WO2021223631A1 - 一种手指可拆卸的灵巧手 - Google Patents

一种手指可拆卸的灵巧手 Download PDF

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Publication number
WO2021223631A1
WO2021223631A1 PCT/CN2021/090304 CN2021090304W WO2021223631A1 WO 2021223631 A1 WO2021223631 A1 WO 2021223631A1 CN 2021090304 W CN2021090304 W CN 2021090304W WO 2021223631 A1 WO2021223631 A1 WO 2021223631A1
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WO
WIPO (PCT)
Prior art keywords
dexterous hand
knuckle
finger
lock
groove
Prior art date
Application number
PCT/CN2021/090304
Other languages
English (en)
French (fr)
Inventor
谢争
王涛
Original Assignee
深圳蓝胖子机器智能有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳蓝胖子机器智能有限公司 filed Critical 深圳蓝胖子机器智能有限公司
Priority to US17/919,060 priority Critical patent/US20230166410A1/en
Publication of WO2021223631A1 publication Critical patent/WO2021223631A1/zh

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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
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • B25J15/0475—Exchangeable fingers
    • 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices

Definitions

  • the utility model relates to the technical field of dexterous hands, in particular to a dexterous hand with detachable fingers.
  • the technical problem to be solved by the utility model is to provide a dexterous hand with detachable fingers and palms, which aims to solve the cumbersome technical problem of assembly and disassembly of the fingers and palms of the existing dexterous hands.
  • the present invention provides a dexterous hand with detachable fingers and palm, including a dexterous hand palm and several dexterous hand fingers.
  • the dexterous hand palm is equipped with a plurality of finger installation grooves for inserting and connecting.
  • Installing the fingers of the dexterous hand further includes: a lock assembly installed in the finger installation groove; a lock block arranged at one end of the finger of the dexterous hand; the lock assembly and the lock block can be locked The connection and cooperation are used for assembling and disassembling the finger of the dexterous hand and the finger mounting groove.
  • the lock buckle assembly includes a torsion spring and a swing shaft, the torsion spring is rotatably sleeved on the outer circumference of the swing shaft; the swing shaft is fixedly connected to the inner side of the finger mounting groove.
  • one end of the torsion spring is set in a hook shape, and the hook end is used to hook and lock the lock block.
  • the lock block includes a guide portion and a lock groove provided at opposite ends, and the guide portion is provided near the end of the finger of the dexterous hand to guide the swing direction of the torsion spring;
  • the lock slot is provided with an opening facing away from the finger insertion end of the dexterous hand for the hook-shaped end to be buckled into or out of the lock slot.
  • the lock block further includes a first inclined surface, and the first inclined surface is used to guide the hook-shaped end to move along its surface and snap into the lock groove.
  • the lock block further includes a second inclined surface, the second inclined surface and the first inclined surface intersect at the guide portion, and are used to guide the hook-shaped end from the lock block.
  • two lock catches are symmetrically provided in the finger mounting groove, and two lock blocks are correspondingly symmetrically provided on the surface of the finger housing.
  • the lock block further includes an arc-shaped transition section provided between the first inclined surface and the lock groove, and the arc-shaped transition section is used to guide the hook-shaped end from the first The inclined surface transitions to the lock groove.
  • the finger mounting groove includes an upper groove body and a lower groove body fixedly connected to the upper groove body, and the upper groove body is fixedly connected with the palm of the dexterous hand; the lower groove body is a hollow cylinder
  • the shape structure is used for accommodating at least part of the knuckles of the fingers of the dexterous hand.
  • the lock block is integrally formed with the fingers of the dexterous hand, the dexterous hand has a horizontal plane parallel to the insertion direction, the horizontal plane is provided with a groove, and the lock block is formed in the center of the groove Location.
