CN114851231A - Multi freedom's robot finger - Google Patents
Multi freedom's robot finger Download PDFInfo
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- CN114851231A CN114851231A CN202210537736.7A CN202210537736A CN114851231A CN 114851231 A CN114851231 A CN 114851231A CN 202210537736 A CN202210537736 A CN 202210537736A CN 114851231 A CN114851231 A CN 114851231A
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- fingertip
- reduction gearbox
- middle knuckle
- mounting groove
- gear
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- 230000007246 mechanism Effects 0.000 claims abstract description 125
- 230000005540 biological transmission Effects 0.000 claims abstract description 100
- 230000009467 reduction Effects 0.000 claims abstract description 90
- 238000000034 method Methods 0.000 abstract description 3
- 230000008569 process Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 10
- 238000009434 installation Methods 0.000 description 9
- 238000005452 bending Methods 0.000 description 3
- 239000012636 effector Substances 0.000 description 2
- 210000000245 forearm Anatomy 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 210000002435 tendon Anatomy 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
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Classifications
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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
- B25J15/0213—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by gears
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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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of robots, in particular to a robot finger with multiple degrees of freedom. The fingertip driving device is arranged in the middle knuckle and comprises a first driving mechanism, a reduction gearbox and a first transmission mechanism, the first driving mechanism is in transmission connection with the input end of the reduction gearbox, the output end of the reduction gearbox is in transmission connection with the first transmission mechanism, and the first transmission mechanism is in transmission connection with the fingertip. The first driving mechanism and the first transmission mechanism are arranged, when the first driving mechanism is started, the first transmission mechanism can be driven, and the fingertips can be driven to move in the operation process of the first transmission mechanism, so that the fingertips can move independently, and the dexterity of the fingers of the robot and the capability of operating objects are improved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a robot finger with multiple degrees of freedom.
Background
Robots have found widespread use in the industrial field, but currently the end effectors of robots generally need to be replaced according to a specific task. The robot finger is a universal end effector of a robot, and the design goal of the robot finger is to approximate or even duplicate the functions of a human hand, so that the robot has the capability of executing different tasks in a complex environment.
At present, the main technical scheme of the robot finger comprises an external driver and an internal driver. The driver of the robot finger with the external driver is mainly integrated on the forearm, the near knuckle, the middle knuckle and the fingertip are driven by the tendon rope, but the space of the forearm is occupied, and the tendon rope transmission has the defects of difficult pre-tightening, poor maintainability, complex control and the like. The robot finger with the built-in driver is characterized in that the driver is placed in a palm or a finger, but because of the limitation of space size, a coupling mechanism is arranged between the middle knuckle and the fingertip to carry out transmission, namely the middle knuckle and the fingertip synchronously move, so that the fingertip does not have the independent movement capability, and the dexterity of the robot finger and the capability of operating an object are poor. At the same time, the fingertip can only be driven using a less powerful driver, which results in less exertion by the fingertip.
Disclosure of Invention
The problem to be solved by the invention is how to enable the fingertips of the robot fingers to have independent movement capability.
In order to solve the problems, the invention provides a multi-degree-of-freedom robot finger which comprises a middle knuckle, a fingertip driving device and a fingertip, wherein the fingertip driving device is arranged in the middle knuckle, the fingertip driving device comprises a first driving mechanism, a reduction gearbox and a first transmission mechanism, the first driving mechanism is in transmission connection with the input end of the reduction gearbox, the output end of the reduction gearbox is in transmission connection with the first transmission mechanism, and the first transmission mechanism is in transmission connection with the fingertip.
The invention has the technical effects that: the first driving mechanism and the first transmission mechanism are arranged, when the first driving mechanism is started, the first transmission mechanism can be driven, and the fingertips can be driven to move in the operation process of the first transmission mechanism, so that the fingertips can move independently, and the dexterity of the fingers of the robot and the capability of operating objects are improved. Meanwhile, a reduction gearbox is arranged between the first driving mechanism and the first transmission mechanism, the input end of the reduction gearbox is in transmission connection with the driving mechanism, the output end of the reduction gearbox is connected with the first transmission mechanism, and torque generated by the motor is increased through the reduction gearbox and then transmitted to the first transmission mechanism, so that the fingertips can be driven to bend and stretch more effectively, and the fingertips can be further guaranteed to move independently. In addition, the first driving mechanism, the first transmission mechanism and the reduction gearbox are all arranged in the middle knuckle, so that the size of the finger tip can be reduced, the proportion of each joint of the finger of the robot is more suitable for the proportion of each joint of a human hand, and the finger of the robot has the capability of executing different tasks in a complex environment.
