WO2022188408A1 - 连杆结构、机器人手指及机器人 - Google Patents

连杆结构、机器人手指及机器人 Download PDF

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Publication number
WO2022188408A1
WO2022188408A1 PCT/CN2021/124615 CN2021124615W WO2022188408A1 WO 2022188408 A1 WO2022188408 A1 WO 2022188408A1 CN 2021124615 W CN2021124615 W CN 2021124615W WO 2022188408 A1 WO2022188408 A1 WO 2022188408A1
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WO
WIPO (PCT)
Prior art keywords
rod
wall
connecting rod
fixing frame
transmission
Prior art date
Application number
PCT/CN2021/124615
Other languages
English (en)
French (fr)
Inventor
黄忠葵
陈明
罗琪翔
丁宏钰
谢铮
范文华
Original Assignee
深圳市优必选科技股份有限公司
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 深圳市优必选科技股份有限公司 filed Critical 深圳市优必选科技股份有限公司
Publication of WO2022188408A1 publication Critical patent/WO2022188408A1/zh
Priority to US18/243,665 priority Critical patent/US20230415354A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • 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
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
    • B25J15/022—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by articulated links
    • 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
    • B25J15/08—Gripping heads and other end effectors having finger members
    • 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
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members

Definitions

  • the application belongs to the technical field of robot accessories, and in particular relates to a connecting rod structure, a robot finger and a robot.
  • link transmission which is generally a four-bar mechanism with a single degree of freedom, that is, a driving member controls the link mechanism to move in a fixed path, so as to realize the bending and straightening motion of the robot finger.
  • the traditional four-bar mechanism is easily damaged by the external force of collision and impact.
  • the four-bar mechanism cannot passively bend and move when subjected to external force, and the motion appears stiff and inflexible.
  • the purpose of the embodiments of the present application is to provide a link structure, a robot finger and a robot, so as to solve the technical problem that the existing link mechanism cannot passively move under the action of an external force.
  • the embodiment of the present application provides a connecting rod structure, including:
  • a first rod the first end of the first rod is pivotally connected to the fixing frame, and the first rod has a pivot axis centered on the pivot axis of the first rod relative to the fixing frame a first arc-shaped guide groove, an inner wall of one end of the first arc-shaped guide groove is an abutment wall;
  • the drive assembly includes a linear drive member and a transmission rod driven and moved by the linear drive member, the first end of the transmission rod is hinged to the output shaft of the linear drive member, and the second end of the transmission rod is slidably assembled on the in the first arc guide groove;
  • an elastic piece the two ends are respectively connected to the first rod and the second rod, and the elastic piece is used to automatically reset the second rod;
  • the first rod has an inner cavity
  • the first end of the first rod is provided with a proximal opening communicating with the inner cavity
  • the inner wall of the proximal opening includes a first distal inner wall
  • the second end of the transmission rod passes through the proximal opening
  • the abutting wall is arranged close to the inner wall of the first distal end; when the linear driving member drives the transmission rod to extend and move to the maximum displacement
  • the second end of the transmission rod abuts against the abutting wall, and the transmission rod can cover the proximal end opening.
  • the transmission rod is extended along a predetermined curve, and the center of curvature of the predetermined curve is arranged toward the inner side of the fixing frame;
  • the inner wall of the proximal opening includes a first distal end inner wall spaced apart from the first distal end inner wall.
  • the second end of the transmission rod has a connecting shaft
  • the two opposite inner walls of the first rod respectively have the coaxial first arc guide grooves
  • the two ends of the connecting shaft are one
  • the two first arc guide grooves are correspondingly slidably assembled.
  • the first end of the transmission rod has a connecting seat connected with the output shaft of the linear drive member, the side surface of the connecting seat is protruded with a guide column, and the side wall of the fixing frame is provided with a guide column along the
  • the linear guide groove extends in the axial direction of the output shaft of the linear drive member, and the guide column is slidably assembled to the linear guide groove.
  • the first rod has two spaced first connecting ears, a first installation area is formed between the two first connecting ears, and one end of the second rod extends into the first connecting lug. In an installation area, one end of the second rod is pivotally connected to the first connecting ear.
  • the elastic member is a torsion spring, wherein the inner wall of one of the first connecting ears is provided with a first positioning groove, and the outer wall of the second rod member is provided with a second positioning groove, wherein the torsion spring is provided with a second positioning groove.
  • One part is set in the first positioning groove, the other part is set in the second positioning groove, and the two torsion arms of the torsion spring are respectively abutted on the first connecting ear and the second rod.
  • the fixing frame has two second connection ears arranged at intervals, a second installation area is formed between the two second connection ears, and one end of the first rod extends into the second installation area. In the region, the first end of the first rod is pivotally connected to the second connecting ear.
  • the first rod is provided with a second arc-shaped guide groove, and the second arc-shaped guide groove is centered on the pivot axis of the first rod relative to the fixing frame, and the connection One end of the rod has a pivot rod, the pivot rod is disposed through the second arc guide groove, and the end of the pivot rod is pivoted to at least one of the second connection ears.
  • the connecting rod includes a first bending section, the notch of the first bending section is disposed toward the outer side of the first rod, and one end of the first bending section is pivotally connected to the the second rod;
  • the connecting rod further includes a second bending section connected to one end of the first bending section, the notch of the second bending section is disposed toward the inner side of the first rod, and the second bending section is One end of the folded section is pivotally connected to the fixing frame.
  • the first rod member has an inner cavity, and at least a part of the connecting rod is accommodated in the first rod member; the second end of the first rod member is provided with a connection to communicate with the inner cavity The distal opening of the connecting rod passes through the distal opening.
  • An embodiment of the present application provides a robot finger, including the above-mentioned link structure, the fixing frame is used as a proximal phalanx, the first rod is used as a middle phalanx, the second rod is used as a distal phalanx, and the fixed The frame, the first rod and the second rod are arranged in sequence.
  • An embodiment of the present application provides a robot, including the above-mentioned link structure.
  • the above-mentioned one or more technical solutions provided in the embodiments of the present application have at least one of the following technical effects: in the connecting rod structure, the fixing frame, the first rod, the second rod and the connecting rod form a four-bar mechanism, which is combined with the drive assembly And elastic parts, which can realize active bending, straightening and passive bending motion of four-bar mechanism.
  • the linear drive member drives the transmission rod to extend and move
  • the second end of the transmission rod abuts against the abutting wall of the first arc guide groove of the first rod member to drive the first rod member to swing relative to the fixed frame
  • the second rod The member is linked with the connecting rod, the second rod swings following the swing direction of the first rod, and the elastic member compresses and stores energy to realize active bending motion.
  • the linear drive member drives the transmission rod to move back to its original position
  • the second end of the transmission rod abuts against the abutment wall of the first arc guide groove
  • the elastic member releases the energy to drive the second rod member to reset, and the first rod member and the connecting rod Linkage to achieve straightening movement.
