CN220593176U

CN220593176U - Finger, mechanical gripper and robot thereof

Info

Publication number: CN220593176U
Application number: CN202321469056.2U
Authority: CN
Inventors: 李伟超; 许晋诚
Original assignee: Parsini Perception Technology Zhangjiagang Co ltd
Current assignee: Parsini Perception Technology Zhangjiagang Co ltd
Priority date: 2023-06-09
Filing date: 2023-06-09
Publication date: 2024-03-15
Anticipated expiration: 2033-06-09

Abstract

The embodiment of the application belongs to the field of mechanical claws, and relates to a finger, which comprises: the device comprises a driving assembly, a joint assembly, a transmission assembly and attachments; the driving assembly and the joints are sequentially arranged along the movement direction of the linear driving structure; the linear driving structure is arranged on the driving bracket; each joint includes a joint bottom and a joint sidewall; the joint bottom and the joint side wall jointly enclose a channel for accommodating the transmission component; the attachment is arranged at one end of the side wall of the joint far away from the bottom of the joint and is used as the joint top of the joint; the adjacent joints and the first joint and the driving component are respectively hinged with each other through a pivot; the pivot is positioned at the edge of the side wall of the joint corresponding to the top of the joint; the driving assembly drives the N joints to rotate around the pivot shafts respectively through the cooperation of the joint assembly and the transmission assembly. The application also relates to a mechanical gripper and a robot thereof. The technical scheme that this application provided can make the finger have bigger contact surface installation attachment.

Description

Finger, mechanical gripper and robot thereof

Technical Field

The application relates to the technical field of mechanical claws, and more particularly relates to a finger, a mechanical claw and a robot thereof.

Background

With the development of technology, robots such as humanoid robots and industrial manipulators are gradually popularized and used in various industries, so that new and higher requirements on smart operation are put forward for the robots.

To achieve the above objective, attempts have been made to develop a dexterous hand and combine the same with various attachments (e.g., sensors, anti-slip pads). Taking attachments as an example of a force sensor, the smart hand in the industry mostly adopts the force sensor to be arranged in a linear motor at present, and the force sensor has larger error and lower resolution ratio due to multi-stage transmission between the linear motor and the surface of the finger under the influence of friction force and the like. The force sensor is arranged on the finger contact surface and can be directly contacted with an object, so that the accuracy of finger force feedback can be effectively improved.

However, the fingers developed in the industry are not suitable for installing sensors because of the complex finger structure and the small contact surface between the fingers and the force sensor.

Disclosure of Invention

Based on this, this application embodiment provides a finger, manipulator claw and robot thereof, makes the finger have bigger contact surface, makes things convenient for the installation of attachment.

In a first aspect, an embodiment of the present application provides a finger, which adopts the following technical scheme:

a finger, comprising: the device comprises a driving assembly, a joint assembly, a transmission assembly and attachments; the drive assembly includes: a linear drive structure and a drive support; the joint assembly includes N joints; wherein N is an integer greater than or equal to 2;

the driving assembly and the N joints are sequentially arranged along the movement direction of the linear driving structure;

the linear driving structure is arranged on the driving bracket;

each joint includes a joint bottom and a joint sidewall; the joint bottom and the joint side wall jointly enclose a channel for accommodating the transmission assembly;

the attachment is arranged at one end of the side wall of the joint, which is far away from the bottom of the joint, so as to be used as the joint top of the joint;

the adjacent joints are hinged through a pivot, and the pivot is positioned at the edge of the side wall of the joint corresponding to one side of the top of the joint;

the driving assembly drives the N joints to rotate around the pivot shafts respectively through the cooperation of the joint assembly and the transmission assembly.

Further, each of the joints includes a joint skeleton and a shell;

the shell is fixed outside the joint framework;

the articulation of the joint is realized through the joint skeleton; and/or the number of the groups of groups,

the housing comprises a housing bottom and a housing side wall; the framework comprises a framework bottom and framework side walls; the joint skeleton and the housing side wall serve as the joint side wall; the shell bottom and the skeleton bottom serve as the joint bottom.

