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CN-122008276-A - Finger module and bionic manipulator

CN122008276ACN 122008276 ACN122008276 ACN 122008276ACN-122008276-A

Abstract

The invention discloses a finger module and a bionic manipulator, wherein the finger module comprises a finger matrix, a mounting seat and a driving mechanism, the finger matrix comprises a linkage mechanism and at least two knuckles which are connected, the two adjacent knuckles can rotate relatively, the mounting seat is rotationally connected with the finger matrix and rotates around a first axis, the driving mechanism comprises a driving motor, a universal joint and a driving assembly arranged on the mounting seat, two ends of the universal joint are respectively connected with the driving motor and the driving assembly, and the driving assembly is used for driving the finger matrix to rotate around the first axis. Wherein the universal joint is configured to rotate the finger base about the second axis when an external force is applied to the mount to deflect the finger base relative to the drive motor. Therefore, the universal joint is used for decoupling the driving motor from the mounting seat, and the mounting base body rotates under the action of external force to drive the finger base body to do deflection movement, so that more actions are facilitated.

Inventors

  • WU QINGHAI
  • LIU SHIHAO

Assignees

  • 深圳市速腾聚创科技有限公司

Dates

Publication Date
20260512
Application Date
20251031

Claims (10)

  1. 1. A finger module, comprising: The finger matrix is provided with a finger abdomen side and a finger back side, the finger abdomen side and the finger back side are oppositely arranged along a first direction, the finger matrix comprises a linkage mechanism and at least two knuckles which are sequentially connected in a rotating way, and the linkage mechanism is connected with at least two knuckles; The mounting seat is rotationally connected with the finger base body and rotates around a first axis, and the first axis is perpendicular to the first direction and the central axis of the finger base body respectively; the driving mechanism comprises a driving assembly, a driving motor and a universal joint, wherein the output end of the driving motor is connected with one end of the universal joint, the other end of the universal joint is connected with the driving assembly, the driving assembly is arranged on the mounting seat, and the driving assembly is used for driving the finger matrix to rotate around a first axis relative to the mounting seat under the driving of the driving motor; The universal joint is configured to drive the finger base body to rotate around a second axis when external force acts on the mounting seat, so that the finger base body deflects relative to the driving motor, and the first axis and the second axis are perpendicular to the central axis of the finger base body in pairs.
  2. 2. The finger module according to claim 1, wherein the universal joint comprises a first coupling joint, a second coupling joint and a pivoting structure, two ends of the pivoting structure are respectively connected with the first coupling joint and the second coupling joint, the first coupling joint is mounted on the mounting seat and connected with the driving assembly, and the second coupling joint is connected with an output end of the driving motor; The pivot structure is configured to drive the first coupling joint to rotate when the driving motor drives the second coupling joint to rotate so as to enable the finger base body to move relative to the mounting seat, or drive the first coupling joint to rotate relative to the second coupling joint when external force acts on the mounting seat so as to enable the finger base body to deflect around the second axis.
  3. 3. The finger module according to claim 1, wherein the mounting base comprises a base body, a protrusion and a limiting structure, the protrusion and the limiting structure are both connected to the base body, and the protrusion is disposed along the second axis.
  4. 4. The finger module according to claim 3, wherein the limiting structure comprises a rotating block and a pushing block, the rotating block and the pushing block are arranged on the same end face of the base at intervals, and the rotating block and the pushing block are both connected to the base.
  5. 5. The finger module of claim 1, wherein the drive assembly comprises a first bevel gear and a second bevel gear, each of the first bevel gear and the second bevel gear mounted to the mount, the first bevel gear and the second bevel gear intermeshed, wherein the first bevel gear is coupled to the linkage mechanism and the second bevel gear is coupled to the universal joint.
  6. 6. A biomimetic manipulator, comprising: a palm base; A mechanical finger comprising a finger module according to any one of claims 1-5 and a thumb unit, both of said finger module and said thumb unit being mounted to said palm substrate; The finger swinging mechanism is arranged on the palm base body and connected with the mounting seat, and is used for dragging the mounting seat to rotate relative to the palm base body so that the finger base body is close to or far away from the thumb unit.
  7. 7. The biomimetic manipulator of claim 6, wherein the finger swinging mechanism comprises a finger swinging motor and a finger swinging assembly, the finger swinging motor is mounted on the palm base, the finger swinging assembly is respectively connected to the protrusion and the finger swinging motor, and the finger swinging assembly is used for driving the finger base to swing relative to the thumb unit under the driving of the finger swinging motor.
  8. 8. The bionic mechanical hand according to claim 7, wherein the swing finger assembly comprises a connecting rod group, a sliding block and a limiting block, one end of the connecting rod group is connected to the output end of the swing finger motor, the other end of the connecting rod group is connected to the sliding block, the limiting block is mounted on the palm substrate, the sliding block is used for sliding the palm substrate relative to the palm substrate along the central axis direction of the driving motor under the action of the connecting rod group, and the limiting block is used for restraining the sliding block to do linear motion; When the finger swinging motor drives the connecting rod group to drive the sliding block to move towards the direction close to the finger module, the sliding block pushes the mounting seat to rotate around the second axis so as to enable the finger base body to rotate along a first deflection direction, and when the finger swinging motor drives the connecting rod group to drive the sliding block to move towards the direction far away from the finger module, the sliding block pulls the mounting seat to rotate around the second axis so as to enable the finger module to rotate towards a second deflection direction, and the first deflection direction is opposite to the second deflection direction.
  9. 9. The bionic mechanical hand according to claim 8, wherein the limiting block is provided with a limiting groove, the sliding block is arranged in the limiting groove and moves linearly along the limiting groove, or the palm substrate is provided with an avoidance port and an interlayer cavity, the avoidance port is communicated with the interlayer cavity, and the sliding block is arranged in the avoidance port.
  10. 10. The biomimetic robotic arm of any one of claims 6-9, further comprising a stop block mounted to the mount, the stop block configured to rotate synchronously with the mount, the stop block abutting the palm substrate when the mount rotates a predetermined angle about the second axis.

