CN112025744B - Mechanical finger and mechanical arm - Google Patents
Mechanical finger and mechanical arm Download PDFInfo
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- CN112025744B CN112025744B CN202010842059.0A CN202010842059A CN112025744B CN 112025744 B CN112025744 B CN 112025744B CN 202010842059 A CN202010842059 A CN 202010842059A CN 112025744 B CN112025744 B CN 112025744B
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- mechanical
- fingertip
- knuckle
- finger
- rotating
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
The invention provides a mechanical finger and a mechanical hand, relates to the technical field of mechanical hands, and aims to solve the technical problems that the existing mechanical finger is insufficient in force sensing capability, uncertain in track, low in driving transmission efficiency and not beneficial to fine and complex operation. The mechanical finger comprises a finger seat, at least one mechanical knuckle and a mechanical fingertip, wherein the at least one mechanical knuckle is connected between the finger seat and the mechanical fingertip; the output end of the driving device is connected to the mechanical knuckle and the mechanical fingertip and used for driving the mechanical knuckle and the mechanical fingertip to move. The invention not only enables the mechanical finger to have multi-direction and multi-dimension accurate force/moment perception, but also enables the drive transmission of the mechanical finger to be more timely and the motion track to be more accurate, and enables the mechanical hand to carry out fine and complex operation under complex working conditions.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to a mechanical finger and a manipulator.
Background
With the development of industrialization, a multi-finger manipulator is being vigorously developed as an interactive tool for operating a robot and an external environment. The multi-finger manipulator is similar to a hand structure, can replace a person to perform repetitive work to realize mechanization and automation of production in an industrial environment, can operate in a dangerous environment to protect personal safety, and is widely applied to the fields of automatic production and manufacturing, electronics, automobiles, electric power and the like.
Most of the multi-finger mechanical fingers at the present stage adopt an under-actuated driving mode, and an under-actuated system is a nonlinear system with the number of independent control variables of the system smaller than the number of degrees of freedom of the system. The driving motor is arranged in the smart manipulator base, and the knuckle is driven by the roller and the driving rope.
The multi-finger mechanical finger has uncertain fingertip tracks, low driving transmission efficiency and large manipulator structure, and is not beneficial to the precise and complex operation of the manipulator.
Disclosure of Invention
In order to solve at least one of the problems mentioned in the background art, the present invention provides a mechanical finger and a manipulator, which not only enable the mechanical finger to have multi-directional and multi-dimensional force perception and moment perception, but also enable the mechanical finger to perform complicated and fine operations.
In order to achieve the above object, in a first aspect, the present invention provides a mechanical finger comprising a finger seat, at least one mechanical knuckle and a mechanical fingertip, the at least one mechanical knuckle being connected between the finger seat and the mechanical fingertip.
The output end of the driving device is connected to the mechanical knuckle and the mechanical fingertip and used for driving the mechanical knuckle and the mechanical fingertip to move.
In the above mechanical finger, optionally, the driving device includes a first driving member and a second driving member.
The first driving piece is positioned in the finger seat, and the output end of the first driving piece is connected to a mechanical knuckle connected with the finger seat; the second driving piece is positioned in the mechanical knuckle, and the output end of the second driving piece is connected to a mechanical fingertip connected with the mechanical knuckle.
In the above mechanical finger, optionally, the mechanical knuckle has a plurality of mechanical knuckles, and the plurality of mechanical knuckles includes a first mechanical knuckle connected to the mechanical fingertip and a plurality of second mechanical knuckles, and the plurality of second mechanical knuckles are sequentially connected end to end between the first mechanical knuckle and the finger seat.
The driving device comprises a third driving piece, each second mechanical knuckle is provided with the third driving piece, and the output end of each third driving piece is connected to the next second mechanical knuckle connected with the second mechanical knuckle.
In the above mechanical finger, the finger seat and the second mechanical knuckle, the adjacent second mechanical knuckle, the second mechanical knuckle and the first mechanical knuckle, and the first mechanical knuckle and the mechanical fingertip are optionally rotatably connected.