Further, the joint assembly includes 3 joints; the 3 joints are the first joint, the second joint and the third joint;

the adjacent joints are hinged through a pivot, and the edge of the pivot, which is positioned on the side wall of the joint and corresponds to the top of the joint, is realized through the following structure:

the joint side wall of the second end of the first joint is provided with a second hinge hole corresponding to the edge of the joint top; the top of the joint is an inner side surface corresponding to the bending direction of the finger;

the joint side wall of the second joint is provided with a third hinge hole and a fourth hinge hole corresponding to the edge of the top of the joint; the third hinge hole is positioned at the first end of the second joint; the fourth hinge hole is positioned at the second end of the second joint;

the second hinge hole is hinged with the third hinge hole through a second pivot; the fourth hinge hole is hinged with the fifth hinge hole through a third pivot.

Further, the driving assembly drives the N joints to rotate around the pivots respectively through the cooperation of the joint assembly and the transmission assembly, and the relative rotation is realized through the following structure:

the first end of the first joint is hinged with the output end of the linear driving structure;

the transmission assembly includes: a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod, a sixth connecting rod and a seventh connecting rod;

the first end of the first connecting rod is fixed on the driving bracket; the second end of the first connecting rod is hinged with the first end of the second connecting rod; the middle part of the first connecting rod is hinged with the first end of the first joint;

the middle part of the third connecting rod is hinged with the first joint, and two ends of the third connecting rod are respectively hinged with the second end of the second connecting rod and the first end of the fourth connecting rod;

a first end of the second joint corresponding to the first joint is hinged with a second end of the fourth connecting rod; the second end of the first joint corresponding to the second joint is hinged with the first end of the fifth connecting rod;

the middle part of the sixth connecting rod is hinged with the second joint; two ends of the sixth connecting rod are respectively hinged with the second end of the fifth connecting rod and the first end of the seventh connecting rod;

the second end of the seventh link is articulated with the third joint.

Further, the middle part of the first connecting rod is hinged with the first end of the first joint through a first pivot, and the first joint rotates around the first pivot;

the first end of the first connecting rod is fixed on the top of the driving bracket, so that the first pivot is positioned at the edge of the joint top of the first joint; and/or the number of the groups of groups,

the output end of the driving assembly is hinged with the first end of the first joint through a fourth pivot.

Further, the second end of the first joint corresponding to the second joint is hinged with the first end of the fifth connecting rod through the following structure:

the first joint extends towards the second joint to form a first extension part; the first extension part is hinged with the first end of the fifth connecting rod; and/or the number of the groups of groups,

one end of the second joint, which corresponds to the first joint, is hinged with the second end of the fourth connecting rod through the following structure:

the second joint extends towards the first joint to form a second extension part; the second extension part is hinged with the second end of the fourth connecting rod; and/or the number of the groups of groups,

the second end of the seventh connecting rod is hinged with the third joint through the following structure:

the third joint extends towards the second joint to form a third extension part; the second end of the seventh link is hinged to the third extension.

Further, the fourth link and the fifth link cooperate to define a limit angle of relative rotation between the first joint and the second joint; and/or the number of the groups of groups,

the seventh link cooperates with the fourth link and the fifth link to define a limit angle of relative rotation between the third joint and the second joint; and/or the number of the groups of groups,

the first end of the first connecting rod is fixed at the top of the driving bracket; the top of the bracket corresponds to the top of the joint.

Further, the joint tops of the joints are positioned in the same plane when not driven by the driving assembly; and/or the number of the groups of groups,

the linear driving structure is accommodated in the accommodating space; and/or

The driving bracket comprises a bracket bottom and a bracket top; the top of the bracket is arranged corresponding to the top of the joint; the bottom of the bracket is used for being connected with other structures.

In a second aspect, embodiments of the present application provide a robotic gripper comprising at least one finger as described in any one of the above.

In a third aspect, an embodiment of the present application provides a robot, which adopts the following technical scheme:

a robot comprising a robot body and the manipulator claw described above; the mechanical gripper is arranged at the execution end of the robot body.

Compared with the prior art, the embodiment of the application has the following main beneficial effects:

according to the embodiment of the application, the adjacent joints are hinged to each other through the pivot, so that a rotating center which rotates relative to each other is formed, the pivot is located at the edge of the joint side wall of the joint corresponding to the top of the joint, and therefore the transmission assembly is arranged at the rear of the rotating center of the joint, so that the fingers are provided with larger contact surface mounting attachments, the attachments are mounted, and the functions of the attachments are better realized.

