TWI383869B - Robot finger mechanism - Google Patents

Description

Finger mechanism

The present invention relates to a finger mechanism, and more particularly to a finger mechanism having a high degree of freedom of gripping action.

The conventional mechanical palm includes a complicated mechanism, and the fingers of the robot palm are usually designed for a specific purpose. In order to grip different objects, the fingers of the robot hand must be replaced, which is not convenient to use, and in order to raise the finger The degree of freedom, the number of motors must be increased to allow the fingers to move in all directions, but the increase in the number of motors also leads to an increase in the overall volume of the palm. If the size of the palm is reduced to reduce the size of the motor, it will also be reduced. The degree of freedom of the finger, in other words, if the motor is too small, the grasping force of the finger will be insufficient, so how to design a mechanical palm with high degree of freedom, high clamping force and small volume will become the target of research and development. .

The invention provides a finger mechanism, which is driven by a transmission mechanism and includes a first knuckle, a second knuckle, an axle, a pulley assembly and a rope assembly, a second knuckle and a first knuckle Connecting, the axle is disposed between the first knuckle and the second knuckle such that the first knuckle and the second knuckle can be relatively rotated about the axle, the pulley assembly is sleeved on the axle, and can be freely rotated on the axle, the rope The assembly is wound around the pulley assembly and includes a first end secured to the transmission and a second end secured to the second knuckle.

The above and other objects, features and advantages of the present invention will become more <RTIgt;

Referring to FIG. 1, a mechanical palm 100 includes a base 200, three finger mechanisms 300, and three driving mechanisms D. The finger mechanism 300 is disposed on the base 200 and rotatable relative to the base 200, and the driving mechanism D is disposed on In the base 200, each of the driving mechanisms D is connected to a different finger mechanism 300 for driving the finger mechanism 300 to bend to grip the object.

It should be noted that, in this embodiment, the mechanical palm 100 includes three finger mechanisms 300, but is not limited thereto, the mechanical palm 100 includes at least two finger mechanisms 300 to grasp an object, or the mechanical palm 100 can be used according to the use. A plurality of finger mechanisms 300 are added to the demand to more firmly grip the object.

The following describes the composition and actuation mode of each finger mechanism 300. Referring to Figures 2 and 3, each finger mechanism 300 includes a first knuckle 301, a second knuckle 302, an intermediate knuckle 303, and two axles W. Two pulley assemblies 400, an adjustment component 500, and a stationary component 600.

The first knuckles 301 are disposed on the base 200, and the middle knuckles 303 are respectively coupled to the first knuckles 301 and the second knuckles 302. The axles W are respectively disposed between two adjacent knuckles to make the first knuckles The 301 and the intermediate knuckle 303 may be relatively rotated about the wheel axis W, and the second knuckle 302 and the intermediate knuckle 303 may be relatively rotated about the wheel axis W.

It should be noted that the finger mechanism 300 includes three knuckles 301, 302, 303 in this embodiment, but is not limited thereto, and the mechanical palm 100 includes at least the first knuckle 301 and the second knuckle 302 to grasp the object. That is, the intermediate knuckle 303 may not be provided, or may include a plurality of intermediate knuckles 303, the number of the middle knuckles 303 may be determined according to the use requirements, and the axles W and the pulley blocks disposed between the knuckles The piece 400 is also dependent on the number of connected portions of the knuckles and the knuckles.

Referring to FIG. 3, each pulley assembly 400 includes a first pulley 401 and a second pulley 402. The first pulley 401 and the second pulley 402 are idler pulleys, and are respectively sleeved on the two axles W in a loose fit manner. The adjusting member 500 and the fixing member 600 are all disposed on the second knuckle 302, wherein the adjusting member 500 is rotatable in a single direction to adjust the tightness of the rope assembly 700. In addition, the transmission mechanism D includes a motor M and a The shaft A, the motor M is disposed in the base 200 (as shown in Fig. 1), and the shaft A is coupled to the motor M and driven by the motor M to rotate clockwise or counterclockwise. It should be noted that the transmission mechanism D in this embodiment is composed of the motor M and the rotating shaft A, but is not limited thereto, and the transmission mechanism D may also be composed of a solenoid valve, a gear or other components.

