CN-122008285-A - Finger mechanism and manipulator

CN122008285ACN 122008285 ACN122008285 ACN 122008285ACN-122008285-A

Abstract

The invention discloses a finger mechanism, which comprises a finger root assembly, a first knuckle and a second knuckle which are sequentially connected, wherein the transmission assembly comprises a first transmission piece, a second transmission piece and a linkage rod, the first transmission piece and the second transmission piece are both arranged in the finger root assembly, the first transmission piece is connected with the output end of the driving assembly and is coaxially arranged with the output end of the driving assembly, the linkage rod is arranged in the first knuckle, the two ends of the linkage rod are respectively and rotatably connected with the finger root assembly and the second knuckle, the second transmission piece is provided with a connecting part and a pushing part, the connecting part is connected with the first transmission piece, the linkage rod is provided with a pushed part matched with the pushing part, and when the driving assembly drives the second transmission piece to rotate through the first transmission piece, the second transmission piece pushes the pushed part through the pushing part, and the linkage rod rotates relative to the finger root assembly so as to realize bending and stretching of the finger mechanism. The invention also discloses a manipulator with the finger mechanism.

Inventors

SUN JIE
Lv Yaoyi
ZHANG XINSHENG
XU SHUANGJIA

Assignees

深圳市大寰机器人科技有限公司

Dates

Publication Date: 20260512
Application Date: 20260413

Claims (10)

1. The finger mechanism is characterized by comprising a finger root assembly, a first knuckle, a second knuckle, a driving assembly and a transmission assembly, wherein the first knuckle is rotationally connected with the finger root assembly, the second knuckle is rotationally connected with the first knuckle, and the transmission assembly comprises: The first transmission piece is arranged on the finger root assembly and connected with the output end of the driving assembly, and the first transmission piece and the driving assembly are coaxially arranged; The second transmission piece is arranged on the finger root assembly and is provided with a connecting part and a pushing part, and the connecting part is connected with the first transmission piece; the linkage rod is arranged in the first knuckle and is respectively connected with the finger root assembly and the second knuckle in a rotating way, and the linkage rod is provided with a pushed part matched with the pushing part; The driving assembly drives the first transmission piece to rotate, the first transmission piece drives the second transmission piece to rotate through the connecting part, and the second transmission piece drives the pushed part through the pushing part, so that the linkage rod rotates relative to the finger root assembly, and the bending and stretching of the finger mechanism are realized.
2. The finger mechanism of claim 1, wherein the axis of rotation of the first transmission member is perpendicular to the axis of rotation of the second transmission member and is not parallel to the axis of rotation of the first knuckle; And/or the pushed part is arranged at one end of the linkage rod, extends out of the first knuckle and is rotationally connected with the finger root assembly, and the other end of the linkage rod extends out of the first knuckle, extends into the second knuckle and is rotationally connected with the second knuckle.
3. The finger mechanism according to claim 1, wherein the pushing portion is provided with a first pushing surface, the pushed portion is provided with a first pushed surface matched with the pushing surface, and when the second transmission member rotates, the first pushing surface pushes the first pushed surface to drive the linkage rod to rotate.
4. The finger mechanism according to claim 3, wherein the pushed portion is provided with a mounting groove, the first pushed surface is located in the mounting groove, the second transmission member is mounted in the mounting groove, and the second transmission member and the pushed portion are rotatably connected with the finger root assembly through the same rotating shaft.
5. The finger mechanism according to claim 4, wherein the second transmission member is further provided with a second pushing surface, the pushed portion is further provided with a second pushed surface, and when the second transmission member rotates, the second pushed surface can be abutted against the second pushing surface, so that limiting and reverse pushing of the linkage rod are formed.
6. The finger mechanism according to claim 5, wherein the second pushing surface, the connecting portion and the first pushing surface are sequentially arranged along the rotation direction of the second transmission member, and the second pushing surface and the first pushing surface are staggered, or/and, The included angle between the second pushing surface and the first pushing surface is smaller than 90 degrees, or/and, The connecting rod further comprises a pivoting part and a rod-shaped part, the pivoting part is located in the second knuckle and is rotationally connected with the second knuckle, one end of the rod-shaped part is connected with the pivoting part, the pushed part comprises a transition part, a protruding part and two protruding parts, two ends of the transition part are respectively connected with the rod-shaped part and the protruding part, the two protruding parts are arranged side by side to the protruding parts so as to form a mounting groove, the two protruding parts are rotationally connected with the finger root assembly, the first pushed surface is arranged in the mounting groove, and the first pushed surface and the second pushed surface are both arranged in the protruding parts and are located on two adjacent sides.
7. The finger mechanism of claim 1, wherein the connection line of the pivot points at the two ends of the linkage rod and the connection line of the pivot points at the two ends of the first knuckle are staggered, or/and, The linkage rod and the finger root assembly are pivoted on a first rotation axis, the finger root assembly and the first finger joint are pivoted on a second rotation axis, the first rotation axis is lower than the second rotation axis, and the first rotation axis and the second rotation axis are staggered in the axial direction of the linkage rod.
8. The finger mechanism of claim 1, wherein a first receiving slot and a second receiving slot are respectively formed on two opposite sides of the finger root assembly, the first receiving slot penetrates through the bottom of the finger root assembly, the second receiving slot penetrates through the top of the finger root assembly, the first receiving slot and the second receiving slot are communicated, the first transmission piece is installed in the first receiving slot and penetrates out of the bottom of the finger root assembly to be connected with the driving assembly, the second transmission piece is installed in the second receiving slot, the pushed part is located in the second receiving slot, and the other end of the linkage rod penetrates out from the top of the finger root assembly and is rotationally connected with the second knuckle.
9. The finger mechanism of claim 1, wherein the drive assembly comprises a drive member and a decelerator coupled to an output end of the drive member, the decelerator coupled to the first transmission member.
10. A mechanical arm, which comprises a main body and a handle, characterized by comprising the following steps: A palm mechanism; the finger mechanism of any one of claims 1-9, wherein the finger root assembly is mounted to an end of the palm mechanism, the drive assembly being housed within the palm mechanism.