In addition, the transmission assembly is accommodated in the channel formed by the joint bottom and the joint side wall, so that the whole structure of the finger is more compact, and the volume of the finger is relatively reduced; and the whole finger is more attractive.

Drawings

For a clearer description of the solution of the present application, a brief introduction will be given to the drawings needed in the description of the embodiments, which are some embodiments of the present application, and from which other drawings can be obtained for a person skilled in the art without the inventive effort.

FIG. 1 is a schematic view of the overall structure of one embodiment of a finger in a straightened state as provided herein;

FIG. 2 is a schematic view of an exploded view of one embodiment of a finger in a flexed condition as provided herein;

FIG. 3 is a schematic plan view of an embodiment of a finger according to the present application with one side of the joint sidewalls hidden in a limited bending state;

FIG. 4 is a schematic view of an embodiment of a finger according to the present application after concealing the joint sidewall, joint bottom and attachment on one side thereof in a flexed condition;

fig. 5 is a schematic diagram of an exploded structure of an embodiment of a finger according to the present application after hiding attachments in a curved state.

Reference numerals: 10 fingers; 11 a drive assembly; 12 fingers; 13 a transmission assembly; 111 linear drive structure; 112 drive the carriage; 121 a first joint; 122 a second joint; 123 third joint; 131 a first link; 132 a second link; 133 a third link; 134 a fourth link; 135 fifth link; 136 a sixth link; 137 seventh link; 138 elastic members; 1111 drivers; 1121 a top of the bracket; 1122, bottom of the bracket; 1211 the articular base of the first joint; 1212 joint side walls of the first joint; 1213 a skeleton of a first joint; 1214 to the first joint; 1215 a first extension; 1221 the joint bottoms of the second joint; 1222 joint side walls of the second joint; 1223 a skeleton of a second joint; 1224 a second joint; 1225 a second extension; the joint bottoms of the third joint 1231; the articular side wall of the 1232 third joint; 1233 a third joint scaffold; a casing of a third joint 1234; 1235 a third extension; a first pivot L1; a second pivot L2; and a third pivot L3.

Detailed Description

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used in the description of the applications herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "comprising" and "having" and any variations thereof in the description and claims of the present application and in the description of the figures above are intended to cover non-exclusive inclusions. The terms first, second and the like in the description and in the claims or in the above-described figures, are used for distinguishing between different objects and not necessarily for describing a sequential or chronological order.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the present application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.

Unless otherwise defined, reference herein to a structural member being "secured to," "fixedly attached to" another structural member, and the like, includes the manner in which the two structural members are prefabricated as a unit or are fixedly attached via a central member, and the like.

In order to better understand the technical solutions of the present application, the following description will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings.

1-3, FIG. 1 is a schematic view of the overall structure of one embodiment of a finger in a straightened state as provided herein; FIG. 2 is a schematic view of an exploded view of one embodiment of a finger in a flexed condition as provided herein; fig. 3 is a schematic plan view of an embodiment of the finger according to the present application, in which the joint sidewall on one side is hidden in a limited bending state.

The embodiment of the application provides a finger 10, the finger 10 includes: a driving assembly 11, a joint assembly 12, a transmission assembly 13 and an attachment 14.

The drive assembly 11 includes: a linear drive structure 111 and a drive support 112. The linear driving structure 111 is disposed on the driving bracket 112.

In particular, the linear driving structure may be various structures which are now available or developed in the future and which can realize linear driving motion, such as: linear motor, cylinder, pneumatic cylinder.

In one embodiment, the driving bracket 112 forms a receiving space inside, and the linear driving structure 111 is received in the receiving space. Through the structural design, the whole finger structure is more attractive; and simultaneously, a good protection effect is formed on the linear driving structure.

In one embodiment, the drive bracket includes a bracket bottom 1122 and a bracket top 1121; the bracket top 1121 is arranged at the joint top of the corresponding joint; bracket bottom 1122 for connection to other structures (not shown). Through this structural design for finger overall structure is more pleasing to the eye, makes things convenient for the combination of finger and other parts simultaneously.

The joint assembly 12 includes N joints; wherein N is an integer greater than or equal to 2.

In a preferred embodiment, as shown in fig. 1, the number of joints is 3, so that the joint motion of a human hand and finger can be better imitated, as will be described in further detail below.

