CN112518781A - Manipulator and mechanical finger thereof - Google Patents
Manipulator and mechanical finger thereof Download PDFInfo
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- CN112518781A CN112518781A CN202011349706.0A CN202011349706A CN112518781A CN 112518781 A CN112518781 A CN 112518781A CN 202011349706 A CN202011349706 A CN 202011349706A CN 112518781 A CN112518781 A CN 112518781A
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- 238000004804 winding Methods 0.000 abstract 1
- 210000001145 finger joint Anatomy 0.000 description 31
- 230000009471 action Effects 0.000 description 11
- 230000033001 locomotion Effects 0.000 description 10
- 238000000034 method Methods 0.000 description 9
- 230000008569 process Effects 0.000 description 9
- 238000005452 bending Methods 0.000 description 7
- 230000000670 limiting effect Effects 0.000 description 7
- 238000007906 compression Methods 0.000 description 5
- 230000006835 compression Effects 0.000 description 4
- 230000008602 contraction Effects 0.000 description 4
- 239000000463 material Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 231100000989 no adverse effect Toxicity 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0233—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by chains, cables or ribbons
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Abstract
The invention discloses a mechanical finger, which comprises a driving part; the first knuckle is provided with a movable cavity and is rotationally connected to the mechanical palm through a first rotating shaft; the second knuckle is rotationally connected with the first knuckle through a second rotating shaft; one end of the driving rope is connected with the second knuckle, bypasses the first rotating shaft and is connected with the driving head; the elastic telescopic component is movably arranged in the movable cavity and comprises a shell, an elastic piece and a movable piece, wherein the elastic piece and the movable piece are arranged in the shell; one end of the first linkage rope is fixed on the part, located on the inner side, of the second knuckle, and the other end of the first linkage rope is fixed with the shell by winding the second rotating shaft; and one end of the second linkage rope is fixed with the moving part, and the other end of the second linkage rope is fixed with the driving seat. Above-mentioned technical scheme can solve present manipulator actuating system too complicated, the big problem of the control degree of difficulty.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to a manipulator and a mechanical finger thereof.
Background
With the progress and development of scientific technology, various bionic devices are applied to various scenes. For example, a robot, a manipulator, and the like are taken as examples, in order to improve the performance of the manipulator, a human hand is generally taken as an example, at least two knuckles are designed for fingers of the manipulator, which results in more degrees of freedom of the manipulator, and in order to ensure that a plurality of knuckles can move, a plurality of knuckles of each finger are generally driven in an independent driving manner, which results in an excessively complex driving system and a greater control difficulty.
Disclosure of Invention
The invention discloses a manipulator and mechanical fingers thereof, which are used for solving the problems that the existing manipulator adopts an independent driving mode to drive a plurality of knuckles of each finger, the driving system is too complex and the control difficulty is large.
In order to solve the problems, the invention adopts the following technical scheme:
in a first aspect, the present application discloses a mechanical finger, which is applied to a manipulator, the manipulator includes a mechanical palm, the mechanical finger includes:
the driving part comprises a driving seat and a driving head which are connected with each other, and the driving seat is mounted on the mechanical palm;
the first knuckle is provided with a movable cavity and is rotationally connected to the mechanical palm through a first rotating shaft;
the second knuckle is rotatably connected to one end, away from the mechanical palm, of the first knuckle through a second rotating shaft;
one end of the driving rope is connected with the second knuckle, and the driving rope bypasses the first rotating shaft and is connected with the driving head so as to pull the second knuckle to rotate;
the elastic telescopic component is movably arranged in the movable cavity and comprises a shell, an elastic piece and a movable piece, the elastic piece and the movable piece are both arranged in the shell, one end of the elastic piece abuts against one end, away from the second knuckle, of the shell, the other end of the elastic piece abuts against the movable piece, and the elastic piece drives the movable piece to abut against one end, close to the second knuckle, of the shell;
one end of the first linkage rope is fixedly connected to the part, located on the inner side, of the second knuckle, and the other end of the first linkage rope bypasses the second rotating shaft and is fixedly connected with the shell;
and one end of the second linkage rope is fixed with the moving piece, and the other end of the second linkage rope is fixed with the driving seat.