In the above mechanical finger, optionally, the joints of the finger seat and the second mechanical knuckles, the joints of the adjacent second mechanical knuckles, and the joints of the second mechanical knuckles and the first mechanical knuckles are all provided with first rotating connectors.
The first rotary connecting piece is provided with a first rotary shaft, and the first rotary connecting piece rotates along a first direction and a second direction of the first rotary shaft, wherein the first direction and the second direction are two opposite directions in the circumferential direction of the first rotary shaft respectively.
The angle range of the first rotating connecting piece rotating along the first direction and the angle range of the first rotating connecting piece rotating along the second direction are both 0-90 degrees.
In the above mechanical finger, optionally, a second rotation connector is disposed at a joint of the first mechanical knuckle and the mechanical fingertip, the second rotation connector has a second rotation axis, and the second rotation connector rotates along a third direction and a fourth direction of the second rotation axis, where the third direction and the fourth direction are two opposite directions in a circumferential direction of the second rotation axis, respectively.
The angle range of the second rotating connecting piece rotating along the third direction is 0-90 degrees, and the angle range of the second rotating connecting piece rotating along the fourth direction is 0-45 degrees.
In the above mechanical finger, optionally, a transmission device is disposed at a joint of the first driving member and the mechanical knuckle, a joint of the second driving member and the mechanical fingertip, and a joint of the third driving member and the first mechanical knuckle.
The transmission includes a driving gear and a driven gear engaged with the driving gear.
In the above mechanical finger, the end of the mechanical fingertip may optionally have a fingertip end face, and the fingertip end face may be at an angle in the range of 30-60 ° to the axial direction of the mechanical fingertip.
In the above mechanical finger, optionally, a rotating member is disposed on a fingertip end face of the mechanical fingertip, and the rotating member is rotatably connected to the fingertip end face.
The rotating part is connected with the end face of the fingertip through a fingertip rotating shaft which is a straight shaft or a universal shaft.
In a second aspect, the present invention provides a manipulator comprising a plurality of the above-described fingers.
According to the mechanical finger and the manipulator provided by the invention, the driving parts are arranged in the finger seat and the mechanical knuckle of the mechanical finger, and the mechanical knuckle and the mechanical fingertip are respectively driven to move through gear transmission, so that the mechanical finger has full driving capability, the multidimensional force/torque sensors are arranged in the circumferential directions of the mechanical knuckle and the mechanical fingertip, and the passive rotating device is arranged on the mechanical fingertip. Through the arrangement, the mechanical finger has multi-direction and multi-dimensional accurate force/moment sensing, the driving transmission of the mechanical finger is more timely, the motion track is more accurate, and finally the mechanical hand can perform fine and complex operation under complex working conditions.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an assembled state of a mechanical finger according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an exploded state of a mechanical finger according to an embodiment of the present invention.
Description of the reference numerals:
100-mechanical fingers;
10-finger seat;
20-mechanical knuckle;
30-mechanical finger tips;
40-a first rotational connection;
41-a first fixed part;
42-a first rotating part;
50-a second rotational connection;
51-a second fixed part;
52-second rotating portion.
Detailed Description
In the field of manipulators, with the development of industrialization, multi-finger manipulators are vigorously developed as interactive tools for operating robots and external environments. Most of the multi-finger manipulators at the present stage adopt an under-actuated driving mode, and an under-actuated system is a nonlinear system with the number of independent control variables of the system smaller than the number of degrees of freedom of the system. The driving motor is arranged in the manipulator base, the knuckle is driven through the roller and the driving rope, the drives all belong to belt drives, however, the existing multi-finger mechanical finger has uncertainty of fingertip tracks and hysteresis of drive transmission, and the manipulator is huge in structure and not beneficial to the multi-finger manipulator to perform fine and complex operations.
