CN212635768U - Finger structure and robot - Google Patents

Abstract

The application belongs to the technical field of robot parts and relates to a finger structure and a robot. In the finger structure, a near knuckle shell, a middle knuckle shell, a far knuckle shell and a connecting rod form a four-bar mechanism, the near knuckle shell is used as a fixing frame, a driving assembly drives the middle knuckle shell to swing, the far knuckle shell is linked with the connecting rod, and the far knuckle shell swings along the swinging direction of the middle knuckle shell, so that the action of bending and straightening the whole finger structure is realized. The transmission rod is arranged into a first bending arm, and the notch of the first bending arm faces to the back of the proximal knuckle shell. When the finger structure is straightened, namely the near knuckle shell is flush with the middle knuckle shell, the inner wall of the near end of the middle knuckle extends into the bottom of the notch of the first bending arm, so that the inner wall of the near end of the middle knuckle can be closer to the center of the near end opening. The application can make the near-end opening of finger structure less, lets the wholeness of middle knuckle shell outward appearance improve. Due to the presence of the first bending arm, the transmission rod will exhibit elasticity and absorb shocks when the distal or middle knuckle shell is impacted.

Description

Finger structure and robot

Technical Field

The application belongs to the technical field of robot parts, and particularly relates to a finger structure and a robot.

Background

At present, the finger structure of a robot is usually to arrange a connecting rod between two adjacent knuckle shells, and two ends of the connecting rod are respectively connected to the two knuckle shells, so as to realize the transmission of the two knuckle shells. Due to the existence of the connecting rod, the knuckle shell is provided with a larger opening for the connecting rod to pass through, namely the knuckle shell can be cut a lot, so that the integrity of the appearance of the knuckle shell is poor. Also, since the link is a one degree of freedom system, when the finger structure is impacted, it is difficult for the link to exhibit a certain elasticity to absorb the impact.

SUMMERY OF THE UTILITY MODEL

An object of the embodiment of the application is to provide a finger structure and a robot, so as to solve the technical problems that the existing finger structure needs to be provided with a relatively large opening for a connecting rod to pass through, and the finger structure is difficult to show certain elasticity to absorb impact.

The embodiment of the application provides a finger structure, includes:

a proximal knuckle shell;

the middle knuckle shell is pivoted to one end of the near knuckle shell, a near end opening is formed in one end, close to the near knuckle shell, of the front face of the middle knuckle shell, and the inner wall of the near end opening comprises a middle knuckle near end inner wall;

a distal knuckle shell pivotally connected to one end of the middle knuckle shell;

a connecting rod, two ends of which are respectively pivoted to the near knuckle shell and the far knuckle shell; and

the driving assembly is arranged on the near knuckle shell and used for driving the middle knuckle shell to swing relative to the near knuckle shell, and the driving assembly comprises a linear driving piece and a transmission rod driven by the linear driving piece to move; the transmission rod comprises a first bending arm, a notch of the first bending arm is arranged towards the back of the near knuckle shell, and one end of the first bending arm is pivoted to the middle knuckle shell; the near knuckle shell and the middle knuckle shell are parallel and level, the first bending arm penetrates through the near end opening, and the inner wall of the near end of the middle knuckle extends into the bottom of the notch of the first bending arm.

Optionally, the transmission rod further includes a second bending arm connected to one end of the first bending arm, a notch of the second bending arm is disposed toward the front of the proximal knuckle housing, and one end of the second bending arm is fixed to the output shaft of the linear driving element.

Optionally, the inner wall at the proximal opening further includes a middle knuckle distal inner wall spaced apart from the middle knuckle proximal inner wall; when the near knuckle shell is perpendicular to the middle knuckle shell, the first bending arm is located in the middle knuckle shell, the second bending arm penetrates through the near-end opening, and the inner wall of the far end of the middle knuckle extends to the bottom of a notch of the second bending arm.

Optionally, a proximal finger opening is formed in one end of the proximal knuckle shell, which is close to the middle knuckle shell, the second bending arm is located in the proximal knuckle shell, and the second bending arm penetrates through the proximal finger opening.

Optionally, the transmission rod has a connection seat connected to the linear driving member, a guide post is convexly disposed on a side surface of the connection seat, a linear guide groove extending along an axis direction of an output shaft of the linear driving member is disposed on a side wall of the proximal knuckle shell, and the guide post is inserted into the linear guide groove and can slide in the linear guide groove.

Optionally, one end of the driving rod close to the middle knuckle shell is provided with a connecting shaft, and two end parts of the connecting shaft are pivoted to two opposite side walls of the middle knuckle shell in a one-to-one correspondence manner.

Optionally, a distal finger opening is formed in the front face of the distal knuckle shell at one end close to the middle knuckle shell, the connecting rod passes through the distal finger opening, and a part of the connecting rod is located in the distal knuckle shell;

the middle knuckle shell is provided with a far end opening at one end close to the far knuckle shell, the connecting rod penetrates through the far end opening, and one part of the connecting rod is located in the middle knuckle shell.

Optionally, one end of the connecting rod close to the distal knuckle shell has a first pivot rod, and two ends of the first pivot rod are pivoted to two opposite side walls of the distal knuckle shell in a one-to-one correspondence manner.

Optionally, the middle knuckle shell has two first connecting lugs arranged at intervals, a first mounting area is formed between the two first connecting lugs, one end of the far knuckle shell extends into the first mounting area, and one end of the far knuckle shell is pivoted to the first connecting lugs.

Optionally, the inner side surface of the first connecting lug is provided with a first pivot hole, two side surfaces of the distal knuckle shell are respectively provided with a first pivot shaft, and the first pivot shafts are supported in the first pivot holes through bearings in a one-to-one correspondence manner.

