CN118322243A - Bionic mechanical finger - Google Patents

Abstract

The invention provides a bionic mechanical finger, which comprises a first base, a second base and a first base, wherein the first base extends along the length direction of the mechanical finger; the knuckle part is rotatably connected to the front side of the first base through a first movement rotating shaft; the first driving unit is arranged on the first base and is connected with the knuckle part through a first transmission assembly to drive the knuckle part to rotate around the first motion rotating shaft so as to execute first rotation motion; the finger base is rotatably connected to the rear side of the first base through a second motion rotating shaft; the second driving unit is connected to the finger base and connected to the front side of the first base through a second transmission assembly to drive the first base to rotate around a second motion rotating shaft to execute second rotation motion. The mechanical finger provided by the embodiment of the invention has three active degrees of freedom, the flexibility is good, and the second driving unit adopts a cross-joint driving mode, so that the motion inertia of the mechanical finger is effectively reduced.

Description

Bionic mechanical finger

Technical Field

The invention belongs to the technical field of manipulators, and particularly relates to a bionic mechanical finger.

Background

In order to assist or replace a human hand in operating in a human work environment, the manipulator is required to achieve flexible, precise movements. According to the relation between the degree of freedom of the manipulator motion and the number of drives, the existing underactuated manipulator is mainly divided into a coupling manipulator, a flat clamping manipulator, a self-adaptive manipulator, a coupling self-adaptive manipulator and a flat clamping self-adaptive manipulator, and the underactuated manipulator can reduce the weight and the structural complexity of the manipulator by reducing the number of drives.

At present, the design of the manipulator mainly takes the humanoid dexterous hand like a human hand as an important research object, and the object is to generate a high-degree humanoid hand with small weight, small volume and high flexibility. The thumb, the index finger and the middle finger are required to have higher flexibility so as to ensure the design performance of the manipulator. The manipulator in the prior art generally has the problems of insufficient degree of freedom, large volume and large inertia, so that the manipulator is required to be designed with compact structure, light volume and high flexibility so as to improve the overall performance of the manipulator.

Disclosure of Invention

The invention aims to provide a bionic mechanical finger which has three active degrees of freedom and better flexibility, wherein a first knuckle and a second knuckle adopt underactuated mechanisms, so that the driving quantity is reduced, in addition, a transmission assembly is simplified, so that the structure of the mechanical finger is simplified and light, and the problems of complex structure, heavy weight and poor flexibility of the mechanical finger in the prior art are solved.

In order to solve the technical problems, the invention adopts the following technical scheme: a bionic mechanical finger comprising: the first base extends along the length direction of the mechanical finger; the knuckle part is rotatably connected to the front side of the first base through a first movement rotating shaft; the first driving unit is arranged on the first base and is connected with the knuckle part through a first transmission assembly to drive the knuckle part to rotate around the first motion rotating shaft so as to execute first rotation motion; the finger base is rotatably connected to the rear side of the first base through a second motion rotating shaft; the second driving unit is connected to the finger base and connected to the front side of the first base through a second transmission assembly to drive the first base to rotate around a second motion rotating shaft to execute second rotation motion.

Further, the mechanical finger includes: the third driving unit is connected to the finger base and comprises a third movement rotating shaft arranged along the length direction of the mechanical finger, and the third driving unit drives the finger base to rotate around the third movement rotating shaft to execute third rotation movement.

Further, the second driving unit is arranged at the rear side of the finger base, the second driving unit transmits motion to the second transmission assembly arranged at the front side of the finger base through the base transmission shaft penetrating through the finger base, and the base transmission shaft and the third motion rotating shaft are coaxially arranged.

Further, the second driving unit is transversely arranged on the rear side of the finger base, and transmits the rotary motion to the base transmission shaft through a second gear set, and the second gear set is used for changing the rotary motion direction of the second driving unit.

Further, the first driving unit and the first transmission assembly are arranged on the first base along the height direction, and the motion of the first driving unit is transmitted to the first transmission assembly through the first gear set arranged at the end part of the first base.