Referring to FIGS. 2 to 4, as shown in FIG. 4, the finger mechanism 300 further includes a rope assembly 700. The rope assembly 700 includes a first rope 701 and a second rope 702. The first rope 701 is along the first The direction F1 is wound around the two first pulleys 401, the second rope 702 is wound around the two second pulleys 402 in the second direction F2, and the first rope 701 and the second rope 702 each have a first end E1 and a first The second end portion E2, wherein the first end portion E1 of the first rope 701 and the second rope 702 are wound on the rotating shaft A in opposite directions, the second end portion E2 of the first rope 701 is wound around the adjusting member 500, and the second portion The second end E2 of the cord 702 is fixed to the fixing element 600.

It should be noted that since the first end portion E1 of the first rope 701 and the second rope 702 are wound on the rotating shaft A in the opposite direction, when the rotating shaft A rotates clockwise, the one rope is surely tightened to relax the other rope, and vice versa. Also, the direction in which the first rope 701 and the second rope 702 are wound around the rotating shaft is not particularly limited as long as they are wound around the rotating shaft A in opposite directions.

When the object is gripped, when the motor M drives the rotating shaft A to rotate to tighten the first rope 701 and relax the second rope 702, each finger mechanism 300 can be bent toward each other to hold the object between the finger mechanisms 300, instead When the motor M drives the rotating shaft A to rotate to relax the first rope 701 and tighten the second rope 702, each finger mechanism 300 can be bent in the opposite direction with respect to each other to release the object.

In detail, since the pulley assembly 400 around which the rope assembly 700 is wound is an idler, the bending of each knuckle is controlled by the tightness of the rope assembly 700. The finger mechanism 300 includes a first knuckle 301 and a second finger. Section 302 and an intermediate knuckle 303, when the first cord 701 is tightened, the intermediate knuckle 303 can be rotated relative to the first knuckle 301, and the second phalanx 302 is rotated relative to the intermediate knuckle 303 and Rotating to an arbitrary angle according to the shape of the object to be gripped, that is, when the middle knuckle 303 is rotated relative to the first knuckle 301 until the two abut against the object, the intermediate knuckle 303 is no longer rotated, but The second knuckle 302 can continue to rotate relative to the intermediate knuckle 303 until the second knuckle 302 abuts the object, in other words, when the second knuckle 302 rotates relative to the intermediate knuckle 303 until the two abut the object, The second knuckle 302 is no longer rotated, but the intermediate knuckle 303 can continue to rotate relative to the first knuckle 301 until the first knuckle 301 abuts the object, so that the object can be firmly clamped to the finger mechanism 300. between.

In summary, the mechanical palm 100 of the present invention utilizes the rope assembly 700 and the pulley assembly 400 to control the bending of the finger mechanism 300. When the object is gripped, the shape of the object can be matched to form different grip angles between the knuckles. Bringing it into contact with the object is closer to the zero backlash, increasing the freedom of the palm of the hand.

Although the present invention has been described above in terms of the preferred embodiments, it is not intended to limit the invention, and the invention may be modified and modified without departing from the spirit and scope of the invention. The scope of the invention is defined by the scope of the appended claims.

100. . . Mechanical palm

200. . . Base

300. . . Finger mechanism

301. . . First knuckle

302. . . Second knuckle

303. . . Middle knuckle

400. . . Pulley assembly

401. . . First pulley

402. . . Second pulley

500. . . Adjustment component

600. . . Fixed component

700. . . Rope assembly

701. . . First rope

702. . . Second rope

A. . . Rotating shaft

D. . . Drive mechanism

E1. . . First end

E2. . . Second end

F1. . . First direction

F2. . . Second direction

M. . . motor

W. . . axle

Figure 1 is a schematic view showing the palm of the robot of the present invention;

Figure 2 is a side view showing the transmission mechanism and the finger mechanism of the mechanical palm of the present invention;

Figure 3 is a plan view showing the transmission mechanism and the finger mechanism of the mechanical palm of the present invention;

Figure 4 is a schematic view showing the pulley assembly and the rope assembly of the mechanical palm of the present invention.