Optionally, the proximal knuckle shell has two second engaging lugs arranged at an interval, a second mounting area is formed between the two second engaging lugs, one end of the middle knuckle shell extends into the second mounting area, and one end of the middle knuckle shell is pivoted to the second engaging lugs.

Optionally, a second pivot hole is formed in the inner side surface of the second connecting lug, second pivot shafts are respectively arranged on two side surfaces of the middle knuckle shell, and the second pivot shafts are supported in the second pivot holes through bearings in a one-to-one correspondence manner.

Optionally, the middle knuckle shell is provided with an arc-shaped guide groove, the arc-shaped guide groove uses the swing axis of the middle knuckle shell relative to the near knuckle shell as a center, one end of the connecting rod is provided with a second pivot rod, the second pivot rod penetrates through the arc-shaped guide groove, and the end of the second pivot rod is pivoted to at least one second connecting lug.

Optionally, the proximal knuckle shell comprises two proximal knuckle subshells spliced with each other, and the driving assembly is located between the two proximal knuckle subshells; the middle knuckle shell comprises two middle knuckle sub-shells which are spliced with each other, and the connecting rod is positioned between the two middle knuckle sub-shells; the far knuckle shell comprises two far knuckle subshells which are spliced with each other, and the connecting rod is positioned between the two far knuckle subshells.

The embodiment of the application provides a robot, including foretell finger structure.

One or more technical solutions provided in the embodiments of the present application have at least one of the following technical effects: in the finger structure, a near knuckle shell, a middle knuckle shell, a far knuckle shell and a connecting rod form a four-bar mechanism, the near knuckle shell is used as a fixing frame, a driving assembly drives the middle knuckle shell to swing, the far knuckle shell is linked with the connecting rod, and the far knuckle shell swings along the swinging direction of the middle knuckle shell, so that the action of bending and straightening the whole finger structure is realized. The transmission rod is arranged into a first bending arm, and the notch of the first bending arm faces to the back of the proximal knuckle shell. When the finger structure is straightened, namely the near knuckle shell is flush with the middle knuckle shell, the inner wall of the near end of the middle knuckle extends into the bottom of the notch of the first bending arm, so that the inner wall of the near end of the middle knuckle can be closer to the center of the near end opening, and the near end opening is further reduced, and the problem that the inner wall of the near end of the middle knuckle is arranged at a position farther from the center of the near end opening to ensure that the opening is larger as the traditional finger structure passes through the straight transmission rod is avoided. In the process of bending the finger structure, namely the middle knuckle shell and the near knuckle shell are gradually changed from being parallel and level to being vertical, the first bending arm can gradually enter the middle knuckle shell, and the transmission rod is arranged in a way that the first bending arm has no influence on straightening and bending actions. Compare in traditional finger structure, this application finger structure's near-end opening can be made less, and the middle finger knuckle shell is cut out regional reduction, lets the wholeness of middle finger knuckle shell outward appearance improve. Due to the presence of the first bending arm, the transmission rod will exhibit a certain elasticity and absorb the impact when the distal or middle knuckle shell is impacted. When the external impact disappears, the middle knuckle shell can return to the original state immediately due to the elasticity of the transmission rod.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, 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 application, 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 perspective assembly view of a finger structure provided in an embodiment of the present application;

FIG. 2 is an exploded perspective view of the finger structure of FIG. 1;

FIG. 3 is a further exploded perspective view of the finger structure of FIG. 2;

FIG. 4 is a schematic diagram of the finger structure of FIG. 1 in a straightened state with portions of the proximal, middle and distal knuckle shells not shown;

FIG. 5 is a schematic view of the finger structure of FIG. 1 during a bending process;

FIG. 6 is a schematic view of the finger structure of FIG. 1 in a fully flexed state;

FIG. 7 is an assembled view of the finger structure of FIG. 1 assembled with a palm;

FIG. 8 is a perspective assembly view of another angle of the finger structure of FIG. 1;

FIG. 9 is an exploded perspective view of the finger structure of FIG. 8;

fig. 10(a) and 10(b) are schematic structural views of the finger structure of fig. 1 in a fully bent state, wherein fig. 10(a) does not show a connecting rod, and fig. 10(b) shows a connecting rod;

fig. 11(a) and 11(b) are schematic views of another angle structure of the finger structure of fig. 1 in a fully bent state, fig. 11(a) does not show the transmission rod, and fig. 11(b) shows the transmission rod.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present application clearer, the present application 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 present application and are not intended to limit the present application.

In the description of the embodiments of the present application, it is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like refer to orientations and positional relationships illustrated in the drawings, which are used for convenience in describing the embodiments of the present application and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the embodiments of the present application.

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 application, "a plurality" means two or more unless specifically limited otherwise.

In the embodiments of the present application, unless otherwise specifically stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the embodiments of the present application can be understood by those of ordinary skill in the art according to specific situations.

Referring to fig. 1 to 4, a finger structure 100 according to an embodiment of the present invention includes a proximal knuckle housing 10, a middle knuckle housing 20, a distal knuckle housing 30, a connecting rod 40 and a driving element 50. The middle knuckle shell 20 is pivoted to one end of the proximal knuckle shell 10, the distal knuckle shell 30 is pivoted to one end of the middle knuckle shell 20, a1 in fig. 4 to 6 is a pivoting axis between the middle knuckle shell 20 and the proximal knuckle shell 10, and a2 is a pivoting axis between the distal knuckle shell 30 and the middle knuckle shell 20. Both ends of the connecting rod 40 are respectively pivoted to the proximal knuckle shell 10 and the distal knuckle shell 30, A3 in fig. 4 to 6 is a pivoting axis between the connecting rod 40 and the proximal knuckle shell 10, and a4 is a pivoting axis between the connecting rod 40 and the distal knuckle shell 30.