Further, the first transmission assembly comprises a first linear motion piece and a first screw rod transmission rod, the first linear motion piece converts the rotary motion of the first driving unit into linear motion, the first linear motion piece comprises a first screw rod and a first nut which are matched with each other, and the first screw rod transmission rod is fixedly connected with the first nut; the second transmission assembly comprises a second linear motion piece and a second screw rod transmission rod, the second linear motion piece converts the rotary motion of the second driving unit into linear motion, the second linear motion piece comprises a second screw rod and a second nut which are matched with each other, and the second screw rod transmission rod is fixedly connected with the second nut.

Further, the knuckle part comprises a first knuckle and a second knuckle, the first knuckle comprises a second base, the second base is connected to the first base through a first motion rotating shaft, and the first driving unit drives the knuckle part to rotate around the first motion rotating shaft through the second base.

Further, the first knuckle comprises a first knuckle connecting rod, a first transmission rod, a second transmission rod and a third transmission rod, the second knuckle comprises a second knuckle connecting rod, one end of the third transmission rod is rotatably connected to the first base, the other end of the third transmission rod is hinged to the first transmission rod and the second transmission rod, the second transmission rod is rotatably connected to the first knuckle connecting rod, and the first transmission rod is connected to the second knuckle connecting rod.

Further, when the mechanical finger is in an initial position where no movement occurs, the knuckle deflects by a preset angle with respect to the first base. Compared with the prior art, the beneficial effects of the specific embodiment of the invention are as follows: 1. the high-dexterity bionic mechanical finger has 3 active degrees of freedom, and the flexibility of the mechanical finger is good; 2. the buckling/stretching movement of the mechanical finger adopts a connecting rod to couple with the underactuated mechanism, and a single driving unit drives two knuckles to move, so that the driving quantity is reduced; 3. the structure design ensures that the abduction/adduction movement range of the mechanical finger is large, and the grasping capability of the mechanical arm is improved; 4. the first transmission assembly and the second transmission assembly adopt a linear driving design, a guide piece is not required to be used, and the structure of the mechanical finger is simplified.

Drawings

FIG. 1 is a schematic diagram of a bionic mechanical finger according to an embodiment of the invention;

FIG. 2 is a schematic view of each motion axis of a bionic mechanical finger according to an embodiment of the invention;

FIG. 3 is a cross-sectional view of a biomimetic robotic finger according to one embodiment of the present invention;

FIG. 4 is a schematic diagram of a bionic mechanical finger performing a first rotational motion according to an embodiment of the invention;

FIG. 5 is a schematic diagram of a bionic mechanical finger performing a second rotational motion according to an embodiment of the invention;

fig. 6 is a schematic diagram of a bionic mechanical finger according to an embodiment of the invention performing a third rotational movement.

Detailed Description

In order to make the technical solution of the present invention more clear, embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the detailed description of the embodiments is merely intended to teach a person skilled in the art how to practice the invention, and is not intended to be exhaustive of all the possible ways of implementing the invention, but rather to limit the scope of the invention in its specific implementations. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.

In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific direction or be constructed and operated in a specific direction, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

It will be understood by those within the art that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or coupled. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.

In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

The embodiment of the present invention protects a bionic mechanical finger, referring to fig. 1, the mechanical finger 100 includes a first base 10, a knuckle part 60 connected to the front side of the first base 10, and a finger base 70 connected to the rear side of the first base 10, the first base 10 extends along the length direction of the mechanical finger 100, the knuckle part 60 is rotatably connected to the first base 10 through a first motion shaft 51, a first driving unit 31 is disposed at the first base 10, the first driving unit 31 is connected to the knuckle part 60 through a first transmission assembly 41, and the first driving unit 31 drives the knuckle part 60 to rotate around the first motion shaft 51 through the first transmission assembly 41 to perform a first rotation motion, referring to fig. 4, specifically, the first rotation motion is a buckling/stretching motion.