The drive assembly 11 and the N joints are arranged in sequence along the direction F of movement of the linear drive structure 111.

In one embodiment, the joint tops of the plurality of joints (e.g., the first joint 121, the second joint 122, and the third joint 123 shown in fig. 1) may be made to form a plane in the straightened state of the finger. According to the embodiment of the application, the finger is in the straightening state, so that the joint tops of the multiple sections form a plane, and therefore the finger is attractive, the precision of unified control and the finger simulation effect can be further improved.

Each joint comprises: a joint bottom and a joint sidewall; the joint bottom and the joint side wall jointly enclose a channel for accommodating the transmission component.

Wherein, the bottom of the joint corresponds to the outer side of the bending direction of the finger, and the top of the joint corresponds to the inner side of the bending direction of the finger in the following embodiments.

Specifically, the joint side wall and the joint bottom can be prefabricated into a whole, and can also be fixedly connected through a middle piece.

Illustratively, as shown in FIG. 1, the first joint 121 includes: the articular bottom 1211 of the first knuckle, the top of the first knuckle, and the sidewall 1212 of the first knuckle; the second joint 122 includes: the joint bottom 1221 of the second joint, the top of the second joint, and the sidewall 1222 of the second joint; the third joint 123 includes: the joint bottom 1231 of the third joint, the top of the third joint, and the side wall 1232 of the third joint. The specific structure of the joint will be described in further detail in the following examples.

The attachment 14 is disposed at an end of the joint sidewall away from the joint bottom to serve as a joint top of the joint.

It should be noted that the attachment may be directly used as the joint top of the joint, for example: the attachment 14 can be directly fixed to the end of the joint side wall away from the joint bottom, so that the attachment is used as the joint top; in addition, a structure such as a mounting surface may be provided at one end of the joint side wall away from the joint bottom, and the bottom surface of the attached matter may be fixed to the mounting surface. The attachment 14 is preferably secured directly to the end of the joint side wall remote from the joint bottom, which reduces the structural parts of the joint and further reduces the bulk of the finger.

The number of attachments may be arbitrarily set as needed, and attachments may be provided for each joint as the joint top, or attachments may be provided for a part of the joints. Illustratively, as shown in FIG. 1, the attachment 14 is provided on top of each of the three joints.

Specifically, the attachment may be any object as needed, such as: sensors, friction pads (e.g., to provide frictional resistance when used to grasp an object), flexible members (e.g., to provide flexible force when used to grasp an object, etc.). For the convenience of understanding, the embodiment of the application uses the attachment as a sensor as an example for further detailed description.

Adjacent joints are hinged with each other through a pivot; the pivot is positioned at the edge of the side wall of the joint corresponding to the top of the joint; wherein adjacent joints are any two adjacent joints in the joint assembly (e.g., a first joint and a second joint may be referred to as adjacent joints; a second joint and a third joint may be referred to as adjacent joints.)

In one embodiment, each joint includes a joint skeleton and a housing; the shell is fixed outside the joint skeleton.

Generally, the materials of the framework and the shell can be designed arbitrarily according to the needs, for example: the housing may be made of rigid or flexible materials as desired.

Illustratively, as shown in FIG. 2, continuing with the example of a finger comprising three joints (121, 122, 123), the first joint 121 comprises: a skeleton 1213 of a first joint and a housing 1214 of the first joint; the second joint 122 includes: a skeleton 1223 of a second joint and a shell 1224 of the second joint; the third joint 123 includes: a third joint skeleton 1233 and a third joint housing 1234.

The joints are hinged with adjacent joints, linear driving structures and/or transmission components and the like through the framework.

In one embodiment, the housing may be secured to the outside of the joint skeleton via an intermediate piece, such as: through the viscose bonding, perhaps set up buckle and draw-in groove of mutually supporting respectively at skeleton and shell, through buckle and draw-in groove joint cooperation to with two fixed connection.

According to the embodiment of the application, the joint framework is hinged with the adjacent joint, the linear driving structure and/or the transmission assembly and the like, and then the shell is fixed outside the joint framework, so that when the shell is damaged due to abrasion, collision and the like, or the appearance structure of the finger needs to be changed, the shell can be directly replaced, the finger is convenient to maintain, and the design flexibility of the finger is improved.

