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CN-224223906-U - Finger structure, smart hand, robotic arm and humanoid robot

CN224223906UCN 224223906 UCN224223906 UCN 224223906UCN-224223906-U

Abstract

The utility model provides a finger structure, a smart hand, a mechanical arm and a humanoid robot, which relate to the field of robots and comprise: the first finger section, the second finger section and the third finger section are sequentially hinged, and the first tendon rope and the second tendon rope are respectively penetrated in the finger structure in sequence. One end of the first tendon rope is connected with a first stop block arranged in the first finger section, an elastic reset piece for pressing the first stop block is further arranged in the first finger section, and the other end of the first tendon rope is configured to be fixedly connected with the palm part of the humanoid robot. One end of the second tendon rope is connected with the first finger section, the other end of the second tendon rope is used for being connected with the winch, the finger can be changed from the straightening state to the bending state through the pulling action of the second tendon rope, meanwhile, the elastic reset piece is compressed to accumulate elastic potential energy, and the finger structure can be automatically restored to the straightening state of the finger from the bending state through the elastic reset action of the elastic reset piece.

Inventors

  • DONG DIANBIAO
  • WANG JINLONG

Assignees

  • 深圳赛博格机器人有限公司

Dates

Publication Date
20260512
Application Date
20250609
Priority Date
20250113

Claims (10)

  1. 1. A finger structure, adapted for use with a humanoid robot, comprising: a first finger section; A third finger section, and The two ends of the second finger section are respectively hinged with the first finger section and the third finger section; A first clamping groove and a first guide channel communicated with the first clamping groove are formed in the first finger section, and an elastic reset piece and a first stop block for pressing the elastic reset piece are arranged in the first clamping groove; A second clamping groove and a second guide channel communicated with the two clamping grooves are also formed in the first finger section; A third guide channel and a fourth guide channel are formed in the second finger section; a fifth guide channel and a sixth guide channel are formed in the third finger section; The finger structure further comprises: A first tendon rope having one end connected to the first stopper through the fifth guide passage, the third guide passage and the first guide passage in order, the other end configured to be fixedly connected to a palm portion of the humanoid robot, and And one end of the second tendon rope sequentially passes through the sixth guide channel, the fourth guide channel and the second guide channel and is fixedly connected in the second clamping groove, and the other end of the second tendon rope is configured to be connected with a winch.
  2. 2. The finger structure of claim 1, wherein the first finger segment is hinged to the second finger segment via a first pin, the first pin being positioned between the first tendon rope and the second tendon rope.
  3. 3. The finger structure of claim 1, wherein the third finger segment is hinged to the second finger segment via a second pin positioned between the first tendon rope and the second tendon rope.
  4. 4. The finger structure according to claim 1, wherein a first guide post and a second guide post are formed in the third guide passage, wherein the first tendon rope is located on a side of the first guide post and the second guide post facing away from the second tendon rope, and wherein a sixth guide post and a seventh guide post are formed in the fifth guide passage, wherein the first tendon rope is located on a side of the sixth guide post and the seventh guide post facing away from the second tendon rope.
  5. 5. The finger structure according to claim 4, wherein a third guide post, a fourth guide post and a fifth guide post are formed in the fourth guide passage, the fifth guide post being located between the third guide post and the fourth guide post, the second tendon rope being located on a side of the third guide post and the fourth guide post facing away from the first tendon rope and on a side of the fifth guide post facing toward the first tendon rope in the fourth guide passage, an eighth guide post, a ninth guide post and a tenth guide post being formed in the sixth guide passage, the tenth guide post being located between the eighth guide post and the ninth guide post, the second tendon rope being located on a side of the eighth guide post and the ninth guide post facing away from the first tendon rope and on a side of the tenth guide post facing toward the first tendon rope in the sixth guide passage.
  6. 6. The finger structure of claim 5, wherein the fifth guide post is between the first guide post and the third guide post and between the second guide post and the fourth guide post, and wherein the tenth guide post is between the sixth guide post and the eighth guide post and between the seventh guide post and the ninth guide post.
  7. 7. The finger structure of claim 1, wherein the first finger section further comprises a removable cover for opening and closing the first slot.
  8. 8. A smart hand comprising a finger structure as claimed in any one of claims 1 to 7.
  9. 9. A robotic arm comprising the dexterous hand of claim 8.
  10. 10. A humanoid robot comprising the manipulator arm of claim 9.

Description

Finger structure, smart hand, robotic arm and humanoid robot Technical Field The utility model relates to the field of robots, in particular to a finger structure and a humanoid robot. Background The robot can execute operations such as moving and grabbing through the smart hand, particularly fingers of the smart hand are important components of the smart hand, the movement function and compactness of the smart hand are directly influenced, and the current smart hand adopts a multi-connecting-rod structure, so that the finger structure is too complex, and the grabbing action is too hard. In particular, when the current dexterous hand performs the grabbing action, the fingers need to bend, however, when the fingers need to bend, a driving force (generally driven by the first motor) is required, when the grabber is released, the fingers need to straighten, but when the fingers straighten, because the fingers cannot automatically recover to a straightened state, a power (generally driven by the second motor) is required, the structural design is complex, and the driving force is required to be wasted additionally. Disclosure of utility model The utility model aims to provide a finger structure, a smart hand, a mechanical arm and a humanoid robot, and aims to solve the technical problem that the fingers of the smart hand cannot automatically recover to a straightened state after being bent. In a first aspect, an embodiment of the present utility model provides a finger structure, including: a first finger section; A third finger section, and The two ends of the second finger section are respectively hinged with the first finger section and the third finger section; A first clamping groove and a first guide channel communicated with the first clamping groove are formed in the first finger section, and an elastic reset piece and a first stop block for pressing the elastic reset piece are arranged in the first clamping groove; A second clamping groove and a second guide channel communicated with the two clamping grooves are also formed in the first finger section; A third guide channel and a fourth guide channel are formed in the second finger section; a fifth guide channel and a sixth guide channel are formed in the third finger section; The finger structure further comprises: A first tendon rope having one end connected to the first stopper through the fifth guide passage, the third guide passage and the first guide passage in order, the other end configured to be fixedly connected to a palm portion of the humanoid robot, and And one end of the second tendon rope sequentially passes through the sixth guide channel, the fourth guide channel and the second guide channel and is fixedly connected in the second clamping groove, and the other end of the second tendon rope is configured to be connected with a winch. In this embodiment, the first tendon rope is in a natural stretching state, in which the first stopper only abuts against one end of the elastic restoring member and does not press the elastic restoring member, however, when the second tendon rope is stretched by the rotation dragging action of the capstan, the finger will change to a bent state, at this time, the first stopper is pulled by the first tendon rope to press the elastic restoring member so that the elastic restoring member is compressed to accumulate elastic potential energy, when the capstan rotates reversely to release the stretched second tendon rope, the elastic potential energy of the elastic restoring member will be released, and the elastic restoring member will abut against the first stopper to drive the first tendon rope and the first stopper to move synchronously towards the direction of the finger tip of the first finger segment, and then automatically restore to the stretched state of the finger. In a second aspect, embodiments of the present utility model provide a smart hand comprising the finger structure described above. In a third aspect, an embodiment of the present utility model provides a mechanical arm, including the dexterous hand described above. In a fourth aspect, an embodiment of the present utility model provides a humanoid robot, including the above-mentioned mechanical arm. Drawings In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present utility model and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art. FIG. 1 is a schematic view of a finger structure applied to a smart hand according to an embodiment of the present utility model; FIG. 2 is a schematic view of the back side of the finger structure of FIG. 1; FIG. 3 is a schematic view of the finger struct