Referring to fig. 7, the front 10a of the proximal knuckle shell 10, the front 20a of the middle knuckle shell 20 and the front 30a of the distal knuckle shell 30 are all the surfaces of the finger structures 100 that are on the same side as the palm 200 palm center 201 in the straightened state, and are the lower side of the proximal knuckle shell 10, the lower side of the middle knuckle shell 20 and the lower side of the distal knuckle shell 30 shown in fig. 1 and 4, respectively. The back 10b of the proximal knuckle shell 10 and the back 20b of the middle knuckle shell 20 are both the sides of the finger structure 100 that are on the same side as the back 202 of the palm 200 when in the straightened state, and are the upper side of the proximal knuckle shell 10 and the upper side of the middle knuckle shell 20 shown in fig. 1 and 4, respectively.

Referring to fig. 4 and 9, a proximal opening 24 is formed in a front surface 20a of the middle knuckle shell 20 at an end close to the proximal knuckle shell 10, only a portion of the proximal opening 24 is shown in fig. 4, fig. 9 shows the complete proximal opening 24, an inner wall of the proximal opening 24 includes a middle knuckle proximal inner wall 241 and a middle knuckle distal inner wall 242 which are oppositely disposed, and when the finger structure 100 is in a straight state, the middle knuckle proximal inner wall 241 is closer to the palm 200 than the middle knuckle distal inner wall 242.

Referring to fig. 2 and 3, a driving assembly 50 is mounted on the proximal knuckle housing 10 for driving the middle knuckle housing 20 to swing with respect to the proximal knuckle housing 10. The driving assembly 50 includes a linear driving member 51 installed on the proximal knuckle housing 10 and a transmission rod 52 driven by the linear driving member 51 to move, one end of the transmission rod 52 is fixed to an output shaft 511 of the linear driving member 51, the other end of the transmission rod 52 is pivoted to the middle knuckle housing 20, and a pivot axis between the transmission rod 52 and the middle knuckle housing 20 is spaced apart from a pivot axis a1 between the proximal knuckle housing 10 and the middle knuckle housing 20. The linear driving member 51 pushes the transmission rod 52 to move back and forth, so as to rotate the middle knuckle housing 20 relative to the proximal knuckle housing 10.

The transmission rod 52 includes a first bending arm 522, which may be understood as a bending structure formed by bending a strip-shaped body to form a notch, and the bending arm is substantially 7-shaped, and the specific forming manner is not limited. Referring to fig. 4, the notch 522a of the first bending arm 522 is disposed toward the back face 10b of the proximal knuckle housing 10. One end of the first bending arm 522 is pivotally connected to the middle knuckle shell 20. When the finger structure 100 is straightened (fig. 4), that is, when the proximal knuckle shell 10 is flush with the middle knuckle shell 20, the two knuckle shells are flush, that is, the two knuckle shells are in a straightened state, and may be connected in the same straight direction, or have a small included angle (such as 5 °, specifically, but not limited to) between the extending directions of the two knuckle shells, at this time, the first bending arm 522 passes through the proximal opening 24, and the middle knuckle proximal inner wall 241 extends to the bottom of the notch 522a of the first bending arm 522, and the middle knuckle proximal inner wall 241 is used as a part of the edge of the proximal opening 24, which enters the notch 522a of the first bending arm 522 and is close to the inner bottom of the notch 522 a.

Compared with the related art, in the finger structure 100, the near knuckle shell 10, the middle knuckle shell 20, the far knuckle shell 30 and the connecting rod 40 form a four-bar mechanism, the near knuckle shell 10 serves as a fixing frame, the driving assembly 50 drives the middle knuckle shell 20 to swing, the far knuckle shell 30 is linked with the connecting rod 40, the far knuckle shell 30 swings along the swinging direction of the middle knuckle shell 20, and the action of bending and straightening the whole finger structure 100 is achieved. In the figure 4 finger configuration in the extended state, if the straight driving rod 52 'is used, the straight driving rod 52' will interfere with the housing of the proximal inner wall 241 portion of the middle knuckle. To avoid interference, the medial knuckle proximal inner wall 241 needs to be positioned farther from the center of the proximal opening 24, which would make the opening larger. In the present application, the driving rod 52 is configured to have the first bending arm 522, so that the inner wall 241 of the proximal end of the middle finger section can be closer to the center of the proximal opening 24, and further the proximal opening 24 can be smaller, thereby avoiding the problem that the opening is larger because the inner wall 241 of the proximal end of the middle finger section is disposed farther from the center of the proximal opening 24 for the straight driving rod 52' to pass through as in the conventional finger structure.

During the bending process of the finger structure 100 (shown in fig. 5 and 6), i.e., the middle knuckle shell 20 and the proximal knuckle shell 10 gradually change from being flush to being perpendicular, the first bending arm 522 will gradually enter the middle knuckle shell 20, and the transmission rod 52 is configured such that the first bending arm 522 has no effect on both the straightening and bending motions. In contrast to conventional finger structures, the proximal opening 24 of the finger structure 100 of the present application can be made smaller, reducing the cut area of the middle knuckle shell 20, and improving the integrity of the appearance of the middle knuckle shell 20. Due to the presence of the first bending arm 522 of the transmission lever 52, the transmission lever 52 will exhibit a certain elasticity and absorb the impact when the distal knuckle shell 30 or the middle knuckle shell 20 is impacted. When the external impact disappears, the middle knuckle shell 20 will immediately return to the original state due to the elasticity of the transmission rod 52.