  • the second rod member when the second rod member is subjected to external force, the second rod member can swing and the elastic member compresses and stores energy, the first rod member is linked with the connecting rod, and the first rod member swings following the swing direction of the second rod member , to achieve passive bending motion. Since the second end of the transmission rod is slidably assembled in the first arc-shaped guide groove, the second end of the transmission rod is separated from the abutment wall of the first arc-shaped guide groove during passive bending movement, and the gap between the first rod and the transmission rod is There will be no interference, reducing the damage of the four-bar mechanism due to external force, and playing a role in impact protection. After the external force is withdrawn, the elastic member releases energy to drive the second rod member to reset, and the first rod member is linked with the connecting rod to realize straightening motion.
  • the connecting rod structure has a certain passiveness, that is, it can passively move under the action of external force, avoid rigid collision, and has certain flexibility.
  • the link structure has good anthropomorphism when applied to the robot finger, and the link structure can also be used in other occasions requiring two-way active movement and one-way passive movement.
  • the connecting rod structure is provided with multi-level connecting rods, and the small gap between adjacent connecting rods will be enlarged, which will cause the connecting rod structure to easily generate a large virtual position and shake. The structure is not easy to shake, and the repeated positioning accuracy of the connecting rod structure is improved.
  • FIG. 1 is a three-dimensional assembly view of a connecting rod structure provided in an embodiment of the present application in a straightened state
  • Fig. 2 is another perspective assembly view of the connecting rod structure of Fig. 1;
  • FIG. 3 is an exploded perspective view of the connecting rod structure of FIG. 2;
  • Fig. 4 is another perspective exploded view of the connecting rod structure of Fig. 3;
  • FIG. 5 is an exploded perspective view of the connecting rod structure of FIG. 1;
  • FIG. 6 is a further exploded perspective view of the connecting rod structure of FIG. 5;
  • FIG. 7 is a further exploded perspective view of the connecting rod structure of FIG. 6;
  • FIG. 8 is a three-dimensional assembly view of the connecting rod structure in a passive bending state provided by an embodiment of the present application.
  • FIG. 9 is a three-dimensional assembly view of the connecting rod structure provided in an embodiment of the present application in an active bending state.
  • first and second are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature defined as “first” or “second” may expressly or implicitly include one or more of that feature.
  • plurality means two or more, unless otherwise expressly and specifically defined.
  • an embodiment of the present application provides a link structure, including: a fixing frame 10 , a first rod 20 , a second rod 30 , a connecting rod 40 , a driving assembly 50 and an elastic member 60 .
  • the first end 20a of the first rod 20 is pivotally connected to the fixing frame 10.
  • An arc-shaped guide groove 21 and an inner wall of one end of the first arc-shaped guide groove 21 is abutting wall 211 .
  • the second rod 30 is pivotally connected to the second end 20b of the first rod 20 .
  • Two ends of the connecting rod 40 are pivotally connected to the fixing frame 10 and the second rod 30 respectively.
  • the drive assembly 50 includes a linear drive member 51 and a transmission rod 52 driven to move by the linear drive member 51 .
  • the first end 52 a of the transmission rod 52 is hinged to the output shaft 511 of the linear drive member 51 , and the transmission rod 52
  • the second end 52b is slidably assembled in the first arc guide groove 21 .
  • both ends of the elastic member 60 are respectively connected to the first rod member 20 and the second rod member 30 , and the elastic member 60 is used to automatically reset the second rod member 30 .
  • the linear driving member 51 drives the transmission rod 52 to extend and move
  • the second end 52b of the transmission rod 52 abuts against the abutting wall 211 , so that the first rod 20 swings relative to the fixing frame 10 .
  • the connecting rod structure provided by the present application the fixing frame 10, the first rod 20, the second rod 30 and the connecting rod 40 constitute a four-bar mechanism.
  • the bending state of the four-bar mechanism means that the first rod 20 and the fixing frame 10 form a predetermined angle, the second rod 30 and the first rod 20 form a predetermined angle, and the fixing frame 10,
  • the first rod 20 and the second rod 30 form a shape similar to a hook.
  • the straight state of the four-bar mechanism refers to the state in which the fixing frame 10 , the first rod 20 and the second rod 30 extend substantially along a straight line.
  • the second end 52b of the transmission rod 52 Since the second end 52b of the transmission rod 52 is slidably assembled in the first arc-shaped guide groove 21, the second end 52b of the transmission rod 52 disengages from the abutment wall 211 of the first arc-shaped guide groove 21 during passive bending movement, and the first There is no interference between the rod 20 and the transmission rod 52 , which reduces the damage of the four-bar mechanism due to external force, and plays a role in impact protection.
  • the elastic member 60 releases energy to drive the second rod member 30 to reset, and the first rod member 20 is linked with the connecting rod 40 to achieve straightening motion.
  • the connecting rod structure has a certain passiveness, that is, it can passively move under the action of external force, avoid rigid collision, and has certain flexibility.
  • the link structure has good anthropomorphism when applied to the robot finger, and the link structure can also be used in other occasions requiring two-way active movement and one-way passive movement.
  • the connecting rod structure is provided with multi-level connecting rods, and the small gap between adjacent connecting rods will be enlarged, which will cause the connecting rod structure to easily generate a large virtual position and shake.
  • the rod structure is not easy to shake, and the repeated positioning accuracy of the connecting rod structure is improved.
  • the linear driving member 51 may be an electric cylinder, which is convenient for outputting a predetermined displacement to push the transmission rod 52 to move forward and backward.
  • the second end 52b of the transmission rod 52 abuts against the abutting wall 211 to make the first rod 20 swings relative to the fixing frame 10, and combined with the elastic member 60, realizes the bending and straightening motion of the four-bar mechanism.
  • the linear drive member 51 can be assembled to the fixing frame 10 .
  • the fixing frame 10 , the first rod 20 , the second rod 30 and the connecting rod 40 form a double rocker mechanism, and the first rod 20 and the connecting rod 40 are both rockers.
  • the connecting rod 40 and the first rod 20 are pivotally connected at positions spaced apart from the first end 30a of the second rod 30, and the second end 30b of the second rod 30 serves as a free end.
  • the four-bar mechanism has an extended state and a bent state, and can move between the extended and bent states.
  • the first rod 20 and the connecting rod 40 of the rocker are respectively used as the connecting line of the two pivot points of the first rod 20 (ie the connecting line between the axes of 102 and 104 )
  • the line connecting the two pivot points of the connecting rod 40 (that is, the connecting line between the axes of 101 and 103 ) is kept intersecting, so that the overall bending and straightening of the four-bar mechanism can be realized, that is, the driving assembly 50 drives the first rod 20 to swing,
  • the second rod member 30 also swings following the swinging direction of the first rod member 20 .
  • the structural members of the fixing frame 10 , the first rod 20 and the second rod 30 are flush.