Description

Finger module and bionic manipulator Technical Field The embodiment of the invention relates to the field of robots, in particular to a finger module and a bionic manipulator. Background In some radiation scenes, extreme weather or dangerous environments, robots can replace people to work, and operation instructions are completed by using bionic manipulators of the robots. A bionic manipulator is an end effector of a robot, which generally includes a thumb and a plurality of finger modules, the number of the finger modules is set according to needs, and may be one, two or more, for example, the number of the finger modules is four, and in order to distinguish different finger modules, the naming thereof is generally named as an index finger unit, a middle finger unit, a ring finger unit and a tail finger unit. However, the finger module structure of the bionic manipulator in the market is simpler, and the structure is usually designed to only have a finger bending action or a finger straightening action, so that the use scene of the bionic manipulator is limited, and inconvenience is brought. Disclosure of Invention In order to solve the technical problems, the embodiment of the invention provides a finger module convenient to use and a bionic manipulator. The technical scheme adopted by the embodiment of the invention for solving the technical problems is as follows: A finger module comprises a finger matrix, a mounting seat and a driving mechanism, wherein the finger matrix is provided with a finger abdomen side and a finger back side, the finger abdomen side and the finger back side are oppositely arranged along a first direction, the finger matrix comprises a linkage mechanism and at least two knuckles which are connected in turn, the linkage mechanism is connected with the at least two knuckles, the mounting seat is connected with the finger matrix in a rotating mode and rotates around a first axis, the first axis is perpendicular to the first direction and the central axis of the finger matrix respectively, the driving mechanism comprises a driving assembly, a driving motor and a universal joint, the output end of the driving motor is connected with one end of the universal joint, the other end of the universal joint is connected with the driving assembly, the driving assembly is mounted on the mounting seat, the driving assembly is used for driving the finger matrix to rotate around the first axis relative to the mounting seat under the driving of the driving motor, and the universal joint is configured to drive the finger matrix to rotate around a second axis when external force acts on the mounting seat, so that the driving motor deflects the finger matrix relative to the first axis and the two-phase finger matrix are perpendicular to the central axis. In some embodiments, the universal joint comprises a first coupling joint, a second coupling joint and a pivoting structure, wherein two ends of the pivoting structure are respectively connected with the first coupling joint and the second coupling joint, the first coupling joint is installed on the installation seat and connected with the driving assembly, the second coupling joint is connected with the output end of the driving motor, and the pivoting structure is configured to drive the first coupling joint to rotate when the driving motor drives the second coupling joint to rotate so as to enable the finger matrix to move relative to the installation seat, or drive the first coupling joint to rotate relative to the second coupling joint when external force acts on the installation seat so as to enable the finger matrix to deflect around the second axis. In some embodiments, the mounting base includes a base body, a protrusion, and a limiting structure, the protrusion and the limiting structure are both connected to the base body, and the protrusion extends along the second axis. In some embodiments, the limiting structure includes a rotating block and a propping block, the rotating block and the propping block are arranged on the same end face of the base at intervals, and the rotating block and the propping block are both connected to the base. In some embodiments, the drive assembly includes a first bevel gear and a second bevel gear, both of which are mounted to the mount, the first bevel gear and the second bevel gear intermesh, wherein the first bevel gear is connected to the linkage mechanism, and the second bevel gear is connected to the universal joint. The technical problems of the embodiment of the invention are solved by adopting the following technical scheme: The bionic manipulator comprises a palm substrate, a mechanical finger and a finger swinging mechanism, wherein the mechanical finger comprises the finger module and a thumb unit, the finger module and the thumb unit are both arranged on the palm substrate, the finger swinging mechanism is arranged on the palm substrate and connected with the mounting seat, and the finger swingi