Referring to fig. 4 to 6, in another embodiment of the present invention, a four-bar mechanism formed by the proximal knuckle housing 10, the middle knuckle housing 20, the distal knuckle housing 30 and the connecting rod 40 is a double-rocker mechanism, the proximal knuckle housing 10 is a fixed frame, the middle knuckle housing 20 and the connecting rod 40 are rockers, one end of the middle knuckle housing 20 and one end of the connecting rod 40 are respectively pivoted on the proximal knuckle housing 10 (positions a1 and A3), the other end of the middle knuckle housing 20 and the other end of the connecting rod 40 are respectively pivoted on two positions (positions a2 and a 4) spaced apart from the same end of the distal knuckle housing 30, and the other end of the distal knuckle housing 30 is extended, so as to form the finger structure 100. The driving component 50 drives the middle knuckle shell 20 to swing, the far knuckle shell 30 is linked with the connecting rod 40, and the far knuckle shell 30 swings along the swinging direction of the middle knuckle shell 20, so that the integral bending and straightening actions of the finger structure 100 are realized. In the process of bending and straightening the finger structure 100, the middle knuckle shell 20 and the connecting rod 40 which are respectively used as rockers, and the connecting line of the two pivot points of the middle knuckle shell 20 (namely the axis connecting line of the A1 and the A2) and the connecting line of the two pivot points of the connecting rod 40 (namely the axis connecting line of the A3 and the A4) are maintained to be arranged in a crossed manner, so that the finger structure 100 can be bent and straightened integrally, namely the driving assembly 50 drives the middle knuckle shell 20 to swing, and the far knuckle shell 30 also swings along with the swinging direction of the middle knuckle shell 20.

The proximal 10 and middle 20 knuckle shells are flush with the distal 30 knuckle shell when the finger structure 100 is straightened. In the fully flexed action of the finger structure 100, the proximal knuckle shells 10 are perpendicular to the middle knuckle shells 20, and the middle knuckle shells 20 are perpendicular to the distal knuckle shells 30. The finger structure 100 moves between extension and flexion, with the proximal knuckle shell 10 fixed and the middle knuckle shell 20 and distal knuckle shell 30 swinging in the same direction at the same time.

Referring to fig. 2 to 6, in another embodiment of the present application, the linear actuator 51 may be an electric cylinder for outputting a predetermined displacement to control the motion of the finger structure 100. It will be appreciated that the drive assembly 50 may also be used in other arrangements for driving rotation of the middle knuckle housing 20 relative to the proximal knuckle housing 10.

Referring to fig. 2 to 4, in another embodiment of the present application, the transmission lever 52 further includes a second bending arm 523 connected to one end of the first bending arm 522, and the notch 523a of the second bending arm 523 is disposed toward the front surface 10a of the proximal knuckle housing 10. One end of the second bending arm 523 is fixed to the output shaft 511 of the linear driving element 51. The driving lever 52 is configured to have the first bending arm 522 and the second bending arm 523, the notch 522a of the first bending arm 522 is opposite to the notch 523a of the second bending arm 523, and the first bending arm 522 and the second bending arm 523 are configured to have a substantially one-cycle sinusoidal curve, so that the elasticity of the driving lever 52 can be further improved to absorb external impact, and the knuckle housing 20 can immediately return to an original state when the external impact disappears.

Referring to fig. 3 to 6, in another embodiment of the present application, the inner wall at the proximal opening 24 further includes a middle knuckle distal inner wall 242 spaced apart from the middle knuckle proximal inner wall 241; when the proximal knuckle housing 10 is perpendicular to the middle knuckle housing 20 (shown in fig. 6), the first bending arm 522 is located inside the middle knuckle housing 20, the second bending arm 523 passes through the proximal opening 24, and the middle knuckle distal inner wall 242 extends to the bottom of the recess 523a of the second bending arm 523, and the middle knuckle distal inner wall 242 serves as a part of the edge of the proximal opening 24, which enters the recess 523a of the second bending arm 523 and is close to the inner bottom surface of the recess 523 a. The finger structure of fig. 6 is in a bent state, and if the straight transmission rod 52 'shown by the two-dot chain line is used, the straight transmission rod 52' interferes with a part of the housing of the distal end inner wall 242 of the middle knuckle. To avoid interference, the distal medial knuckle inner wall 242 needs to be positioned farther from the center of the proximal opening 24, which would make the opening larger. In the present application, the driving rod 52 is configured to have the second bending arm 523, so that the distal inner wall 242 of the middle knuckle can be closer to the center of the proximal opening 24, and the size of the proximal opening 24 can be further reduced, thereby avoiding the problem that the opening is larger because the distal inner wall 242 of the middle knuckle is disposed farther from the center of the proximal opening 24 for the straight driving rod 52' to pass through as in the conventional finger structure. The transmission rod 52 is arranged in a configuration with the second bending arm 523, having no effect on both the straightening and bending movements. In contrast to conventional finger structures, the proximal opening 24 of the finger structure 100 of the present application can be made smaller, reducing the cut area of the middle knuckle shell 20, and improving the integrity of the appearance of the middle knuckle shell 20. As can be seen in fig. 11, when the finger structure 100 is in the bent state, the second bending arm 523 substantially blocks the proximal opening 24 of the middle knuckle shell 20, reducing the area of the proximal opening 24 that is observed by a person, resulting in a better appearance of the middle knuckle shell 20.

Referring to fig. 2 to 4, in another embodiment of the present application, a proximal knuckle case 10 has a proximal knuckle opening 12 at an end close to a middle knuckle case 20, a second bending arm 523 is located in the proximal knuckle case 10, and the second bending arm 523 passes through the proximal knuckle opening 12. The portion of the second bent arm 523 in the transmission lever 52 is disposed inside the proximal knuckle housing 10 to better protect the transmission lever 52, prevent the second bent arm 523 from being exposed outside the proximal knuckle housing 10, and make the appearance of the finger structure 100 better.