  • the flushing may be that the structural members are connected in the same straight line direction, or there is a small included angle, such as 5°, between the extending directions of the structural members, which is not specifically limited.
  • FIG. 9 when the four-bar mechanism is fully bent, the fixing frame 10 is perpendicular to the first rod 20 , and the first rod 20 is perpendicular to the second rod 30 .
  • the fixing frame 10 is used as the proximal phalanx
  • the first rod 20 is used as the middle phalanx
  • the second rod 30 is used as the distal phalanx.
  • the robot finger can realize active bending, straightening and passive bending movements, and has good anthropomorphism.
  • the fixing frame 10 includes two connected fixing sub-shells 19 , so that the drive assembly 50 is at least partially assembled inside the fixing frame 10 .
  • the first rod member 20 includes two connected first sub-shells 29 , which facilitates assembling a part of the connecting rod 40 into the first rod member 20 .
  • the second rod member 30 includes two connected second sub-shells 39 , which facilitates assembling a part of the connecting rod 40 into the interior of the first rod member 20 .
  • the fixing frame 10 , the first rod member 20 and the second rod member 30 form a better finger appearance (as shown in FIG. 1 and FIG. 2 ).
  • one end of the fixing frame 10 close to the first rod 20 is provided with a first opening 12
  • the transmission rod 52 is partially located in the fixing frame 10
  • the second end of the transmission rod 52 is 52b penetrates through the first opening 12 .
  • This can better protect the transmission rod 52, prevent the transmission rod 52 from being exposed outside the fixing frame 10, and obtain a finger-like appearance.
  • One end of the second rod 30 close to the first rod 20 is provided with a second opening 33 , and one end of the connecting rod 40 is penetrated through the second opening 33 . In this way, the connecting rod 40 can be better protected, the connecting rod 40 can be prevented from being exposed outside the second rod member 30, and a finger-like appearance can be obtained.
  • the first rod member 20 has an inner cavity 22 , and the first end 20a of the first rod member 20 is provided with a proximal end opening 23 communicating with the inner cavity 22 , The second end 52b of the transmission rod 52 passes through the proximal opening 23 .
  • the second end 20b of the first rod member 20 is provided with a distal opening 27 communicating with the inner cavity 22 , at least a part of the connecting rod 40 is accommodated in the first rod member 20 , and the connecting rod 40 passes through Set at the distal opening 27 .
  • Parts of the connecting rod 40 are provided inside the first rod member 20 to better protect the connecting rod 40, prevent the connecting rod 40 from being exposed outside the first rod member 20, and obtain a finger-like appearance.
  • the inner wall of the proximal opening 23 includes a first distal inner wall 231 , and the abutting wall 211 is disposed close to the first distal inner wall 231 ; with reference to FIG. 9 , when a straight line
  • the driving member 51 drives the transmission rod 52 to extend and move to the maximum displacement
  • the second end 52 b of the transmission rod 52 abuts against the abutting wall 211 , and the transmission rod 52 can cover the proximal opening 23 .
  • the first rod 20 should be provided with a larger proximal opening 23 to avoid the transmission rod 52 .
  • the inner side 20c and the outer side 20d of the first rod 20 are respectively the inner side 20c and the outer side 20d of the first rod 20 when the four-bar mechanism is in a bending motion.
  • the first distal inner wall 231 is a part of the inner wall of the proximal opening 23 close to the outer side 20d of the first rod 20 .
  • the linear driving member 51 drives the transmission rod 52 to extend and move, and the transmission rod 52 can gradually cover the proximal opening 23 .
  • the transmission rod 52 basically covers the proximal opening 23 , preventing the user from accidentally touching the proximal opening 23 and causing injury, and making the connection position between the first rod 20 and the fixing frame 10 obtain a better appearance effect.
  • the transmission rod 52 is extended along a predetermined curve, and the center of curvature of the predetermined curve is disposed toward the inner side 10c of the fixing frame 10 ; with reference to FIG. 4 , the inner wall of the proximal opening 23 Including a first proximal inner wall 232 spaced from the first distal inner wall 231; when the linear driving member 51 drives the transmission rod 52 to extend and move to the maximum displacement, the first proximal inner wall 232 is close to the inner concave side of the transmission rod 52 52c settings.
  • the inner side 10c and the outer side 10d of the fixing frame 10 are respectively the inner side 10c and the outer side 10d of the fixing frame 10 when the four-bar mechanism is in the bending motion.
  • the first proximal inner wall 232 is a portion of the inner wall of the proximal opening 23 that is close to the inner side 20c of the first rod 20 .
  • the transmission rod 52 is arranged to extend along a curve with the concave side 52c facing the inner side 10c of the fixing frame 10, so that the first end 20a of the first rod 20 can be set as a smooth curved surface, so that the transmission rod 52 covers the proximal end A better appearance is obtained with the opening 23 .
  • the first proximal inner wall 232 can also be brought closer to the center of the proximal opening 23 to reduce the size of the proximal opening 23 .
  • the transmission rod 52 is arranged to extend along an arc, so as to adapt to the situation that the first end 20a of the first rod 20 is set in an arc.
  • the second end 52 b of the transmission rod 52 has a connecting shaft 521 , and two opposite inner walls of the first rod 20 respectively have coaxial first arc guides In the groove 21 , the two ends of the connecting shaft 521 are slidably assembled in the two first arc guide grooves 21 in one-to-one correspondence. In this way, the second end 52b of the transmission rod 52 can be stably slidably assembled on the first rod member 20, thereby improving the reliability of the mechanism.
  • the first end 52a of the transmission rod 52 has a connecting seat 522 connected to the output shaft 511 of the linear driving member 51 , and the side surface of the connecting seat 522 is protruded with a guide
  • the column 523 has a linear guide groove 11 extending along the axis direction of the output shaft 511 of the linear drive member 51 on the side wall of the fixing frame 10 .
  • the guide post 523 cooperates with the linear guide groove 11 to enable the transmission rod 52 to move back and forth along a predetermined direction, thereby improving the reliability of the mechanism.
  • a ball joint is used between the output shaft 511 of the linear drive member 51 and the first end 52a of the transmission rod 52, which facilitates the assembly of the transmission rod 52 and the output shaft 511 of the linear drive member 51 and reduces the difficulty of assembly;
  • the output shaft 511 of the linear drive member 51 drives the transmission rod 52 to move forward and backward.
  • the first rod 20 has two first connecting ears 24 arranged at intervals, and a first installation area 241 is formed between the two first connecting ears 24 , One end of the second rod 30 extends into the first installation area 241 , and one end of the second rod 30 is pivotally connected to the first connecting ear 24 . In this way, one end of the second rod member 30 can be pivotally connected to the first rod member 20 reliably.
  • a first pivot hole 242 is formed on the inner side of the first connecting ear 24
  • a first pivot shaft is respectively formed on both sides of the second lever 30 31.
