WO2019144266A1 - Doigt mécanique et manipulateur - Google Patents

Doigt mécanique et manipulateur Download PDF

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Publication number
WO2019144266A1
WO2019144266A1 PCT/CN2018/073784 CN2018073784W WO2019144266A1 WO 2019144266 A1 WO2019144266 A1 WO 2019144266A1 CN 2018073784 W CN2018073784 W CN 2018073784W WO 2019144266 A1 WO2019144266 A1 WO 2019144266A1
Authority
WO
WIPO (PCT)
Prior art keywords
finger
mechanical finger
knuckle
mechanical
slip ring
Prior art date
Application number
PCT/CN2018/073784
Other languages
English (en)
Chinese (zh)
Inventor
汪志康
Original Assignee
深圳蓝胖子机器人有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳蓝胖子机器人有限公司 filed Critical 深圳蓝胖子机器人有限公司
Priority to CN201880001575.1A priority Critical patent/CN109070358B/zh
Priority to PCT/CN2018/073784 priority patent/WO2019144266A1/fr
Publication of WO2019144266A1 publication Critical patent/WO2019144266A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/081—Touching devices, e.g. pressure-sensitive
    • B25J13/084—Tactile sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons

Definitions

  • the present application relates to the field of robots, and in particular to a mechanical finger and a robot.
  • the mechanical finger is used to simulate the function of the human finger. Because the mechanical finger not only needs to grasp the target, but also needs to have a good grip function, it can have better handling performance on the target, in order to achieve flexibility close to human fingers. Degree and precision.
  • the technical problem mainly solved by the present application is to provide a mechanical finger and a robot capable of accurately controlling the knuckles and having more grasping postures.
  • the mechanical finger comprises a base, a finger mechanism, at least one set of flexion and extension drive mechanism, the finger mechanism comprises at least two knuckles hingedly connected in sequence, the knuckles mounted on the base are tail end knuckles, located on the finger mechanism away from the tail end
  • the other end of the knuckle is a fingertip
  • at least one set of flexion and extension driving mechanism is disposed in the base, and a set of flexing and driving mechanisms correspondingly drive a knuckle hinged relative to the side of the finger mechanism The knuckles are rotated.
  • the robot includes at least two mechanical fingers as described above, each of which is modular in design and forms a robot by splicing.
  • the beneficial effects of the present application are: Different from the prior art, the present application discloses a mechanical finger and a robot.
  • the mechanical finger comprises a base, a finger mechanism, at least one set of flexion and extension drive mechanism, the finger mechanism comprises at least two knuckles hingedly connected in sequence, the knuckles mounted on the base are tail end knuckles, located on the finger mechanism away from the tail end The other end of the knuckle is a fingertip; at least one set of flexion and extension driving mechanism is disposed in the base, and a set of flexing and driving mechanisms correspondingly drive a knuckle hinged relative to the side of the finger mechanism The knuckles are rotated.
  • the present application drives each phalanx except the distal phalanx by an independent driving mechanism, so that the knuckles other than the distal knuckles can be accurately controlled, thereby being relative to the underdrive device.
  • the relative position between the knuckle and the phalanx of the applied mechanical finger is controlled with higher precision, and the mechanical finger of the present application has a more flexible, diverse, controllable and accurate grasping posture.
  • FIG. 1 is a schematic structural view of an embodiment of a mechanical finger provided by the present application.
  • Figure 2 is a schematic view showing the internal structure of the mechanical finger in the embodiment of Figure 1;
  • Figure 3 is a schematic structural view of a finger mechanism in the embodiment of Figure 1;
  • Figure 4 is a schematic view showing the connection structure between the finger joints of the finger mechanism of the embodiment of Figure 1;
  • Figure 5 is a schematic structural view of a connecting device in the embodiment of Figure 1;
  • Figure 6 is a schematic structural view of a connecting member of the connecting device in the embodiment of Figure 5;
  • Figure 7 is a schematic structural view of a guiding block in the embodiment of Figure 1;
  • Figure 8 is a top plan view of the guiding block in the embodiment of Figure 1;
  • Figure 9 is a schematic structural view of the rotary driving device, the rotating shaft and the guiding block in the embodiment of Figure 1;
  • Figure 10 is a schematic structural view of the rotary driving device, the rotating shaft, the slip ring device and the guiding block in the embodiment of Figure 1;