Referring to fig. 2 to 4, in another embodiment of the present application, the transmission rod 52 has a connecting seat 521 connected to the output shaft 511 of the linear actuator 51, a guide post 5211 is protruded from a side surface of the connecting seat 521, a linear guide groove 11 extending along an axial direction of the output shaft 511 of the linear actuator 51 is formed in a side wall of the proximal knuckle housing 10, and the guide post 5211 is inserted into the linear guide groove 11 and can slide in the linear guide groove 11. The guide post 5211 is engaged with the linear guide groove 11, so that the transmission rod 52 can move back and forth along a predetermined direction, and the working reliability of the mechanism is improved.

Referring to fig. 2 to 4 and 9, in another embodiment of the present application, one end of the transmission rod 52 close to the middle knuckle shell 20 has a connecting shaft 524, and two ends of the connecting shaft 524 are pivoted to two opposite sidewalls of the middle knuckle shell 20 in a one-to-one correspondence manner, for example, the ends of the connecting shaft 524 are inserted into the pivot holes 27 of the middle knuckle shell 20. With this arrangement, one end of the transmission lever 52 can be stably pivoted to the knuckle housing 20. Further, the axis of the connecting shaft 524 is the pivot axis between the driving rod 52 and the middle knuckle shell 20, and two ends of the connecting shaft 524 are supported on two opposite sidewalls of the middle knuckle shell 20 through bearings 5241, respectively, so that the friction between the connecting shaft 524 and the middle knuckle shell 20 can be reduced, and the driving rod 52 can be reliably pivoted on the middle knuckle shell 20. The bearing 5241 may be mounted within the pivot hole 27.

Referring to fig. 4, 7-10, in another embodiment of the present application, the front surface 30a of the distal knuckle shell 30 is provided with a distal finger opening 31 at an end near the middle knuckle shell 20, fig. 4 shows only a portion of the distal finger opening 31, and fig. 9 shows the complete distal finger opening 31. The connecting rod 40 passes through the distal finger opening 31 with a portion of the connecting rod 40 being located within the distal knuckle housing 30, giving the distal knuckle housing 30 an appearance similar to the distal knuckle of a finger.

Further, the inner wall at the distal finger opening 31 includes a proximal distal knuckle inner wall 311 and a distal knuckle inner wall 312 which are disposed opposite to each other, and when the finger structure 100 is in the straightened state, the proximal distal knuckle inner wall 311 is closer to the palm 200 than the distal knuckle inner wall 312. Referring to fig. 3, the connecting rod 40 includes a first bending section 41, which may be understood as a bending structure formed by bending a strip-shaped body to form a notch, and the bending section is substantially 7-shaped or T-shaped, and the specific forming manner is not limited. Referring to fig. 4, the notch 41a of the first bend 41 is disposed toward the back 20b of the middle knuckle shell 20, and one end of the first bend 41 is pivotally connected to the distal knuckle shell 30, i.e., at a position a 4. When the distal knuckle shell 30 is flush with the middle knuckle shell 20 (shown in fig. 2, 4 and 8), the first bent section 41 passes through the distal knuckle opening 31, and the distal knuckle proximal end inner wall 311 extends to the bottom of the notch 41a of the first bent section 41 (shown in fig. 4), and the distal knuckle proximal end inner wall 311 serves as a part of the edge of the distal knuckle opening 31 that enters the notch 41a of the first bent section 41 and is close to the inner bottom surface of the notch 41 a.

In the figure 4 finger configuration in the straightened state, if the straight link 40 'is used, as shown by the two-dot chain line, the straight link 40' will interfere with a portion of the housing of the proximal inner wall 311 of the distal knuckle. To avoid interference, it is desirable to locate the distal knuckle proximal inner wall 311 farther from the center of the distal finger opening 31, which would make the opening larger. In the present application, the connecting rod 40 is provided in a structure having the first bent section 41, and the notch 41a of the first bent section 41 faces the rear surface 20b of the middle knuckle housing 20. When the finger structure 100 is straightened, that is, the distal knuckle shell 30 is flush with the middle knuckle shell 20 (shown in fig. 2 and 4), the proximal inner wall 311 of the distal knuckle at the distal finger opening 31 extends into the bottom of the notch 41a of the first bending section 41, so that the proximal inner wall 311 of the distal knuckle can be closer to the center of the distal finger opening 31, and the distal finger opening 31 can be smaller, thereby avoiding the problem that the opening is larger when the proximal inner wall 311 of the distal knuckle is arranged at a position farther from the center of the distal finger opening 31 for the straight connecting rod 40' to pass through as in the conventional finger structure.

Referring to fig. 4 to 6, during the bending process of the finger structure 100, i.e. the distal knuckle shell 30 and the middle knuckle shell 20 gradually change from being flush to being perpendicular, the first bending section 41 will gradually enter into the distal knuckle shell 30, and the connecting rod 40 is configured such that the first bending section 41 has no influence on the straightening and bending actions. Compared with the conventional finger structure, the far finger opening 31 of the finger structure 100 can be made smaller, the cut area of the far knuckle shell 30 is reduced, and the appearance integrity of the far knuckle shell 30 is improved. Due to the presence of the first bent section 41, when the distal knuckle housing 30 is impacted, the connecting rod 40 will exhibit a certain elasticity and absorb the impact. When the external impact disappears, the distal knuckle shell 30 is immediately returned to its original state due to the elasticity of the connecting rod 40.