The term "longitudinal direction" in the present application refers to the direction in which the longer side of the finger is located, and refers to the longitudinal direction of the human finger unless otherwise specified; the definition of "front" and "rear" in the present application refers to the direction in which the fingertip is located as "front", unless otherwise specified.

Referring to fig. 2-3, the knuckle 60 illustratively includes a first knuckle 61 and a second knuckle 62, the first transmission assembly 41 is coupled to the first knuckle 61, and in particular, the first knuckle 61 includes the second base 20, the second base 20 is rotatably coupled to the first base 10 through the first moving shaft 51, the first transmission assembly 41 is coupled to the second base 20, and when the first driving unit 31 is driven, the first transmission assembly 41 applies a force to the second base 20 such that the second base 20 rotates about the first moving shaft 51.

It will be appreciated that in the present embodiment, the knuckle 60 illustratively includes a first knuckle 61 and a second knuckle 62, and in other embodiments, the number of knuckles may be provided as desired, e.g., the knuckle includes only the first knuckle, or a greater number of knuckles can be provided.

Specifically, referring to fig. 1 and 3, the first knuckle 61 includes a first knuckle link 614, a first transmission link 611, a second transmission link 612, and a third transmission link 613, where the first knuckle link 614 is fixed to the second base 20 to follow the movement, one end of the third transmission link 613 is rotatably connected to the first base 10, the other end is connected to the first transmission link 611 and the second transmission link 612 through a ball joint universal joint, the second transmission link 612 is rotatably connected to the first knuckle link 614, the first transmission link 611 is connected to the second knuckle link 621, that is, the first base 10, the first knuckle link 614, the second transmission link 612, and the third transmission link 613 form a four-bar transmission mechanism, and the first knuckle link 614, the second knuckle link 621, the first transmission link 611, and the second transmission link 612 form an anti-parallelogram transmission mechanism, and the second knuckle link 621 and the first knuckle link 613 are under-driven when the first knuckle 61 rotates around the first movement rotation axis 51 through the second base 20. I.e. when the first knuckle 61 is rotated about the first motion axis of rotation 51, the second knuckle 62 produces a coupled motion.

The flexion/extension movement of the mechanical finger 100 adopts a connecting rod to couple the underactuated mechanism, and the first driving unit 31 drives the two knuckles to move, so that the number of driving units is reduced. In addition, the mechanical finger 100 adopts a link mechanism, which is beneficial to improving the motion precision of the mechanical finger 100 and overcoming the defects of the traditional mechanical finger 100 in terms of degree of freedom, dexterity and motion precision.

When the thumb and other fingers are matched to perform the palm-facing movement, the contact area is increased when the object is gripped by the palm-facing movement, and the preset angle can be selected to be 10 degrees, and the preset angle is comprehensively set according to factors such as the size of the mechanical finger. In the above manner, the first knuckle 61 of the mechanical finger 100 can actively perform the flexion/extension movement, and the second knuckle 62 can passively couple the movement.

Specifically, referring to fig. 1, the first driving unit 31 and the first transmission assembly 41 are arranged on the first base 10 along the height direction, the first base 10 is provided with a first gear set 416, and the first gear set 416 is disposed at an end of the first base 10 to transmit the motion of the first driving unit 31 to the first transmission assembly 41. By arranging the first driving unit 31 and the first transmission assembly 41 on the first base 10 along the height direction, the mechanical finger 100 is beneficial to compact structure and reduces the length occupation of the mechanical finger.

The first transmission assembly 41 includes a first linear motion member, which converts the rotational motion of the first driving unit 31 into a linear motion, and a first screw transmission rod 411.

Referring to fig. 1 to 3, the finger pad 70 is rotatably coupled to the rear side of the first pad 10 through the second movement shaft 52, the second driving unit 32 is coupled to the finger pad 70, and the second driving unit 32 is coupled to the front side of the first pad 10 through the second transmission assembly 42 to drive the first pad 10 to rotate about the second movement shaft 52 to perform a second rotational movement, and in particular, the second rotational movement is an abduction/adduction movement, referring to fig. 5.