Optionally, the first transmission mechanism includes a worm, a worm wheel and a fingertip interface, the worm is engaged with the worm wheel, the worm is in transmission connection with the reduction box, one end of the fingertip interface is connected with the fingertip, and the other end of the fingertip interface is connected with the worm wheel.
Optionally, the first driving mechanism and the reduction gearbox are distributed in parallel, and the fingertip driving device further comprises a second transmission mechanism, wherein the second transmission mechanism is located between the first driving mechanism and the reduction gearbox and is in transmission connection with the first driving mechanism and the reduction gearbox respectively.
Optionally, the second transmission mechanism includes a first gear and a second gear, the first gear is in transmission connection with the first driving mechanism, the second gear is in transmission connection with the reduction gearbox, and the first gear is engaged with the second gear.
Optionally, the middle knuckle includes a middle knuckle housing and a middle knuckle frame, the first driving mechanism and the reduction gearbox are both disposed on the middle knuckle frame, and the middle knuckle frame is disposed in the middle knuckle housing.
Optionally, a first mounting groove, a second mounting groove and a third mounting groove are formed in the middle knuckle rack, the first driving mechanism is arranged in the first mounting groove, the reduction gearbox is arranged in the second mounting groove, the worm is arranged in the third mounting groove, the first mounting groove and the second mounting groove are distributed in parallel, and the second mounting groove and the third mounting groove are distributed coaxially.
Optionally, the multi-degree-of-freedom robot finger further comprises a support, and the support is arranged in the middle knuckle shell and is used for being arranged at the end parts of the first driving mechanism and the reduction gearbox.
Optionally, the multi-degree-of-freedom robot finger further comprises a housing, and the housing is arranged in the middle knuckle housing and is used for being sleeved on the second transmission mechanism.
Optionally, a fourth mounting groove is formed in the fingertip interface, and a mounting member is arranged on the worm wheel and is arranged in the fourth mounting groove.
Optionally, the multi-degree-of-freedom robot finger further includes a sensor disposed on the fingertip interface and configured to detect a strain of the fingertip interface.
Drawings
FIG. 1 is a schematic structural diagram of a robot finger according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of the structure of a fingertip and a middle knuckle according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of the structure of a fingertip and a middle knuckle according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a fingertip driving device and a middle knuckle frame according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a fingertip driving device according to an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a fingertip driving device according to an embodiment of the present invention;
FIG. 7 is a schematic structural diagram of a middle knuckle frame according to an embodiment of the present invention;
FIG. 8 is a schematic structural diagram of a first transmission mechanism according to an embodiment of the present invention;
FIG. 9 is a schematic structural diagram of a proximal knuckle according to an embodiment of the present invention;
fig. 10 is a schematic structural diagram of a base knuckle according to an embodiment of the present invention.
Reference numerals:
1. a fingertip; 2. a middle knuckle; 21. a middle knuckle housing; 22. a middle knuckle frame; 221. a first mounting groove; 222. a second mounting groove; 223. a third mounting groove; 23. a support; 24. a housing; 3. a proximal knuckle; 4. a fingertip drive device; 41. a first drive mechanism; 42. a reduction gearbox; 43. a first transmission mechanism; 431. a worm; 432. a worm gear; 433. a fingertip interface; 4331. a fourth mounting groove; 44. a second transmission mechanism; 441. a first gear; 442. a second gear; 5. a base knuckle; 6. a sensor; 7. a middle knuckle drive device; 71. a second drive mechanism; 72. a first rack; 73. a third gear; 8. a proximal knuckle drive device; 81. a third drive mechanism; 82. a second rack; 83. a fourth gear.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
This embodiment establishes an XYZ-axis coordinate system with the X-axis forward direction being forward, the X-axis reverse direction being backward, the Y-axis forward direction being left, the Y-axis reverse direction being right, the Z-axis forward direction being up, and the Z-axis reverse direction being down.
