CN113119153A - Finger structure and robot - Google Patents
Finger structure and robot Download PDFInfo
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- CN113119153A CN113119153A CN202110330583.4A CN202110330583A CN113119153A CN 113119153 A CN113119153 A CN 113119153A CN 202110330583 A CN202110330583 A CN 202110330583A CN 113119153 A CN113119153 A CN 113119153A
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- knuckle
- proximal
- finger structure
- output shaft
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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
- B25J15/08—Gripping heads and other end effectors having finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
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- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention provides a finger structure and a robot, wherein the finger structure comprises a fixed seat, a near knuckle, a middle knuckle, a far knuckle, a connecting rod, a first driving assembly and a second driving assembly, the near knuckle is rotatably connected to the fixed seat, the middle knuckle is rotatably connected to the near knuckle, the far knuckle is rotatably connected to the middle knuckle, two ends of the connecting rod are respectively rotatably connected to the near knuckle and the far knuckle, the first driving assembly is used for driving the near knuckle to swing in a first degree of freedom direction, the second driving assembly is used for driving the middle knuckle to swing in a second degree of freedom direction, and a preset angle is formed between a center line of the first degree of freedom direction and a center line of the second degree of freedom direction. Compared with the traditional scheme of controlling the rotation of the adjacent knuckles by adopting the steering engine, the finger structure has the advantages of simple structure and small volume, and is favorable for simulating the appearance of a human hand.
Description
Technical Field
The invention belongs to the technical field of humanoid service robots, and particularly relates to a finger structure and a robot.
Background
With the continuous development of science and technology, the common manual mode cannot meet the requirement of productivity, and the development of industry is not separated from the application of robots. With the push of robotics, the variety of robots is more and more diversified. The robot used for services such as restaurants, shopping malls and the like has higher requirements on the flexibility of the hand, the dexterous hand gradually becomes a development trend, and the appearance and the gripping mode of the robot imitating a human can give more intimate impression.
The finger of present dexterous hand has a plurality of knuckles, and every knuckle all can rotate, and every knuckle passes through the steering wheel and controls, and this has just led to steering wheel quantity more, and the structure of finger is complicated, and the required volume of whole dexterous hand driver is great, can't realize anthropomorphic appearance.
Disclosure of Invention
The embodiment of the invention aims to provide a finger structure and a robot, and aims to solve the technical problems of complex finger structure and large size of a dexterous hand in the prior art.
In order to achieve the purpose, the invention adopts the technical scheme that: there is provided a finger structure comprising:
a fixed seat;
the proximal knuckle is rotatably connected to the fixed seat;
the middle knuckle is rotatably connected with the near knuckle;
the far knuckle is rotationally connected with the middle knuckle;
the two ends of the connecting rod are respectively and rotatably connected to the near knuckle and the far knuckle;
the first driving component is used for driving the near knuckle to swing in a first freedom degree direction; and
and the second driving component is used for driving the middle knuckle to swing in a second degree of freedom direction, and a preset angle is formed between the center line of the first degree of freedom direction and the center line of the second degree of freedom direction.
In one embodiment, the first driving assembly comprises a first linear driving member having a first output shaft, and a first transmission rod having two ends respectively rotatably connected to the first output shaft and the proximal knuckle;
the second driving assembly comprises a second linear driving piece with a second output shaft and a second transmission rod, two ends of the second linear driving piece are respectively connected with the second output shaft and the middle knuckle in a rotating mode, and a preset angle is formed between the axis of the first output shaft and the axis of the second output shaft.
In one embodiment, a first end of the first transfer lever is pivotally connected to the first output shaft and a second end of the first transfer lever is pivotally connected to a first end of the proximal knuckle;
the first end of the second transmission rod is hinged to the second output shaft through a ball, and the second end of the first transmission rod is pivoted to the middle knuckle.
In one embodiment, the proximal knuckle is pivotally connected to the holder, the middle knuckle is pivotally connected to the second end of the proximal knuckle, and the pivotal connection between the proximal knuckle and the holder is between the first end and the second end of the proximal knuckle.