The invention provides a mechanical finger and a manipulator, wherein driving parts are arranged in a finger seat and a mechanical knuckle of the mechanical finger, and the mechanical knuckle and a mechanical fingertip are respectively driven to move through gear transmission, so that the mechanical finger has full driving capability, multidimensional force/torque sensors are arranged in the circumferential directions of the mechanical knuckle and the mechanical fingertip, and a passive rotating device is arranged in the mechanical fingertip. Through the arrangement, the mechanical finger has multi-direction and multi-dimensional accurate force/moment sensing, the driving transmission of the mechanical finger is more timely, the motion track is more accurate, and finally the mechanical hand can perform fine and complex operation under complex working conditions.
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be described in more detail below with reference to the accompanying drawings in the preferred embodiments of the present invention. In the drawings, the same or similar reference numerals denote the same or similar components or components having the same or similar functions throughout. The described embodiments are only some, but not all embodiments of the invention. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
Fig. 1 is a schematic structural diagram of an assembled state of a mechanical finger according to an embodiment of the present invention; fig. 2 is a schematic structural diagram of an exploded state of a mechanical finger according to an embodiment of the present invention. Referring to fig. 1 and 2, an embodiment of the present invention provides a robot finger.
The mechanical finger 100 includes a finger rest 10, at least one mechanical knuckle 20, and a mechanical fingertip 30, the at least one mechanical knuckle 20 being connected between the finger rest 10 and the mechanical fingertip 30.
The mechanical finger 100 further comprises a driving device, the output end of the driving device is connected to the mechanical knuckle 20 and the mechanical fingertip 30, and is used for driving the mechanical knuckle 20 and the mechanical fingertip 30 to move.
The embodiment of the present invention provides a mechanical finger 100 including only one mechanical knuckle 20, and the number of the mechanical knuckles 20 may be set to be one or more according to actual needs, which is not limited by the present invention.
As shown in fig. 1, the mechanical finger 100 includes a finger seat 10, a mechanical knuckle 20 and a mechanical fingertip 30, an output end of a driving device on the finger seat 10 is connected with the mechanical knuckle 20, an output end of a driving device on the mechanical knuckle 20 is connected with the mechanical fingertip 30, and the driving device is used for driving the mechanical knuckle 20 and the mechanical fingertip 30 to move.
The driving device comprises the following components: the device comprises a driving motor, an incremental encoder and a reduction gearbox, wherein the driving motor drives the reduction gearbox, and the reduction gearbox is used for matching the rotating speed and transmitting torque so as to drive the next knuckle to move. The incremental encoder converts the displacement of the knuckle into an electric signal, and then converts the electric signal into a counting pulse, the driving motor can adopt a brushless direct current motor, a disc type brushless motor and a steering engine, the driving motor of the embodiment adopts the brushless direct current motor, and the driving motor can be selected according to the requirements of users, and the incremental encoder is not limited to the above.
The driving device comprises a first driving piece and a second driving piece. The first driving piece is positioned in the finger seat 10, and the output end of the first driving piece is connected to a mechanical knuckle 20 connected with the finger seat 10; the second drive is located in the mechanical knuckle 20 and the output of the second drive is connected to the mechanical fingertip 30 connected to the mechanical knuckle 20.
The driving device has a first driving member disposed in the finger seat 10, an output end of the first driving member being connected to the mechanical knuckle 20 and driving the mechanical knuckle 20 to move, and a second driving member disposed in the mechanical knuckle 20, an output end of the second driving member being connected to the mechanical fingertip 30 and driving the mechanical fingertip 30 to move.
There are a plurality of mechanical knuckles 20, the plurality of mechanical knuckles 20 including a first mechanical knuckle connected to a mechanical fingertip 30 and a plurality of second mechanical knuckles, the plurality of second mechanical knuckles being sequentially connected end-to-end between the first mechanical knuckle and the finger rest 10.
The driving device comprises a third driving piece, each second mechanical knuckle is provided with a third driving piece, and the output end of each third driving piece is connected to the next second mechanical knuckle connected with the corresponding second mechanical knuckle.