  • the fingers of the dexterous hand include a first knuckle, a second knuckle, and a third knuckle that are hinged in sequence, and the lock block is fixedly arranged on the third knuckle;
  • the first knuckle It includes a first sensor component
  • the second knuckle includes a second sensor component, a first power mechanism, and a control circuit board;
  • the third knuckle includes a second power mechanism, and the control circuit board is connected to the first A sensor assembly, the second sensor assembly, the first power mechanism, and the second power mechanism are electrically connected, so as to receive force on the surface of the first knuckle detected by the first sensor assembly Situation, the force on the surface of the second knuckle detected by the second sensor assembly, the first knuckle is driven to rotate relative to the second knuckle through the first power mechanism, and the The second power mechanism drives the second knuckle to rotate relative to the third knuckle.
  • the dexterous hand with detachable fingers and palm provided by the utility model includes a dexterous hand palm and several dexterous hand fingers.
  • a number of finger installation grooves are installed on the dexterous hand palm for inserting and installing the dexterous hand fingers. It also includes: installation The lock assembly in the finger installation groove; the lock block provided at the end of the finger insertion end of the dexterous hand; the lock assembly and the lock block can be locked and connected and used for the assembly and disassembly of the fingers of the dexterous hand and the finger installation groove .
  • the lock assembly and the lock block can be locked and connected in the finger palm insertion direction, which can realize the rapid assembly and assembly of the dexterous hand.
  • the disassembly greatly improves the application of modularization of the fingers of the dexterous hand.
  • the locking assembly and the locking block are locked in the direction of the palm finger insertion, so that the fingers and the palm of the dexterous hand are firmly and reliably connected during the work, and avoid falling off.
  • Figure 1 is a schematic diagram of the structure of the fingers and palm of a dexterous hand according to an embodiment of the present invention.
  • Fig. 2 is a schematic diagram of the split structure of the finger mounting groove according to the embodiment of the present invention.
  • Figure 3 is a schematic diagram of the disassembled structure of the lock buckle assembly of the embodiment of the present invention.
  • Figure 4 is a schematic diagram of the installation of the lock assembly of the embodiment of the present invention.
  • Fig. 5 is a schematic diagram of the structure of the lock block according to the embodiment of the utility model.
  • Fig. 6 is a schematic diagram of the structure of the torsion spring according to the embodiment of the utility model.
  • Fig. 7 is a schematic diagram of the position of the torsion spring in the initial rotation state and the lock block according to the embodiment of the present invention.
  • Fig. 8 is a schematic diagram of the position of the torsion spring in the unlocked state and the lock block according to the embodiment of the present invention.
  • Fig. 9 is a schematic diagram showing the splitting of the finger structure of a dexterous hand according to another embodiment of the present invention.
  • this embodiment provides a modular dexterous hand, including a dexterous hand palm 10 and dexterous hand fingers 20.
  • the dexterous hand palm 10 is provided with a plurality of finger mounting grooves 101 for accommodating the dexterous hand.
  • One end of the finger 20 of the hand (the other end is the finger tip) is inserted into the connection.
  • the inner side of the finger mounting groove 101 is provided with a lock assembly 102 for locking when the finger 20 of the dexterous hand is inserted and connected to prevent it from falling off.
  • the lock assembly 102 includes a torsion spring 1021 and a swing shaft 1022.
  • the torsion spring 1021 is sleeved on the swing shaft 1022 so that the torsion spring 1021 can swing around the swing shaft 1022 left and right.
  • the swing shaft 1022 is connected to the finger mounting groove 101.
  • the finger mounting groove 101 includes an upper groove 1011 and a lower groove 1012.
  • the upper groove 1011 is A through hole is provided, and the pendulum shaft 1022 passes through the through hole and is fixed to the upper groove body 1011.
  • the fixing method can be a screw nut fitting and fixing, or other fixed connection methods.
  • the lower tank body 1012 is a hollow cylindrical structure, fixedly connected with the upper tank body 1011, and is used to accommodate at least part of the finger knuckles of the dexterous hand, so that when the fingers of the dexterous hand are inserted into the finger mounting groove body, they are restricted to the inside of the groove body Movement, that is, the fingers of the dexterous hand can only be pulled out, inserted or rotated in the groove.
  • the smart finger 20 includes a lock block 201 provided at its plug-in end.
  • the lock block 201 is provided on the circumferential surface of the finger.