  • the first pivot shafts 31 are supported in the first pivot holes 242 through bearings (not shown in the figure) in one-to-one correspondence. Providing the bearing can reduce the friction between the first pivot shaft 31 and the inner wall of the first pivot hole 242 , so that the first pivot shaft 31 and the first pivot hole 242 can be connected reliably, so that one end of the second rod 30 can be reliably connected It is pivotally connected to the first rod member 20 .
  • the elastic member 60 is a torsion spring
  • the inner wall of one of the first connecting ears 24 is provided with a first positioning groove 243
  • the second rod 30 has a The outer wall is provided with a second positioning groove 32, a part of the torsion spring is set in the first positioning groove 243, and the other part is set in the second positioning groove 32, and the two torsion arms 61 of the torsion spring are respectively abutted against the first connection The ear 24 and the second rod 30 .
  • the first positioning groove 243 can position the part of the helical part 62 of the torsion spring and one torsion arm 61
  • the second positioning groove 32 can position the part of the helical part 62 of the torsion spring and the other torsion arm 61 .
  • the two torsion arms 61 can be respectively passed through the first connecting ear 24 and the second rod 30 to realize the fixation of the torsion arms 61 .
  • the fixing frame 10 has two second connection ears 13 arranged at intervals, and a second installation area 131 is formed between the two second connection ears 13 .
  • One end of the rod member 20 extends into the second installation area 131 , and the first end 20 a of the first rod member 20 is pivotally connected to the second connecting ear 13 . In this way, the first end 20a of the first rod 20 can be pivotally connected to the fixing frame 10 reliably.
  • the inner side of the second connecting ear 13 is provided with a second pivot hole 132
  • the two sides of the first rod 20 are respectively provided with a second pivot shaft 25
  • the two pivot shafts 25 are supported in the second pivot hole 132 through a bearing (not shown in the figure) in one-to-one correspondence.
  • the setting of the bearing can reduce the friction between the second pivot shaft 25 and the inner wall of the second pivot hole 132 , so that the second pivot shaft 25 and the second pivot hole 132 are connected reliably, thereby making the first end of the first rod 20 .
  • 20a is pivotally connected to the fixing frame 10 reliably.
  • the first rod member 20 is provided with a second arc-shaped guide groove 26 , and the second arc-shaped guide groove 26 is relative to the fixing frame 10 by the first rod member 20 .
  • the pivot axis 102 is the center, one end of the connecting rod 40 has a pivot rod 41, the pivot rod 41 is arranged through the second arc guide groove 26, and the end of the pivot rod 41 is pivotally connected to at least one second connecting ear 13.
  • the end of the pivot rod 41 is inserted into the pivot hole 133 of the second connection ear 13 .
  • the axis of the pivoting rod 41 is the pivoting axis 101 between the connecting rod 40 and the fixing frame 10.
  • the pivoting rod 41 passes through the first rod 20 and is connected to the fixing frame 10, and then the connecting rod 40 is pivotally connected to the fixing frame 10. on the holder 10.