As an implementation, the mechanical finger 100 is provided with a plurality of mechanical knuckles 20, and the plurality of mechanical knuckles 20 includes a first mechanical knuckle and a plurality of second mechanical knuckles. And sequencing the plurality of second mechanical knuckles in the direction from the finger seat 10 to the mechanical fingertip 30, wherein the finger seat 10 is connected with the first second mechanical knuckle, the first second mechanical knuckle is connected with the other second mechanical knuckles end to end in sequence, the last second mechanical knuckle is connected with the first mechanical knuckle, and the first mechanical knuckle is connected with the mechanical fingertip 30. And a third driving piece is arranged in each second mechanical knuckle, and the output end of the third driving piece is connected with the next second mechanical knuckle connected with the second mechanical knuckle and drives the next mechanical knuckle to move. The output end of the first driving member in the finger seat 10 is connected with the first second mechanical knuckle and drives the first second mechanical knuckle to move, the output end of the third driving member of the last second mechanical knuckle is connected with the first mechanical knuckle and drives the first mechanical knuckle to move, and the output end of the second driving member in the first mechanical knuckle is connected with the mechanical fingertip 30 and drives the mechanical fingertip 30 to move.
Wherein the finger rest 10 and the second mechanical knuckle, the adjacent second mechanical knuckle, the second mechanical knuckle and the first mechanical knuckle, and the first mechanical knuckle and the mechanical fingertip 30 are all rotationally connected.
Specifically, the joints of the finger seat 10 and the second mechanical knuckles, the joints of the adjacent second mechanical knuckles, and the joints of the second mechanical knuckles and the first mechanical knuckles are all provided with first rotating connectors 40.
The finger rest 10 and the second mechanical knuckle are connected by a first rotational connection 40, the second mechanical knuckle and the second mechanical knuckle are connected by a first rotational connection 40, and the second mechanical knuckle and the first mechanical knuckle are connected by a first rotational connection 40.
The first rotary joint 40 has a first rotary axis, and the first rotary joint 40 rotates in a first direction and a second direction of the first rotary axis, which are two opposite directions in a circumferential direction of the first rotary axis, respectively.
As shown in fig. 2, in the present embodiment, the finger seat 10 is provided with a first fixing portion 41 of the first rotating link 40, the first fixing portion 41 is provided with a first rotating shaft, the mechanical knuckle 20 is provided with a first rotating portion 42 of the first rotating link 40, the first rotating portion 42 drives the mechanical knuckle 20 to rotate around the first rotating shaft, the direction a in fig. 2 represents "up", and the direction b represents "down".
The angular range of rotation of the first rotational connection 40 in the first direction and the angular range of rotation of the first rotational connection 40 in the second direction are both 0-90 deg.. The first rotating part 42 drives the mechanical knuckle 20 to rotate around the first rotating shaft, the maximum angle of the mechanical knuckle 20 is 90 degrees upwards and 90 degrees downwards, namely the maximum angle of the mechanical knuckle 20 is the angle between the axis of the mechanical knuckle 20 and the axis of the finger seat 10 vertical to each other during the rotation of the mechanical knuckle 20 upwards and downwards. When the angle of rotation of first rotatable link 40 "down" is 90 °, mechanical knuckle 20 is in the "gripped" state, and when the angle of rotation of first rotatable link 40 "up" is 90 °, mechanical knuckle 20 is in the maximum gripping state. The mechanical knuckle 20 is freely adjusted within this angle range according to the actual working conditions to achieve the optimal configuration of the grabbing finger.
A second rotating connector 50 is arranged at the joint of the first mechanical knuckle and the mechanical fingertip 30, the second rotating connector 50 has a second rotating shaft, and the second rotating connector 50 rotates along a third direction and a fourth direction of the second rotating shaft, wherein the third direction and the fourth direction are two opposite directions in the circumferential direction of the second rotating shaft respectively.
The second rotational connection 50 is rotated in the third direction by an angle in the range of 0-90 deg., and the second rotational connection 50 is rotated in the fourth direction by an angle in the range of 0-45 deg..
As shown in fig. 2, in the present embodiment, the mechanical knuckle 20 is provided with a second fixed portion 51 of the second rotating connecting member 50, the second fixed portion 51 is provided with a second rotating shaft, the mechanical fingertip 30 is provided with a second rotating portion 52 of the second rotating connecting member 50, and the second rotating portion 52 drives the mechanical fingertip 30 to rotate around the second rotating shaft, where the rotating directions are two directions "up" and "down" in fig. 2.