In one embodiment, the middle knuckle is provided with a channel for the passage of the connecting rod, the first end of the connecting rod is pivoted to the second end of the near knuckle, and the second end of the connecting rod is pivoted to the far knuckle after passing through the channel.
In one embodiment, the pivot of the connecting rod and the near knuckle is arranged near the back of the near knuckle, and the pivot of the middle knuckle and the near knuckle is arranged near the front of the near knuckle.
In one embodiment, when the finger structure is in a straightened state, the pivot joint between the second end of the connecting rod and the distal knuckle is disposed near the front surface of the distal knuckle.
In one embodiment, the holder is provided with a bracket, and the proximal knuckle is pivoted to the bracket.
In one embodiment, the finger structure further comprises a fingertip cover provided on the front face of the distal knuckle.
The invention also provides a robot comprising the finger structure.
One or more technical schemes provided by the invention have at least one of the following technical effects: in the finger structure, a near knuckle is rotationally connected to a fixed seat, a middle knuckle is rotationally connected to the near knuckle, a far knuckle is rotationally connected to the middle knuckle, two ends of a connecting rod are respectively rotationally connected to the near knuckle and the far knuckle, the near knuckle is driven to swing in a first freedom direction through a first driving assembly, so that the middle knuckle and the far knuckle can swing in the first freedom direction along with the near knuckle, and the left-right swinging action of a finger can be simulated; the second driving assembly drives the middle knuckle to swing in the second degree of freedom direction and is matched with the connecting rod for use, so that the near knuckle and the far knuckle can swing along with the middle knuckle in the second degree of freedom direction, the bending and straightening actions of the finger can be simulated, namely the two driving assemblies are adopted to drive the near knuckle to move in a parallel mode, the driving actions of the two driving assemblies are not interfered with each other, and compared with the traditional scheme of controlling the rotation of the adjacent knuckles by using a steering engine, the finger structure has the advantages of simple structure and small size, and is beneficial to simulating the appearance of hands.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic perspective view of a thumb structure according to an embodiment of the present invention;
FIG. 2 is an exploded view of a thumb structure according to an embodiment of the present invention;
FIG. 3 is a first schematic cross-sectional view of a thumb structure according to an embodiment of the present invention;
FIG. 4 is a schematic cross-sectional structural diagram of a thumb structure according to an embodiment of the present invention;
FIG. 5 is a schematic diagram illustrating proximal knuckle of a thumb structure swinging in a first degree of freedom according to an embodiment of the present invention;
fig. 6 is a schematic diagram of the swing of the middle knuckle of the thumb structure in the second degree of freedom according to the embodiment of the present invention.
Wherein, in the figures, the respective reference numerals:
100 a-front side; 100 b-back side; a-a first degree of freedom direction; a-the centre line of the first direction of freedom; b-a second degree of freedom direction; b-the centerline of the second degree of freedom direction; 200-a fixed seat; 210-a scaffold; 211-eighth pivot axis; 300-proximal knuckle; 310-a second pivot hole; 320-fourth pivot hole; 330-sixth pivot hole; 340-eighth pivot hole; 400-middle knuckle; 410-a third pivot hole; 420-a fourth pivot axis; 430-fifth pivot hole; 440-a channel; 500-distal knuckle; 510-a fifth pivot axis; 520-seventh pivot hole; 600-fingertip cover; 610-a bump; 700-connecting rod; 710-a sixth pivot axis; 720-seventh pivot shaft 800-first driving component; 810-a first linear drive; 811-a first output shaft; 8111-a first pivot axis; 820-a first transfer lever; 821-a first pivot hole; 822-a second pivot axis; 900-a second drive assembly; 910-a second linear drive; 911-a second output shaft; 9111-the bulb; 920-a second transmission rod; 921-spherical groove; 922-third pivot axis.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings, which is solely for the purpose of facilitating the description and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and is therefore not to be construed as limiting the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the finger structure according to the embodiment of the present invention, referring to fig. 1, the front surface 100a and the back surface 100b are provided with the palm as a reference object when the finger structure is assembled and in a straight state, and the surface on the same side as the palm is the front surface 100a and the surface on the same side as the back surface 100 b. For example, the front surface 100a of the proximal, middle and distal knuckles 300, 400 and 500 shown in fig. 1 is the surface on the same side as the palm of the hand when the thumb structure is in the extended state, and the back surfaces 100b of the proximal, middle and distal knuckles 300, 400 and 500 are opposite to the front surfaces 100a of the proximal, middle and distal knuckles 300, 400 and 500.