  • the lock block 201 includes a first inclined surface 2011, a second inclined surface 2012 and a lock groove 2013. .
  • the first inclined surface 2011 faces the plug-in end, and is used to guide the torsion spring 1021 to move along its surface and snap into the lock groove 2013.
  • the lock slot 2013 has an opening toward the finger tip, so that when the torsion spring 1021 is buckled into the lock slot 2013, it is fixed along the direction of the plug end, and can move in the direction of the opening of the lock slot 2013, that is, the fingers of the dexterous hand and the finger are inserted into the slot body.
  • the smart finger can still move in the inserting direction, but is fixed in the pulling direction, thereby ensuring that the smart finger is firmly fixed during use and preventing it from falling off.
  • the second inclined surface 2012 is arranged on the side opposite to the first inclined surface 2011, and is used to guide the torsion spring 1021 away from the fingers of the dexterous hand.
  • the first inclined surface 2011 and the second inclined surface 2012 are formed with a guide portion 2014 at the intersection of the insertion end, and the guide portion 2014 is used to make the torsion spring 1021 tilt from the first when the finger of the dexterous hand is inserted into the finger mounting groove.
  • the torsion spring 1021 is moved away from the second inclined surface 2012.
  • the lock block 201 further includes an arc-shaped transition section 2015.
  • the arc-shaped transition section 2015 is disposed between the first inclined surface 2012 and the lock groove 2013, and is used to guide the torsion spring 1021 to transition from the first inclined surface 2011 to the lock groove 2013.
  • the surface of the arc-shaped transition section can be smoothed to make the torsion spring move more smoothly on it.
  • one end of the torsion spring 1021 is set in a hook shape, which is used to buckle into the lock groove 2013 for locking and fitting.
  • the hook-shaped end of the torsion spring 1021 is arranged inwardly along the axial direction of the swing shaft 1022, that is, perpendicular to the swing plane of the torsion spring 1021.
  • the initial displacement position of the torsion spring 1021 and the guide portion 2014 are at the same level, that is, when the fingers of the dexterous hand are inserted into the finger installation groove, the hook-shaped end first abuts against the guide portion 2014 Then, move on the first inclined surface 2011.
  • the hook-shaped end swings to the left, and there is torsion force and gradually becomes larger as the swing displacement increases; the hook-shaped end moves to the end of the first inclined surface 2011 , Due to the torsional force recovering part of the displacement to the right, it is buckled into the lock groove 2013 to achieve locking and complete the assembly of the fingers and palm of the dexterous hand.
  • the torsion spring 1021 still has torsion force; when the fingers of the dexterous hand need to be removed, Continue to press the finger of the dexterous hand into the insertion direction for a short distance, so that the hook-shaped end is separated from the opening of the lock slot 2013. Because the torsion spring 1021 still has the torsion force, it returns to the initial displacement position.
  • the lock block can be integrally formed with the fingers of the dexterous hand.
  • a small section is cut in the circumferential direction of the fingers of the dexterous hand to form a part of the horizontal plane, and a part of the groove is further dug out in the horizontal plane to form a groove in the groove.
  • a relatively convex lock block is formed in the center, and the excavated groove can be used as the movement path of the torsion spring.
  • two locking components are symmetrically arranged on the finger mounting groove.
  • two locking blocks are symmetrically provided on the surface of the finger shell of the dexterous hand to cooperate with the locking components for locking.
  • each finger 20 of the dexterous hand is also provided with a number of sensors for detecting the force on the surface of the fingers.
  • each finger 20 of the dexterous hand in this embodiment sequentially includes a first knuckle 21, a second knuckle 22, and a third knuckle 23.
  • the third knuckle 23 is provided with a lock block 201 for inserting into
  • the fingers are installed with the groove body, the second knuckle 22 is hingedly connected with the first knuckle 21, and the third knuckle 23 is hingedly connected with the second knuckle 22.
  • a first sensor assembly 24 is provided on the first knuckle 21.
  • the second knuckle 22 is provided with a second sensor assembly 25, a first power mechanism 26 and a control circuit board 28.