  • the end of the pivoting rod 41 can be supported on the second connecting ear 13 through a bearing (not shown in the figure), which can reduce the friction force between the pivoting rod 41 and the second connecting ear 13, so that the connecting rod 40 can pivot reliably connected to the second connecting ear 13 .
  • the connecting rod 40 includes a first bending section 42 , the notch 421 of the first bending section 42 is disposed toward the outer side 20d of the first rod 20 , the first One end of the bending section 42 is pivotally connected to the second rod 30 .
  • the connecting rod 40 further includes a second bending section 43 connected to one end of the first bending section 42.
  • the notch 431 of the second bending section 43 is disposed toward the inner side 20c of the first rod 20.
  • the second bending section 43 One end is pivotally connected to the fixing frame 10 .
  • the bending section can be understood as a bending structure with a notch formed by bending the strip body, and the bending section is roughly 7-shaped or T-shaped, and the specific forming method is not limited.
  • the connecting rod 40 is set to have a structure with a first bending section 42 and a second bending section 43, the notch 421 of the first bending section 42 is opposite to the notch 431 of the second bending section 43, and the first bending
  • the segment 42 and the second bending segment 43 are substantially single-period sinusoidal structures, which can improve the elasticity of the connecting rod 40 to absorb external impact, and the second rod 30 will immediately return to its original state when the external impact disappears.
  • a robot finger which includes the above-mentioned link structure, the fixing frame 10 serves as the proximal phalanx, the first rod 20 serves as the middle phalangeal, and the second rod Piece 30 serves as the distal knuckle.
  • the fixing frame 10 , the first rod member 20 and the second rod member 30 are arranged in sequence. Since the robot finger adopts all the technical solutions of the above-mentioned embodiments, it also has all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be repeated here.
  • a robot which includes the above-mentioned link structure. Since the robot adopts all the technical solutions of the above-mentioned embodiments, it also has all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be repeated here.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Transmission Devices (AREA)

Abstract

本申请属于机器人配件技术领域，尤其涉及一种连杆结构、机器人手指及机器人。该连杆结构中，固定架、第一杆件、第二杆件与连接杆构成四杆机构，结合驱动组件和弹性件，可实现四杆机构的主动弯曲、伸直和被动弯曲运动。不管直线驱动件是否工作，在第二杆件受到外力时第二杆件可摆动且弹性件压缩蓄能，第一杆件与连接杆联动，第一杆件跟随第二杆件的摆动方向摆动，实现被动弯曲运动。在被动弯曲运动时第一杆件与传动杆之间不会产生干涉，降低四杆机构因受外力而损坏的情况。在撤销外力后，弹性件释能以带动第二杆件复位，第一杆件与连接杆联动，实现伸直运动。该连杆结构可应用在需要双向主动运动、单向被动运动的场合，比如机器人手指。

Description

连杆结构、机器人手指及机器人
本申请要求于2021年03月10日在中国专利局提交的、申请号为202110261861.5的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请属于机器人配件技术领域，尤其涉及一种连杆结构、机器人手指及机器人。
背景技术
目前，机器人手指最常用的传动方式为连杆传动，一般为具有单自由度的四杆机构，即通过一个驱动件控制连杆机构在固定路径里运动，以实现机器人手指的弯曲和伸直运动。传统的四杆机构作为运动件，容易受到碰撞冲击的外力作用而造成损坏，四杆机构在受到外力作用时不能被动弯曲运动，而且运动显得生硬、不柔顺。
技术问题
本申请实施例的目的在于提供一种连杆结构、机器人手指及机器人，以解决现有连杆机构在受到外力作用时不能被动运动的技术问题。
技术解决方案
本申请实施例提供一种连杆结构，包括：
固定架；
第一杆件，所述第一杆件的第一端枢接于所述固定架，所述第一杆件具有以所述第一杆件相对于所述固定架的枢接轴线为中心的第一弧形导向槽，所述第一弧形导向槽的一末端内壁为抵接壁；
第二杆件，枢接于所述第一杆件的第二端；
连接杆，两端分别枢接于所述固定架与所述第二杆件；
驱动组件，包括直线驱动件以及由所述直线驱动件驱动移动的传动杆，所述传动杆的第一端铰接于所述直线驱动件的输出轴，所述传动杆的第二端滑动装配于所述第一弧形导向槽内；
弹性件，两端分别连接于所述第一杆件与所述第二杆件，所述弹性件用于使所述第二杆件自动复位；
当所述直线驱动件驱动所述传动杆伸出移动时，所述传动杆的第二端抵设于所述抵接壁，以使所述第一杆件相对于所述固定架摆动。