The second rotating part 52 drives the mechanical fingertip 30 to rotate around a second rotating shaft, the maximum is 45 degrees when the mechanical fingertip 30 is upwards, the maximum is 90 degrees when the mechanical fingertip 30 is downwards, namely, in the process of upwards rotating the mechanical fingertip 30, the maximum angle is that the included angle between the axis of the mechanical fingertip 30 and the axis of the mechanical knuckle 20 is 45 degrees; during the rotation of the mechanical finger tip 30 toward "down", the maximum angle is 90 ° between the axis of the mechanical finger tip 30 and the axis of the mechanical knuckle 20.
When the angle of rotation of the second rotating link 40 to "down" is 90 °, the mechanical fingertip 30 is in the "gripping" state, and when the angle of rotation of the second rotating link 40 to "up" is 45 °, the mechanical fingertip 30 is in the maximum gripping state. The mechanical finger tip 30 is freely adjusted within this angle range according to the actual working conditions to achieve the optimal configuration of the grasping finger.
In this embodiment, the joints of the first driving member and the mechanical knuckle 20, the joints of the second driving member and the mechanical fingertip 30, and the joints of the third driving member and the first mechanical knuckle are provided with transmission devices. Specifically, the transmission includes a driving gear and a driven gear engaged with the driving gear.
The first driving piece and the mechanical knuckle 20 are driven through gears, a driving gear is arranged on the first driving piece, a driven gear is arranged on the mechanical knuckle 20, the first driving piece drives the driven gear to rotate through the driving gear, and the driven gear drives the mechanical knuckle 20 to move. The second driving piece and the mechanical fingertip 30 are driven through gears, a driving gear is arranged on the second driving piece, a driven gear is arranged on the mechanical fingertip 30, the second driving piece drives the driven gear to rotate through the driving gear, and the driven gear drives the mechanical fingertip 30 to move. The third driving piece and the first mechanical knuckle are driven through the gear, the driving gear is arranged on the third driving piece, the driven gear is arranged on the first mechanical knuckle, the third driving piece drives the driven gear to rotate through the driving gear, and the driven gear drives the first mechanical knuckle to move.
Compared with belt transmission used in the prior art, the gear transmission has the advantages of high transmission precision, high transmission efficiency, long service life and the like, so that the transmission between the finger sections adopts gear transmission.
In the embodiment, one-stage gear transmission is adopted, and multi-stage gear transmission or worm and gear transmission can also be adopted in actual work.
Further, the end of the machine fingertip 30 has a fingertip end face, and the fingertip end face is at an angle in the range of 30 to 60 ° with respect to the axial direction of the machine fingertip 30.
As shown in fig. 2, the fingertip end face is arranged on the mechanical fingertip 30, the axial included angle between the fingertip end face and the mechanical fingertip 30 is 30-60 °, the fingertip end face is arranged to enable the manipulator to realize accurate pinching, and when the included angle between the fingertip end face and the mechanical fingertip 30 is 45 °, the accurate pinching effect of the manipulator is optimal.
The fingertip end face of the mechanical fingertip 30 is provided with a rotating piece, and the rotating piece is rotatably connected to the fingertip end face. The rotating part is connected with the end face of the fingertip through a fingertip rotating shaft which is a straight shaft or a universal shaft.
The fingertip rotating shaft is arranged on the fingertip end face of the mechanical fingertip 30, the fingertip rotating shaft can be a straight shaft or a universal shaft, in the embodiment, the fingertip rotating shaft is a straight shaft, the rotating part is a rotating disk, and the rotating disk can freely rotate for 360 degrees around the fingertip rotating shaft on the fingertip end face. In addition, the fingertip rotating shaft can also be a universal shaft, the rotating part is a ball, and the ball freely rotates 360 degrees around the universal shaft in the three-dimensional direction. The setting of rotating the piece can make the manipulator when snatching, freely adjust the contact surface of fingertip end face with grabbing the thing, makes the process of snatching more stable.