  • the third knuckle 23 is provided with a second power mechanism 27, and the control circuit board 28 is electrically connected to the first sensor assembly 24, the second sensor assembly 25, the first power mechanism 26, and the second power mechanism 27, respectively.
  • the force on the surface of the first knuckle 21 detected by the first sensor assembly 24 and the force on the surface of the second knuckle 22 detected by the second sensor assembly 25 are driven by the first power mechanism 26 respectively.
  • each dexterous hand finger 20 is provided with a control circuit board 28 to independently control itself, that is, each dexterous hand finger 20 has a control unit, which can realize the closed-loop control of the finger, sensor information processing, communication and other functions.
  • the control unit in the finger can realize real-time control of the finger joints with higher efficiency, can realize higher-precision control, and has the characteristics of high modularity.
  • first knuckle 21 is driven to rotate relative to the second knuckle 22 by the first power mechanism 26, and the second knuckle 22 is driven to rotate relative to the third knuckle 23 by the second power mechanism 27, that is, the fingers of each dexterous hand 20 adopts the all-wheel drive scheme, which can precisely control the movement of each joint to meet the movement needs of each joint.
  • the first knuckle 21, the fingertip of the finger is set in a flat shape, so that the first knuckle 21 can be used to insert into a narrow gap for operation, such as in a gift delivery scene, insert the first knuckle into a gift box/handheld In the hand-held gap of the bag, and turn the first knuckle to hook up the gift box/handbag, and send it to the consumer; another example is used to grab the goods on the supermarket shelf or the box, because there is a small amount of goods between the goods. In the gap, the dexterous hand can insert the gap through the first knuckle, grab the goods or flip the goods.