可选地，所述第一杆件具有内腔，所述第一杆件的第一端开设有与所述内腔连通的近端开口，所述近端开口的内壁包括第一远端内壁，所述传动杆的第二端穿设于所述近端开口，所述抵接壁靠近所述第一远端内壁设置；当所述直线驱动件驱动所述传动杆伸出移动 至最大位移时，所述传动杆的第二端抵设于所述抵接壁，所述传动杆能够覆盖所述近端开口。
可选地，所述传动杆沿预定曲线延伸设置，所述预定曲线的曲率中心朝向所述固定架的内侧设置；所述近端开口的内壁包括与所述第一远端内壁间隔设置的第一近端内壁；当所述直线驱动件驱动所述传动杆伸出移动至最大位移时，所述第一近端内壁靠近于所述传动杆的内凹侧设置。
可选地，所述传动杆的第二端具有连接轴，所述第一杆件的两个相对内壁分别具有同轴的所述第一弧形导向槽，所述连接轴的两端部一一对应地滑动装配于两个所述第一弧形导向槽。
可选地，所述传动杆的第一端具有与所述直线驱动件的输出轴连接的连接座，所述连接座的侧面凸设有导向柱，所述固定架的侧壁开设有沿所述直线驱动件的输出轴的轴线方向延伸的直线导向槽，所述导向柱滑动装配于所述直线导向槽。
可选地，所述第一杆件具有两个间隔设置的第一连接耳，两个所述第一连接耳之间形成第一安装区，所述第二杆件的一端伸入所述第一安装区内，所述第二杆件的一端枢接于所述第一连接耳。
可选地，所述弹性件为扭簧，其中一个所述第一连接耳的内壁设有第一定位槽，所述第二杆件的外壁设有第二定位槽，所述扭簧的其中一部分设于所述第一定位槽内，另外一部分设于第二定位槽内，且所述扭簧的两个扭臂分别抵设于所述第一连接耳和所述第二杆件。
可选地，所述固定架具有两个间隔设置的第二连接耳，两个所述第二连接耳之间形成第二安装区，所述第一杆件的一端伸入所述第二安装区内，所述第一杆件的第一端枢接于所述第二连接耳。
可选地，所述第一杆件开设有第二弧形导向槽，所述第二弧形导向槽以所述第一杆件相对于所述固定架的枢接轴线为中心，所述连接杆的一端具有枢接杆，所述枢接杆穿过所述第二弧形导向槽设置，所述枢接杆的端部枢接于至少一个所述第二连接耳。
可选地，所述连接杆包括第一弯折段，所述第一弯折段的凹口朝向所述第一杆件的外侧设置，所述第一弯折段的一端枢接于所述第二杆件；
所述连接杆还包括连接于所述第一弯折段的一端的第二弯折段，所述第二弯折段的凹口朝向所述第一杆件的内侧设置，所述第二弯折段的一端枢接于所述固定架。
可选地，所述第一杆件具有内腔，所述连接杆的至少一部分容置于所述第一杆件内；所述第一杆件的第二端开设有与所述内腔连通的远端开口，所述连接杆穿设于所述远端开口。
本申请实施例提供一种机器人手指，包括上述的连杆结构，所述固定架作为近指节，所述第一杆件作为中指节，所述第二杆件作为远指节，所述固定架、所述第一杆件和所述第二杆件依次设置。
本申请实施例提供一种机器人，包括上述的连杆结构。
有益效果
本申请实施例提供的上述一个或多个技术方案至少具有如下技术效果之一：该连杆结构中，固定架、第一杆件、第二杆件与连接杆构成四杆机构，结合驱动组件和弹性件，可实现四杆机构的主动弯曲、伸直和被动弯曲运动。
在直线驱动件驱动传动杆伸出移动时，传动杆的第二端抵设于第一杆件第一弧形导向槽的抵接壁，以驱动第一杆件相对固定架摆动，第二杆件与连接杆联动，第二杆件跟随第一杆件的摆动方向摆动，弹性件压缩蓄能，实现主动弯曲运动。在直线驱动件驱动传动杆回位移动时，传动杆的第二端抵设于第一弧形导向槽的抵接壁，弹性件释能带动第二杆件复位，第一杆件与连接杆联动，实现伸直运动。
不管直线驱动件是否工作，在第二杆件受到外力时第二杆件可摆动且弹性件压缩蓄能，第一杆件与连接杆联动，第一杆件跟随第二杆件的摆动方向摆动，实现被动弯曲运动。由于传动杆的第二端滑动装配在第一弧形导向槽内，在被动弯曲运动时传动杆的第二端脱离第一弧形导向槽的抵接壁，第一杆件与传动杆之间不会产生干涉，降低四杆机构因受外力而损坏的情况，起到撞击保护作用。在撤销外力后，弹性件释能以带动第二杆件复位，第一杆件与连接杆联动，实现伸直运动。
该连杆结构具有一定的可被动性，即在外力作用下能被动运动，避免刚性碰撞，具备一定的柔性。该连杆结构应用在机器人手指时具有较好的拟人性，连杆结构还可应用在其它需要双向主动运动、单向被动运动的场合。该连杆结构设置多级连杆，在相邻连杆之间的细小间隙会被放大，造成连杆结构容易产生较大的虚位而晃动，通过弹性件能有效降低虚位，使连杆结构不易晃动，提高连杆结构的重复定位精度。
附图说明
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1为本申请实施例提供的连杆结构在伸直状态的立体装配图；
图2为图1的连杆结构的另一角度立体装配图；
图3为图2的连杆结构的立体分解图；
图4为图3的连杆结构的另一角度立体分解图；
图5为图1的连杆结构的立体分解图；
图6为图5的连杆结构的进一步立体分解图；
图7为图6的连杆结构的进一步立体分解图；
图8为本申请实施例提供的连杆结构在被动弯曲状态的立体装配图；
图9为本申请实施例提供的连杆结构在主动弯曲状态的立体装配图。
本发明的实施方式
为了使本申请所要解决的技术问题、技术方案及有益效果更加清楚明白，以下结合附图及实施例，对本申请进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本申请，并不用于限定本申请。
在本申请实施例的描述中，需要理解的是，术语“长度”、“宽度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请实施例和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请实施例的限制。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。在本申请的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。
在本申请实施例中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请实施例中的具体含义。
请参阅图1至图4，本申请实施例提供一种连杆结构，包括：固定架10、第一杆件20、第二杆件30、连接杆40、驱动组件50与弹性件60。第一杆件20的第一端20a枢接于固定架10，结合图5、图7，第一杆件20具有以第一杆件20相对于固定架10的枢接轴线102为中心的第一弧形导向槽21，第一弧形导向槽21的一末端内壁为抵接壁211。第二杆件30枢接于第一杆件20的第二端20b。连接杆40的两端分别枢接于固定架10与第二杆件30。连接杆40与固定架10之间的枢接轴线101和第一杆件20与固定架10之间的枢接轴线102间隔设置，连接杆40与第二杆件30之间的枢接轴线103和第一杆件20与第二杆件30之间的枢接轴线104间隔设置。参阅图6、图7，驱动组件50包括直线驱动件51以及 由直线驱动件51驱动移动的传动杆52，传动杆52的第一端52a铰接于直线驱动件51的输出轴511，传动杆52的第二端52b滑动装配于第一弧形导向槽21内。参阅图5、图6，弹性件60的两端分别连接于第一杆件20与第二杆件30，弹性件60用于使第二杆件30自动复位。结合图7、图9，当直线驱动件51驱动传动杆52伸出移动时，传动杆52的第二端52b抵设于抵接壁211，以使第一杆件20相对于固定架10摆动。
本申请提供的连杆结构，与相关技术相比，固定架10、第一杆件20、第二杆件30与连接杆40构成四杆机构，结合驱动组件50和弹性件60，可实现四杆机构的主动弯曲、伸直和被动弯曲运动。参阅图9，四杆机构的弯曲状态是指第一杆件20与固定架10之间呈预定夹角，第二杆件30与第一杆件20之间呈预定夹角，固定架10、第一杆件20、第二杆件30形成类似一个勾子的形态。参阅图1、图6，四杆机构的伸直状态是指固定架10、第一杆件20、第二杆件30大致沿直线延伸的形态。
参阅图7、图9，在直线驱动件51驱动传动杆52伸出移动时，传动杆52的第二端52b抵设于第一杆件20第一弧形导向槽21的抵接壁211，以驱动第一杆件20相对固定架10摆动，第二杆件30与连接杆40联动，第二杆件30跟随第一杆件20的摆动方向摆动，弹性件60压缩蓄能，实现主动弯曲运动。参阅图5、图6，在直线驱动件51驱动传动杆52回位移动时，传动杆52的第二端52b抵设于第一弧形导向槽21的抵接壁211，弹性件60释能带动第二杆件30复位，第一杆件20与连接杆40联动，实现伸直运动。