Specifically, the second driving unit 32 is horizontally connected to the rear side of the finger base 70, the finger base 70 includes a base transmission shaft 71 along the length direction of the finger, the second driving unit 32 transmits the rotational motion to the second transmission assembly 42 through the base transmission shaft 71, the second transmission assembly 42 is connected to the front side of the first base 10, the second driving unit 32 drives the first base 10 to rotate around the second motion shaft 52 through the base transmission shaft 71 and the second transmission assembly 42 to perform the second rotational motion, and specifically, the first base 10 drives the knuckle 60 to rotate around the second motion shaft 52 to perform the second rotational motion.

Illustratively, the second drive unit 32 transmits rotational motion through the base drive shaft 71 to the second drive assembly 42 via a second gear set 426, the second gear set 426 illustratively including bevel gears or face gears to convert motion direction, the second drive assembly 42 including a second linear motion member for converting rotational motion of the second drive unit 32 to linear motion and a second lead screw drive rod 421. When the second driving unit 32 is driven, the second transmission assembly 42 applies a force to the first base 10, and the first base 10 rotates about the second movement shaft 52.

In the above manner, the second driving unit 32 is disposed at the rear side of the finger base 70, and drives the first base 10 to rotate around the second motion shaft 52 in a cross-joint driving manner to perform the second rotation motion, so as to be beneficial to rearranging the center of gravity of the mechanical finger and reducing the motion inertia of the mechanical finger; the second driving unit 32 is transversely placed at the rear side of the finger base 70, so that the length of the robot finger can be advantageously reduced, and the palm space of the robot finger can be fully utilized.

Specifically, the first transmission assembly 41 and the second transmission assembly 42 are each formed as a linear driving member, and the first transmission assembly 41 and the second transmission assembly 42 are used to generate linear motion.

Further, referring to fig. 1, the mechanical finger 100 further includes a third driving unit 33 connected to the finger base 70, and illustratively, the third driving unit 33 is disposed in parallel with the second driving unit 32, and the third driving unit 33 is disposed transversely to the rear side of the finger base 70. The finger rest 70 includes a third movement shaft 53 disposed along the length direction of the finger, and the third driving unit 33 is configured to drive the finger rest 70 to rotate around the third movement shaft 53 to perform a third rotation motion, specifically, referring to fig. 6, the third rotation motion is an outward swing/inward swing motion. When the finger base 70 rotates around the third movement shaft 53, the first base 10 and the knuckle 60 connected thereto are driven to integrally rotate around the third movement shaft 53.

Further, the base transmission shaft 71 and the third motion shaft 53 are coaxially disposed, and the compactness of the mechanical finger 100 is improved by a coaxial transmission manner.

As can be appreciated, referring to fig. 4, when the first driving unit 31 is driven, the knuckle 60 rotates about the first movement shaft 51 to perform the first rotational movement; referring to fig. 5, when the second driving unit 32 is driven, the first base 10 drives the knuckle 60 to rotate around the second movement shaft 52 to perform the second rotation movement; referring to fig. 6, when the third driving unit 33 is driven, the finger base 70 drives the first base 10 and the knuckle 60 to rotate around the third motion shaft 53 to perform the third rotation motion, and at this time, the second driving unit 32 may perform the compensation motion, so that the third rotation motion does not affect the joint angle of the second rotation motion. It will be appreciated that each drive unit corresponds to an active degree of freedom, and that the robot finger 100 simultaneously exhibits a combined rotational movement when combining the different drive units, e.g. the robot finger 100 simultaneously performs a first rotational movement and a second rotational movement when the first drive unit 31 and the second drive unit 32 are simultaneously driven.

Specifically, the second driving unit 32 disposed at the rear side of the finger base 70 is used for driving the first base 10 disposed at the front side of the finger base 70 to rotate around the second motion shaft 52, and the second driving unit 32 is driven across the joint.