Referring to fig. 1 and 2, a finger structure according to an embodiment of the present invention includes a holder 200, a proximal knuckle 300, a middle knuckle 400, a distal knuckle 500, a link 700, a first driving assembly, and a second driving assembly 900. Referring to fig. 3 and 4, the proximal knuckle 300 is rotatably connected to the holder 200, the middle knuckle 400 is rotatably connected to the proximal knuckle 300, and the distal knuckle 500 is rotatably connected to the middle knuckle 400, i.e., the distal knuckle 500, the middle knuckle 400, the proximal knuckle 300 and the holder 200 are rotatably connected in sequence. Both ends of the link 700 are rotatably connected to the proximal knuckle 300 and the distal knuckle 500, respectively. The first driving assembly is used for driving the near knuckle 300 to swing in the first degree of freedom direction a, the second driving assembly 900 is used for driving the middle knuckle 400 to swing in the second degree of freedom direction B, and a preset angle is formed between a center line a of the first degree of freedom direction and a center line B of the second degree of freedom direction. In this embodiment, the first driving assembly 900 and the second driving assembly 900 are disposed on the fixing base 200, but the fixing positions of the first driving assembly 900 and the second driving assembly 900 may be modified according to the choice of the actual situation and the specific requirement, and are not limited herein.
The working principle of the finger structure of the embodiment of the invention is as follows: the first driving component drives the near knuckle 300 to swing in the first freedom degree direction A, so that the middle knuckle 400 and the far knuckle 500 can swing along with the near knuckle 300 in the first freedom degree direction A, and the action of swinging left and right of a finger can be simulated; the middle knuckle 400 is driven by the second driving assembly 900 to swing in the second degree of freedom direction B, and is used in cooperation with the connecting rod 700, so that the near knuckle 300 and the far knuckle 500 can swing along with the middle knuckle 400 in the second degree of freedom direction B, and the bending and straightening actions of the fingers can be simulated. Compared with the prior art, the finger structure provided by the embodiment of the invention has the advantages that the two driving components are adopted to drive the near knuckle 300 to move in a parallel mode, the driving action of the two driving components is not interfered with each other, and compared with the traditional scheme that the steering engine is adopted to control the rotation of the adjacent knuckles, the number of the drivers of the finger structure provided by the embodiment of the invention is small, the structure is simple, the size is small, and the appearance of a human hand can be simulated; in addition, in the traditional scheme of controlling the rotation of the adjacent knuckles by adopting the steering engine, the steering engine is arranged between the two adjacent knuckles, and because the steering engine has certain weight, the resistance moment of the knuckles can be increased by the steering engine, and the first driving assembly and the second driving assembly 900 are not arranged between the two adjacent knuckles, so that the finger structure does not need to overcome the resistance moment to additionally do work, the required power consumption is lower, the driving assembly can provide larger output force, and the finger structure can provide larger holding power.
As an optional embodiment of the present invention, the angle between the center line a of the first direction of freedom and the center line b of the second direction of freedom may be 80 °, 90 °, 95 °, or the like, and of course, according to the selection of the actual situation and the specific requirement, the angle between the center line a of the first direction of freedom and the center line b of the second direction of freedom may be modified appropriately, as long as it is ensured that the center line a of the first direction of freedom and the center line b of the second direction of freedom intersect and do not completely coincide, and is not limited herein.