  • Figure 11 is a schematic structural view of a slip ring device in the embodiment of Figure 10;
  • Figure 12 is a schematic view showing the structure of the flexing and extension driving mechanism, the guiding pulley block and the guiding block in the embodiment of Figure 1;
  • FIG. 13 is a schematic structural view of an embodiment of a manipulator provided by the present application.
  • first”, “second”, and “third” in the present application are used for descriptive purposes only, and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, features defining “first”, “second”, and “third” may include at least one of the features, either explicitly or implicitly. In the description of the present application, the meaning of “a plurality” is at least two, such as two, three, etc., unless specifically defined otherwise. Furthermore, the terms “comprises” and “comprising” and “comprising” are intended to cover a non-exclusive inclusion. For example, a process, method, system, product, or device that comprises a series of steps or units is not limited to the listed steps or units, but optionally also includes steps or units not listed, or alternatively Other steps or units inherent to these processes, methods, products or equipment.
  • references to "an embodiment” herein mean that a particular feature, structure, or characteristic described in connection with the embodiments can be included in at least one embodiment of the present application.
  • the appearances of the phrases in various places in the specification are not necessarily referring to the same embodiments, and are not exclusive or alternative embodiments that are mutually exclusive. Those skilled in the art will understand and implicitly understand that the embodiments described herein can be combined with other embodiments.
  • FIG. 1 a schematic structural view of an embodiment of a mechanical finger provided by the present application.
  • the mechanical finger includes a base 20 and a finger mechanism 10, and the finger mechanism 10 is mounted on the base 20.
  • the base 20 includes a flexion and extension drive mechanism 22 disposed within the base 20 for driving the finger mechanism 10 to perform a flexing motion and a stretching motion to grasp or release the article.
  • the rotary drive mechanism 21 is disposed in the base 20 and is coupled to the finger mechanism 10 to drive the finger mechanism 10 to rotate relative to the base 20.
  • the finger mechanism 10 includes a tail end knuckle 11 and a fingertip 12, the fingertip 12 being rotatable relative to the tail end knuckle 11, and the tail end knuckle 11 being mounted to the base 20. Further, the finger mechanism 10 includes at least two knuckles 11 that are hinged in sequence, and the phalanx 11 mounted on the base 20 is a tail end knuckle 11 on the other end of the finger mechanism 10 away from the end phalanx 11 11 is the fingertip 12. Referring to FIG. 3, in the present embodiment, the finger mechanism 10 includes four knuckles 11 hinged in order from the beginning to the end. In the example of FIG.
  • the other end knuckle 11 on the finger mechanism 10 remote from the trailing knuckle 11 is arranged to distinguish the fingertip 12 design of the other knuckles 11.
  • the fingertip 12 can provide the finger mechanism 10 to perform the "pinch" action more flexibly.
  • all knuckles 11 can be of a unified modular design.
  • the tail end knuckle 11 at the tail end of the finger mechanism is mounted on the base 20, and the knuckle 11 and the knuckle 11 and the fingertip 12 are rotatable relative to the hinged position thereof.
  • the bottom end of the knuckle 11 is fixed on the base 20, and the knuckle 11 and the knuckle 11 and the fingertip 12 are connected by a rotating shaft 111.
  • the rotating shaft 111 is fixed at a relatively far end.
  • the knuckle 11 or the fingertip 12 is disposed on the knuckle, and the middle portion of the rotating shaft 111 is provided with a rotating wheel 112.
  • the rotating wheel 112 is fixed relative to the rotating shaft 111, and the rotating wheel 112 can be driven to drive the knuckle 11 or the fingertip 12 to be hinged thereto.
  • the phalanx 11 toward the tail end side of the finger mechanism 10 is rotated.
  • the knuckle 11 and the fingertip 12 are provided with an engaging portion 113.
  • the knuckle 11 is provided with an engaging portion 114 at the tail portion.
  • the engaging portion 113 and the engaging portion 114 are both connected to the rotating shaft 111, and the rotating shaft 111 is fixed to the engaging portion 113. .
  • the engaging portion 114 is provided with a receiving groove for accommodating the rotating wheel 112.
  • the engaging portion 114 is also disposed in the engaging portion 113 of the adjacent knuckle 11 at the same time, and the rotating wheel 112 is driven to make the engaging portion 113 relatively The engaging portion 114 rotates.
  • an angle sensor 115 is further disposed at the end position of the rotating shaft 112 for detecting the rotation angle of the phalanx 11 or the fingertip 12 to facilitate the control of the finger mechanism 10.