In order to solve the above problems, as shown in fig. 1 to 6, a multi-degree-of-freedom robot finger according to an embodiment of the present invention includes a middle knuckle 2, a fingertip driving device 4 and a fingertip 1, where the fingertip driving device 4 is disposed in the middle knuckle 2, the fingertip driving device 4 includes a first driving mechanism 41, a reduction box 42 and a first transmission mechanism 43, the first driving mechanism 41 is in transmission connection with an input end of the reduction box 42, an output end of the reduction box 42 is in transmission connection with the first transmission mechanism 43, and the first transmission mechanism 43 is in transmission connection with the fingertip 1.
The first driving mechanism 41 may be configured as a motor, and an output shaft of the motor is in transmission connection with an input end of the reduction box 42.
In the embodiment, the motor is started to rotate in the forward direction, the output shaft of the motor rotates to drive the reduction gearbox 42 to rotate, and the output torque of the motor is increased after passing through the reduction gearbox 42; the reduction box 42 transmits the increased torque to the first transmission mechanism 43 and drives the first transmission mechanism 43 to operate; the first transmission mechanism 43 operates to drive the fingertip 1 to make bending movement. Similarly, the motor is started to rotate reversely, the output shaft of the motor rotates to drive the reduction gearbox 42 to rotate, and the output torque of the motor is increased after passing through the reduction gearbox 42; the reduction box 42 transmits the increased torque to the first transmission mechanism 43 and drives the first transmission mechanism 43 to operate; the first transmission mechanism 43 operates to drive the fingertip 1 to make an extending movement.
In summary, the first driving mechanism 41 and the first transmission mechanism 43 are arranged, when the first driving mechanism 41 is started, the first transmission mechanism 43 can be driven, and the fingertip 1 can be driven to move in the operation process of the first transmission mechanism 43, so that the fingertip 1 can move independently, and the dexterity of the robot finger and the ability of operating an object are improved. Meanwhile, the reduction gearbox 42 is arranged between the first driving mechanism 41 and the first transmission mechanism 43, the input end of the reduction gearbox 42 is in transmission connection with the driving mechanism, the output end of the reduction gearbox 42 is connected with the first transmission mechanism 43, and torque generated by the motor is increased through the reduction gearbox 42 and then transmitted to the first transmission mechanism 43, so that the fingertip 1 can be driven to bend and stretch more effectively, and the independent movement of the fingertip 1 is further ensured. In addition, the first driving mechanism 41, the first transmission mechanism 43 and the reduction gearbox 42 are all arranged in the middle knuckle 2, so that the size of the fingertip 1 can be reduced, the proportion of each joint of the robot finger is more suitable for the proportion of each joint of a human hand, and the robot finger has the capability of executing different tasks in a complex environment.
Alternatively, as shown in fig. 5 and 6, the first transmission mechanism 43 includes a worm 431, a worm wheel 432 and a fingertip interface 433, the worm 431 is meshed with the worm wheel 432, the worm 431 is in transmission connection with the reduction box 42, one end of the fingertip interface 433 is connected with the fingertip 1, and the other end of the fingertip interface 433 is connected with the worm wheel 432.
Wherein, the output end of the reduction gearbox 42 is connected with the worm 431, and the output end of the reduction gearbox 42 is coaxially distributed with the worm 431.
In the embodiment, since the reduction gearbox 42 is connected with the worm 431, when the reduction gearbox 42 operates, the reduction gearbox 42 drives the worm 431 to rotate; because the worm 431 is meshed with the worm wheel 432, the worm 431 can drive the worm wheel 432 to rotate when rotating; because the worm wheel 432 is connected with the left end of the fingertip interface 433, the worm wheel 432 can drive the fingertip interface 433 to rotate when rotating, that is, the fingertip interface 433 swings with the right end as an axis; because the left end of fingertip interface 433 is connected with fingertip 1, when fingertip interface 433 uses the right end as the axle to swing, fingertip 1 can be driven to bend and stretch synchronously. Therefore, the transmission effectiveness of the reduction box 42, the first transmission mechanism 43 and the fingertip 1 is ensured, the first transmission mechanism 43 can drive the fingertip 1 to move during operation, and the independent movement capability of the fingertip 1 is ensured. Meanwhile, in the existing robot finger, a motor is generally used to block rotation to maintain output, so as to prevent the fingertip 1 from reversely rotating, which is likely to cause energy waste, and the first transmission mechanism 43 is provided with the worm 431 and the worm wheel 432, wherein the worm 431 can drive the worm wheel 432 to rotate, and the worm wheel 432 cannot drive the worm 431 to rotate. When reverse counter force is exerted on fingertip 1, acting force can be exerted on worm wheel 432, and because worm wheel 432 can not drive worm 431 to rotate, at this moment, fingertip 1 can not be reversely driven to rotate, thus fingertip 1 can realize self-locking, no motor stalling is needed to maintain output, and energy waste is reduced.