Specifically, the third driving unit 33 is disposed at the rear side of the finger base 70, and drives the finger base 70 to rotate around the third movement shaft 53 through a worm and gear transmission member, which can be used to convert the rotational movement direction of the third driving unit 33.

Wherein the first transmission assembly 41 is used for transmitting power of the first driving unit 31, and the second transmission assembly 42 is used for transmitting power of the second driving unit 32.

In a specific embodiment, the first transmission assembly 41 includes a first linear motion member and a first screw transmission rod 411, the first linear motion member includes a first screw 413 and a first nut 412, the first screw 413 and the first nut 412 cooperate to convert the rotational motion of the first driving unit 31 into the linear motion, the first screw transmission rod 411 is fixedly connected with the first nut 412, the first screw transmission rod 411 receives the rotational motion of the first driving unit 31, that is, the first nut 412 receives the rotational motion of the first driving unit 31, generates the linear motion through the first screw 413, applies a force to the knuckle 60, and further rotates the knuckle 60 around the first motion shaft 51, and the first nut 412 rotationally drives the first screw 413 to generate the linear motion; in another embodiment, the first screw 413 is configured to receive the rotational motion of the first driving unit 31, convert the rotational motion into a linear motion through the first nut 412, and apply a force to the knuckle 60 through the first screw transmission rod 411 fixed to the first nut 412, thereby rotating the knuckle 60 about the first motion axis 51. Illustratively, the first screw driving rod 411 is formed as a hollow rod member, and the first screw driving rod 411 is disposed at an outer side of the first screw 413, and when the first driving unit 31 is driven, the first screw driving rod 411 and the first screw 413 generate a relative motion.

Further, the second transmission assembly 42 includes a second linear motion member and a second screw rod 421, where the second linear motion member includes a second screw rod 423 and a second nut 422 that are mutually matched, and the second transmission assembly 42 is exemplarily designed in the same manner as the first transmission assembly 41, so that the movement and structure of each component of the second transmission assembly 42 can be understood with reference to the first transmission assembly 41, and will not be repeated herein. When the second driving unit 32 is driven, the second transmission assembly 42 is connected to the front side of the first base 10 to apply a force to the first base 10, and the first base 10 rotates about the second movement shaft 52 disposed at the rear side to perform the second rotational movement.

In the above manner, the first transmission assembly 41 and the second transmission assembly 42 transmit the power of the first driving unit 31 and the second driving unit 32, respectively, the first transmission assembly 41 and the second transmission assembly 42 generate linear motion, the first screw transmission rod 411 is fixed to the first nut 412, the second screw transmission rod 421 is fixed to the second nut 422, the first screw transmission rod 411 moves along the axis of the first screw 413, and the second screw transmission rod 421 moves along the axis of the second screw 423. It can be appreciated that one end of the first transmission assembly 41 is connected to the first base 10 through a cross-shaft universal joint, the other end is connected to the second base 20 through a hinge, one end of the second transmission assembly 42 is connected to the finger base 70 through a cross-shaft universal joint, and the other end is connected to the first base 10 through a hinge, in this way, axial spin of the first nut 412 and the second nut 422 is avoided, and in addition, a guide rod is not required to be arranged on the structures of the first transmission assembly 41 and the second transmission assembly 42, which is beneficial to simplifying the structural design of the mechanical finger.

It will be appreciated that the structural distribution of the mechanical fingers described above is advantageous for reducing the length of the mechanical fingers, which are suitable for use as thumb, with less interference of each rotational movement of the mechanical fingers, and thus a greater range of movement may be produced. The outer swing/inner swing movement range of the mechanical finger is larger, the palm-facing movement is favorably carried out by the cooperation of the mechanical finger and other fingers, and the personification effect of the mechanical finger is better.