  • the haptic sensor 116 and the distance sensor 117 are provided on both the knuckle 11 and the fingertip 12.
  • the tactile sensor 116 is used to determine whether the phalanx 11 or the fingertip 12 is in contact with an object, and can also be used to detect the distribution of force and the magnitude of the force after contacting the object.
  • the distance sensor 117 is used to detect the distance of the object from the knuckles or fingertips, so that the mechanical finger can adjust the action of the finger mechanism 10 when grasping the object and grasp the object with an appropriate force according to the detected data.
  • the tactile sensor 116 and the distance sensor 117 are integrated on a circuit board, disposed in the middle of the phalanx 11 or the fingertip 12 and on the side for grasping the object.
  • the tactile sensor 116 and the distance sensor 117 can also be separately disposed on the phalanx 11 or the fingertip 12, which is not limited in this application.
  • the base 20 includes a rotary drive mechanism 21 and a flexion drive mechanism 22.
  • the rotation drive mechanism 21 drives the finger mechanism 10 to rotate
  • the flexion and extension drive mechanism 22 drives the finger mechanism to complete the flexion motion and the extension motion.
  • the rotary drive mechanism 21 is coupled to the distal phalanx 11 by a connecting device 23 to drive the finger mechanism 10 to rotate.
  • the connecting device 23 includes a connecting block 231 and a connecting block 232.
  • the connecting block 231 has a thin shell structure, and a side surface and a tail end knuckle 11 are fixed by screws, and the opposite side is open.
  • the connecting block 231 is fastened to the connecting block 232 and fixed to the connecting block 232 by screws.
  • the connecting block 232 is connected to the rotary drive mechanism 21, and the rotary drive mechanism 21 drives the finger mechanism 10 to rotate by the connecting device 23.
  • the connecting block 232 is provided with at least one guiding hole 2321 and a signal line hole 2322.
  • the connecting block 231 is provided with a correspondingly-sized through hole at a position corresponding to the connecting block 232 to facilitate the driving rope 222 and Signal line or FPC (Flexible Printed
  • the circuit, the flexible circuit board passes, and the number of the guiding holes 2321 is the same as the number of the driving ropes 222, so that the respective transmission ropes 222 can be isolated from each other, preventing frictional loss between the transmission ropes and being entangled in one place, and the transmission rope 222
  • the finger mechanism 10 and the base 20 are connected via corresponding guiding holes 2321.
  • the connecting block 232 includes three guiding holes 2321 and one signal hole 2322 .
  • the three guiding holes 2321 penetrate into the signal hole 2322 , and the three guiding holes 2321 and A port of a signal hole 2322 is disposed on a side surface 2323 of the connecting block 232 toward the tail end knuckle 11, and the other port of the signal hole 2322 is disposed at a center position of the opposite side 2324.
  • the connecting block 232 further includes an extending portion 2325 having an annular shape, disposed at the center of the end surface 2324, and enclosing the other port of the signal hole 2322.
  • the connecting block 232 is fixed to the rotary driving mechanism 21 by screws by the extending portion 2325, and a bearing 2326 (as shown in FIG. 9) is further disposed outside the extending portion 2325 to support the rotation of the finger mechanism 10 and reduce the rotation of the connecting device 23.
  • the coefficient of friction ensures the rotation accuracy of the connecting device 23.
  • the mechanical finger further includes a rotating shaft 24.
  • the rotating shaft 24 is coupled to the rotary drive mechanism 21, and the rotary shaft 24 is rotatably supported by the mounting hole in the base 20 via the bearing 2326.
  • the rotating shaft 24 is provided with a hollow passage in the axial direction, and the hollow passage communicates with the signal hole 2322, and the transmission line 222 and the signal line or FPC are connected to the finger mechanism 10 via the hollow passage.
  • the rotary drive mechanism 21 includes a motor 211 and a transmission mechanism 212.
  • the motor 211 drives the connection device 23 through the transmission mechanism 212 to drive the finger mechanism 10 to rotate.
  • the transmission mechanism 212 includes a bevel gear 2121 and a bevel gear 2122.
  • the bevel gear 2121 is horizontally disposed, and is connected to the output shaft of the motor 211 through a connecting member 2123.
  • the bevel gear 2122 is vertically disposed to mesh with the bevel gear 2121, that is, the first bevel gear 2121
  • the axis intersects the axis of the second bevel gear 2122 perpendicularly.