Optionally, as shown in fig. 5 and fig. 6, the first driving mechanism 41 and the reduction gearbox 42 are distributed in parallel, and the fingertip driving device 4 further includes a second transmission mechanism 44, where the second transmission mechanism 44 is located between the first driving mechanism 41 and the reduction gearbox 42, and is in transmission connection with the first driving mechanism 41 and the reduction gearbox 42, respectively.
In this embodiment, when the first driving mechanism 41 is set as a motor, the motor and the reduction gearbox 42 are coaxially distributed, that is, the output shaft of the motor is connected with the input end of the reduction gearbox 42, and because the motor and the reduction gearbox 42 are both arranged in the middle knuckle 2, the structure can increase the size of the middle knuckle 2, so that the fingers of the robot are difficult to fit with the size proportion of the human hand. When the motor and the reduction gearbox 42 are distributed in parallel, the axial size of the middle knuckle 2 can be shortened, so that the robot finger can better fit the size proportion of a hand while having transmission capacity, and can perform more complex actions. Meanwhile, when the motor and the reduction gearbox 42 are distributed in parallel, the output shaft of the motor is difficult to be directly connected with the input end of the reduction gearbox 42, the second transmission mechanism 44 is arranged between the output shaft of the motor and the input end of the reduction gearbox 42, so that the motor and the reduction gearbox 42 can be conveniently in transmission connection, the transmission effectiveness between the motor and the reduction gearbox 42 is ensured while the reasonable planning of the finger size proportion of the robot is realized, and the capability of independent movement of the finger tips 1 is ensured.
Alternatively, as shown in fig. 6, the second transmission mechanism 44 includes a first gear 441 and a second gear 442, the first gear 441 is in transmission connection with the first driving mechanism 41, the second gear 442 is in transmission connection with the reduction gearbox 42, and the first gear 441 and the second gear 442 are meshed.
When the first driving mechanism 41 is a motor, an output shaft of the motor is connected to the first gear 441, an input end of the reduction box 42 is connected to the second gear 442, and both the first gear 441 and the second gear 442 may be spur gears.
In this embodiment, the motor is started, and the motor output shaft rotates and drives the first gear 441 to rotate; the first gear 441 and the second gear 442 are meshed to drive the second gear 442 to rotate; the second gear 442 is connected to the input end of the reduction box 42 to drive the reduction box 42 to rotate. On the one hand, the meshing of the first and second gears 441 and 442 ensures the effective transmission of the internal transmission of the second transmission mechanism 44, and on the other hand, the connection of the first gear 441 with the output shaft of the motor and the connection of the second gear 442 with the reduction box 42 ensure the effective transmission between the first gear 441 and the motor and the effective transmission between the second gear 442 and the reduction box 42. Therefore, the transmission effectiveness between the motor and the reduction box 42 is further ensured, and the independent movement capability of the fingertip 1 is ensured.
Alternatively, as shown in fig. 3, 4 and 7, the middle knuckle 2 includes a middle knuckle housing 21 and a middle knuckle frame 22, the first driving mechanism 41 and the reduction gearbox 42 are both disposed on the middle knuckle frame 22, and the middle knuckle frame 22 is disposed in the middle knuckle housing 21.
In this embodiment, when the first driving mechanism 41 is set as a motor, the motor and the reduction gearbox 42 are integrally set on the middle knuckle frame 22, and compared with the case that the motor and the reduction gearbox 42 are distributed in the middle knuckle shell 21 in a scattered manner, the overall size of the fingertip driving device 4 can be further reduced, the rationality of the size ratio of each joint of the finger of the robot is improved, and the transmission effectiveness of the fingertip 1 is promoted. Meanwhile, the middle knuckle frame 22 is arranged, structures such as the motor and the reduction gearbox 42 can be firstly and intensively arranged on the middle knuckle frame 22 in advance, then the middle knuckle shell 21 is arranged on the middle knuckle frame 22, and compared with the mode that the motor and the reduction gearbox 42 are directly arranged in the middle knuckle shell 21 with smaller size, the installation process is simpler and more convenient.