In a second aspect, the present application discloses a manipulator, which comprises a mechanical palm and a plurality of the above mechanical fingers, and a plurality of the mechanical fingers are all connected to the mechanical palm.
The technical scheme adopted by the invention can achieve the following beneficial effects:
the embodiment of the application discloses mechanical finger, it includes first knuckle and the second knuckle of rotation connection, and first knuckle can also rotate with the mechanical palm of manipulator and be connected. The first knuckle and the second knuckle are connected with the driving part through the driving rope, the first linkage rope and the second linkage rope, the driving part can drive the second knuckle to rotate through the driving rope, the first linkage rope can be pulled along with the rotation of the second knuckle relative to the first knuckle towards the inner side of the mechanical finger, the elastic telescopic component can move towards the direction close to the second knuckle in the movable cavity, the elastic component has certain compression elasticity, and therefore under the condition of no interference of other external forces, in the process that the second knuckle rotates relative to the first knuckle, the second knuckle can pull the second linkage rope, and the first knuckle can also rotate relative to the mechanical palm.
In summary, in the mechanical finger disclosed in the above technical solution, the first knuckle and the second knuckle are both driven by the same driving portion, so that the number of driving pieces required to be arranged in the mechanical finger and the whole manipulator can be reduced, the overall structure of the driving system can be simplified, and the complexity and the control difficulty of the mechanical finger and the manipulator can be further reduced.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic view of a mechanical finger of the present disclosure;
FIG. 2 is a schematic view of the mechanical finger of the present disclosure in another orientation;
FIG. 3 is a cross-sectional schematic view of a mechanical finger disclosed herein;
FIG. 4 is another cross-sectional schematic view of a mechanical finger disclosed herein;
FIG. 5 is a schematic cross-sectional view of yet another exemplary manipulator finger disclosed herein;
FIG. 6 is a schematic cross-sectional view of a resilient telescoping assembly in a robot finger according to the present disclosure;
FIG. 7 is a schematic illustration of a robotic finger grasping an article as disclosed herein;
FIG. 8 is another schematic view of a robotic finger gripping article as disclosed herein;
fig. 9 is a schematic structural diagram of a robot disclosed in the present application.
Description of reference numerals:
110-driving part, 111-driving seat, 112-driving head, 120-base, 130-first rotating shaft, 140-movable pulley,
210-a first knuckle, 211-a movable cavity, 220-a second knuckle, 230-a second rotating shaft,
310-driving rope, 320-first linkage rope, 330-second linkage rope,
400-elastic telescopic component, 410-shell, 411-cylinder, 412-end cover, 420-elastic component, 430-movable component, 431-body, 432-limit column, 433-limit space,
500-elastic reset piece,
600-mechanical palm,
700-item.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the specific embodiments of the present invention and the accompanying drawings. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The technical solutions disclosed in the embodiments of the present invention are described in detail below with reference to the accompanying drawings.
As shown in fig. 1 to 9, an embodiment of the present invention discloses a mechanical finger, which can be applied to a manipulator, where the manipulator includes a mechanical palm 600, and the mechanical finger is connected to the mechanical palm 600. The mechanical finger includes a driving part 110, a first knuckle 210, a second knuckle 220, a driving rope 310, an elastic expansion assembly 400, a first linkage rope 320, and a second linkage rope 330.
The driving part 110 includes a driving seat 111 and a driving head 112, and in the process of assembling the manipulator, the driving seat 111 may be mounted on the mechanical palm 600, and specifically, the driving seat 111 may be fixed on the mechanical palm 600 by means of a snap connection or a threaded connection, so as to ensure that the driving part 110 can stably apply a driving force to the first knuckle 210 and the second knuckle 220. The driving head 112 is connected with the driving seat 111, and the driving head 112 can move relative to the driving seat 111 to drive the mechanical fingers to rotate and bend so as to perform grabbing action. Specifically, the driving part 110 may be a rotary motor, and the driving head 112 rotates to wind or unwind the driving rope 310, so as to bend the first knuckle 210 and the second knuckle 220. Alternatively, the driving unit 110 may be a linear hydraulic cylinder, a linear air cylinder, a linear motor, or the like, and the first knuckle 210 and the second knuckle 220 may be ensured to generate corresponding rotational bending motions by pulling or releasing the driving rope 310.