  • a threaded hole may be provided outside the second bevel gear 2122 to be fastened to the rotating shaft 24 by screws.
  • the outer side of the end of the rotating shaft 24 may be provided with a thread.
  • the bevel gear 2122 is screwed to the outer side of the end of the rotating shaft 24, and the connecting member 232 is fixed to the second bevel gear 2122 by screws so that the output of the second motor 211 is output.
  • the torque is transmitted to the connecting device 23 via the bevel gear 2121 and the second bevel gear 2122, thereby driving the connecting device 23 to rotate to drive the finger mechanism 10 to rotate.
  • the transmission mechanism 212 further includes a bevel gear 2124 that is horizontally disposed, coaxial with the bevel gear 2121, and meshes with the bevel gear 2122.
  • the bevel gear 2124 is further coupled to the angle sensor 2125 to enable the angle sensor 2125 to detect the bevel gear 2122.
  • the angle of rotation facilitates control of the angle of rotation of the finger mechanism 10.
  • the other end of the rotating shaft 24, i.e., the end remote from the finger mechanism 10, is provided with a slip ring device 25, and the slip ring device 25 is located between the guiding block 26 and the rotating shaft 24.
  • the slip ring device 25 includes a slip ring mount 251, an outer slip ring 252 and an inner slip ring 253.
  • the slip ring mount 251 is fixed relative to the base 20.
  • the outer slip ring 252 is fixed in the slip ring mount 251, and the inner slip ring 253 sets. It is disposed inside the outer slip ring 252 and is rotatable relative to the outer slip ring 252.
  • the inner slip ring 253 is embedded in the hollow passage of the rotating shaft 24, and is also provided with a hollow passage in the axial direction, that is, the hollow passage of the slip ring device 25 faces the hollow passage of the rotating shaft 24, facilitating the passage of the transmission rope.
  • One end of the inner slip ring 253 near the rotating shaft 24 protrudes from the outer slip ring 252 as a positioning protrusion 2531, and the positioning protrusion 2531 is fitted into the hollow passage of the rotating shaft 24 so that the inner slip ring 253 and the rotating shaft 24 are relatively fixed.
  • the inner slip ring 253 and the outer slip ring 252 are also electrically connected through the contacts between the two to perform signal transmission. That is, the upper end of the inner slip ring 253 is connected to the signal line extending from the finger mechanism 10, and the lower end of the outer slip ring 252 is connected to the signal line extending from the controller. Wherein, the outer slip ring 252 can be connected to the controller through a bus. When the rotation angle of the finger mechanism 10 reaches a certain level, for example, 180 degrees, the manner in which the signal line is directly connected to the electrical connection may cause the signal line to be twisted and wound, and by setting the slip ring device 25, this can be avoided.
  • a certain level for example, 180 degrees
  • the slip ring device 25 may not be provided, which is not limited in this application.
  • the base 20 includes at least one set of flexion drive mechanisms 22, and a set of flexion drive mechanisms 22 correspondingly drive a knuckle 11 hinged relative thereto and located toward the end of the finger mechanism 10 The knuckle 11 is rotated.
  • the number of flexion and extension drive mechanisms 22 is the same as the number of phalanx 11 except the distal end phalanx 11 in the finger mechanism 10, and the corresponding phalanx 11 other than the distal end phalanx 11 is independently driven (including Fingertip 12).
  • the caudal phalanx 11 is rotationally coupled to the base 20, such as articulated, thereby flexing the number of drive mechanisms 22 and the phalanx 11 (including the trailing knuckle 11 and the fingertip 12) in the finger mechanism 10. The number is the same and the corresponding knuckles 11 are driven independently.
  • each set of flexion and extension drive mechanism 22 includes a motor 221 and a drive cable 222.
  • One end of the drive cable 222 is coupled to the motor 221 and the other end is coupled to a corresponding knuckle 11 or fingertip 12.
  • the motor 221 drives the corresponding phalanx 11 or the fingertip 12 to rotate relative to the knuckle 11 hinged on the side toward the rear end of the finger mechanism 10 by the traction drive cable 222, thereby realizing the buckling action of the finger mechanism 10.
  • the plurality of motors 221 of the plurality of sets of flexion and extension drive mechanisms 22 are stacked in the axial direction of the rotational axis 24.
  • a conduit is placed over the drive cable 222 to avoid the introduction of unnecessary friction between the drive cables.
  • the motor 221 can also have different settings, which is not limited in this application.
  • the drive cable 222 is coupled to the corresponding knuckle 11 about the pulley 112 and the other end to the motor 221 .