Referring to fig. 3 to 6, in another embodiment of the present application, the connecting rod 40 further includes a second bent section 42 connected to one end of the first bent section 41, and referring to fig. 4, a notch 42a of the second bent section 42 is disposed toward the front surface 20a of the middle knuckle shell 20. One end of the second bending segment 42 is pivotally connected to the proximal knuckle housing 10, namely position a 3. The connecting rod 40 is provided with the first bending section 41 and the second bending section 42, the notch 41a of the first bending section 41 is opposite to the notch 42a of the second bending section 42, and the first bending section 41 and the second bending section 42 are in a structure of a single-period sine curve, so that the elasticity of the connecting rod 40 can be further improved to absorb external impact, and the distal knuckle shell 30 can immediately return to the original state when the external impact disappears.

Referring to fig. 4 to 6 and 9, in another embodiment of the present application, the inner wall at the distal finger opening 31 further includes a distal knuckle inner wall 312 spaced apart from the distal knuckle proximal end inner wall 311; during the bending motion of the finger structure 100, i.e. when the distal knuckle shell 30 is perpendicular to the middle knuckle shell 20 (shown in fig. 6), the first bending section 41 is located inside the distal knuckle shell 30, the second bending section 42 passes through the distal finger opening 31, and the distal knuckle inner wall 312 extends to the bottom of the notch 42a of the second bending section 42, and the distal knuckle inner wall 312 serves as a part of the edge of the distal finger opening 31, which enters the notch 42a of the second bending section 42 and is close to the inner bottom surface of the notch 42 a. The finger structure of fig. 6 is in a bent state, and if the straight link 40 'shown by a two-dot chain line is used, the straight link 40' interferes with a portion of the housing of the distal inner wall 312 of the distal knuckle. To avoid interference, it is desirable to locate the distal knuckle inner wall 312 farther from the center of the distal finger opening 31, which would make the opening larger. In the present application, the connecting rod 40 is configured to have the second bending section 42, so that the far knuckle far end inner wall 312 can be closer to the center of the far finger opening 31, and the size of the far finger opening 31 can be further reduced, thereby avoiding the problem that the opening is larger because the far knuckle far end inner wall 312 is disposed farther from the center of the far finger opening 31 for the straight connecting rod 40' to pass through as in the conventional finger structure 100. The connecting rod 40 is configured with a second bending section 42 that has no effect on both the straightening and bending motions. Compared with the conventional finger structure, the far finger opening 31 of the finger structure 100 can be made smaller, the cut area of the far knuckle shell 30 is reduced, and the appearance integrity of the far knuckle shell 30 is improved. As can be seen from fig. 10, when the finger structure 100 is in the bent state, the second bent section 42 substantially blocks the distal finger opening 31 of the distal knuckle shell 30, and reduces the area of the distal finger opening 31 observed by a person, so that the distal knuckle shell 30 has better appearance.

Referring to fig. 2 to 4, 8 and 9, in another embodiment of the present application, a distal opening 21 is formed at one end of the middle knuckle shell 20 close to the distal knuckle shell 30, a connecting rod 40 passes through the distal opening, and a portion of the connecting rod 40 is located in the middle knuckle shell 20, so that the middle knuckle shell 20 has an appearance similar to a middle knuckle of a finger. When the connecting rod 40 is provided with the second bent section 42, the second bent section 42 is located inside the middle knuckle shell 20, and the second bent section 42 passes through the distal end opening 21. The portion of the second bent section 42 in the connecting rod 40 is provided inside the middle knuckle shell 20 to better protect the connecting rod 40, prevent the second bent section 42 from being exposed outside the middle knuckle shell 20, and make the appearance of the finger structure 100 better.

Referring to fig. 2 to 4 and 9, in another embodiment of the present application, one end of the connecting rod 40 near the distal knuckle housing 30 is provided with a first pivot rod 43, and two ends of the first pivot rod 43 are pivotally connected to two opposite sidewalls of the distal knuckle housing 30 in a one-to-one correspondence manner, for example, the ends of the first pivot rod 43 are inserted into the pivot holes 33 of the distal knuckle housing 30. With this arrangement, one end of the connecting rod 40 can be stably pivoted to the distal knuckle housing 30. Further, the axis of the first pivoting lever 43 is the pivoting axis a4 between the connecting lever 40 and the distal knuckle housing 30, and both ends of the first pivoting lever 43 are supported on two opposite sidewalls of the distal knuckle housing 30 through bearings 431, respectively, so that the friction between the first pivoting lever 43 and the distal knuckle housing 30 can be reduced, and the connecting lever 40 can be reliably pivoted on the distal knuckle housing 30. The bearing 431 is mountable within the pivot hole 33.

Referring to fig. 1 to 3 and 8 to 10, in another embodiment of the present application, the middle knuckle shell 20 has two first connecting ears 22 spaced apart from each other, a first mounting area 23 is formed between the two first connecting ears 22, one end of the distal knuckle shell 30 extends into the first mounting area 23, and one end of the distal knuckle shell 30 is pivotally connected to the first connecting ears 22. This allows one end of the distal knuckle housing 30 to be securely pivoted to the middle knuckle housing 20. The proximal end of the distal knuckle housing 30 (i.e., the end provided with the distal knuckle opening 31) is disposed close to the distal opening 21 of the middle knuckle housing 20, and the two first connecting ears 22 block the left and right sides of the distal opening 21, so that a person can only observe the gap between the distal opening 21 at the front surface 20a and the rear surface 20b of the middle knuckle housing 20 (shown in fig. 4 to 6), reducing the area of the distal opening 21 exposed to the outside.