不管直线驱动件51是否工作，参阅图8，在第二杆件30受到外力F时第二杆件30可摆动且弹性件压缩蓄能，第一杆件20与连接杆40联动，第一杆件20跟随第二杆件30的摆动方向摆动，实现被动弯曲运动。由于传动杆52的第二端52b滑动装配在第一弧形导向槽21内，在被动弯曲运动时传动杆52的第二端52b脱离第一弧形导向槽21的抵接壁211，第一杆件20与传动杆52之间不会产生干涉，降低四杆机构因受外力而损坏的情况，起到撞击保护作用。结合图5，在撤销外力后，弹性件60释能以带动第二杆件30复位，第一杆件20与连接杆40联动，实现伸直运动。
该连杆结构具有一定的可被动性，即在外力作用下能被动运动，避免刚性碰撞，具备一定的柔性。该连杆结构应用在机器人手指时具有较好的拟人性，连杆结构还可应用在其它需要双向主动运动、单向被动运动的场合。该连杆结构设置多级连杆，在相邻连杆之间的细小间隙会被放大，造成连杆结构容易产生较大的虚位而晃动，通过弹性件60能有效降低虚位，使连杆结构不易晃动，提高连杆结构的重复定位精度。
示例性的，参阅图5，直线驱动件51可以是电缸，便于输出预定位移以推动传动杆52前后移动，传动杆52的第二端52b抵设于抵接壁211以使第一杆件20相对于固定架10摆动，结合弹性件60，实现四杆机构弯曲和伸直运动。直线驱动件51可装配在固定架10。
示例性的，参阅图5，固定架10、第一杆件20、第二杆件30与连接杆40构成双摇杆机构，第一杆件20与连接杆40都是摇杆。连接杆40与第一杆件20分别枢接在第二杆件30的第一端30a相间隔的位置，第二杆件30的第二端30b作为自由端。该四杆机构具有伸直状态和弯曲状态，并且可以在伸直与弯曲状态之间运动。
四杆机构在弯曲与伸直的过程中，分别作为摇杆的第一杆件20与连接杆40，第一杆件20两个枢接点的连线(即102与104的轴心连线)与连接杆40两个枢接点的连线(即101与103的轴心连线)保持交叉设置，这样能够实现四杆机构整体弯曲与伸直，即驱动组件50驱动第一杆件20摆动，第二杆件30也跟随第一杆件20的摆动方向摆动。
参阅图5，在四杆机构伸直状态时，固定架10、第一杆件20与第二杆件30这些结构件平齐。平齐可以是结构件之间在同一直线方向上衔接，或者是结构件延伸方向之间有一较小的夹角，如5°，具体不作限定。参阅图9，在四杆机构完全弯曲状态时，固定架10与第一杆件20相垂直，第一杆件20与第二杆件30相垂直。
在将连杆结构应用在机器人手指时，固定架10作为近指节，第一杆件20作为中指节，第二杆件30作为远指节。该机器人手指可实现主动弯曲、伸直和被动弯曲运动，具有较好的拟人性。
示例性的，参阅图3至图5，固定架10包括两个相连接的固定子壳19，便于将驱动组件50至少部分装配在固定架10内部。第一杆件20包括两个相连接的第一子壳29，便于将连接杆40一部分装配到第一杆件20内部。第二杆件30包括两个相连接的第二子壳39，便于将连接杆40一部分装配到第一杆件20内部。进而使固定架10、第一杆件20与第二杆件30形成较好的手指外观(如图1、图2所示)。
在本申请另一实施例中，请参阅图3，固定架10的靠近第一杆件20的一端开设有第一开口12，传动杆52部分位于固定架10内，传动杆52的第二端52b穿设于第一开口12。这样能更好地保护传动杆52，避免传动杆52暴露在固定架10外部，并获得类似手指的外观。第二杆件30的靠近第一杆件20的一端开设有第二开口33，连接杆40的一端穿设于第二开口33。这样能更好地保护连接杆40，避免连接杆40暴露在第二杆件30外部，并获得类似手指的外观。
在本申请另一实施例中，请参阅图4、图5，第一杆件20具有内腔22，第一杆件20的第一端20a开设有与内腔22连通的近端开口23，传动杆52的第二端52b穿设于近端开口23。参阅图3、图6，第一杆件20的第二端20b开设有与内腔22连通的远端开口27，连接杆40的至少一部分容置于第一杆件20内，连接杆40穿设于远端开口27。将连接杆40的部分设在第一杆件20内，以更好地保护连接杆40，避免连接杆40暴露在第一杆件20外部，并获得类似手指的外观。
在本申请另一实施例中，请参阅图4、图5，近端开口23的内壁包括第一远端内壁231，抵接壁211靠近第一远端内壁231设置；结合图9，当直线驱动件51驱动传动杆52伸出移动至最大位移时，传动杆52的第二端52b抵设于抵接壁211，传动杆52能够覆盖近端开口23。为了满足主动运动和被动运动时第一杆件20与传动杆52之间不产生干涉的要求，第一杆件20要设置较大的近端开口23以避开传动杆52。参阅图5，第一杆件20的内侧20c与外侧20d分别是在四杆机构处于弯曲运动时第一杆件20的内侧20c与外侧20d。第一远端内壁231是近端开口23的内壁中的靠近第一杆件20外侧20d的一部分区域。参阅图9，在主动弯曲运动的过程中，直线驱动件51驱动传动杆52伸出移动，传动杆52能逐渐覆盖近端开口23。在直线驱动件51的输出轴511伸出至最大位置使传动杆52移动至最大位置时，传动杆52的第二端52b抵设于抵接壁211，靠近于第一远端内壁231设置，这样传动杆52基本上覆盖近端开口23，防止用户误触近端开口23造成伤害，并使第一杆件20与固定架10之间连接位置获得较好的外观效果。
在本申请另一实施例中，请参阅图7、图9，传动杆52沿预定曲线延伸设置，预定曲线的曲率中心朝向固定架10的内侧10c设置；结合图4，近端开口23的内壁包括与第一远端内壁231间隔设置的第一近端内壁232；当直线驱动件51驱动传动杆52伸出移动至最大位移时，第一近端内壁232靠近于传动杆52的内凹侧52c设置。固定架10的内侧10c与外侧10d分别是在四杆机构处于弯曲运动时固定架10的内侧10c与外侧10d。第一近端内壁232是近端开口23的内壁中的靠近第一杆件20内侧20c的一部分区域。将传动杆52设置为沿曲线延伸且内凹侧52c朝向固定架10的内侧10c，这样能适应第一杆件20的第一端20a设为光滑曲面的情况，以使传动杆52覆盖近端开口23时获得较好的外观。还能使第一近端内壁232靠近近端开口23的中心，以减小近端开口23的大小。示例性的，传动杆52沿弧线延伸设置，以适应第一杆件20的第一端20a设为弧形的情况。
在本申请另一实施例中，请参阅图3至图5，传动杆52的第二端52b具有连接轴521，第一杆件20的两个相对内壁分别具有同轴的第一弧形导向槽21，连接轴521的两端部一一对应地滑动装配于两个第一弧形导向槽21。这样能将传动杆52的第二端52b稳定地滑动装配于第一杆件20上，提高机构工作的可靠性。
在本申请另一实施例中，请参阅图6、图7，传动杆52的第一端52a具有与直线驱动件51的输出轴511连接的连接座522，连接座522的侧面凸设有导向柱523，固定架10的侧壁开设有沿直线驱动件51的输出轴511的轴线方向延伸的直线导向槽11，导向柱523滑动装配于直线导向槽11。导向柱523与直线导向槽11配合，能实现传动杆52沿预定方向前后移动，提高机构工作的可靠性。直线驱动件51的输出轴511与传动杆52的第一端52a之间采用球头连接，这样便于传动杆52与直线驱动件51输出轴511的装配，降低装 配难度；还便于动力传递，使直线驱动件51的输出轴511带动传动杆52前后移动。
在本申请另一实施例中，请参阅图2、图3，第一杆件20具有两个间隔设置的第一连接耳24，两个第一连接耳24之间形成第一安装区241，第二杆件30的一端伸入第一安装区241内，第二杆件30的一端枢接于第一连接耳24。这样能将第二杆件30的一端可靠地枢接在第一杆件20上。
在本申请另一实施例中，请参阅图2、图3，第一连接耳24的内侧面开设有第一枢接孔242，第二杆件30的两侧面分别设有第一枢接轴31，第一枢接轴31一一对应地通过轴承(图中未显示)支承于第一枢接孔242内。设置轴承能降低第一枢接轴31与第一枢接孔242内壁的摩擦力，使第一枢接轴31与第一枢接孔242连接可靠，进而使第二杆件30的一端可靠地枢接在第一杆件20上。