In this embodiment, the circumferential surfaces of the casings of the mechanical knuckle 20 and the mechanical fingertip 30 are provided with multidimensional force/torque sensors, wherein the casing of the mechanical fingertip 30 has 4 planes and 4 arc surfaces, the 8 planes and the plane of the rotating member of the mechanical fingertip 30 are provided with multidimensional force/torque sensors, and the arrangement of the multidimensional force/torque sensors makes the sensing of the mechanical knuckle 20 and the mechanical fingertip 30 on the external force information and the external torque information more accurate, makes the gripping force distribution of the mechanical finger 100 more uniform, and makes the gripping process more stable.
In this embodiment, a signal line outlet is provided on the casing of the mechanical knuckle 20, a first signal line channel and a second signal line channel are respectively provided inside the mechanical knuckle 20 and the mechanical fingertip 30, a first signal line hole and a second signal line hole are respectively provided between the mechanical knuckle 20 and the mechanical fingertip 30, a second signal line of the mechanical fingertip 30 passes through the second signal line channel and passes through the second signal line hole and the first signal line hole respectively, after the mechanical knuckle 20 and the first signal line of the mechanical knuckle 20 converge, the two pass through the first signal line channel together, and lead to the manipulator control end after reaching the signal line outlet.
In a second aspect, the present invention provides a manipulator, which includes a plurality of the above mechanical fingers 100, the plurality of mechanical fingers 100 are connected to the same manipulator base to form the manipulator, the manipulator performs multi-directional and multi-dimensional force/torque sensing on a grasped object through the mechanical fingertips 30 and the mechanical knuckles 20 on the mechanical fingers 100, drives each of the mechanical knuckles 20 and the mechanical fingertips 30 to move through a plurality of driving devices on the mechanical fingers 100, and adjusts the contact surfaces of the mechanical fingertips 30 and the grasped object through the rotating members of the mechanical fingertips 30, so that the manipulator not only has multi-directional and multi-dimensional force sensing and torque sensing, but also can perform complex and fine operations.
In the description of the embodiments of the present invention, it should be understood that the terms "mounted," "connected," and "connected" are to be construed broadly and may include, for example, a fixed connection, an indirect connection through intervening media, a connection between two elements, or an interaction between two elements, unless expressly stated or limited otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations. The terms "upper", "lower", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing and simplifying the description, but do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. In the description of the present invention, "a plurality" means two or more unless specifically stated otherwise.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims of the present application and in the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. A mechanical finger comprising a finger seat, at least one mechanical knuckle and a mechanical fingertip, at least one of said mechanical knuckles being connected between said finger seat and said mechanical fingertip;
the output end of the driving device is connected to the mechanical knuckle and the mechanical fingertip and is used for driving the mechanical knuckle and the mechanical fingertip to move;
the end part of the mechanical fingertip is provided with a fingertip end face, and an included angle between the fingertip end face and the axial direction of the mechanical fingertip is 45 degrees;
a rotating part is arranged on the fingertip end face of the mechanical fingertip, and the rotating part is rotationally connected to the fingertip end face;
the rotating part is connected with the end face of the fingertip through a fingertip rotating shaft, the fingertip rotating shaft is a straight shaft, the rotating part is a rotating disc, or the fingertip rotating shaft is a universal shaft, and the rotating part is a sphere;
the circumferential surfaces of the mechanical knuckle and the mechanical fingertip are both provided with multi-dimensional force/torque sensors.
2. The mechanical finger of claim 1, wherein the drive means comprises a first drive member and a second drive member;
the first driving piece is positioned in the finger seat, and the output end of the first driving piece is connected to the mechanical knuckle connected with the finger seat; the second driving piece is located in the mechanical knuckle, and the output end of the second driving piece is connected to the mechanical fingertip connected with the mechanical knuckle.