  • the motor 221 passes the traction drive cable 222 and guides the direction of the drive rope through the pulley 112 to thereby drive the knuckle 11 or the fingertip 12 to rotate relative to the knuckle 11 hinged thereto and toward the trailing end of the finger mechanism 10.
  • a reverse biasing element (not shown) is further disposed between the knuckle 11 and the fingertip 12 and between the hinge portion 11 and the knuckle 11 for driving the finger when the motor 221 releases the drive rope
  • the knot 11 or the fingertip 12 is reversely rotated to effect the stretching action of the finger mechanism 10.
  • three sets of flexion and extension driving mechanisms 22 are disposed in the base 20 to respectively drive the two phalanx 11 and one fingertip 12 except the tail end knuckle 11 to be hinged relative thereto.
  • the knuckle 11 on the side of the tail end 10 of the finger mechanism is rotated.
  • the guide pulley block 27 includes at least one guide wheel 271 which is changed in direction of extension by the corresponding guide wheel 271.
  • at least one guiding hole 261 is disposed on the guiding block 26, and the driving rope 222 is connected to the finger mechanism 10 from the corresponding guiding wheel 271 through the corresponding guiding hole 261, and the guiding hole 261 is disposed at a position such that the driving rope 222 is tangential to the corresponding guide wheel 271.
  • the number of the guide wheels 271 and the number of the guide holes 261 are the same as the number of the drive wires 222. In another embodiment, the number of guiding holes 261 may be different from the number of driving wires 222.
  • One end of the driving rope 222 is fixedly connected to the corresponding knuckle 11 or the fingertip 12, and the driving rope 222 bypasses the rotating wheel 112, and extends from the tail end knuckle 11 to the connecting device 23, passes through the corresponding guiding hole 2321, and passes through the rotating shaft. 24 and the hollow passage on the inner slip ring 253, to the corresponding guide hole 261 on the guide block 26, redirected through the guide hole 261, tangentially enter from the corresponding guide wheel 271, and redirected through the corresponding guide wheel 271 The other end is connected to a rotating wheel disposed on the output shaft of the corresponding motor 221 .
  • the transmission rope 222 is redirected a plurality of times, and the output power drives the finger mechanism 10 to flex and extend in a more reasonable force transmission manner, and each of the guiding holes and the hollow passage also protects the transmission rope.
  • the guiding block 26 is located at one end of the rotating shaft 24 away from the finger mechanism 10, that is, the rotating shaft 24 is located at the side of the guiding block 26 facing the finger mechanism 10, and the guiding block 26
  • a positioning protrusion 262 is disposed on a side of the finger mechanism 10, the positioning protrusion 262 faces the hollow passage of the rotating shaft 24, and allows the rotating shaft 24 to rotate relative to the guiding block 26, and the guiding block 26 is fixed in the base 20.
  • one end of the at least one guiding hole 261 is provided on a side surface of the positioning protrusion 262 facing the rotating shaft 24.
  • the guide block 26 is also located below the slip ring assembly 25, i.e., the slip ring assembly 25 is located between the rotating shaft 24 and the guide block 26.
  • the positioning protrusion 262 can also be configured to fit the hollow channel size of the rotating shaft 24, and the rotating shaft 24 can be rotated relative to the positioning protrusion 262, and the rotating shaft can be limited. Bit, not too much jitter during the rotation.
  • the guiding block 26 is provided with three guiding holes 261, and thus one end of the three guiding holes 261 is disposed on one side surface of the positioning protrusion 262 facing the rotating shaft 24.
  • the positioning protrusion 262 has a cylindrical shape, and one port of the three guiding holes 261 is linearly arranged in the middle of the positioning protrusion 262, and the line is parallel to the axis of the bevel gear 2121.
  • the curvature of the channel of the guiding hole 261 is not abrupt, and the other port of the three guiding holes 261 is also linearly arranged on the side surface of the guiding block 26 facing the guiding pulley block 27, and facing the tangential direction of the corresponding guiding wheel 271.
  • the positioning block 26 In order to change the drive rope through the guide block 26, it enters from the tangential direction of the corresponding guide wheel 271.
  • the positioning block 26 may not be provided with the positioning protrusion 262, or the positioning protrusion 262 has other shapes, which is not limited in this application.
  • the guiding pulley block 27 is located at a side of the guiding block 26 away from the finger mechanism 10, and includes at least one guiding wheel 271 and a guiding wheel fixing seat 272.