  • the dexterous hand with detachable fingers and palm provided by the embodiment of the present invention includes a dexterous hand palm and a plurality of dexterous hand fingers.
  • a number of finger installation grooves are installed on the dexterous hand palm for inserting and installing the dexterous hand fingers.
  • a lock assembly installed in the finger installation groove; a lock block arranged at the end of the finger insertion end of the dexterous hand; the lock assembly and the lock block can be locked and connected and used for the assembly of the finger and the finger installation groove of the dexterous hand And disassembly.
  • the lock assembly and the lock block can be locked and connected in the finger palm insertion direction, which can realize the rapid assembly and assembly of the dexterous hand.
  • the disassembly greatly improves the application of modularization of the fingers of the dexterous hand.
  • the locking assembly and the locking block are locked in the direction of the palm finger insertion, so that the fingers and the palm of the dexterous hand are firmly and reliably connected during the work, and avoid falling off.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Prostheses (AREA)
  • Manipulator (AREA)

Abstract

一种手指可拆卸的灵巧手，包括灵巧手手掌（10）和若干灵巧手手指（20），灵巧手手掌（10）上安装有若干个手指安装槽体（101），用于插接安装灵巧手手指（20），还包括：安装在手指安装槽体（101）内的锁扣组件（102）；设置在灵巧手手指（20）插接一端的锁块（201）；锁扣组件（102）与锁块（201）可锁固连接配合，用于灵巧手手指（20）和手指安装槽体（101）的装配和拆卸。

Description

一种手指可拆卸的灵巧手 技术领域
本实用新型涉及灵巧手技术领域，特别涉及一种手指可拆卸的灵巧手。
背景技术
现有的灵巧手技术中，手指和手掌装配和拆卸都较为麻烦，如CN107538510A一种轻质仿人五指灵巧手机构、CN105522587B仿生三指机械手中多个手指和手掌的连接都是通过较为固定的螺纹连接，键连接、销连接等方式，其拆装过程较为繁琐且耗费时间较长。
实用新型内容
本实用新型要解决的技术问题是提供一种手指和手掌可拆卸的灵巧手，其旨在解决现有灵巧手手指和手掌装配和拆卸较为繁琐的技术问题。
为了解决上述技术问题，本实用新型提供一种手指和手掌可拆卸的灵巧手，包括灵巧手手掌和若干灵巧手手指，所述灵巧手手掌上安装有若干个手指安装槽体，用于插接安装所述灵巧手手指，还包括：安装在所述手指安装槽体内的锁扣组件；设置在所述灵巧手手指插接一端的锁块；所述锁扣组件与所述锁块可锁固连接配合，用于所述灵巧手手指和所述手指安装槽体的装配和拆卸。
可选地，所述锁扣组件包括扭簧和摆转轴，所述扭簧可转动地套设在所述摆转轴外周；所述摆转轴固定连接在所述手指安装槽体内侧。
