movement.At the same time, under the extruding of the 4th motor 31 and stretching action, nearly finger joint 6 is with first It is rotated centered on shaft 7.Specifically, the 5th pull rod 35 by the 4th motor 31 extruding when, the shape of the 5th pull rod 35 It will not change, outer wall of the 4th motor 31 far from the 5th pull rod 35 squeezes the inner wall far from four-pull-rod 32 in 5 cavity of base finger joint, So that nearly finger joint 6 is rotated centered on first rotating shaft 7, i.e., close finger joint is counted on one's fingers movement；5th pull rod 35 is by the 4th motor When 31 stretching, the 4th motor 31 squeezes in 5 cavity of base finger joint close to the outer wall of the 5th pull rod 35 in the 5th pull rod 35 Wall so that nearly finger joint 6 is rotated centered on first rotating shaft 7, i.e., close finger joint exhibition refers to movement.Only pass through the 4th motor Counting on one's fingers and open up and referring to movement for nearly finger joint and base finger joint can be achieved at the same time, reduce the setting of driving mechanism and transmission mechanism, Simplify robot manipulator structure, save driving mechanism and the occupied space of transmission mechanism, reduces torque disappearing in transmission process Consumption so that finger has larger chucking power, since nearly finger joint and base finger joint are by the drive control of the 4th motor so that closely finger Section and base finger joint can synchronize counted on one's fingers and opened up and refer to movement.

It should be noted that the orientation such as "upper", "lower" described in the present embodiment are the relative positions in finger, such as scheme Shown in 29, when above-mentioned finger mechanism refers in exhibition and detains the setting of palmate state, the upside of mechanism shown in Figure 29 is finger mechanism The back of the hand, the downside of structure shown in Figure 29 are the palm of the hand of finger mechanism, and the lower section of Figure 29 is ground, the back of the nearly finger joint in Figure 29 And the back of base finger joint is far from ground, finger mechanism exhibition refers to and parallel with horizontal plane, and "upper", "lower" refer to relative to ground Up and down.

The replaceable side of the output shaft drive connection scheme of the other end and the 4th motor front end as above-mentioned 4th screw rod Case：The output shaft of 4th motor can be the D-section diameter of axle, and the other end of the 4th screw rod can be provided with D-section axis hole, D The tee section diameter of axle is adapted to D-section axis hole, and the output shaft of the 4th motor can be inserted into D-section axis by the D-section diameter of axle The mode in hole and the other end of the 4th screw rod are sequentially connected.

In above structure, the rear end of the 4th motor 31 with one end of four-pull-rod 32 be fixedly connected, such as welding and One generates, rather than is rotatably connected, and under this connection type, the other end and the finger rack 9 of four-pull-rod 32 pass through 9th shaft 34 is rotatably connected, and finger rack 9 and the 9th shaft 34 can prevent four-pull-rod 32 from being turned in the circumferential Dynamic, the rear end of the 4th motor 31 is fixedly connected with one end of four-pull-rod 32, and four-pull-rod 32 can prevent the 4th motor 31 from existing It is rotated circumferentially and radially.It can be realized through this structure in the case where mechanical finger structure complexity is very low It is circumferential and it is radially fixed design in axial sliding, and make mechanical finger structure it is close, save space.

In above structure, third shaft 11 can be arranged on the periphery of the radial direction of the 4th nut 28 and be parallel to First rotating shaft 7, the 4th nut 28 can be rotatably connected by third shaft 11 and nearly finger joint 6, and nearly finger joint 6 is close to base finger joint 5 Side can be two nearly finger joint side plates, and the 4th nut 28 can be folded in centre, the 4th nut 28 by two nearly finger joint side plates It can be rotated in nearly finger joint 6.4th nut referred to herein can rotate in nearly finger joint, on the 4th nut axial direction It fixes and is not rotated relative to the axis where the 4th screw rod.In addition, the side far from the 4th motor 31 of the 4th nut 28 Can be open architecture, that is to say, that the internal thread hole of the 4th nut 28 could be provided as through-hole, and the 4th screw rod 25 can run through 4th nut 28, the 4th screw rod 25 can also continue to precession after the internal thread through hole of the 4th nut 28, increase by the 4th spiral shell The transmission distance of bar 25.

In above-mentioned screw rod and nut structure, screw rod and nut body have self-locking function, are turned round when the 4th motor stops output When square, the position of the 4th screw rod and the 4th motor can remain stationary as, to have the function of certain position memory, but also In the case that the output of 4th motor stops, finger mechanism will not be moved to negative direction so that finger mechanism is maintained at current location It is motionless, to the position lock function to finger mechanism.