In another embodiment, the joint skeleton may also be prefabricated integrally with the housing (illustration omitted), i.e. the joint skeleton may be part of the housing, and by prefabricated the skeleton integrally with the housing, i.e. the joint skeleton may be part of the housing, the use of finger parts may be reduced, the finger volume and cost reduced, and the assembly steps reduced.

In one embodiment, the housing includes a housing bottom and a housing sidewall; the joint skeleton includes a skeleton bottom and skeleton side walls (as shown in fig. 5, fig. 5 is a schematic view of an exploded structure of an embodiment of the finger provided in the present application after hiding attachments in a curved state; the skeleton 1213 of the first joint includes a skeleton bottom and skeleton side walls, as an example). The skeleton side wall and the shell side wall are jointly used as joint side walls.

In one embodiment, for some of the components and "articular sidewalls" described in embodiments of the present application; the edge of the side wall of the joint corresponding to one side of the top of the joint is hinged; or 'through pivot hinge' etc. between the adjacent joints, can realize above-mentioned each hinge through the joint skeleton directly, and set up the shell outside the joint skeleton to make the finger whole more pleasing to the eye.

Fig. 4 is a schematic structural view of an embodiment of the finger provided in the present application after hiding the joint sidewall, the joint bottom and the attachments on one side in a curved state, as shown in fig. 1 to 5.

In one embodiment, the articulation assembly 12 comprises: for example, the first joint 121, the second joint 122 and the third joint 123 are hinged to each other by a pivot, and the pivot is located at the edge of the side wall of the joint corresponding to the top of the joint can be realized by the following structure:

the articular side wall 1212 (which may be referred to as a "backbone 1213" in one embodiment) of the second end of the first knuckle defines a second hinge hole corresponding to an edge of the top of the knuckle; the second hinge hole is located at one end of the joint skeleton corresponding to the second joint 122.

In the case of the sixth hinge hole, the side walls of the joint are symmetrically disposed on both sides of the bottom of the joint, so that the sixth hinge hole and the like in the embodiment of the present application are two symmetrically disposed hinge holes.

The joint sidewall 1222 of the second joint (which may be referred to as a "skeleton 1223" in one embodiment) is provided with a third hinge hole and a fourth hinge hole, respectively, corresponding to the edges of the joint top side, and the third hinge hole is located at the first end of the joint skeleton 1222 of the second joint corresponding to the first joint 121; the fourth hinge hole is located at a second end of the second knuckle 122 corresponding to the third knuckle 13 on the knuckle side wall.

The second hinge hole is hinged with the third hinge hole through a second pivot L2 to hinge the first joint 121 and the second joint 122; the fourth hinge hole is hinged with the fifth hinge hole through a third pivot shaft L3 to hinge the second joint 122 and the third joint 123.

Through the structure, the embodiment of the application can realize that every two adjacent joints are hinged with each other through the pivot, and the pivot is positioned at the edge of the joint side wall of the joint corresponding to the joint top side.

According to the embodiment of the application, through the structure, every two adjacent joints are hinged with each other through the pivot, the pivot is located at the edge of the joint side wall of each joint corresponding to the top of the joint (the attachment can be the attachment in the following embodiment under certain conditions), and therefore the transmission assembly is arranged behind the rotation center of the joint, so that the force sensor above is given way, the attachment is more conveniently installed, and the attachment function is better realized.

In one embodiment, "the driving assembly 11 drives the N joints to rotate around the pivots by the transmission assembly 13" may be implemented by the following structure:

one end of the transmission assembly 13 is fixed to the driving bracket 112, and the transmission assembly is hinged to each joint.

The output end of the linear driving structure 111 is hinged with the first joint 121, so as to drive the first joint 121 to pivot based on the linear movement of the linear driving structure 111; the first joint 11 drives the transmission assembly 13, so that each pair of adjacent joints can rotate relatively around the pivot between the two joints.

It should be noted that, the "the output end of the linear driving structure 111 is hinged to the first joint 121" may be that the output end of the linear driving structure 111 is connected to the driving member 1111 and hinged to the first joint 121 through the driving member 1111; or "the output end of the linear driving structure is directly hinged to the first joint", for convenience of understanding, the following embodiments of the present application will mainly be described in detail by taking an example that the output end of the linear driving structure 111 is hinged to the first joint 121 through the driving member 1111.