Referring to fig. 2, 3 and 9, in another embodiment of the present application, a first pivot hole 221 is formed on an inner side surface of the first connecting ear 22, first pivot shafts 32 are respectively disposed on two side surfaces of the distal knuckle housing 30, and the first pivot shafts 32 are supported in the first pivot holes 221 through bearings 321 in a one-to-one correspondence manner. The bearing 321 can reduce the friction between the first pivot shaft 32 and the inner wall of the first pivot hole 221, so that the first pivot shaft 32 can be reliably connected to the first pivot hole 221, and the distal knuckle housing 30 can be reliably pivoted to the middle knuckle housing 20.

Referring to fig. 1 to 4 and 8 to 11, in another embodiment of the present application, the proximal knuckle housing 10 has two second engaging lugs 13 spaced apart from each other, a second mounting area 14 is formed between the two second engaging lugs 13, one end of the middle knuckle housing 20 extends into the second mounting area 14, and one end of the middle knuckle housing 20 is pivotally connected to the second engaging lugs 13. This enables one end of the middle knuckle housing 20 to be reliably pivoted to the proximal knuckle housing 10. The proximal end of the middle knuckle shell 20 (i.e., the end provided with the proximal opening 24) is disposed near the proximal opening 12 of the proximal knuckle shell 10, and the two second engaging lugs 13 block the left and right sides of the proximal opening 24, so that a human can observe only the gap between the proximal opening 24 at the front 10a and the back 10b of the proximal knuckle shell 10 (shown in fig. 4 to 6), and reduce the area of the proximal opening 12 exposed to the outside.

Referring to fig. 2, 3 and 9, in another embodiment of the present application, a second pivot hole 131 is formed on an inner side surface of the second connecting ear 13, second pivot shafts 25 are respectively disposed on two side surfaces of the middle knuckle shell 20, and the second pivot shafts 25 are supported in the second pivot holes 131 through bearings 251 in a one-to-one correspondence manner. The bearing 251 can reduce the friction between the second pivot shaft 25 and the inner wall of the second pivot hole 131, so that the second pivot shaft 25 and the second pivot hole 131 can be reliably connected, and one end of the middle knuckle housing 20 can be reliably pivoted on the proximal knuckle housing 10. The bearing 251 may be installed in the second pivot hole 131.

Referring to fig. 2 to 4, in another embodiment of the present application, the middle knuckle shell 20 is provided with an arc-shaped guide slot 26, the arc-shaped guide slot 26 is centered on the swing axis of the middle knuckle shell 20 relative to the proximal knuckle shell 10, one end of the connecting rod 40 is provided with a second pivot rod 44, the second pivot rod 44 is disposed through the arc-shaped guide slot 26, an end of the second pivot rod 44 is pivotally connected to at least one second connecting ear 13, for example, an end of the second pivot rod 44 is inserted into the pivot hole 132 of the second connecting ear 13. The axis of the second pivoting lever 44 is the pivoting axis between the connecting lever 40 and the proximal knuckle housing 10, and the second pivoting lever 44 passes through the middle knuckle housing 20 and is connected to the proximal knuckle housing 10, thereby pivoting one end of the connecting lever 40 on the proximal knuckle housing 10. Further, the end of the second pivot rod 44 is supported by the second engaging lug 13 through the bearing 441, so that the friction between the second pivot rod 44 and the second engaging lug 13 can be reduced, and the connecting rod 40 can be reliably pivoted on the second engaging lug 13. The bearing 441 may be installed in the pivot hole 132.

Referring to fig. 1, 2, 8 and 9, in another embodiment of the present application, the proximal knuckle housing 10 includes two proximal knuckle sub-housings 19 joined to each other, and the driving assembly 50 is located between the two proximal knuckle sub-housings 19. The two proximal knuckle shells 19 are easy to form and assemble and can be joined using fasteners or snap fit arrangements. A portion of the driving assembly 50 and the transmission rod 52 are disposed inside the proximal knuckle housing 10 to better protect the driving assembly 50 and the transmission rod 52 from being exposed outside the proximal knuckle housing 10 and to make the appearance of the finger structure 100 better. The proximal finger opening 12 is arranged at the splicing edge of the two proximal knuckle shells 19, and each proximal knuckle shell 19 is respectively provided with a gap capable of being butted, so that the assembly of parts is facilitated.

Referring to fig. 1, 2, 8 and 9, in another embodiment of the present application, the middle knuckle shell 20 includes two middle knuckle sub-shells 29 spliced with each other, and the connecting rod 40 is located between the two middle knuckle sub-shells 29. The two middle knuckle shells 29 are easy to form and assemble and can be joined using fasteners or snap fit arrangements. A portion of the connecting rod 40 is provided inside the middle knuckle shell 20 to better protect the connecting rod 40, prevent the connecting rod 40 from being exposed outside the middle knuckle shell 20, and make the appearance of the finger structure 100 better. The distal opening 21 and the proximal opening 24 are disposed at the joint edge of the two middle knuckle shells 29, and each middle knuckle shell 29 is provided with a gap capable of being butted, so that the assembly of parts is facilitated.

Referring to fig. 1, 2, 8 and 9, in another embodiment of the present application, the distal knuckle shell 30 includes two distal knuckle sub-shells 39 that are joined to each other, and the connecting rod 40 is located between the two distal knuckle sub-shells 39 and can be joined by a fastener or a snap-fit structure. The two distal knuckle shells 39 are easy to form and assemble. A portion of the connecting rod 40 is disposed inside the distal knuckle housing 30 to better protect the connecting rod 40, prevent the connecting rod 40 from being exposed outside the distal knuckle housing 30, and make the appearance of the finger structure 100 better. The distal finger opening 31 is provided at the joint edge of the two distal knuckle sub-shells 39, and each distal knuckle sub-shell 39 is provided with a notch capable of being butted, so that the assembly of parts is facilitated.