The first knuckle 210 may be a straight structure, but the first knuckle 210 may also be a curved structure, if necessary. The first knuckle 210 has a movable cavity 211, the axial direction of the movable cavity 211 may be the same as the axial direction of the first knuckle 210, or may be different from the axial direction of the first knuckle 210, and the axial direction of the first knuckle 210 is the direction of the connection line between the two opposite ends of the first knuckle 210. The movable cavity 211 is used for accommodating the elastic telescopic assembly 400, and the transverse dimension of the movable cavity 211 can be designed correspondingly according to the transverse dimension of the shell 410 in the elastic telescopic assembly 400; the longitudinal dimension of active cavity 211, i.e., the dimension of active cavity 211 along its axial direction, needs to be larger than the dimension of elastic expansion and contraction assembly 400 in the corresponding direction, so as to ensure that elastic expansion and contraction assembly 400 can move along the axial direction of active cavity 211 in active cavity 211.
During the process of assembling the robot arm, the first knuckle 210 is rotatably connected to the robot palm 600 by the first hinge 130, so that the first knuckle 210 can rotate relative to the robot palm 600. Specifically, the first knuckle 210 may be rotatably mounted on the machine palm 600 by a bearing-like element as the first rotating shaft 130, or alternatively, the first knuckle 210 and the machine palm 600 may be rotatably connected by an axle-like element as the first rotating shaft 130 via a pin. In addition, in order to ensure that the first linkage rope 320 and the second linkage rope 330 can be connected to the elastic expansion assembly 400 located in the movable cavity 211, extension holes are respectively arranged at two opposite ends of the movable cavity 211, and each extension hole is communicated with the outside of the second finger 220.
The second finger joint 220 is rotatably connected to the first finger joint 210 through the second rotating shaft 230, and the second finger joint 220 is located at an end of the first finger joint 210 away from the mechanical palm 600, so that the second finger joint 220 and the first finger joint 210 are stably connected together, and it is ensured that the second finger joint 220 can also rotate relative to the mechanical palm 600. Similarly, the second finger joint 220 and the first finger joint 210 may form a rotational connection relationship as the second rotating shaft 230 through a bearing or a pin shaft, and the lengths of the first finger joint 210 and the second finger joint 220, that is, the axial dimensions of the first finger joint and the second finger joint, can be flexibly selected according to actual requirements.
The driving rope 310 may be a rope or a chain cable with high tensile strength, such as a steel wire rope, one end of the driving rope 310 may be reliably connected to the second finger 220 by a binding or a connecting member, and the driving rope 310 may be further connected to the driving head 112, so that the second finger 220 may rotate around the second rotating shaft 230 by pulling the driving rope 310 during a driving operation, thereby generating a bending operation. And, the driving rope 310 is also wound around the first rotating shaft 130, in this case, the first rotating shaft 130 may generate an action similar to a fixed pulley, and the driving rope 310 is wound around the first rotating shaft 130, so that during the action of the driving part 110, no driving force is applied to the first knuckle 210 by the driving rope 310, and the motion decoupling at the first knuckle 210 is realized. It should be noted that, when the driving portion 110 is operated, the second finger joint 220 may rotate, and the first finger joint 210 may slightly rotate due to the friction force, which also falls within the protection scope of the embodiment of the present application.
In addition, in order to ensure that the driving string 310 can make the second knuckle 220 rotate a large angle, the driving string 310 may alternatively pass through the second knuckle 220 from the inner side of the first knuckle 210 and be connected to the outer side of the second knuckle 220. The inner side of the first knuckle 210 refers to a side that the mechanical finger turns when bending motion occurs, and the outer side refers to a side that the mechanical finger deviates when bending motion occurs.