3. The mechanical finger of claim 2, wherein there are a plurality of said mechanical knuckles, the plurality of said mechanical knuckles including a first mechanical knuckle connected to said mechanical fingertip and a plurality of second mechanical knuckles, the plurality of second mechanical knuckles being connected end-to-end in sequence between said first mechanical knuckle and said finger seat;
the driving device comprises a third driving piece, each second mechanical knuckle is provided with a third driving piece, and the output end of each third driving piece is connected to the next second mechanical knuckle connected with the corresponding second mechanical knuckle.
4. The mechanical finger of claim 3, wherein said finger rest and said second mechanical knuckle, adjacent said second mechanical knuckle, said second mechanical knuckle and said first mechanical knuckle and said mechanical fingertip are all rotationally coupled.
5. The mechanical finger of claim 4, wherein the joints of the finger seat and the second mechanical knuckle, the joints of the adjacent second mechanical knuckles, and the joints of the second mechanical knuckle and the first mechanical knuckle are provided with first rotational connections;
the first rotating connector is provided with a first rotating shaft, and the first rotating connector rotates along a first direction and a second direction of the first rotating shaft, wherein the first direction and the second direction are two opposite directions in the circumferential direction of the first rotating shaft respectively;
the angular range of the first rotational connection rotating in the first direction and the angular range of the first rotational connection rotating in the second direction are both 0-90 °.
6. The mechanical finger according to claim 4, wherein a second rotation connector is provided at a joint of the first mechanical knuckle and the mechanical fingertip, the second rotation connector having a second rotation axis, the second rotation connector rotating in a third direction and a fourth direction of the second rotation axis, the third direction and the fourth direction being two opposite directions in a circumferential direction of the second rotation axis, respectively;
the second rotating connecting piece rotates along the third direction within an angle range of 0-90 degrees, and the second rotating connecting piece rotates along the fourth direction within an angle range of 0-45 degrees.
7. The mechanical finger according to claim 3, wherein a transmission device is arranged at the joint of the first driving piece and the mechanical knuckle, the joint of the second driving piece and the mechanical fingertip and the joint of the third driving piece and the first mechanical knuckle;
the transmission device comprises a driving gear and a driven gear meshed with the driving gear.
8. A manipulator, characterized by comprising a plurality of fingers according to any one of claims 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010842059.0A CN112025744B (en) | 2020-08-20 | 2020-08-20 | Mechanical finger and mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010842059.0A CN112025744B (en) | 2020-08-20 | 2020-08-20 | Mechanical finger and mechanical arm |
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| CN112025744A CN112025744A (en) | 2020-12-04 |
| CN112025744B true CN112025744B (en) | 2022-08-12 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113084846A (en) * | 2021-03-31 | 2021-07-09 | 东莞市伟创动力科技有限公司 | Robot, full-drive hand and finger module |
| CN114559464A (en) * | 2022-03-23 | 2022-05-31 | 广西大学 | Manipulator finger and manipulator |
| CN115743480A (en) * | 2022-12-02 | 2023-03-07 | 南京信息工程大学 | Underwater robot clamping device with multi-configuration adjusting structure |
| CN117484483A (en) * | 2023-11-23 | 2024-02-02 | 北京银河通用机器人有限公司 | Linear driving mode of smart hand |
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| JP5166836B2 (en) * | 2007-11-26 | 2013-03-21 | トヨタ自動車株式会社 | Robotic manipulator |
| CN201950672U (en) * | 2010-12-18 | 2011-08-31 | 浙江理工大学 | Full-driving type flexible manipulator |
| CN106994685B (en) * | 2016-11-30 | 2018-04-20 | 遨博（北京）智能科技有限公司 | The finger gesture determination methods and manipulator of a kind of manipulator |
| CN108098804A (en) * | 2017-12-25 | 2018-06-01 | 北京工业大学 | Apery manipulator |
| CN108098825A (en) * | 2018-02-08 | 2018-06-01 | 西北农林科技大学 | A kind of nine-degree of freedom picking mechanical arm |
| CN108818588A (en) * | 2018-07-17 | 2018-11-16 | 芜湖超源力工业设计有限公司 | A kind of bilateral formula clamp device |
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