Alternatively, as shown in fig. 7, the middle knuckle frame 22 is provided with a first mounting groove 221, a second mounting groove 222 and a third mounting groove 223, the first driving mechanism 41 is disposed in the first mounting groove 221, the reduction gearbox 42 is disposed in the second mounting groove 222, and the worm 431 is disposed in the third mounting groove 223.
The first installation groove 221 and the second installation groove 222 are distributed in parallel, and the second installation groove 222 and the third installation groove 223 are distributed coaxially.
In this embodiment, the first installation groove 221, the second installation groove 222 and the third installation groove 223 are formed in the middle knuckle frame 22, so that the first driving mechanism 41, the reduction gearbox 42 and the worm 431 can be assembled more conveniently. Meanwhile, the first installation groove 221 and the second installation groove 222 are arranged in parallel, so that the parallel distribution of the first driving mechanism 41 and the reduction gearbox 42 can be further ensured.
Optionally, as shown in fig. 5 and 6, the multi-degree-of-freedom robot finger further comprises a bracket 23, and the bracket 23 is arranged in the middle knuckle housing 21 and is used for being arranged at the end parts of the first driving mechanism 41 and the reduction gearbox 42.
The support 23 may be configured as a limiting sleeve, and an assembly groove is formed in the limiting sleeve relative to the output end of the first driving mechanism 41 and the input end of the reduction gearbox 42, so that the limiting sleeve is simultaneously sleeved at the left ends of the first driving mechanism 41 and the reduction gearbox 42.
In the present embodiment, when the first driving mechanism 41 and the reduction case 42 are respectively located in the second mounting groove 222 and the third mounting groove 223, the left end portions of the first driving mechanism 41 and the reduction case 42 need to be exposed, and the first gear 441 and the second gear 442 may be provided. By using the middle knuckle frame 22, the left sides of the first driving mechanism 41 and the reduction gearbox 42 can be kept parallel, and by using the limiting sleeve, the left sides of the first driving mechanism 41 and the reduction gearbox 42 can be kept parallel, so that the parallelism of the first driving mechanism 41 and the reduction gearbox 42 is further ensured, the whole volume of the fingertip driving device 4 is favorably reduced, and the size of the middle knuckle 2 is further reduced.
Optionally, as shown in fig. 5, the multi-degree-of-freedom robot finger further includes a housing 24, and the housing 24 is disposed in the middle knuckle housing 21 and is configured to be sleeved on the second transmission mechanism 44.
In the present embodiment, the housing 24 is provided to cover the first gear 441 and the second gear 442, and to protect the structures of the first gear 441 and the second gear 442, so as to ensure the stability of the transmission between the first driving mechanism 41 and the reduction gear 42.
Optionally, as shown in fig. 8, a fourth mounting groove 4331 is formed on the fingertip interface 433, and a mounting member is disposed on the worm wheel 432, and is configured to be disposed in the fourth mounting groove 4331.
Wherein, a rotating shaft is arranged in the middle knuckle 2, the rotating shaft sequentially passes through the fingertip interface 433 and the worm wheel 432, and two ends of the rotating shaft are sleeved with bearings and are rotatably connected with the middle knuckle 2. Meanwhile, the worm wheel 432 is arranged to be of a quarter-circle structure, the mounting part is a right-angle structure part of the worm wheel 432, the fourth mounting groove 4331 is also arranged to be of a quarter-circle structure, the worm wheel 432 is arranged in the first mounting groove 221, and two right-angle sides of the worm wheel 432 are respectively abutted to right-angle surfaces of the fourth mounting groove 4331.
In the present embodiment, a mounting member is provided in the fourth mounting groove 4331 to connect the worm wheel 432 and the fingertip interface 433, thereby ensuring stability of a connection structure between the worm wheel 432 and the fingertip interface 433. Because the connection structure between the worm wheel 432 and the fingertip interface 433 is stable, when the worm 431 drives the worm wheel 432 to rotate, the worm wheel 432 drives the left end of the knuckle interface to synchronously rotate. Therefore, when the worm wheel 432 rotates, the fingertip interface 433 can be driven to swing inevitably, and when the fingertip interface 433 swings, the fingertip 1 is driven to bend and stretch, so that the independent movement capability of the fingertip 1 is more obvious.