By above structure, third shaft 11 is arranged on the periphery of the radial direction of the 4th nut 28 and is parallel to First rotating shaft 7, the 4th nut 28 are rotatably connected by third shaft 11 and nearly finger joint 6 so that the 4th nut 28 and the 4th spiral shell Bar 25, the 4th motor 31 and four-pull-rod 32 during the motion, are always positioned at same layer, the 4th screw rod 25 can be normal It screws in the internal thread of the 4th nut 28, ensures that the 4th screw rod, the 4th motor and four-pull-rod can be axially moved, drop Low shaft quantity.In addition, the 4th nut 28 is rotatably connected by third shaft 11 and nearly finger joint 6, the 4th nut 28 and closely finger The connecting shaft of section 6 and the connecting shaft of base finger joint 5 and nearly finger joint 6 are third shaft 11 so that nearly finger joint can turn along third Axis is normally counted on one's fingers movement, and for the 4th motor 31 when squeezing and stretching five pull rods 35, the 4th nut 28 can always just To the 4th screw rod 25 and the 4th motor 31, prevent the 4th nut 28 from nearly finger joint 6 being hindered normally to be done along third shaft 11 in the wrong Refer to movement.In addition, the connecting shaft in the 4th nut 28 and nearly finger joint 6 is not coaxial with the connecting shaft of base finger joint 5 and nearly finger joint 6 In the case of, the 4th nut 28, the 4th screw rod 25, the 4th motor 31 and four-pull-rod 32 same layer transmission mechanism and base finger joint The locked situation of three connecting rods that join end to end will be formed with nearly finger joint.

In addition, above-mentioned finger mechanism can be thumb mechanism, base finger joint can be thumb base finger joint, and nearly finger joint can be thumb Refer to nearly finger joint.It should be noted that the finger mechanism of the present embodiment is not limited to thumb mechanism, can also be applied to remove thumb mechanism Except finger mechanism, such as index finger, middle finger, the third finger and little finger, corresponding base finger joint can be index finger base finger joint, in Refer to base finger joint, nameless base finger joint and little finger base finger joint, corresponding nearly finger joint can closely refer to for the nearly finger joint of index finger, middle finger Section, nameless nearly finger joint and the nearly finger joint of little finger.

The mechanism of the present embodiment, by the 4th motor, four-pull-rod, the 4th screw rod and the 4th nut in finger mechanism It is middle to carry out special assembling so that the original output of power source and same layer to be respectively positioned on to the driving output of finger, to save axial direction Transmission exports occupied space, and takes full advantage of the space of base finger joint to carry power source, so as to further subtract The size of few finger mechanism.In addition, by being set to same layer by the original output of power source and to the driving output of finger, reduce Setting to the driving output mechanism of finger, simplifies robot manipulator structure, reduces consumption of the torque in transmission process so that finger With larger chucking power.

In addition, by being arranged the 4th nut and the 4th screw rod in nearly finger joint, by the 4th motor and four-pull-rod It is arranged in base finger joint, reduces the size of finger rack.

In addition it is also necessary to explanation, the finger mechanism of the present embodiment is more than the field that can be applied to manipulator, also It can be applied to other and have articulate bionic mechanical structure division, for example, the mechanical structure of simulation thigh and shank, finger machine Frame can be thigh, and base finger joint can be shank.

Finally it should be noted that：The above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent Present invention has been described in detail with reference to the aforementioned embodiments for pipe, it will be understood by those of ordinary skill in the art that：Its according to So can with technical scheme described in the above embodiments is modified, either to which part or all technical features into Row equivalent replacement；And these modifications or replacements, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution The range of scheme.

Claims (6)

1. a kind of finger mechanism of screw drives, which is characterized in that including third motor, third pull rod, third screw rod and with Third nut, finger rack and the base finger joint of the third screw rod cooperation, the base finger joint pass through third shaft and the hand Refer to rack to be rotatably connected,

The screw-internal thread fit of one end of the third screw rod and the third nut, the other end of the third screw rod and described the The output shaft of three motor front ends is sequentially connected, and the rear end of the third motor is fixedly connected with one end of the third pull rod, institute The other end and the base finger joint for stating third pull rod are rotatably connected by eighth-turn axis, and eighth-turn axis setting is described the The lower section of three shafts,

The finger machine frame inside is provided with cavity, and the third motor and the third pull rod are arranged in the finger rack Cavity inside, the third motor and the third pull rod can the relatively described finger rack move in the axial direction,

The third nut is fixed in the finger rack, is fixed on the third nut axial direction and relative to described Axis where third screw rod does not rotate, and when the third screw rod rotates, the third motor is driven to move in the axial direction, The third motor is rotatably connected by the third pull rod and the base finger joint, is used for through the third motor in axial direction The movement in direction drives the base finger joint relative to the finger gantry rotation.

2. finger mechanism according to claim 1, which is characterized in that the finger mechanism is thumb mechanism, and the base refers to Section is thumb base finger joint.

3. finger mechanism according to claim 1, which is characterized in that further include reduction assemblies, the reduction assemblies setting In the output end of the third motor, the output shaft is connect by the reduction assemblies with the output end of the third motor.

4. mechanism according to claim 1, which is characterized in that further include shaft coupling, shaft coupling setting is described the On the output shaft of three motors, output axis connection that the other end of the third screw rod passes through shaft coupling and the third motor.

5. mechanism according to claim 1, which is characterized in that the finger rack is two close to base finger joint side The third nut is folded in centre by finger framework lateral plate, described two finger framework lateral plates.

6. mechanism according to claim 1, which is characterized in that the side far from the third motor of the third nut For open architecture, the third screw rod can run through the third nut.