As described above, the first knuckle 210 is provided with the movable cavity 211, and the size of the movable cavity 211 in the axial direction of the first knuckle is larger than the size of the elastic expansion assembly 400 in the corresponding direction, so as to ensure that the elastic expansion assembly 400 can move in the movable cavity 211 along the axial direction of the movable cavity 211. The elastic expansion assembly 400 includes a housing 410, an elastic member 420 and a movable member 430, wherein the housing 410 may be a square column structure, preferably, the housing 410 is a circular column structure, and the housing 410 is a hollow structure, so as to ensure that the elastic member 420 and the movable member 430 can be installed in the housing 410. More specifically, the housing 410 may be formed by at least two parts that are detachably and fixedly connected, so that the movable member 430 and the elastic member 420 can be installed in the housing 410, and the movable member 430 and the elastic member 420 can be ensured to form a stable limit fit relationship with the housing 410. Preferably, the housing 410 may include a cylinder 411 and an end cap 412, and the end cap 412 and the cylinder 411 may be detachably and fixedly connected.
The elastic member 420 may be made of rubber or the like having elastic capability, preferably, the elastic member 420 is a compression spring, one end of the elastic member 420 abuts against one end of the housing 410 away from the second finger joint 220, and the other end of the elastic member 420 abuts against the movable member 430. Under the condition of not receiving other acting force, the elastic element 420 is in a compressed state, the elastic element 420 has a tendency of recovering deformation, and under the action of the elastic acting force provided by the elastic element 420, the movable element 430 is pushed to abut against one end of the housing 410 close to the second finger joint 220. Specifically, the movable member 430 may be a block-shaped structural member, which is installed in the housing 410, and one end of the block-shaped structural member is in abutting engagement with the elastic member 420, and the other end of the block-shaped structural member is in limit engagement with an end wall of the housing 410. It should be noted that, although the elastic element 420 is already in the compressed state in the state that the movable element 430 abuts against the end of the housing 410 close to the second knuckle 220, if the movable element 430 is subjected to an external force, when the external force is greater than the initial elastic force of the elastic element 420, the movable element 430 can be driven to compress the elastic element 420 and be spaced from the end of the housing 410 close to the second knuckle 220.
One end of the first linking rope 320 is fixed on the inner portion of the second finger 220, so that when the driving portion 110 drives the driving rope 310 to drive the second finger 220 to bend inward, the second finger 220 can also drive the first linking rope 320 to move. The other end of the first linking rope 320 is fixedly connected to the housing 410 around the second rotating shaft 230, so that when the second knuckle 220 rotates inward, the second knuckle 220 can pull the housing 410 (i.e. the elastic expansion element 400) to move in the movable cavity 211 along the axial direction of the movable cavity 211 toward the direction of the second knuckle 220 through the first linking rope 320, and as the elastic expansion element 400 moves in the movable cavity 211, the elastic element 420 and the movable element 430 can also move in the movable cavity 211.
One end of the second linking rope 330 is fixed to the movable member 430, and the other end of the second linking rope 330 is fixed to the driving seat 111, so that during the movement of the movable member 430 in the axial direction of the movable cavity 211 toward the second finger 220, the movable member 430 can also stretch one end of the second linking rope 330 near the second finger 220 toward the second finger 220. Since the other end of the second linkage rope 330 is fixed relative to the driving seat 111, the second linkage rope 330 can drive the first knuckle 210 to rotate relative to the driving seat 111 around the first rotating shaft 130, so that the first knuckle 210 is bent and close to the mechanical palm 600. It should be noted that, in the process of designing and producing the mechanical finger, the initial elastic force of the elastic element 420 may be greater than the friction force between the components of the mechanical finger, so that in the process of driving the first knuckle 210 to rotate through the second knuckle 220, the situation that the elastic element 420 is further compressed because the friction force between the first knuckle 210 and the second knuckle 220 and the friction force between the first knuckle 210 and the mechanical palm 600 are greater when the first knuckle 210 is not rotated under the action of other external forces is prevented, and it is ensured that the first knuckle 210 may be driven to rotate relative to the mechanical palm 600 in the process of rotating the second knuckle 220 relative to the first knuckle 210 without intervention of other external forces.