Description

Finger mechanism and manipulator Technical Field The invention relates to the technical field of robots, in particular to a high-torque and high-stability manipulator applicable to a dexterous hand and a finger mechanism thereof. Background With the rapid development of robot technology, robots are increasingly used in the fields of industrial manufacturing, medical surgery, home services, space exploration, and the like. As an important end effector for robot interaction with the environment, the study of smart hands (Dexterous Hand) is receiving increasing attention. Compared with a simple clamp, the five-finger dexterous hand has the characteristics of multiple degrees of freedom and high flexibility, can simulate the complex motion of human hands, and can realize the self-adaptive grabbing and operation of objects with different shapes and sizes. In the finger mechanism of the existing dexterous hand, a driving structure mostly adopts a scheme that a small direct current motor is matched with a planetary gear box or a harmonic reducer. But is limited by the narrow installation space (generally smaller than 20mm in diameter) of the finger body, and the rated power of the driving motor and the reduction ratio of the speed reducer are strictly constrained. In a scenario requiring a large gripping force, the output torque of the driving structure is often insufficient to overcome the load torque, resulting in a "stall" of the joint or failure to maintain the desired pose, whereas in multi-finger cooperative operation, the tiny instabilities of the fingers may be coupled and amplified with each other, resulting in reduced dynamic stability and reduced reliability of the whole gripping system. Disclosure of Invention The finger mechanism comprises a finger root assembly, a first knuckle, a second knuckle, a driving assembly and a transmission assembly, wherein the first knuckle is rotatably connected to the finger root assembly, the second knuckle is rotatably connected to the first knuckle, the transmission assembly comprises a first transmission piece, a second transmission piece and a linkage rod, the first transmission piece is mounted on the finger root assembly and is connected to the output end of the driving assembly, the first transmission piece and the driving assembly are coaxially arranged, the second transmission piece is mounted on the finger root assembly, the second transmission piece is provided with a connecting part and a pushing part, the connecting part is connected to the first transmission piece, the linkage rod is arranged in the first knuckle and is rotatably connected with the finger root assembly and the second knuckle, the linkage rod is provided with a pushed part matched with the pushing part, and the driving assembly drives the first transmission piece to rotate, and the second transmission piece drives the finger root assembly to rotate relatively through the pushing part. Preferably, the rotation axis of the first transmission member is perpendicular to the rotation axis of the second transmission member and is not parallel to the rotation axis of the first knuckle. Preferably, the pushed part is arranged at one end of the linkage rod, extends out of the first knuckle and is rotationally connected with the finger root assembly, and the other end of the linkage rod extends out of the first knuckle, extends into the second knuckle and is rotationally connected with the second knuckle. Preferably, the pushing part is provided with a first pushing surface, the pushed part is provided with a first pushed surface matched with the pushing surface, and when the second transmission piece rotates, the first pushing surface pushes the first pushed surface to drive the linkage rod to rotate. Preferably, the pushed part is provided with a mounting groove, the first pushed surface is positioned in the mounting groove, the second transmission piece is mounted in the mounting groove, and the second transmission piece and the pushed part are rotationally connected with the finger root assembly through the same rotating shaft. Preferably, the second transmission member is further provided with a second pushing surface, the pushed portion is further provided with a second pushed surface, and when the second transmission member rotates, the second pushed surface can be abutted against the second pushing surface, so that limiting and reverse pushing of the linkage rod are formed. Preferably, the second pushing surface, the connecting portion, and the first pushing surface are sequentially arranged along the rotation direction of the second transmission member, and the second pushing surface and the first pushing surface are staggered. Preferably, the angle between the second pushing surface and the first pushing surface is smaller than 90 °. Preferably, the linkage rod further comprises a pivoting part and a rod-shaped part, the pivoting part is located in the second knuckle and is rotationally co