300. . . Finger mechanism

301. . . First knuckle

302. . . Second knuckle

303. . . Middle knuckle

400. . . Pulley assembly

500. . . Adjustment component

600. . . Fixed component

A. . . Rotating shaft

D. . . Drive mechanism

M. . . motor

W. . . axle

Claims (8)

A finger mechanism is driven by a transmission mechanism, comprising: a first knuckle; a second knuckle connected to the first knuckle; and an axle disposed on the first knuckle and the second knuckle Interacting the first knuckle and the second knuckle relative to the axle; the pulley assembly is sleeved on the axle and freely rotatable on the axle; and a rope assembly is wound around the pulley a first end portion is fixed to the transmission mechanism and a second end portion is fixed to the second knuckle, wherein the rope assembly comprises a first rope and a second rope, and the first rope and the first The second rope has the first end portion and the second end portion, wherein the pulley assembly includes a first pulley and a second pulley, and the first rope is wound on the first pulley in a first direction, the first The second rope is wound on the second pulley in a second direction. The finger mechanism of claim 1, wherein the finger mechanism further comprises an intermediate knuckle, two axles and two pulley assemblies, the intermediate knuckle being disposed on the first knuckle and the second knuckle The axles are respectively disposed between the intermediate knuckle and the first knuckle and the second knuckle, the pulley assemblies are respectively disposed on the axles, and the rope assembly is wound around the pulley assemblies . The finger mechanism of claim 2, wherein the first end of the first rope and the second rope are coupled to the transmission mechanism. The finger mechanism of claim 3, wherein the first end of the first rope and the second rope are wound around the transmission mechanism. The finger mechanism of claim 2, comprising: an adjusting component rotatably disposed on the second knuckle; and a fixing component fixed to the second knuckle; wherein the One of the second ends of a rope or the second rope is wound around the adjusting member, and the other end of the second rope and the second end of the second rope are wound around the fixing member on. The finger mechanism of claim 2, wherein the finger mechanism comprises a plurality of intermediate knuckles, a plurality of axles, and a plurality of pulley assemblies, the axles and the pulley assemblies being disposed between each of the knuckles. The finger mechanism of claim 1, wherein the first end of the first rope and the second rope are respectively wound in the opposite direction on the rotating shaft, and the transmission mechanism is configured to rotate clockwise. Or rotate counterclockwise. A finger mechanism is driven by a transmission mechanism, comprising: a first knuckle; a second knuckle connected to the first knuckle; and an axle disposed on the first knuckle and the second knuckle Interacting the first knuckle and the second knuckle relative to the axle; the pulley assembly is sleeved on the axle and freely rotatable on the axle; a rope assembly is wound around the pulley assembly , including a first end solid The transmission mechanism and a second end portion are fixed to the second knuckle, wherein the finger mechanism further comprises an intermediate knuckle, two axles and two pulley assemblies, wherein the middle knuckle is disposed on the first knuckle And between the second knuckle, the axles are respectively disposed between the intermediate knuckle and the first knuckle and the second knuckle, the pulley assemblies are respectively disposed on the axles, and the rope assembly Wrapped around the pulley assemblies, wherein the rope assembly includes a first rope and a second rope, and the first rope and the second rope each have the first end and the second end, wherein the first The first ends of the rope and the second rope are coupled to the transmission mechanism, wherein each of the pulley assemblies includes a first pulley and a second pulley, the first rope being wound in a first direction On the first pulley, the second rope is wound on the second pulleys in a second direction; an adjusting member is rotatably disposed on the second knuckle; and a fixing member is fixed to the first On the second knuckle; where One of the second ends of a rope or the second rope is wound around the adjusting member, and the other end of the second rope and the second end of the second rope are wound around the fixing member on.