Optionally, as shown in fig. 8, the multi-degree-of-freedom robot finger further includes a sensor 6, and the sensor 6 is disposed on the fingertip interface 433 and is configured to detect strain of the fingertip interface 433.
Wherein the sensor 6 is arranged as a strain gauge and the controller is arranged to be connected to the strain gauge. Meanwhile, a strain gauge may be provided on the middle knuckle frame 22.
In this embodiment, the motor is started, and drives the first gear 441, the second gear 442, the reduction box 42, the worm 431, and the worm wheel 432 in sequence, and finally drives the fingertip 1 to perform bending and stretching movements, and since the fingertip interface 433 is connected to the middle knuckle 2 and the fingertip 1, the fingertip interface 433 is deformed by being stressed when the fingertip 1 performs bending and stretching movements. The sensor 6 is arranged on the fingertip interface 433, strain generated by the fingertip interface 433 can be measured, the sensor 6 is connected with the controller, after the strain of the fingertip interface 433 is measured by the sensor 6, strain data are transmitted to the controller, and torque of the fingertip 1 can be obtained through data simulation. And then, the force application size of the robot finger can be judged through the torque of the fingertip 1, the rotating speed of the motor is controlled through the controller, and the torque of the fingertip 1 is adjusted to control the force application size of the robot finger, so that the robot finger can be prevented from violently colliding with the external environment, and the protection of each joint structure of the robot finger is realized.
Optionally, as shown in fig. 9 and 10, the multi-degree-of-freedom robot finger further includes a proximal knuckle 3, a middle knuckle driving device 7, a base knuckle 5 and a proximal knuckle driving device 8, wherein the middle knuckle driving device 7 is disposed in the proximal knuckle 3, the middle knuckle driving device 7 is connected with the middle knuckle frame 22, and the proximal knuckle driving device 8 is disposed in the base knuckle 5 and is used for driving the proximal knuckle 3 to rotate.
In this embodiment, the middle knuckle driving device 7 can drive the middle knuckle frame 22 to move, and the middle knuckle frame 22 is disposed in the middle knuckle housing 21, so as to drive the middle knuckle housing 21 to move, thereby ensuring that the middle knuckle 2 can move independently. Meanwhile, by disposing the middle knuckle drive device 7 in the proximal knuckle 3, the structure inside the middle knuckle housing 21 can be reduced, thereby reducing the size of the middle knuckle 2.
Alternatively, as shown in fig. 9 and 10, the middle knuckle drive device 7 comprises a second drive mechanism 71, a first rack 72 and a third gear 73, the second drive mechanism 71 is in transmission connection with the first rack 72, the first rack 72 is meshed with the third gear 73, the third gear 73 is connected with the middle knuckle frame 22, the near knuckle drive device 8 comprises a third drive mechanism 81, a second rack 82 and a fourth gear 83, the third drive mechanism 81 is in transmission connection with the racks, the second rack 82 is meshed with the third gear 73, and the fourth gear 83 is connected with the near knuckle 3.
Wherein the second driving mechanism 71 and the third driving mechanism 81 are both provided as linear motors.
In this embodiment, when the second driving mechanism 71 is a linear motor, an output shaft of the linear motor is connected to the first rack 72, the linear motor is started, the linear motor drives the first rack 72 to move horizontally, the first rack 72 drives the third gear 73 to rotate when moving, and the third gear 73 rotates to drive the long shaft to rotate, so that the middle knuckle frame 22 is driven to rotate, and the effectiveness of the independent movement of the middle knuckle 2 is ensured; similarly, when the third driving mechanism 81 is set as a linear motor, the output shaft of the linear motor is connected with the second rack 82, the linear motor is started, the linear motor drives the second rack 82 to move horizontally, the second rack 82 drives the fourth gear 83 to rotate during movement, the fourth gear 83 rotates to drive the proximal knuckle 3 to rotate, and effectiveness of independent movement of the proximal knuckle 3 is guaranteed.
Although the present disclosure has been described above, the scope of the present disclosure is not limited thereto. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the spirit and scope of the present disclosure, and these changes and modifications are intended to be within the scope of the present disclosure.
Claims (10)
1. The multi-degree-of-freedom robot finger is characterized by comprising a middle knuckle (2), a fingertip driving device (4) and a fingertip (1), wherein the fingertip driving device (4) is arranged in the middle knuckle (2), the fingertip driving device (4) comprises a first driving mechanism (41), a reduction gearbox (42) and a first transmission mechanism (43), the first driving mechanism (41) is in transmission connection with the input end of the reduction gearbox (42), the output end of the reduction gearbox (42) is in transmission connection with the first transmission mechanism (43), and the first transmission mechanism (43) is in transmission connection with the fingertip (1).
