CN-122008277-A - Mechanical finger, mechanical arm and robot

CN122008277ACN 122008277 ACN122008277 ACN 122008277ACN-122008277-A

Abstract

The embodiment of the invention relates to the technical field of manipulators, in particular to a manipulator, a manipulator and a robot, wherein a first knuckle group comprises a first knuckle, a rotating part and a swinging part, the first knuckle is arranged on the swinging part, the swinging part is rotationally connected with the rotating part and is configured to swing along a first axial direction, a second knuckle group comprises a first driving component and a second driving component, the second driving component is connected with the rotating part, the second driving component drives the rotating part to rotate along a second axial direction and drives the first knuckle to rotate, the first driving component is arranged on the second driving component, the first driving component is connected with the swinging part and is used for driving the swinging part to swing along the first axial direction and drive the first knuckle to swing, and the first axial direction and the second axial direction are perpendicular. By means of the mode, the mechanical arm can provide enough power output when the mechanical finger is subjected to bending action by means of the cooperation of the first driving assembly and the second driving assembly, and the grasping capacity of the mechanical arm is improved.

Inventors

WANG JING
REN XUSHENG

Assignees

深圳市速腾聚创科技有限公司

Dates

Publication Date: 20260512
Application Date: 20251126

Claims (10)

1. A mechanical finger, comprising: the first knuckle group comprises a first knuckle, a rotating piece and a swinging piece, wherein the first knuckle is arranged on the swinging piece, the swinging piece is rotationally connected with the rotating piece, and the swinging piece is configured to swing along a first axial direction; The second knuckle group comprises a first driving assembly and a second driving assembly, the second driving assembly is connected with the rotating piece and is used for driving the rotating piece to rotate along a second axis so as to drive the first knuckle to rotate along the second axis; the first driving assembly is arranged on the second driving assembly and is connected with the swinging piece, and the first driving assembly is used for driving the swinging piece to swing along the first axial direction so as to drive the first knuckle to swing along the first axial direction, wherein the first axial direction is perpendicular to the second axial direction.
2. The mechanical finger according to claim 1, wherein, The swinging piece is provided with a first end and a second end which are opposite, the first end of the swinging piece is fixed on the first knuckle, the second end of the swinging piece is provided with a butt joint groove, and the butt joint groove is circumferentially arranged around the first axial direction; The first driving assembly comprises a sliding part and a push rod, the sliding part is arranged on the second driving assembly in a sliding way, one end of the push rod is fixed on the sliding part, the other end of the push rod is inserted into the abutting groove, the push rod is configured to rotate around the second axis in the abutting groove, and the push rod is limited to slide relative to the abutting groove along the first axis; the first driving piece is connected with the sliding part and used for driving the sliding part to slide along the first axial direction so as to drive the push rod to slide.
3. The mechanical finger according to claim 2, wherein, The rotating member is provided with a swinging groove and an avoidance hole, the avoidance hole is communicated with the swinging groove, the second end of the swinging member stretches into the swinging groove, the swinging member is rotationally connected to the side wall of the swinging groove, the swinging groove is communicated with the butt joint groove, and one end, away from the sliding part, of the push rod stretches into the swinging groove from the avoidance hole and is spliced in the butt joint groove.
4. The mechanical finger according to claim 2, wherein, The sliding part is provided with a rack; The first driving piece comprises a first motor and first driving teeth, the first motor is fixed on the second driving assembly, the first motor is connected with the first driving teeth, and the first driving teeth are meshed with the racks.
5. The mechanical finger according to claim 2, wherein, The second driving assembly comprises a second driving piece and a bracket; the support is fixed in the casing of second driving piece, rotate the piece set up in the support, the second driving piece with rotate the piece and be connected, the second driving piece is used for the drive rotate the piece for the support rotates, the sliding part slip set up in the support.
6. The mechanical finger according to claim 5, wherein, The support is provided with the spout, the spout is followed first axial extension, the sliding part is provided with the slip table, the slip table slip set up in the spout.
7. The mechanical finger according to claim 5, wherein, The second driving assembly further comprises a second driving tooth and a driven tooth, the driven tooth is rotatably arranged on the bracket, and the driven tooth is connected with the rotating piece; the second driving gear is connected to the second driving member, the second driving gear is meshed with the driven gear, and the second driving member is used for driving the second driving gear.
8. The mechanical finger according to claim 7, wherein, The bracket is provided with a limited-distance groove; the driven tooth is provided with a range limiting part, the range limiting part is inserted into the range limiting groove, the range limiting part is configured to slide in the range limiting groove, and the range limiting groove is used for limiting the rotating travel of the driven tooth.
9. A manipulator comprising a palm assembly and a plurality of fingers according to any one of claims 1 to 8, a plurality of said fingers being spaced apart from said palm assembly.
10. A robot comprising a torso unit, an arm unit, a leg unit, and a manipulator according to claim 9, wherein the arm unit and the leg unit are movably connected to the torso unit, and wherein the robot is connected to the arm unit.