Specifically, the first driving assembly may be used to drive the proximal knuckle 300 to swing left and right, and since the middle knuckle 400 and the distal knuckle 500 are connected to the proximal knuckle 300, the middle knuckle 400 and the distal knuckle 500 may swing left and right along with the proximal knuckle 300. Under the drive of the first drive assembly, as shown in fig. 5(a), the proximal knuckle 300 swings to the left, and the middle knuckle 400 and the distal knuckle 500 swing to the left following the proximal knuckle 300; as shown in fig. 5(b), the proximal knuckle 300 swings to the right, and the middle knuckle 400 and the distal knuckle 500 swing to the right following the proximal knuckle 300, thereby simulating the motion of shaking the fingers.
Specifically, the first driving assembly may be used to drive the middle knuckle 400 to swing in and out, and since the proximal knuckle 300 and the distal knuckle 500 are connected to the middle knuckle 400, the proximal knuckle 300 and the distal knuckle 500 may follow the middle knuckle 400 to swing in and out. Under the driving of the second driving assembly 900, as shown in fig. 6(a), the middle knuckle 400 swings outwards, i.e. at a position farther from the palm, and the proximal knuckle 300 and the distal knuckle 500 swing outwards following the middle knuckle 400, simulating the action of straightening fingers; as shown in fig. 6(b), the middle knuckle 400 swings to the inside, i.e., a position closer to the palm, and the proximal knuckle 300 and the distal knuckle 500 follow the middle knuckle 400 to swing to the inside, simulating the action of finger bending.
As an embodiment of the present invention, as shown in fig. 2, 3 and 5, the first driving assembly includes a first linear driving member 810 having a first output shaft 811, and a first transmission rod 820 rotatably connected at both ends to the first output shaft 811 and the proximal knuckle 300, respectively. With this arrangement, the proximal knuckle 300 can be controlled to swing in the first degree of freedom direction a, and the first linear actuator 810 can precisely output a displacement to control the attitude of the proximal knuckle 300 in the first degree of freedom direction a.
As an embodiment of the present invention, as shown in fig. 2, 4 and 6, the second driving assembly 900 includes a second linear driving member 910 having a second output shaft 911, and a second transmission rod 920 having two ends respectively rotatably connected to the second output shaft 911 and the middle knuckle 400, wherein an axis of the first output shaft 811 and an axis of the second output shaft 911 form a predetermined angle. With this arrangement, the proximal knuckle 300 can be controlled to swing in the second degree of freedom direction B, and the second linear actuator 910 can precisely output a displacement to control the attitude of the proximal knuckle 300 in the second degree of freedom direction B.
As an alternative embodiment of the present invention, the first linear actuator 810 and the second linear actuator 910 may be linear electric cylinders to precisely output displacement, so as to control the movement of the near knuckle 300 and the middle knuckle 400 in the first degree of freedom direction a and the second degree of freedom direction B, respectively, although the first linear actuator 810 and the second linear actuator 910 may be other actuators according to the choice of the actual situation and the specific requirement, and are not limited herein.
As an alternative embodiment of the present invention, the angle between the axis of the first output shaft 811 and the axis of the second output shaft 911 may be 80 °, 90 °, 95 °, etc., and of course, the angle between the axis of the first output shaft 811 and the axis of the second output shaft 911 may be modified as appropriate according to the choice of actual conditions and specific requirements, as long as it is ensured that the axis of the first output shaft 811 and the axis of the second output shaft 911 intersect and do not completely coincide, and the present invention is not limited only.
As an embodiment of the present invention, as shown in fig. 2, 3 and 5, a first end of the first transmission lever 820 is pivoted to the first output shaft 811, and a second end of the first transmission lever 820 is pivoted to a first end of the proximal knuckle 300, so that both ends of the first transmission lever 820 are respectively rotatably connected to the first output shaft 811 and the proximal knuckle 300.