Alternatively, the end of the second linkage rope 330 facing away from the movable member 430 may be connected to the side of the driving seat 111 located inside the first knuckle 210, in which case, as the first knuckle 210 is bent inwards with respect to the driving seat 111, the distance between the opposite ends of the second linkage rope 330 is reduced, so that the elastic expansion device can move in the movable chamber 211 in a direction approaching the second knuckle 220 to drive the first knuckle 210 to rotate through the second knuckle 220.
Preferably, an end of the second linking rope 330, which is away from the movable member 430, may be wound around the first rotating shaft 130 from an inner side of the first knuckle 210 and fixed to the driving seat 111, in which case, the length of the second linking rope 330 may be increased, and thus the length of the moving path of the elastic expansion and contraction assembly 400 may be increased, so as to increase the rotation angle of the first knuckle 210, and improve the grabbing ability and grabbing effect of the mechanical finger.
The embodiment of the application discloses a mechanical finger, which comprises a first knuckle 210 and a second knuckle 220 which are rotatably connected, wherein the first knuckle 210 can also be rotatably connected with a mechanical palm 600 of a manipulator. The first knuckle 210 and the second knuckle 220 are connected to the driving part 110 through the driving rope 310, the first linking rope 320 and the second linking rope 330, the driving part 110 can drive the second knuckle 220 to rotate through the driving rope 310, and as the second knuckle 220 rotates towards the inner side of the mechanical finger relative to the first knuckle 210, the first linking rope 320 can be pulled, so that the elastic telescopic component 400 moves towards the second knuckle 220 in the moving cavity 211, and the elastic component 420 has a certain compression elasticity, so that in the process of rotating the second knuckle 220 relative to the first knuckle 210 without interference of other external force, the second knuckle 220 can also pull the second linking rope 330, so that the first knuckle 210 can also rotate relative to the mechanical palm 600.
In summary, in the mechanical finger disclosed in the above technical solutions, the first knuckle 210 and the second knuckle 220 are both driven by the same driving portion 110, so that the number of driving members required to be disposed in the mechanical finger and the whole manipulator can be reduced, the overall structure of the driving system can be simplified, and further the complexity and control difficulty of the mechanical finger and the manipulator can be reduced.
In addition, in the process of gripping the article 700 by using the above mechanical fingers disclosed in the embodiments of the present application, there are various gripping manners. For example, first, the second knuckle 220 contacts the item 700, while the first knuckle 210 does not contact the item, and second, both the first knuckle 210 and the second knuckle 220 contact the object. In the second case, the article needs to be contacted with the first knuckle 210 first, and at this time, the first knuckle 210 cannot rotate continuously due to the limitation of the article, and then, under the action of the elastic telescopic structure, when the driving portion 110 continues to operate, the second knuckle 220 can rotate continuously relative to the first knuckle 210, so as to ensure that the first knuckle 210 and the second knuckle 220 can both form a reliable contact relationship with the article.
In more detail, in the first case, since the driving force of the first knuckle 210 is provided by the second knuckle 220, when the second knuckle 220 rotates relative to the first knuckle 210 and drives the first knuckle 210 to rotate together, the first knuckle 210 cannot rotate any more due to the contact of the second knuckle 220 with the article. In this case, the linkage ratio of the first knuckle 210 and the second knuckle 220 is 1: 1.
In the second situation, when the second finger joint 220 rotates relative to the first finger joint 210 and drives the first finger joint 210 to rotate together, the second finger joint 220 can still rotate continuously under the action of the driving part 110 because the second finger joint 220 is not yet in contact with the article when the first finger joint 210 is in contact with the article and cannot move continuously. In this case, the linkage ratio of the first knuckle 210 and the second knuckle 220 is 0: 1. further, when the driving portion 110 is operated, the second knuckle 220 can continue to rotate, and because the first knuckle 210 cannot move and the first linkage rope 320 cannot be stretched, under the action of the driving portion 110, the housing 410 of the elastic expansion and contraction component 400 fixedly connected with the first linkage rope 320 can move toward the direction close to the second knuckle 220 along the axial direction of the movable cavity 211, and during the movement of the housing 410, because the second linkage rope 330 cannot be stretched, the second linkage rope 330 drives the movable member 430 to keep the position of the second linkage rope 330 unchanged by compressing the elastic member 420, so that the first knuckle 210 can still stably keep a contact state with an object, and the second knuckle 220 can still rotate relative to the first knuckle 210 and finally contact with the object, thereby finally achieving the purpose that both the first knuckle 210 and the second knuckle 220 contact with the object.