2. The multi-degree-of-freedom robot finger as claimed in claim 1, wherein the first transmission mechanism (43) comprises a worm (431), a worm wheel (432) and a fingertip interface (433), the worm (431) is meshed with the worm wheel (432), the worm (431) is in transmission connection with the reduction box (42), one end of the fingertip interface (433) is connected with the fingertip (1), and the other end of the fingertip interface (433) is connected with the worm wheel (432).
3. The multi-degree-of-freedom robot finger according to claim 2, wherein the first driving mechanism (41) and the reduction gearbox (42) are distributed in parallel, the fingertip driving device (4) further comprises a second transmission mechanism (44), and the second transmission mechanism (44) is located between the first driving mechanism (41) and the reduction gearbox (42) and is in transmission connection with the first driving mechanism (41) and the reduction gearbox (42) respectively.
4. The multi-degree-of-freedom robot finger according to claim 3, characterized in that the second transmission mechanism (44) comprises a first gear (441) and a second gear (442), the first gear (441) being in transmission connection with the first drive mechanism (41), the second gear (442) being in transmission connection with the reduction gearbox (42), the first gear (441) and the second gear (442) being in mesh.
5. The multi-degree-of-freedom robot finger according to claim 3, wherein the middle knuckle (2) comprises a middle knuckle housing (21) and a middle knuckle frame (22), the first driving mechanism (41) and the reduction gearbox (42) are both arranged on the middle knuckle frame (22), and the middle knuckle frame (22) is arranged in the middle knuckle housing (21).
6. The multi-degree-of-freedom robot finger according to claim 5, wherein the middle knuckle frame (22) is provided with a first mounting groove (221), a second mounting groove (222) and a third mounting groove (223), the first driving mechanism (41) is disposed in the first mounting groove (221), the reduction box (42) is disposed in the second mounting groove (222), the worm (431) is disposed in the third mounting groove (223), the first mounting groove (221) and the second mounting groove (222) are distributed in parallel, and the second mounting groove (222) and the third mounting groove (223) are distributed coaxially.
7. The multiple degree of freedom robot finger according to claim 5, further comprising a support (23), said support (23) being arranged inside the middle knuckle shell (21) and being intended to be arranged at the ends of the first drive mechanism (41) and the reduction gearbox (42).
8. The multi-degree-of-freedom robot finger of claim 7, further comprising a housing (24), the housing (24) being disposed within the middle knuckle housing (21) and adapted to fit over the second transmission mechanism (44).
9. The multi-degree-of-freedom robot finger as claimed in claim 2, wherein a fourth mounting groove (4331) is formed on the fingertip interface (433), and a mounting member is arranged on the worm wheel (432), and the mounting member is arranged in the fourth mounting groove (4331).
10. The multi-degree-of-freedom robot finger of claim 2, further comprising a sensor (6), the sensor (6) being disposed on the fingertip interface (433) and being configured to detect strain of the fingertip interface (433).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210537736.7A CN114851231A (en) | 2022-05-18 | 2022-05-18 | Multi freedom's robot finger |
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| CN112720554A (en) * | 2020-12-21 | 2021-04-30 | 哈尔滨工业大学 | Dexterous hand finger and manipulator of robot |
| CN113305868A (en) * | 2021-06-25 | 2021-08-27 | 哈尔滨工业大学 | Multi-degree-of-freedom robot finger-based joint |
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| US20010028174A1 (en) * | 2000-04-04 | 2001-10-11 | Honda Giken Kogyo Kabushiki Kaisha | Multifinger hand device |
| KR20100014038A (en) * | 2008-08-01 | 2010-02-10 | 이수종 | A body apparatus for a humanoid robot having modular elements |
| DE102013000108A1 (en) * | 2013-01-02 | 2014-07-03 | Hans-Erich Maul | Short-slung strong joint module for robot hand, has axle arranged electromotor, and eccentric cam gear box provided with Oldham-coupling and worm gears, where joint module is movable along rotational axis |
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| CN113305868A (en) * | 2021-06-25 | 2021-08-27 | 哈尔滨工业大学 | Multi-degree-of-freedom robot finger-based joint |
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