According to the embodiment of the application, the first joint 121 is driven to rotate around the pivot through the linear driving structure 111, the transmission assembly 13 is driven by the first joint 11, and then the transmission assembly drives each pair of adjacent joints to rotate around the pivot between the two joints.

In one embodiment, the above-mentioned "the driving assembly drives the N joints to rotate relatively around the pivots respectively through the cooperation of the joint assembly and the transmission assembly" may be implemented by the following structure:

the first end of the first joint 121 is hinged to the output end of the drive assembly 11.

Further, in one embodiment, the joint sidewall of the first end of the first joint 121 is provided with a sixth hinge hole corresponding to the output end of the driving assembly 11; the sixth hinge hole is hinged with the output end of the linear driving structure through a fourth pivot shaft L4.

As shown in fig. 3 to 5, the transmission assembly 13 includes: a first link 131, a second link 132, a third link 133, a fourth link 134, a fifth link 135, a sixth link 136, and a seventh link 137.

The first end of the first link 131 is fixed to the driving bracket 112; the second end of the first link 131 is hinged to the first end of the second link 132 (e.g., by a first link pivot M1); a sixth hinge hole engaged with the first hinge hole of the first joint 121 is formed at the middle part of the first link 131; the sixth hinge hole and the first hinge hole are hinged L1 by a first pivot shaft.

Further, in one embodiment, a seventh hinge hole is formed at the middle of the first link 131 to be engaged with the first hinge hole of the first joint 121; the seventh hinge hole and the first hinge hole are hinged L1 by a first pivot such that the first joint rotates about the first pivot.

Further, in one embodiment, the first end of the first link 131 is fixed to the top 1221 of the driving bracket 112, so that the first pivot L1 is located at the edge of the finger corresponding to the top of the joint, so that the transmission assembly can be placed behind the rotation center of the joint, so as to yield the force sensor above, which is more beneficial to the installation of the attachment, and better realizes the function of the attachment.

Illustratively, the first link 131 is in the shape of a bent angle, and the corner tip of the bent angle is hinged with the skeleton of the first joint through the first pivot hinge L1; one side of the bending angle is fixedly connected with the bracket 112; the other side is hinged with the second connecting rod 132 through a connecting rod pivot M1.

The middle of the third link 133 is hinged to the joint side wall 1212 (which may be referred to as a "backbone 1213" in one embodiment) of the first joint (e.g., as shown in fig. 5, the third link 133 is hinged to the first hinge hole N1 located at the backbone 1213 through the second link pivot M2); and both ends of the third link 133 are hinged to the second end of the second link 132 and the first end of the fourth link 134, respectively.

The first end of the second joint 122 (e.g., skeleton 1223) corresponding to the first joint 121 is hinged to the second end of the fourth link 134; a second end of the first joint 121 corresponding to the second joint 122 is hinged to a first end of the fifth link 135 (e.g., the frame 1213 is hinged to the first end of the fifth link 135 through the fourth hinge hole N4).

The middle portion of the sixth link 136 is hinged to the joint sidewall 1222 of the second joint (e.g., the second hinge hole N2 of the backbone 1223).

Both ends of the sixth link 136 are hinged to the second end of the fifth link 135 and the first end of the seventh link 137, respectively.

The second end of the seventh link 137 is hinged to the third joint 123 (e.g., the third hinge hole N3 in the frame 1233).

The embodiment of the application drives the skeleton 1213 of the first joint to rotate around the first pivot L1 through the linear driving structure 111; the relative movement of the first joint 121 and the second link 132 (the relative position of the two changes as the skeleton 1213 of the first joint rotates about the first pivot L1, since the length of the second link 132 remains unchanged); because the length of the second connecting rod 132 is unchanged, when the third connecting rod 133 rotates along with the first joint 121, the second connecting rod 132 pulls the third connecting rod 133 to rotate so as to drive the fourth connecting rod 134 to rotate, and then the fourth connecting rod 134 drives the skeleton 1223 of the second joint to rotate, and the skeleton 1213 of the first joint drives the fifth connecting rod 135 to rotate (the fifth connecting rod is hinged with the second joint through the sixth connecting rod), so that the first joint and the second joint rotate around the second pivot L2; the fifth connecting rod 135 drives the sixth connecting rod 136 and the seventh connecting rod 137 to drive the third joint 123 to rotate around the third pivot L3 relative to the second joint 122.