Based on the above, it should be noted that, when the mechanical finger is in a natural state, or in a straightened state, a certain distance needs to be provided between the elastic telescopic assembly 400 and the end wall of the movable cavity 211 close to the second finger joint 220, so as to ensure that the second finger joint 220 can still rotate relative to the first finger joint 210 when the movement of the first finger joint 210 is limited.
After the grabbing and placing work of the object is completed, the first knuckle 210 and the second knuckle 220 can be restored and kept in the straightened state under the action of friction force in a mode of manually rotating the first knuckle 210 and the second knuckle 220, so that the next grabbing work can be conveniently carried out. Further, the mechanical finger may further include an elastic resetting member 500, the elastic resetting member 500 may be a torsion spring or the like, and the elastic resetting member 500 is disposed between the first knuckle 210 and the mechanical palm 600 and at least one of the first knuckle 210 and the second knuckle 220, so that after the work of grabbing the placed object is completed, at least one of the first knuckle 210 and the second knuckle 220 may automatically reset to the straightened state under the action of the elastic resetting member 500. Preferably, the elastic reset members 500 may be disposed between the first knuckle 210 and the mechanical palm 600, and between the first knuckle 210 and the second knuckle 220, and the number of the elastic reset members 500 may be increased to improve the automatic reset capability of the first knuckle 210 and the second knuckle 220, so as to ensure that the first knuckle 210 and the second knuckle 220 can automatically complete the reset action after the grabbing and placing work is completed, thereby facilitating the next grabbing and placing work.
Further, the robot finger disclosed in the embodiment of the present application may further include a base 120, and the base 120 may be made of the same or similar material as the first knuckle 210 and the second knuckle 220, such as plastic or metal, and of course, other materials may be used to form the base 120, the first knuckle 210, and the second knuckle 220, respectively. The base 120 is fixed on the mechanical palm 600 and provides a mounting base for the first knuckle 210 and the second knuckle 220, and the first knuckle 210 can be rotatably connected to the base 120 through the first rotating shaft 130. Under the condition of adopting the above technical solution, the first knuckle 210 and the second knuckle 220 can be firstly installed on the base 120, and then the whole is fixedly installed on the mechanical palm 600, so as to reduce the assembly difficulty of the whole manipulator to a certain extent. In addition, in the case of providing the base 120, by extending the portion of the base 120 connected to the first knuckle 210 beyond the mechanical palm 600, the mechanical palm 600 can be made to be less likely to contact the first knuckle 210, so as to increase the maximum rotation range of the first knuckle 210, and further improve the grabbing performance of the mechanical fingers and the mechanical hand.
In the case of a robot finger provided with a base 120, optionally, one end of the driving rope 310 facing away from the second finger joint 220 may be fixedly connected to the base 120, and in order to ensure that the driving part 110 can still drive the second finger joint 220 to rotate through the driving rope 310, optionally, the driving head 112 is connected to the driving rope 310 through the movable pulley 140, in which case, the driving part 110 may be more labor-saving. In the case where the driving unit 110 is a rotary driving unit 110 such as a rotary motor, the movable pulley 140 may be driven by a member capable of converting a rotary motion into a linear motion, such as a rack and pinion, so as to rotate the second finger 220 via the driving rope 310. Alternatively, the driving unit 110 may be a linear driving unit 110, so that the driving head 112 of the driving unit 110 is directly connected to the movable pulley 140 to drive the driving rope 310 to move.