  • the guiding wheel 271 is disposed on the mounting shaft and rotatable relative to the guiding wheel fixing seat 272.
  • the two ends of the mounting shaft are disposed in the corresponding mounting holes of the guide wheel fixing base 272, so that the driving rope is redirected through the corresponding guiding hole 261, and enters the guiding wheel 271 from the tangential direction of the guiding wheel 271.
  • the guide pulley block 27 includes three guide wheels 271 and a guide wheel fixing base 272.
  • the three guide wheels 271 are sequentially shifted and are respectively disposed on the guide wheel fixing base 272 corresponding to the respective guide holes 261, so as to be replaced accordingly.
  • the drive cable is driven at a lower energy consumption and connected to the motor 221.
  • the mechanical finger further includes a controller 28 disposed in the base for controlling the rotation drive mechanism 21 to drive the finger mechanism 10 to rotate relative to the base 20, or controlling the flexion drive mechanism 22 to drive the finger mechanism 10 to complete.
  • the buckling action and the stretching action, or controlling the rotary drive mechanism 21 and the flexion and extension drive mechanism 22, are not limited in this application.
  • FIG. 11 a schematic structural view of an embodiment of a manipulator provided by the present application.
  • the robot includes at least two mechanical fingers as described above, each of which is modular in design and forms a robot by splicing.
  • the robot includes a mechanical finger 31, a mechanical finger 32, a mechanical finger 33, and a connecting flange 34.
  • the mechanical finger 31, the mechanical finger 32, and the mechanical finger 33 are mechanical fingers as in the above embodiment, and the connecting flange 34 Used to secure the connection between the entire robot and other external machines.
  • the controller 28 is placed in the base 20 of any one of the mechanical fingers, and the bus drawn from the bottom of the other mechanical finger bases is coupled to the controller 28.
  • a controller 28 may be provided for each mechanical finger. The controller 28 is used to control the mechanical finger 31, the mechanical finger 32, and the mechanical finger 33 to cooperate with each other to grasp or release the article.
  • Each mechanical finger adopts a modular design. It can be understood that the components constituting the mechanical finger can be selectively added or removed to increase or decrease part of the function of the mechanical finger, and the modular design of the mechanical finger also facilitates the mechanical finger. Repair and replacement of parts.
  • the finger mechanism 10 of the mechanical finger 32 has a small rotation angle, and it is not necessary to provide the slip ring device 25, and the mechanical finger 31 and the mechanical finger 33 located outside can be selected to add the slip ring device 25 according to the use condition; in other cases, The rotary drive mechanism 21 is discarded and the finger mechanism 10 is not driven to rotate; or, the knuckles 11 are added to accommodate the size of the article.
  • the mechanical finger 31, the mechanical finger 32, and the mechanical finger 33 form a robot by splicing.
  • a plurality of mechanical fingers are arranged in a row, and the bending directions of adjacent mechanical fingers are oppositely arranged to form a robot; or, a plurality of machines
  • the fingers are arranged in two rows, and the buckling directions of the mechanical fingers of each column are relatively set, and the stitching forms a robot.
  • the present invention is only an illustrative example, and the splicing method is various, and this application does not limit this.
  • the mechanical finger comprises a base, a finger mechanism, at least one set of flexion and extension drive mechanism, the finger mechanism comprises at least two knuckles hingedly connected in sequence, the knuckles mounted on the base are tail end knuckles, located on the finger mechanism away from the tail end
  • the other end of the knuckle is a fingertip;
  • at least one set of flexion and extension driving mechanism is disposed in the base, and a set of flexing and driving mechanisms correspondingly drive a knuckle hinged relative to the side of the finger mechanism The knuckles are rotated.
  • the present application drives each phalanx except the distal phalanx by an independent driving mechanism, so that the knuckles other than the distal knuckles can be accurately controlled, thereby being relative to the underdrive device.
  • the relative position between the knuckle and the phalanx of the applied mechanical finger is controlled with higher precision, and the mechanical finger of the present application has a more flexible, diverse, controllable and accurate grasping posture.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
  • Prostheses (AREA)