According to the embodiment of the application, the transmission is realized through the connecting rod, and on one hand, the pose of the finger can be accurately predicted; on the other hand, the finger rigidity is better, and is not easy to damage.

By adopting the structure, the embodiment of the application realizes mutual hinging between every two adjacent joints and between the first joint and the driving component through the pivot respectively by ingenious design of the hinge hole.

In one embodiment, the aforementioned "the second end of the first joint 121 corresponding to the second joint 122 is hinged to the first end of the fifth link 135" may be implemented by the following structure:

the first joint 121 (e.g., skeleton 1213) extends toward the second joint 122 to form a first extension 1215; the first extension 1215 is hinged to the first end of the fifth link 135 (e.g., the first extension 1215 is hinged to the first end of the fifth link through the fourth hinge hole N4).

As shown in fig. 5, the fifth link 135 is a single link, and the first extension portion 1215 is recessed inward to form a receiving groove corresponding to one end of the fifth link 135, and the first end of the fifth link is received in the receiving groove to be hinged to the fourth hinge hole N4 of the first extension portion 1215.

In one embodiment, the aforementioned "the end of the second joint 122 corresponding to the first joint 121 is hinged to the second end of the fourth link 134" may be achieved by the following structure:

the second joint 122 extends toward the first joint 121 to form a second extension 1225; the second extension 1225 is hinged to the second end of the fourth link 134.

Illustratively, as shown in FIG. 5, the second end of the fourth link 134 forms two connecting arms; the skeletons 1223 of the second joint 122 are two skeletons symmetrically arranged, and one end of each skeleton 1223 corresponding to the first joint forms a second extension part 1225, and the fifth hinge holes N5 of the two second extension parts 1225 are hinged with the sixth hinge holes N6 of the two connecting arms of the fourth connecting rod 134.

In one embodiment, the second end of the seventh link 137 is hinged to the third joint 123. "can be realized by the following structure:

the third joint 123 (e.g., the armature 1233) forms a third extension 1235 to the second joint 122; the second end of the seventh link 137 is hinged with the third extension 1235 to drive the third joint to rotate about the third pivot L3.

According to the embodiment of the application, through the structure, the connecting rod and the joint can be hinged, and the finger structure is simplified.

In one embodiment, the fourth link and the fifth link cooperate to define a limit angle of relative rotation between the second joint and the first joint.

As shown in fig. 3, fig. 3 is a schematic plan view of an embodiment of a finger provided in the present application with a joint sidewall on one side hidden in a limited bending state. When the second joint 122 rotates to the point where the fourth link 134 and the fifth link 135 abut against each other at P (i.e., the junction P of the two connecting arms of the fourth link 134 and the body of the fourth link and the end of the fifth link 135 located between the two connecting arms abut against each other), it is the maximum limit angle of relative rotation between the second joint 122 and the first joint 121.

In a preferred embodiment, the angle of the maximum rotation limit is 90 degrees.

In one embodiment, the limit angle of relative rotation between the fourth link and the fifth link is combined by the seventh link 137 to define the maximum limit angle of relative rotation between the second joint and the third joint.

According to the embodiment of the application, the fourth connecting rod, the fifth connecting rod and the seventh connecting rod are matched with each other, so that the maximum rotation angles of the first joint, the second joint and the third joint can be set by simulating the human fingers according to the requirements, and the capacity of simulating the hand movement of the fingers is improved.

In one embodiment, for the above "third link 133 is hinged with the joint side wall of the first joint 121; and both ends of the third link 133 are hinged to the second end of the second link 132 and the first end of the fourth link 134, respectively. "can be realized by the following structure:

the third link 133 may have an H shape, and the second end of the second link 132 is received in a groove formed at one side of the H-shaped third link 133 and hinged to each other through a pivot; in addition, the first end of the fourth link 134 is received in the groove at the other side of the H-shaped third link 133 and is hinged to each other by a pivot. In addition, a pivot shaft may be respectively passed through the joint side walls of both sides of the first joint 121 and the middle portion of the H-shaped third link 133, thereby articulating the third link with the joint side walls of the first joint (e.g., the first articulation hole N1 of the frame 1213).