Referring to fig. 1 to 11, in another embodiment of the present application, a robot is provided, which includes the above finger structure 100. Since the robot adopts all technical solutions of all the embodiments, all the beneficial effects brought by the technical solutions of the embodiments are also achieved, and are not described in detail herein.

The present invention is not intended to be limited to the particular embodiments shown and described, but is to be accorded the widest scope consistent with the principles and novel features herein disclosed.

Claims (15)

1. A finger structure, comprising:

a proximal knuckle shell;

the middle knuckle shell is pivoted to one end of the near knuckle shell, a near end opening is formed in one end, close to the near knuckle shell, of the front face of the middle knuckle shell, and the inner wall of the near end opening comprises a middle knuckle near end inner wall;

a distal knuckle shell pivotally connected to one end of the middle knuckle shell;

a connecting rod, two ends of which are respectively pivoted to the near knuckle shell and the far knuckle shell; and

the driving assembly is arranged on the near knuckle shell and used for driving the middle knuckle shell to swing relative to the near knuckle shell, and the driving assembly comprises a linear driving piece and a transmission rod driven by the linear driving piece to move; the transmission rod comprises a first bending arm, a notch of the first bending arm is arranged towards the back of the near knuckle shell, and one end of the first bending arm is pivoted to the middle knuckle shell; the near knuckle shell and the middle knuckle shell are parallel and level, the first bending arm penetrates through the near end opening, and the inner wall of the near end of the middle knuckle extends into the bottom of the notch of the first bending arm.

2. The finger structure of claim 1 wherein said transfer bar further comprises a second flex arm connected to one end of said first flex arm, said second flex arm having a notch disposed toward a front of said proximal knuckle housing, said second flex arm having one end secured to an output shaft of said linear actuator.

3. The finger structure of claim 2 wherein said inner wall at said proximal opening further comprises a distal inner wall of said middle knuckle spaced from said proximal inner wall of said middle knuckle; when the near knuckle shell is perpendicular to the middle knuckle shell, the first bending arm is located in the middle knuckle shell, the second bending arm penetrates through the near-end opening, and the inner wall of the far end of the middle knuckle extends to the bottom of a notch of the second bending arm.

4. The finger structure of claim 2, wherein a proximal finger opening is formed at an end of the proximal knuckle shell that is proximal to the middle knuckle shell, the second bending arm being located within the proximal knuckle shell, the second bending arm passing through the proximal finger opening.

5. The finger structure of claim 1, wherein the transmission rod has a connecting seat connected to the linear actuator, a guide post is protruded from a side surface of the connecting seat, a linear guide groove extending in an axial direction of an output shaft of the linear actuator is formed in a side wall of the proximal knuckle housing, and the guide post is inserted into the linear guide groove and can slide in the linear guide groove.

6. The finger structure of claim 1, wherein an end of said transmission lever near said middle knuckle shell has a connecting shaft, and both ends of said connecting shaft are pivoted to two opposite side walls of said middle knuckle shell in a one-to-one correspondence.

7. The finger structure of claim 1, wherein the front face of the distal knuckle shell defines a distal finger opening at an end proximate to the middle knuckle shell, the connecting rod passing through the distal finger opening, a portion of the connecting rod being located within the distal knuckle shell;

the middle knuckle shell is provided with a far end opening at one end close to the far knuckle shell, the connecting rod penetrates through the far end opening, and one part of the connecting rod is located in the middle knuckle shell.

8. The finger structure of claim 1, wherein an end of said connecting rod adjacent to said distal knuckle housing has a first pivot rod, and two ends of said first pivot rod are pivoted to two opposite side walls of said distal knuckle housing in a one-to-one correspondence.

9. The finger structure of claim 1, wherein said middle knuckle shell has two spaced apart first coupling ears defining a first mounting area therebetween, and said distal knuckle shell has one end extending into said first mounting area and one end pivotally connected to said first coupling ears.

10. The finger structure of claim 9, wherein the inner side of the first connecting ear is provided with a first pivot hole, the two side surfaces of the distal knuckle shell are respectively provided with a first pivot shaft, and the first pivot shafts are supported in the first pivot holes through bearings in a one-to-one correspondence manner.

11. The finger structure of anyone of claims 1 to 10, wherein said proximal knuckle shell has two spaced apart second engaging ears defining a second mounting area therebetween, and said middle knuckle shell has one end extending into said second mounting area and one end pivotally connected to said second engaging ears.

12. The finger structure of claim 11, wherein the inner side of the second connecting ear is provided with a second pivot hole, two side surfaces of the middle knuckle shell are respectively provided with a second pivot shaft, and the second pivot shafts are supported in the second pivot holes through bearings in a one-to-one correspondence manner.

13. The finger structure of claim 11, wherein said middle knuckle shell defines an arc-shaped guide slot centered on an axis of oscillation of said middle knuckle shell relative to said proximal knuckle shell, one end of said connecting rod has a second pivot rod disposed through said arc-shaped guide slot, and an end of said second pivot rod is pivotally connected to at least one of said second connecting ears.

14. The finger structure of anyone of claims 1 to 10, wherein said proximal knuckle shell comprises two proximal knuckle subshells joined to one another, said drive assembly being located between said proximal knuckle subshells; the middle knuckle shell comprises two middle knuckle sub-shells which are spliced with each other, and the connecting rod is positioned between the two middle knuckle sub-shells; the far knuckle shell comprises two far knuckle subshells which are spliced with each other, and the connecting rod is positioned between the two far knuckle subshells.

15. A robot comprising a finger structure according to any of claims 1 to 14.

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