As an alternative embodiment of the present invention, as shown in fig. 2, 3 and 5, a first end of the first transmission rod 820 is provided with a first pivot hole 821, the first output shaft 811 is provided with a first pivot shaft 8111, and the first pivot shaft 8111 is rotatably inserted into the first pivot hole 821, so that the first transmission rod 820 is rotatably connected to the first output shaft 811; the second end of the first transmission rod 820 is provided with a second pivot shaft 822, the first end of the proximal knuckle 300 is provided with a second pivot hole 310, and the second pivot shaft 822 can be rotatably inserted into the second pivot hole 310, so that the first transmission rod 820 is rotatably connected to the first end of the proximal knuckle 300. It is understood that, according to the actual choice and specific requirements, the two ends of the first transmission rod 820 can be rotatably connected to the first output shaft 811 and the proximal knuckle 300 respectively in other ways, which are not limited herein.
As an embodiment of the present invention, as shown in fig. 2, 4 and 6, a first end ball of the second transmission rod 920 is hinged to the second output shaft 911, and a second end of the first transmission rod 820 is hinged to the middle knuckle 400, so that both ends of the second transmission rod 920 are rotatably connected to the second output shaft 911 and the middle knuckle 400, respectively.
As an alternative embodiment of the present invention, as shown in fig. 2, 4 and 6, the first end of the second transmission rod 920 is provided with a spherical groove 921, the second output shaft 911 is provided with a ball head 9111, and the ball head 9111 is inserted into the rotatable spherical groove 921, so that the second transmission rod 920 is rotatably connected to the second output shaft 911; the second end of the second transmission rod 920 is provided with a third pivot shaft 922, the middle knuckle 400 is provided with a third pivot hole 410, and the third pivot shaft 922 is rotatably inserted into the third pivot hole 410, so that the second transmission rod 920 is rotatably connected to the middle knuckle 400. It is understood that, according to the actual choice and specific requirements, other ways can be adopted to make the two ends of the second transmission rod 920 rotatably connected to the second output shaft 911 and the middle knuckle 400, respectively, which are not limited herein.
In the finger structure according to the embodiment of the present invention, since the first end of the second transmission rod 920 is connected to the second output shaft 911 by a spherical hinge, the middle knuckle 400 can move freely in the process that the first driving assembly drives the near knuckle 300 to move in the first degree of freedom direction a, and will not be interfered by the output of the first driving assembly.
As an embodiment of the present invention, as shown in fig. 2 to 4, the proximal knuckle 300 is pivotally connected to the fixing base 200, and the middle knuckle 400 is pivotally connected to the second end of the proximal knuckle 300, so that the two ends of the proximal knuckle 300 are respectively rotatably connected to the middle knuckle 400 and the fixing base 200; the pivotal connection between the proximal knuckle 300 and the anchor block 200 is located between the first end and the second end of the proximal knuckle 300, i.e. the pivotal connection between the proximal knuckle 300 and the anchor block 200 is located in the middle of the proximal knuckle 300.
As an alternative embodiment of the present invention, as shown in fig. 2 to 4, the middle knuckle 400 is provided with a fourth pivot shaft 420, the proximal knuckle 300 is provided with a fourth pivot hole 320, and the fourth pivot shaft 420 is rotatably inserted into the fourth pivot hole 320, so that the middle knuckle 400 is pivoted to the second end of the proximal knuckle 300. It is understood that other ways of pivotally connecting the middle knuckle 400 to the second end of the proximal knuckle 300 may be used, depending on the actual choice and specific requirements, and are not limited herein.
As an embodiment of the present invention, as shown in fig. 2 to 4, the distal knuckle 500 is pivotally connected to the middle knuckle 400, and specifically, the distal knuckle 500 is provided with a fifth pivot 510, the middle knuckle 400 is provided with a fifth pivot hole 430, and the fifth pivot 510 is rotatably inserted into the fifth pivot hole 430, so that the distal knuckle 500 is rotatably connected to the middle knuckle 400. It will be appreciated that other means of pivotally connecting the distal knuckle 500 to the middle knuckle 400 may be employed, as the case may be and as the case may be, and are not limited solely thereto.