可选地，所述扭簧的一端设置成钩状，所述钩状末端用于与所述锁块钩扣配合进行锁固。
可选地，所述锁块包括相对两端设置的引导部和锁槽，所述引导部设置在靠近所述灵巧手手指插接一端，用以引导所述扭簧的摆转方向；所述锁槽设置有背向灵巧手手指插接端的开口，用于所述钩状末端扣入或脱离所述锁槽。
可选地，所述锁块还包括第一倾斜面，所述第一倾斜面用于引导所述钩状末端沿其表面运动并扣入到所述锁槽。
可选地，所述锁块还包括第二倾斜面，所述第二倾斜面与所述第一倾斜面交汇于所述引导部，用于引导所述钩状末端脱离所述锁块。
可选地，所述手指安装槽内对称设置有两个所述锁扣，所述手指壳体表面相应地对称设置有两个所述锁块。
可选地，所述锁块还包括设置在所述第一倾斜面与所述锁槽之间的弧形过渡段，所述弧形过渡段用于引导所述钩状末端从所述第一倾斜面过渡到所述锁槽。
可选地，所述手指安装槽体包括上槽体及与所述上槽体固定衔接的下槽体，所述上槽体与所述灵巧手手掌固定连接；所述下槽体为中空筒状结构，用于容纳至少部分所述灵巧手手指的指节。
可选地，所述锁块与所述灵巧手手指一体成型，所述灵巧手手具有与插接方向平行的水平面，所述水平面开设有凹槽，所述锁块形成于所述凹槽中央位置。
可选地，所述灵巧手手指包括依次铰连接的第一指节、第二指节以及第三指节，所述锁块固定设置在所述第三指节上；所述第一指节包括第一传感器组件，所述第二指节包括第二传感组件、第一动力机构及控制电路板；所述第三指节包括第二动力机构，所述控制电路板分别与所述第一传感器组件、所述第二传感器组件、所述第一动力机构、所述第二动力机构进行电性连接，以根据 所述第一传感器组件检测到的所述第一指节的表面受力情况、所述第二传感器组件检测到的所述第二指节的表面受力情况，分别通过所述第一动力机构驱动所述第一指节相对所述第二指节进行转动，通过所述第二动力机构驱动所述第二指节相对所述第三指节进行转动。
本实用新型提供的手指和手掌可拆卸的灵巧手，包括灵巧手手掌和若干灵巧手手指，灵巧手手掌上安装有若干个手指安装槽体，用于插接安装灵巧手手指，还包括：安装在手指安装槽体内的锁扣组件；设置在灵巧手手指插接一端的锁块；锁扣组件与所述锁块可锁固连接配合，用于灵巧手手指和手指安装槽体的装配和拆卸。在本实用新型的技术方案中，通过在手掌和手指上分别安装锁扣组件和锁块，锁扣组件和锁块在手指手掌插接方向可锁固连接配合，可实现灵巧手的快速装配和拆卸，极大地提高了对灵巧手手指模块化的应用，同时，锁扣组件和锁块在手掌手指插接方向的锁固，使得灵巧手在工作中，手指与手掌连接牢固可靠，避免脱落。
附图说明
为了更清楚地说明本实用新型实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本实用新型的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1为本实用新型实施例灵巧手手指和手掌的结构示意图。
图2为本实用新型实施例手指安装槽体的拆分结构示意图。
图3为本实用新型实施例锁扣组件的拆分结构示意图。
图4为本实用新型实施例锁扣组件的安装示意图。
图5为本实用新型实施例锁块的结构示意图。
图6为本实用新型实施例扭簧的结构示意图。
图7为本实用新型实施例扭簧在初转状态与锁块的位置示意图。
图8为本实用新型实施例扭簧在解锁状态与锁块的位置示意图。
图9为本实用新型另一实施例灵巧手手指结构拆分示意图。
具体实施方式
下面结合附图对本实用新型的具体实施方式作进一步说明。在此需要说明的是，对于这些实施方式的说明用于帮助理解本实用新型，但并不构成对本实用新型的限定。此外，下面所描述的本实用新型各个实施方式中所涉及的技术特征只要彼此之间未构成冲突就可以相互组合。
在本实用新型的描述中，需要说明的是，术语“中心”、“上”、“下”、“左”、“右”、“竖直”、“水平”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语“第一”、“第二”、“第三”仅用于描述目的，而不能理解为指示或暗示相对重要性。
如图1至图4所示，本实施例提供一种模块化灵巧手，包括灵巧手手掌10和灵巧手手指20，灵巧手手掌10上设置有若干个手指安装槽体101，用于容纳灵巧手手指20插接一端(另一端为指尖端)***连接。手指安装槽体101内侧设置有锁扣组件102，用于灵巧手手指20***连接时，进行锁定，防止其脱落。