In the preferred embodiment of the scheme, the mechanical finger has 3 active degrees of freedom and 1 passive degree of freedom, and the flexibility of the mechanical finger is good; the first driving unit drives the first knuckle and the second knuckle to move simultaneously, and the second knuckle can move in a coupling way, so that the number of the driving units is reduced; the first driving unit and the first transmission assembly are arranged on the first base along the height direction, so that the mechanical finger is compact in structure, the second driving unit is arranged on the mechanical finger, the first base is driven to move across joints, and the movement inertia of the mechanical finger is reduced.

Finally, it should be pointed out that the above description is merely illustrative and not exhaustive, and that the invention is not limited to the embodiments disclosed, but that several improvements and modifications can be made by those skilled in the art without departing from the scope and spirit of the examples described above, which are also considered as being within the scope of the invention. The scope of the invention should therefore be pointed out in the appended claims.

Claims (9)

1. A bionic mechanical finger, comprising:

the first base extends along the length direction of the mechanical finger;

The knuckle part is rotatably connected to the front side of the first base through a first movement rotating shaft;

The first driving unit is arranged on the first base and is connected with the knuckle part through a first transmission assembly to drive the knuckle part to rotate around the first motion rotating shaft so as to execute first rotation motion;

the finger base is rotatably connected to the rear side of the first base through a second motion rotating shaft;

The second driving unit is connected to the finger base and connected to the front side of the first base through a second transmission assembly to drive the first base to rotate around a second motion rotating shaft to execute second rotation motion.

2. The biomimetic mechanical finger according to claim 1, wherein the mechanical finger comprises:

The third driving unit is connected to the finger base and comprises a third movement rotating shaft arranged along the length direction of the mechanical finger, and the third driving unit drives the finger base to rotate around the third movement rotating shaft to execute third rotation movement.

3. The bionic mechanical finger according to claim 2, wherein the second driving unit is disposed at a rear side of the finger base, the second driving unit transmits the motion to the second transmission assembly disposed at a front side of the finger base through a base transmission shaft penetrating the finger base, and the base transmission shaft and the third motion rotation shaft are coaxially disposed.

4. The bionic mechanical finger according to claim 3, wherein the second driving unit is transversely arranged at the rear side of the finger base, the second driving unit transmits the rotary motion to the base transmission shaft through a second gear set, and the second gear set is used for changing the rotary motion direction of the second driving unit.

5. The bionic mechanical finger according to claim 1, wherein the first driving unit and the first transmission assembly are disposed on the first base in a height direction, and the motion of the first driving unit is transmitted to the first transmission assembly through a first gear set disposed at an end of the first base.

6. The bionic mechanical finger according to claim 1, wherein the first transmission assembly comprises a first linear motion member and a first screw transmission rod, the first linear motion member converts the rotary motion of the first driving unit into linear motion, the first linear motion member comprises a first screw and a first nut which are matched with each other, and the first screw transmission rod is fixedly connected with the first nut; the second transmission assembly comprises a second linear motion piece and a second screw rod transmission rod, the second linear motion piece converts the rotary motion of the second driving unit into linear motion, the second linear motion piece comprises a second screw rod and a second nut which are matched with each other, and the second screw rod transmission rod is fixedly connected with the second nut.

7. The bionic mechanical finger according to claim 1, wherein the knuckle portion comprises a first knuckle and a second knuckle, the first knuckle comprises a second base, the second base is connected to the first base through a first motion axis of rotation, and the first drive unit drives the knuckle portion to rotate around the first motion axis of rotation through the second base.

8. The bionic mechanical finger according to claim 7, wherein the first knuckle comprises a first knuckle link, a first transmission rod, a second transmission rod and a third transmission rod, the second knuckle comprises a second knuckle link, one end of the third transmission rod is rotatably connected to the first base, the other end of the third transmission rod is hinged to the first transmission rod and the second transmission rod, the second transmission rod is rotatably connected to the first knuckle link, and the first transmission rod is connected to the second knuckle link.

9. The biomimetic mechanical finger of claim 1, wherein the knuckle deflects a preset angle relative to the first base when the mechanical finger is in an initial position where no movement is generated.