As an embodiment of the present invention, as shown in fig. 2 to 4, the middle knuckle 400 is provided with a passage 440 for the passage of the link 700, the first end of the link 700 is pivotally connected to the second end of the proximal knuckle 300, and the second end of the link 700 is pivotally connected to the distal knuckle 500 after passing through the passage 440. With this structure, on the one hand, the connecting rod 700 is hidden in the channel 440, so that the finger structure is more beautiful. On the other hand, the structure of the finger structure can be more compact, and the finger structure is miniaturized.
As an alternative embodiment of the present invention, as shown in fig. 2 to 4, the first end of the connecting rod 700 is provided with a sixth pivot shaft 710, the proximal knuckle 300 is provided with a sixth pivot hole 330, and the sixth pivot shaft 710 is rotatably inserted into the sixth pivot hole 330, so that the first end of the connecting rod 700 is rotatably connected to the second end of the proximal knuckle 300; the second end of the link 700 is provided with a seventh pivot shaft 800720, the distal knuckle 500 is provided with a seventh pivot hole 520, and the seventh pivot shaft 800720 is rotatably inserted into the seventh pivot hole 520, so that the second end of the link 700 is rotatably connected to the distal knuckle 500. It is understood that, according to the actual choice and specific requirements, the two ends of the connecting rod 700 can be rotatably connected to the proximal knuckle 300 and the distal knuckle 500 respectively in other ways, which are not limited herein.
As an embodiment of the present invention, as shown in fig. 1, 2 and 4, the pivotal connection between the link 700 and the proximal knuckle 300 (the sixth pivotal shaft 710 and the sixth pivotal hole 330) is disposed near the back side 100b of the proximal knuckle 300, and the pivotal connection between the middle knuckle 400 and the proximal knuckle 300 (the fourth pivotal shaft 420 and the fourth pivotal hole 320) is disposed near the front side 100a of the proximal knuckle 300. With this structure, when the middle knuckle 400 is driven to bend by the second driving assembly 900, the proximal knuckle 300 and the distal knuckle 500 can bend together with the middle knuckle 400 to facilitate gripping an object; when the second drive assembly 900 drives the middle knuckle 400 to straighten, the proximal and distal knuckles 300 and 500 may be caused to straighten together with the middle knuckle 400 to facilitate loosening of the object.
As an embodiment of the present invention, as shown in fig. 1, fig. 2 and fig. 4, the pivotal connection between the second end of the link 700 and the distal knuckle 500 (the seventh pivotal shaft 800720 and the seventh pivotal hole 520) is disposed near the front surface 100a of the distal knuckle 500 when the finger structure is in the straightened state. With this structure, when the middle knuckle 400 is driven to bend by the second driving assembly 900, the proximal knuckle 300 and the distal knuckle 500 can bend together with the middle knuckle 400 to facilitate gripping an object; when the second drive assembly 900 drives the middle knuckle 400 to straighten, the proximal and distal knuckles 300 and 500 may be caused to straighten together with the middle knuckle 400 to facilitate loosening of the object.
As an embodiment of the present invention, as shown in fig. 2 to 4, the holder 200 is provided with a bracket 210, and the proximal knuckle 300 is pivotally connected to the bracket 210, so that the proximal knuckle 300 is pivotally connected to the holder 200. In this embodiment, the pivotal connection of the proximal knuckle 300 to the support 210 is between the first and second ends of the proximal knuckle 300, i.e., the pivotal connection of the proximal knuckle 300 to the support 210 is in the middle of the proximal knuckle 300.
As an alternative embodiment of the present invention, as shown in fig. 2 to 4, the bracket 210 is provided with an eighth pivot shaft 211, the proximal knuckle 300 is provided with an eighth pivot hole 340, and the second pivot shaft 822 is rotatably inserted into the eighth pivot hole 340, so that the proximal knuckle 300 is pivotally connected to the holder 200. In this embodiment, the pivotal connection of the proximal knuckle 300 to the support 210 (the eighth pivotal shaft 211 and the eighth pivotal hole 340) is between the first end and the second end of the proximal knuckle 300, i.e., the pivotal connection of the proximal knuckle 300 to the support 210 is in the middle of the proximal knuckle 300.