在本实施例中，锁扣组件102包括扭簧1021和摆转轴1022，扭簧1021套设在摆转轴1022上，使得扭簧1021可绕着摆转轴1022左右摆转。摆转轴1022与手指安装槽体101连接，具体地，结合图4(扭簧安装在上槽体1011的内侧) 手指安装槽体101包括上槽体1011和下槽体1012，上槽体1011上设置有通孔，摆转轴1022穿过通孔与上槽体1011固定，固定方式可以为螺纹螺母配合固定，也可以为其他固定连接方式。下槽体1012为中空的筒状结构，与上槽体1011固定衔接，用于容纳至少部分灵巧手手指指节，以使灵巧手手指插接到手指安装槽体时，限制其在槽体内部运动，即灵巧手手指只能拔出、插进或在槽体内自身旋转。
结合图5所示，灵巧手指20包括设置在其插接端的锁块201，锁块201设置在手指的周向表面，锁块201包括第一倾斜面2011，第二倾斜面2012以及锁槽2013。第一倾斜面2011朝向插接端，用于引导扭簧1021沿其表面运动并扣入锁槽2013。锁槽2013具有朝向指尖端的开口，使得扭簧1021在扣入锁槽2013时，其沿插接端方向固定，而能在锁槽2013开口方向活动，即灵巧手手指与手指安装槽体插接时，扭簧扣入锁槽后，灵巧手指在***方向还能够活动，而在拔出方向固定，从而保证了灵巧手指在使用时固定牢靠，防止其脱落。
如图所示，第二倾斜面2012设置在与第一倾斜面2011相反的一侧，用于引导扭簧1021脱离灵巧手手指。具体地，第一倾斜面2011与第二倾斜面2012在插接端交汇处形成有引导部2014，引导部2014用于在灵巧手手指***手指安装槽体时，使扭簧1021从第一倾斜面2011进入，灵巧手手指拔出手指安装槽体时，使扭簧1021从第二倾斜面2012离开。
进一步地，锁块201还包括弧形过渡段2015，弧形过渡段2015设置在第一倾斜面2012和锁槽2013之间，用于引导扭簧1021从第一倾斜面2011过渡到锁槽2013，此外，弧形过渡段表面可以作光滑处理，使得扭簧在其上运动更加顺畅。
在本实施例中，如图6-8所示，扭簧1021的一端设置成钩状，用于扣入锁 槽2013，进行锁固配合。具体地，扭簧1021的钩状末端沿摆转轴1022的轴向向内设置，即垂直于扭簧1021的摆转平面。结合图7所示，扭簧1021摆转的初始位移位置与引导部2014位于同一水平，也就是说，灵巧手手指在***到手指安装槽体的过程中，钩状末端先与引导部2014抵接，然后在第一倾斜面2011上运动，此阶段钩状末端向左侧摆转，存在扭转力且随着摆转位移增加而逐渐变大；钩状末端运动到第一倾斜面2011末端后，由于扭转力向右恢复部分位移，从而扣到锁槽2013中，实现锁固，完成灵巧手手指和手掌的装配，此时扭簧1021仍然存在扭转力；当需要卸下灵巧手手指时，将灵巧手手指向插接方向继续按入一小段距离，使得钩状末端从锁槽开口脱离锁槽2013，由于扭簧1021仍然存在扭转力，使其恢复到初始位移位置，此时，锁扣处于解锁状态(如图8所示)，继而将灵巧手手指拔出手指安装槽体，扭簧1021的钩状末端在第二倾斜面2012的引导下，向右侧摆转，脱离引导部2014后恢复到初始位移位置，并脱离灵巧手手指，完成灵巧手手指和手掌的拆卸。
进一步地，结合图7和图8所示，锁块可以与灵巧手手指一体成型，在灵巧手手指周向截取一小段，形成部分水平面，在水平面内进一步挖出部分凹槽，以在凹槽中央位置形成相对凸起状的锁块，挖出的凹槽即可作为扭簧的运动路径。
在一个实施例中，手指安装槽体上设置对称设置有两个锁扣组件，相应地，灵巧手手指壳体表面对称设置两个锁块，以配合锁扣组件进行锁固。
本实用新型的另一实施例中，如图9所示，灵巧手手指20还设置有若干传感器，以用于检测手指表面受力情况。具体地，本实施例的每一灵巧手手指20依次包括第一指节21、第二指节22以及第三指节23，第三指节23上设置有锁块201，用于插接到手指安装槽体，第二指节22与第一指节21进行铰连接，第 三指节23与第二指节22进行铰连接。第一指节21上设置有第一传感器组件24。第二指节22上设置有第二传感组件25、第一动力机构26及控制电路板28。第三指节23上设置有第二动力机构27，控制电路板28分别与第一传感器组件24、第二传感器组件25、第一动力机构26、第二动力机构27进行电性连接，以根据第一传感器组件24检测到的第一指节21的表面受力情况、第二传感器组件25检测到的第二指节22的表面受力情况，分别通过第一动力机构26驱动第一指节21相对第二指节22进行转动(本实施例具体为正负90度转动)，通过第二动力机构27驱动第二指节22相对第三指节23进行转动(本实施例具体为正负90度转动)。这样一来，每一灵巧手手指20均设置了控制电路板28对其本身进行单独控制，即每一灵巧手手指20具有控制单元，可实现手指的闭环控制、传感器信息处理、通信等功能，手指内控制单元能够更高效率实现对手指关节的实时控制，可以实现更高精度的控制，具有高度模块化的特点。另外，通过第一动力机构26驱动第一指节21相对第二指节22进行转动，通过第二动力机构27驱动第二指节22相对第三指节23进行转动，即每一灵巧手手指20均采用全驱方案，能够精确控制各关节运动，满足对各关节的运动需求。第一指节21即手指指尖，设置成扁平状，使得第一指节21可用于***到狭小的缝隙中进行操作，比如用在礼品递送场景，将第一指节***到礼品盒/手提袋的手提缝隙中，并转动第一指节勾起礼品盒/手提袋，送到消费者面前；又如用于抓取超市货架或箱体堆装的货物，由于货物之间存在较小的缝隙，灵巧手可以通过第一指节***缝隙，抓出货物或翻转货物。