在本申请另一实施例中，请参阅图3、图5、图6，弹性件60为扭簧，其中一个第一连接耳24的内壁设有第一定位槽243，第二杆件30的外壁设有第二定位槽32，扭簧的其中一部分设于第一定位槽243内，另外一部分设于第二定位槽32内，且扭簧的两个扭臂61分别抵设于第一连接耳24和第二杆件30。这样便于将扭簧装配在第一杆件20与第二杆件30之间，充分利用轴向空间，使结构紧凑。第一定位槽243可对扭簧的部分螺旋部62和一个扭臂61定位，第二定位槽32可以对扭簧可对扭簧的部分螺旋部62和另一个扭臂61定位。两个扭臂61可分别穿设于第一连接耳24和第二杆件30，实现扭臂61的固定。
在本申请另一实施例中，请参阅图1、图3，固定架10具有两个间隔设置的第二连接耳13，两个第二连接耳13之间形成第二安装区131，第一杆件20的一端伸入第二安装区131内，第一杆件20的第一端20a枢接于第二连接耳13。这样能将第一杆件20的第一端20a可靠地枢接在固定架10上。
在本申请另一实施例中，请参阅图3，第二连接耳13的内侧面开设有第二枢接孔132，第一杆件20的两侧面分别设有第二枢接轴25，第二枢接轴25一一对应地通过轴承(图中未显示)支承于第二枢接孔132内。设置轴承能降低第二枢接轴25与第二枢接孔132内壁的摩擦力，使第二枢接轴25与第二枢接孔132连接可靠，进而使第一杆件20的第一端20a可靠地枢接在固定架10上。
在本申请另一实施例中，请参阅图6、图7，第一杆件20开设有第二弧形导向槽26，第二弧形导向槽26以第一杆件20相对于固定架10的枢接轴线102为中心，连接杆40的一端具有枢接杆41，枢接杆41穿过第二弧形导向槽26设置，枢接杆41的端部枢接于至少一个第二连接耳13。比如，结合图3，枢接杆41的端部插设在第二连接耳13的枢接孔133。枢接杆41的轴线就是连接杆40与固定架10之间的枢接轴线101，将枢接杆41穿过第一杆件20并连接至固定架10上，进而将连接杆40枢接在固定架10上。枢接杆41的端 部可通过轴承(图中未显示)支承在第二连接耳13上，能降低枢接杆41与第二连接耳13之间的摩擦力，使连接杆40可靠地枢接在第二连接耳13上。
在本申请另一实施例中，请参阅6、图7，连接杆40包括第一弯折段42，第一弯折段42的凹口421朝向第一杆件20的外侧20d设置，第一弯折段42的一端枢接于第二杆件30。连接杆40还包括连接于第一弯折段42的一端的第二弯折段43，第二弯折段43的凹口431朝向第一杆件20的内侧20c设置，第二弯折段43的一端枢接于固定架10。弯折段可以理解为由条状体通过弯折而形成具有凹口的弯折结构，弯折段大致呈7字型或T字型，具体成型方式不限定。将连接杆40设置成具有第一弯折段42与第二弯折段43的结构，第一弯折段42的凹口421与第二弯折段43的凹口431相反，第一弯折段42与第二弯折段43大致呈单周期正弦曲线的结构，能提高连接杆40的弹性以吸收外部冲击，并且在外界冲击消失时第二杆件30还会立刻返回原有状态。
在本申请另一实施例中，请参阅图1至图9，提供一种机器人手指，包括上述的连杆结构，固定架10作为近指节，第一杆件20作为中指节，第二杆件30作为远指节。固定架10、第一杆件20和第二杆件30依次设置。由于本机器人手指采用了上述所有实施例的全部技术方案，因此同样具有上述实施例的技术方案所带来的所有有益效果，在此不再一一赘述。
在本申请另一实施例中，请参阅图1至图9，提供一种机器人，包括上述的连杆结构。由于本机器人采用了上述所有实施例的全部技术方案，因此同样具有上述实施例的技术方案所带来的所有有益效果，在此不再一一赘述。
以上所述仅为本申请的较佳实施例而已，并不用以限制本申请，凡在本申请的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本申请的保护范围之内。

Claims (13)

  1. 一种连杆结构，其特征在于，包括：
    固定架；
    第一杆件，所述第一杆件的第一端枢接于所述固定架，所述第一杆件具有以所述第一杆件相对于所述固定架的枢接轴线为中心的第一弧形导向槽，所述第一弧形导向槽的一末端内壁为抵接壁；
    第二杆件，枢接于所述第一杆件的第二端；
    连接杆，两端分别枢接于所述固定架与所述第二杆件；
    驱动组件，包括直线驱动件以及由所述直线驱动件驱动移动的传动杆，所述传动杆的第一端铰接于所述直线驱动件的输出轴，所述传动杆的第二端滑动装配于所述第一弧形导向槽内；
    弹性件，两端分别连接于所述第一杆件与所述第二杆件，所述弹性件用于使所述第二杆件自动复位；
    当所述直线驱动件驱动所述传动杆伸出移动时，所述传动杆的第二端抵设于所述抵接壁，以使所述第一杆件相对于所述固定架摆动。
  2. 如权利要求1所述的连杆结构，其特征在于，所述第一杆件具有内腔，所述第一杆件的第一端开设有与所述内腔连通的近端开口，所述近端开口的内壁包括第一远端内壁，所述传动杆的第二端穿设于所述近端开口，所述抵接壁靠近所述第一远端内壁设置；当所述直线驱动件驱动所述传动杆伸出移动至最大位移时，所述传动杆的第二端抵设于所述抵接壁，所述传动杆能够覆盖所述近端开口。
  3. 如权利要求2所述的连杆结构，其特征在于，所述传动杆沿预定曲线延伸设置，所述预定曲线的曲率中心朝向所述固定架的内侧设置；所述近端开口的内壁包括与所述第一远端内壁间隔设置的第一近端内壁；当所述直线驱动件驱动所述传动杆伸出移动至最大位移时，所述第一近端内壁靠近于所述传动杆的内凹侧设置。
  4. 如权利要求1至3任一项所述的连杆结构，其特征在于，所述传动杆的第二端具有连接轴，所述第一杆件的两个相对内壁分别具有同轴的所述第一弧形导向槽，所述连接轴的两端部一一对应地滑动装配于两个所述第一弧形导向槽。
  5. 如权利要求1至3任一项所述的连杆结构，其特征在于，所述传动杆的第一端具有与所述直线驱动件的输出轴连接的连接座，所述连接座的侧面凸设有导向柱，所述固定架的侧壁开设有沿所述直线驱动件的输出轴的轴线方向延伸的直线导向槽，所述导向柱滑动装配于所述直线导向槽。
  6. 如权利要求1至3任一项所述的连杆结构，其特征在于，所述第一杆件具有两个间 隔设置的第一连接耳，两个所述第一连接耳之间形成第一安装区，所述第二杆件的一端伸入所述第一安装区内，所述第二杆件的一端枢接于所述第一连接耳。
  7. 如权利要求6所述的连杆结构，其特征在于，所述弹性件为扭簧，其中一个所述第一连接耳的内壁设有第一定位槽，所述第二杆件的外壁设有第二定位槽，所述扭簧的其中一部分设于所述第一定位槽内，另外一部分设于第二定位槽内，且所述扭簧的两个扭臂分别抵设于所述第一连接耳和所述第二杆件。
  8. 如权利要求1至3任一项所述的连杆结构，其特征在于，所述固定架具有两个间隔设置的第二连接耳，两个所述第二连接耳之间形成第二安装区，所述第一杆件的一端伸入所述第二安装区内，所述第一杆件的第一端枢接于所述第二连接耳。
  9. 如权利要求8所述的连杆结构，其特征在于，所述第一杆件开设有第二弧形导向槽，所述第二弧形导向槽以所述第一杆件相对于所述固定架的枢接轴线为中心，所述连接杆的一端具有枢接杆，所述枢接杆穿过所述第二弧形导向槽设置，所述枢接杆的端部枢接于至少一个所述第二连接耳。
  10. 如权利要求1至3任一项所述的连杆结构，其特征在于，所述连接杆包括第一弯折段，所述第一弯折段的凹口朝向所述第一杆件的外侧设置，所述第一弯折段的一端枢接于所述第二杆件；
    所述连接杆还包括连接于所述第一弯折段的一端的第二弯折段，所述第二弯折段的凹口朝向所述第一杆件的内侧设置，所述第二弯折段的一端枢接于所述固定架。
  11. 如权利要求1至3任一项所述的连杆结构，其特征在于，所述第一杆件具有内腔，所述连接杆的至少一部分容置于所述第一杆件内；所述第一杆件的第二端开设有与所述内腔连通的远端开口，所述连接杆穿设于所述远端开口。
  12. 一种机器人手指，其特征在于，包括如权利要求1至11任一项所述的连杆结构，所述固定架作为近指节，所述第一杆件作为中指节，所述第二杆件作为远指节，所述固定架、所述第一杆件和所述第二杆件依次设置。
  13. 一种机器人，其特征在于，包括如权利要求1至11任一项所述的连杆结构。
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