Abstract

L'invention concerne un doigt mécanique, le doigt mécanique comprenant une base (20), un mécanisme de doigt (10) et au moins un groupe de mécanismes d'entraînement de flexion et d'extension (22), le mécanisme de doigt (10) comprenant au moins deux articulations articulées successivement, l'articulation montée sur la base est une articulation de queue (11), et l'autre extrémité de l'articulation située sur le mécanisme de doigt à l'opposé de l'articulation de queue est un bout de doigt (12) ; le mécanisme d'entraînement de flexion et d'extension (22) est disposé dans la base, et un groupe du mécanisme d'entraînement de flexion et d'extension (22) entraîne en conséquence une rotation de l'articulation par rapport à l'articulation articulée à celui-ci et située sur le côté faisant face à l'extrémité de queue du mécanisme de doigt (10), et le doigt mécanique peut commander avec précision les articulations et présenter davantage de positions de préhension. Un manipulateur est également fourni.
PCT/CN2018/073784 2018-01-23 2018-01-23 Doigt mécanique et manipulateur WO2019144266A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201880001575.1A CN109070358B (zh) 2018-01-23 2018-01-23 一种机械手指及机械手
PCT/CN2018/073784 WO2019144266A1 (fr) 2018-01-23 2018-01-23 Doigt mécanique et manipulateur

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2018/073784 WO2019144266A1 (fr) 2018-01-23 2018-01-23 Doigt mécanique et manipulateur

Publications (1)

Publication Number Publication Date
WO2019144266A1 true WO2019144266A1 (fr) 2019-08-01

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Application Number Title Priority Date Filing Date
PCT/CN2018/073784 WO2019144266A1 (fr) 2018-01-23 2018-01-23 Doigt mécanique et manipulateur

Country Status (2)

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CN (1) CN109070358B (fr)
WO (1) WO2019144266A1 (fr)

Cited By (2)

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CN114872076A (zh) * 2022-04-27 2022-08-09 清华大学 一种自适应抓取装置

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