本实用新型实施例提供的手指和手掌可拆卸的灵巧手，包括灵巧手手掌和若干灵巧手手指，灵巧手手掌上安装有若干个手指安装槽体，用于插接安装灵巧手手指，还包括：安装在手指安装槽体内的锁扣组件；设置在灵巧手手指插 接一端的锁块；锁扣组件与所述锁块可锁固连接配合，用于灵巧手手指和手指安装槽体的装配和拆卸。在本实用新型的技术方案中，通过在手掌和手指上分别安装锁扣组件和锁块，锁扣组件和锁块在手指手掌插接方向可锁固连接配合，可实现灵巧手的快速装配和拆卸，极大地提高了对灵巧手手指模块化的应用，同时，锁扣组件和锁块在手掌手指插接方向的锁固，使得灵巧手在工作中，手指与手掌连接牢固可靠，避免脱落。
以上结合附图对本实用新型的实施方式作了详细说明，但本实用新型不限于所描述的实施方式。对于本领域的技术人员而言，在不脱离本实用新型原理和精神的情况下，对这些实施方式进行多种变化、修改、替换和变型，仍落入本实用新型的保护范围内。

Claims (10)

  1. 一种手指和手掌可拆卸的灵巧手，包括灵巧手手掌和若干灵巧手手指，所述灵巧手手掌上安装有若干个手指安装槽体，用于插接安装所述灵巧手手指，其特征在于，还包括：安装在所述手指安装槽体内的锁扣组件；设置在所述灵巧手手指插接一端的锁块；所述锁扣组件与所述锁块可锁固连接配合，用于所述灵巧手手指和所述手指安装槽体的装配和拆卸。
  2. 根据权利要求1所述的灵巧手，其特征在于，所述锁扣组件包括扭簧和摆转轴，所述扭簧可转动地套设在所述摆转轴外周；所述摆转轴固定连接在所述手指安装槽体内侧。
  3. 根据权利要求2所述的灵巧手，其特征在于，所述扭簧的一端设置成钩状，所述钩状末端用于与所述锁块钩扣配合进行锁固。
  4. 根据权利要求3所述的灵巧手，其特征在于，所述锁块包括相对两端设置的引导部和锁槽，所述引导部设置在靠近所述灵巧手手指插接一端，用以引导所述扭簧的摆转方向；所述锁槽设置有背向灵巧手手指插接端的开口，用于所述钩状末端扣入或脱离所述锁槽。
  5. 根据权利要求4所述的灵巧手，其特征在于，所述锁块还包括第一倾斜面，所述第一倾斜面用于引导所述钩状末端沿其表面运动并扣入到所述锁槽。
  6. 根据权利要求5所述的灵巧手，其特征在于，所述锁块还包括第二倾斜面，所述第二倾斜面与所述第一倾斜面交汇于所述引导部，用于引导所述钩状末端脱离所述锁块。
  7. 根据权利要求5所述的灵巧手，其特征在于，所述锁块还包括设置在所述第一倾斜面与所述锁槽之间的弧形过渡段，所述弧形过渡段用于引导所述钩状末端从所述第一倾斜面过渡到所述锁槽。
  8. 根据权利要求1所述的灵巧手，其特征在于，所述手指安装槽体包括 上槽体及与所述上槽体固定衔接的下槽体，所述上槽体与所述灵巧手手掌固定连接；所述下槽体为中空筒状结构，用于容纳至少部分所述灵巧手手指的指节。
  9. 根据权利要求1所述的灵巧手，其特征在于，所述锁块与所述灵巧手手指一体成型，所述灵巧手手具有与插接方向平行的水平面，所述水平面开设有凹槽，所述锁块形成于所述凹槽中央位置。
  10. 根据权利要求1-9任一所述的灵巧手，其特征在于，所述灵巧手手指包括依次铰连接的第一指节、第二指节以及第三指节，所述锁块固定设置在所述第三指节上；
    所述第一指节包括第一传感器组件，
    所述第二指节包括第二传感器组件、第一动力机构及控制电路板；
    所述第三指节包括第二动力机构，
    所述控制电路板分别与所述第一传感器组件、所述第二传感器组件、所述第一动力机构、所述第二动力机构进行电性连接，以根据所述第一传感器组件检测到的所述第一指节的表面受力情况、所述第二传感器组件检测到的所述第二指节的表面受力情况，分别通过所述第一动力机构驱动所述第一指节相对所述第二指节进行转动，通过所述第二动力机构驱动所述第二指节相对所述第三指节进行转动。
PCT/CN2021/090304 2020-05-07 2021-04-27 一种手指可拆卸的灵巧手 WO2021223631A1 (zh)

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