According to the embodiment of the application, the third connecting rod is designed to be H-shaped, so that the whole structure of the connecting rod after being hinged with the second connecting rod and the fourth connecting rod is more simplified, and the finger size is further reduced.

Similarly, in one embodiment, the ends of the sixth link 136 are hinged to the second end of the fifth link and the first end of the seventh link, respectively. "can be realized by the following structure:

the sixth link 136 may be H-shaped, and the second end of the fifth link 135 is received in a recess formed at one side of the H-shaped sixth link 136 and hinged to each other by a pivot; in addition, the first end of the seventh link 137 is received in a recess at the other side of the H-shaped sixth link 136 and is hinged to each other by a pivot. Alternatively, a pivot may be provided across the joint side walls on either side of the second joint 122 and the middle of the H-shaped sixth link 136 to articulate the sixth link with the joint side walls of the second joint (e.g., the second articulation hole N2 of the frame 1223).

According to the embodiment of the application, the sixth connecting rod is designed to be H-shaped, so that the whole structure of the connecting rod, which is hinged with the fifth connecting rod and the seventh connecting rod, is more simplified, and the finger size is further reduced.

Based on the fingers described in the above embodiments, the present embodiment also provides a manipulator claw (omitted from the drawings) including one or more of the fingers 10 described in the above embodiments. The driving component of one or more fingers 10 is controlled to drive the fingers to rotate so as to control the mechanical gripper to complete target actions, such as: grabbing the target object.

The related description about the finger is referred to the above embodiments, and a detailed description thereof will not be repeated.

Based on the robot hand described in the above embodiments, the present application provides a robot (the drawing is omitted), which includes a robot body and the robot hand described in the above embodiments. The mechanical gripper is arranged at the execution end of the robot body and is used for executing actions such as grabbing, moving a target object and the like.

It should be noted that the robot may be any robot that is currently available or developed in the future, for example: the humanoid robot or the industrial robot is not limited in this application.

The related description of the finger and the manipulator is referred to the above embodiments, and the detailed description thereof will not be repeated here.

It is apparent that the embodiments described above are only some embodiments of the present application, but not all embodiments, the preferred embodiments of the present application are given in the drawings, but not limiting the patent scope of the present application. This application may be embodied in many different forms, but rather, embodiments are provided in order to provide a more thorough understanding of the present disclosure. Although the present application has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing, or equivalents may be substituted for elements thereof. All equivalent structures made by the specification and the drawings of the application are directly or indirectly applied to other related technical fields, and are also within the protection scope of the application.

Claims

1. A finger, comprising: the device comprises a driving assembly, a joint assembly, a transmission assembly and attachments; the drive assembly includes: a linear drive structure and a drive support; the joint assembly includes N joints; wherein N is an integer greater than or equal to 2;

the linear driving structure is arranged on the driving bracket;

2. The finger according to claim 1, wherein each of the joints comprises a joint skeleton and a housing;

the shell is fixed outside the joint framework;

the articulation of the joint is realized through the joint skeleton; and/or

3. A finger according to claim 1 or 2, wherein the joint assembly comprises 3 joints; the 3 joints are a first joint, a second joint and a third joint;

4. A finger according to claim 1 or 2, wherein the drive assembly, through cooperation of the joint assembly and the transmission assembly, drives the N joints to rotate about the pivots, respectively, by:

the joint assembly comprises 3 joints; the 3 joints are a first joint, a second joint and a third joint;

the second end of the seventh link is articulated with the third joint.

5. The finger according to claim 4, wherein the middle portion of the first link is hinged to the first end of the first joint by a first pivot about which the first joint rotates;

6. The finger according to claim 4, wherein the second end of the first joint corresponding to the second joint is hinged to the first end of the fifth link by:

7. The finger according to claim 4, wherein the fourth link and the fifth link cooperate to define a limit angle of relative rotation between the first joint and the second joint; and/or the number of the groups of groups,

8. The finger according to claim 1 or 2, wherein the joint tops of the plurality of joints lie in the same plane when not driven by the drive assembly; and/or the number of the groups of groups,

the linear driving structure is accommodated in the accommodating space; and/or

9. A manipulator claw comprising at least one finger as claimed in any one of claims 1 to 8.

10. A robot comprising a robot body and the manipulator of claim 9; the mechanical gripper is arranged at the execution end of the robot body.