As an embodiment of the present invention, as shown in fig. 1, fig. 2 and fig. 4, the finger structure further includes a fingertip cover 600 disposed on the front surface 100a of the distal knuckle 500, and the fingertip cover 600 may be fastened, snapped, screwed or otherwise fixed on the front surface 100a of the distal knuckle 500. In this embodiment, the surface of the fingertip cover 600 may be provided with a protrusion 610, and the protrusion 610 may be, but not limited to, a line shape, so as to improve friction force and facilitate pressing or clamping an object.
The embodiment of the invention also provides a robot, which comprises the finger structure. Since the robot in the embodiment of the present invention adopts all technical solutions of all the embodiments described above, all the beneficial effects brought by the technical solutions of the embodiments are also achieved, and are not described in detail herein.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. A finger structure, comprising:
a fixed seat;
the proximal knuckle is rotatably connected to the fixed seat;
the middle knuckle is rotatably connected with the near knuckle;
the far knuckle is rotationally connected with the middle knuckle;
the two ends of the connecting rod are respectively and rotatably connected to the near knuckle and the far knuckle;
the first driving component is used for driving the near knuckle to swing in a first freedom degree direction; and
and the second driving component is used for driving the middle knuckle to swing in a second degree of freedom direction, and a preset angle is formed between the center line of the first degree of freedom direction and the center line of the second degree of freedom direction.
2. The finger structure of claim 1, wherein said first driving assembly comprises a first linear driving member having a first output shaft, and a first transmission rod rotatably connected at both ends to said first output shaft and said proximal knuckle, respectively;
the second driving assembly comprises a second linear driving piece with a second output shaft and a second transmission rod, two ends of the second linear driving piece are respectively connected with the second output shaft and the middle knuckle in a rotating mode, and a preset angle is formed between the axis of the first output shaft and the axis of the second output shaft.
3. The finger structure of claim 2, wherein a first end of said first transfer lever is pivotally connected to said first output shaft and a second end of said first transfer lever is pivotally connected to a first end of said proximal knuckle;
the first end of the second transmission rod is hinged to the second output shaft through a ball, and the second end of the first transmission rod is pivoted to the middle knuckle.
4. The finger structure of claim 3, wherein said proximal knuckle is pivotally connected to said holder, said middle knuckle is pivotally connected to a second end of said proximal knuckle, and said proximal knuckle is pivotally connected to said holder between a first end and a second end of said proximal knuckle.
5. The finger structure of claim 4, wherein said middle knuckle is provided with a channel for passage of said link, said link having a first end pivotally connected to a second end of said proximal knuckle and a second end pivotally connected to said distal knuckle after passing through said channel.
6. The finger structure of claim 5, wherein the pivot of said link and said proximal knuckle is located near the back of said proximal knuckle and the pivot of said middle knuckle and said proximal knuckle is located near the front of said proximal knuckle.
7. The finger structure of claim 5, wherein the pivot of the second end of the link and the distal knuckle is disposed near the front of the distal knuckle when the finger structure is in a straightened state.
8. The finger structure of anyone of claims 1 to 6, characterised in that said holder is provided with a bracket, said proximal knuckle being pivoted to said bracket.
9. The finger structure of any one of claims 1 to 6, further comprising a fingertip cover provided on the front face of said distal knuckle.
10. A robot comprising a finger structure according to any of claims 1 to 9.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110330583.4A CN113119153B (en) | 2021-03-26 | 2021-03-26 | Finger structure and robot |
| PCT/CN2021/125044 WO2022199002A1 (en) | 2021-03-26 | 2021-10-20 | Finger structure and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110330583.4A CN113119153B (en) | 2021-03-26 | 2021-03-26 | Finger structure and robot |
Publications (2)
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| WO2022199002A1 (en) * | 2021-03-26 | 2022-09-29 | 深圳市优必选科技股份有限公司 | Finger structure and robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116119336A (en) * | 2023-01-29 | 2023-05-16 | 江苏理工学院 | Intelligent material handling robot |
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| CN113119153B (en) | 2022-11-29 |
| WO2022199002A1 (en) | 2022-09-29 |
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