As described above, the end of the second linkage rope 330 away from the movable member 430 is fixed to the driving base 111, and in the case that the robot finger includes the base 120, the end of the second linkage rope 330 away from the movable member 430 can be fixedly connected to the base 120, so as to reduce the difficulty in installing the second linkage rope 330 and ensure that the end of the second linkage rope 330 away from the movable member 430 has high stability.
Further, the axial direction of the movable chamber 211 may be disposed obliquely to the axial direction of the first knuckle 210, that is, the axial direction of the movable chamber 211 is neither parallel to the axial direction of the first knuckle 210 nor perpendicular to the axial direction of the first knuckle 210. Moreover, the movable cavity 211 may be close to the opening of the second knuckle 220 and face the outer side of the second knuckle 220, so that when the first linkage rope 320 is connected, the first linkage rope 320 may extend out of the movable cavity 211 from the outer side of the first knuckle 210, and thus, no adverse effect is generated on the movement of the first linkage rope 320 regardless of the relative position relationship between the first knuckle 210 and the second knuckle 220; in addition, under the condition of adopting the technical scheme, the difficulty in pulling the first linkage rope 320 and the second linkage rope 330 can be reduced to a certain degree; meanwhile, under the condition that the length of the first knuckle 210 in the axial direction is not changed, the size of the movable cavity 211 can be increased by adopting the technical scheme, so that the rotation angle of the first knuckle 210 is increased.
In order to further improve the grabbing performance of the mechanical finger disclosed in the embodiment of the present application, optionally, the second finger joint 220 is bent toward the inner side of the mechanical finger, in this case, the number of contact points between the second finger joint 220 and the article may be further increased, so as to further improve the stability of the fit between the mechanical finger and the article, and prevent the article from being separated from the manipulator in the process of grabbing the article by the mechanical finger and the manipulator. Specifically, the bending degree of the second knuckle 220 may be determined according to practical situations, and is not limited herein, but in order to ensure that the manipulator has high gripping performance, the bending degree of the second knuckle 220 needs to be greater than 90 °.
As described above, the elastic member 420 may be a compression spring, further, the movable member 430 may include a body 431 and a limiting post 432, the body 431 is provided with a receiving groove, the limiting post 432 is fixed in the receiving groove, and a limiting space 433 is provided between the groove walls of the limiting post 432 and the receiving groove, a sleeve of the elastic member 420 is disposed on the limiting post 432 and is received in the limiting space 433, so that the movable member 430 may provide a certain limiting effect for the elastic member 420, thereby improving the reliability of connection between the elastic member 420 and the movable member 430, and preventing the elastic member 420 from bending and deforming in the compression process to a certain extent.
Based on the mechanical fingers disclosed in any of the above embodiments, the embodiment of the present application further discloses a manipulator, which includes a mechanical palm 600 and a plurality of the above mechanical fingers, and the plurality of mechanical fingers are all connected to the mechanical palm 600. The number of mechanical fingers can be selected according to actual conditions. For example, five mechanical fingers may be provided, wherein four mechanical fingers may be disposed side by side on one side of the mechanical palm 600, and another mechanical finger may be disposed on the other side of the mechanical palm 600, so as to form a manipulator imitating a human hand. In addition, the axial directions of the first rotating shaft 130 and the second rotating shaft 230 of the four mechanical fingers arranged side by side on one side of the mechanical palm 600 can be parallel to each other, and the axial directions of the first rotating shaft 130 and the second rotating shaft 230 of the mechanical fingers arranged on one side of the mechanical palm 600 can be not parallel to each other, so that the fitting degree of the manipulator and a human hand is further improved, and the grabbing performance of the manipulator is improved.
In the above embodiments of the present invention, the difference between the embodiments is mainly described, and different optimization features between the embodiments can be combined to form a better embodiment as long as they are not contradictory, and further description is omitted here in view of brevity of the text.
The above description is only an example of the present invention, and is not intended to limit the present invention. Various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.