Description

Mechanical finger, mechanical arm and robot Technical Field The embodiment of the invention relates to the technical field of manipulators, in particular to a mechanical finger, a manipulator and a robot. Background The manipulator is also called as a smart hand and is used for simulating the actions of grabbing, carrying, operating and the like of a human hand, and the manipulator provides required power in two ways when achieving the actions, one of the manipulator is driven by a driving mechanism hidden in a palm to drive a tendon rope to move, and the other of the manipulator is driven by a plurality of motors capable of being controlled independently to achieve the actions. In the process of realizing the invention, the inventor finds that the grasping force of the manipulator is limited by the power provided by the driving component at the root of the finger when the manipulator is in grasping action at present, and the power output capability at the root of the finger of the manipulator becomes a key factor for limiting the whole grasping performance of the manipulator no matter in a tendon rope driving mode or in a mode of respectively driving the finger joints by a plurality of independent motors. Disclosure of Invention The embodiment of the invention provides a mechanical finger, a mechanical hand and a robot, which mainly solve the technical problems that the power output capacity of the root part of the traditional mechanical finger restricts the whole gripping performance of the mechanical hand, and the mode of driving a tendon rope and the mode of driving a single independent motor at the root part of the finger cannot meet the requirement of increasing high gripping force of the mechanical hand. In order to solve the technical problems, the mechanical finger comprises a first knuckle group and a second knuckle group, wherein the first knuckle group comprises a first knuckle, a rotating piece and a swinging piece, the first knuckle is arranged on the swinging piece, the swinging piece is rotationally connected with the rotating piece, the swinging piece is configured to swing along a first axial direction, the second knuckle group comprises a first driving component and a second driving component, the second driving component is connected with the rotating piece and is used for driving the rotating piece to rotate along a second axial direction so as to drive the first knuckle to rotate along the second axial direction, the first driving component is arranged on the second driving component and is connected with the swinging piece, and the first driving component is used for driving the swinging piece to swing along the first axial direction so as to drive the first knuckle to swing along the first axial direction, and the first driving component and the second driving component are perpendicular to each other. In some embodiments, the swing member has opposite first and second ends, the first end of the swing member is fixed to the first knuckle, the second end of the swing member is provided with a docking slot, the docking slot is circumferentially disposed about the first axis, the first drive assembly includes a slider and a first drive member, the slider includes a sliding portion slidably disposed in the second drive assembly, one end of the push rod is fixed to the sliding portion, the other end of the push rod is inserted into the docking slot, the push rod is configured to rotate about the second axis within the docking slot and to restrict the push rod from sliding relative to the docking slot in the first axis, and the first drive member is connected to the sliding portion for driving the sliding portion to slide along the first axis to drive the push rod. In some embodiments, the rotating member is provided with a swinging groove and an avoidance hole, the avoidance hole is communicated with the swinging groove, the second end of the swinging member extends into the swinging groove, the swinging member is rotationally connected to the side wall of the swinging groove, the swinging groove is communicated with the docking groove, and one end, away from the sliding part, of the push rod extends into the swinging groove from the avoidance hole and is spliced in the docking groove. In some embodiments, the sliding portion is provided with a rack, the first driving member includes a first motor and a first driving tooth, the first motor is fixed to the second driving assembly, the first motor is connected to the first driving tooth, and the first driving tooth is meshed with the rack. In some embodiments, the second driving assembly includes a second driving member and a bracket, the bracket is fixed to the housing of the second driving member, the rotating member is rotatably disposed on the bracket, the second driving member is connected with the rotating member, the second driving member is used for driving the rotating member to rotate relative to the bracket, and the sliding porti