Claims (10)
1. A robot finger for application to a robot arm, said robot arm comprising a robot palm (600), characterized in that said robot finger comprises:
a driving part (110), wherein the driving part (110) comprises a driving seat (111) and a driving head (112) which are connected with each other, and the driving seat (111) is installed on the mechanical palm (600);
the first knuckle (210) is provided with a movable cavity (211), and the first knuckle (210) is rotatably connected to the mechanical palm (600) through a first rotating shaft (130);
a second knuckle (220), wherein the second knuckle (220) is rotatably connected to one end of the first knuckle (210) facing away from the mechanical palm (600) through a second rotating shaft (230);
a driving rope (310), wherein one end of the driving rope (310) is connected with the second knuckle (220), the driving rope (310) bypasses the first rotating shaft (130) and is connected with the driving head (112) so as to pull the second knuckle (220) to rotate;
the elastic telescopic component (400) is movably arranged in the movable cavity (211), the elastic telescopic component (400) comprises a shell (410), an elastic piece (420) and a movable piece (430), the elastic piece (420) and the movable piece (430) are both arranged in the shell (410), one end of the elastic piece (420) abuts against one end, deviating from the second knuckle (220), of the shell (410), the other end of the elastic piece (420) abuts against the movable piece (430), and the elastic piece (420) drives the movable piece (430) to abut against one end, close to the second knuckle (220), of the shell (410);
one end of the first linkage rope (320) is fixedly connected to the inner part of the second knuckle (220), and the other end of the first linkage rope (320) bypasses the second rotating shaft (230) and is fixedly connected with the shell (410);
and one end of the second linkage rope (330) is fixed with the movable piece (430), and the other end of the second linkage rope (330) is fixed with the driving seat (111).
2. The mechanical finger according to claim 1, characterized in that the end of the second linkage rope (330) facing away from the movable element (430) passes around the first rotation shaft (130) from the inner side of the first knuckle (210) and is fixed with the driving seat (111).
3. The mechanical finger according to claim 1, characterised in that it further comprises an elastic return (500), between said first knuckle (210) and said mechanical palm (600), and at least one of said first knuckle (210) and said second knuckle (220) being provided with said elastic return (500).
4. The mechanical finger according to claim 1, characterized in that it further comprises a base (120), said base (120) being fixed to said mechanical palm (600), said first knuckle (210) being rotatably connected to said base (120) by said first rotation shaft (130).
5. The mechanical finger according to claim 4, characterized in that the end of the driving rope (310) facing away from the second knuckle (220) is fixedly connected with the base (120), and the driving head (112) is connected with the driving rope (310) through a movable pulley (140).
6. The mechanical finger according to claim 4, characterised in that the end of the second linkage cord (330) facing away from the mobile element (430) is fixed to the base (120).
7. The mechanical finger according to claim 1, characterized in that the axial direction of the movable cavity (211) is inclined to the axial direction of the first knuckle (210), and the movable cavity (211) is close to the mouth of the second knuckle (220) and faces the outside of the second knuckle (220).
8. The mechanical finger according to claim 1, characterised in that the second knuckle (220) is arranged curved towards the inner side of the mechanical finger.
9. The mechanical finger as claimed in claim 1, wherein the elastic member (420) is a spring, the movable member (430) includes a body (431) and a position-limiting post (432), the body (431) has a receiving slot, the position-limiting post (432) is fixed in the receiving slot, a position-limiting space (433) is provided between the position-limiting post (432) and the slot wall of the receiving slot, and one end of the elastic member (420) is sleeved on the position-limiting post (432) and is received in the position-limiting space (433).
10. A manipulator, characterized by comprising a mechanical palm (600) and a plurality of mechanical fingers according to any of claims 1-9, each of said plurality of mechanical fingers being attached to said mechanical palm (600).
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| CN202011349706.0A CN112518781B (en) | 2020-11-26 | 2020-11-26 | Manipulator and mechanical finger thereof |
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| CN202011349706.0A CN112518781B (en) | 2020-11-26 | 2020-11-26 | Manipulator and mechanical finger thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113109706A (en) * | 2021-03-24 | 2021-07-13 | 北京航空航天大学 | Force calibrator |
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| CN112518781B (en) | 2022-04-26 |
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