A robot

Abstract

The application provides a mechanical hand, which comprises a hand part and a driving part, the hand part comprises a plurality of fingers, each finger comprises a plurality of knuckles, and at least two adjacent knuckles in the plurality of knuckles are connected through a rigid rope to form a rolling contact. At least one finger in the plurality of fingers comprises a distal knuckle, a middle knuckle and a proximal knuckle, the middle knuckle is connected with at least a first cable for controlling the bending of the middle knuckle, the distal knuckle is connected with at least a second cable for controlling the stretching of the distal knuckle and the middle knuckle together, and the proximal knuckle is connected with at least a third cable and a fourth cable. The driving part comprises a plurality of pneumatic muscles, and the first cable, the second cable, the third cable and the fourth cable are connected with at least one of the plurality of pneumatic muscles respectively. Through the above arrangement, the overall mechanical hand is not only compact and simple in structure, small in occupied volume, and low in manufacturing cost.

Description

TECHNICAL FIELD

[0001] The present specification relates to the technical field of manipulator, in particular to a manipulator. BACKGROUND

[0002] A mechanical dexterous hand is a kind of robot end effector that imitates the action and function of human hand, aiming to realize the functions of multi-degree of freedom, accurate operation and flexible grasping. The dexterous hand has a wide range of applications in the fields of industry, medical treatment, service and the like, and performs outstandingly in the aspects of precision assembly, surgical assistance, remote operation and the like.

[0003] The transmission mode of the dexterous hand generally adopts link transmission and gear transmission, and the structure is complex and the overall volume and weight are large. Meanwhile, the dexterous hand is limited by the rigidity and movement path of the link, and the degree of freedom and flexibility of the dexterous hand are poor. Furthermore, the dexterous hand usually includes a plurality of degrees of freedom of contact joints to perform grasping and fine operation similar to human hand. The contact joints are mainly hinge structures or rolling contact joints. The rotation center of the hinge joint is fixed, and the movement precision and fluency are low. The rolling contact joint can be connected and transmitted by using a flexible belt constraint, but the rolling contact joint with flexible belt constraint will cause creep of the rope after long time operation, resulting in gap between two joints, which reduces the transmission precision. Meanwhile, this structure needs to be additionally limited in the direction of the joint rotation axis to avoid axial sliding of the joint, so as to increase the stability and precision of the movement of the manipulator.

[0004] Therefore, it is desirable to propose a manipulator to reduce the number of parts, reduce the overall volume and weight, and mainly cause rolling instead of sliding between two joints to reduce friction and wear, improve movement precision and fluency, and additionally limit in the direction of the joint rotation axis to avoid axial sliding of the joint, so as to increase the stability and precision of the movement of the manipulator. SUMMARY

[0005] One or more embodiments of the present specification provide a manipulator, comprising: a hand part including a plurality of fingers, each of the fingers including a plurality of knuckles, at least two adjacent knuckles in the plurality of knuckles being connected by a rigid rope to form a rolling contact; wherein at least one finger in the plurality of fingers includes a distal knuckle, a middle knuckle and a proximal knuckle, the middle knuckle being connected with at least a first cable for controlling bending of the middle knuckle, the distal knuckle being connected with at least a second cable for controlling stretching of the distal knuckle and the middle knuckle together, the proximal knuckle being connected with at least a third cable and a fourth cable; and a driving part including a plurality of pneumatic muscles, the first cable, the second cable, the third cable and the fourth cable being connected with at least one of the plurality of pneumatic muscles respectively.

[0006] In some embodiments, one end of the second cable is connected with the distal knuckle through the middle knuckle, and the other end of the second cable is connected with at least one of the plurality of pneumatic muscles.

[0007] In some embodiments, a fifth cable is arranged through the distal phalanx, the middle phalanx and the proximal phalanx, and two ends of the fifth cable are connected to the distal phalanx and the proximal phalanx respectively.

[0008] In some embodiments, the hand further comprises a palm, a first side swing is arranged between the at least one finger and the palm, the at least one finger and the first side swing are in rolling contact through the rigid rope constraint, and the first side swing is rotatably connected to the palm; the first side swing is connected to at least two sixth cables, and the other ends of the at least two sixth cables are connected to at least one of the plurality of pneumatic muscles respectively.

[0009] In some embodiments, the first side swing and the palm are rotatably connected through a metacarpophalangeal joint; one of the first side swing and the metacarpophalangeal joint is provided with a convex structure, and the other is provided with a groove structure, the convex structure is rotatably arranged in the groove structure; and the metacarpophalangeal joint is fixedly connected to the palm.

[0010] In some embodiments, the plurality of fingers comprises a thumb, the thumb comprises a distal phalanx and a proximal phalanx, the proximal phalanx is connected to a palm through a connecting part; the proximal phalanx is connected to a seventh cable for controlling the bending of the proximal phalanx, the distal phalanx is connected to an eighth cable for controlling the extension of the distal phalanx and the proximal phalanx together, and the connecting part is connected to at least two ninth cables; the seventh cable, the eighth cable and the ninth cable are connected to at least one of the plurality of pneumatic muscles respectively.

[0011] In some embodiments, a second side swing is arranged between the connecting part and the palm, two ends of the second side swing are connected to the connecting part and the palm respectively; and the opposite ends of the connecting part and the second side swing are both arc surfaces.

[0012] In some embodiments, the mechanical hand further comprises a connecting block arranged between the at least two adjacent phalanges and located on the side of the finger pulp of the plurality of fingers; the connecting block comprises two convex parts rotatably arranged in the grooves of the at least two adjacent phalanges respectively, and the connecting block is provided with a wire passing hole for the cable to pass through.

[0013] In some embodiments, the finger pulp of at least one phalanx of the plurality of phalanges is flexible; and / or the finger pulp of the at least one phalanx is provided with a sensor.

[0014] In some embodiments, the pneumatic muscle comprises a tubular member, both ends of the tubular member are provided with a seal, the seal comprises a first part and a second part, the first part comprises a first threaded structure and a connecting head, the second part comprises a second threaded structure matched with the first threaded structure and an inner side slope matched with a tapered outer side surface of the connecting head, both ends of the tubular member are located between the connecting head and the inner side slope.

[0015] The beneficial effects that some embodiments of the present specification can bring can include but are not limited to: 1) by setting a rigid rope to form a rolling contact joint closer to the human joint, the friction and wear of the joint movement can be reduced, and the movement precision and fluency can be improved; by setting multiple cables and corresponding pneumatic muscles, the hand has multiple degrees of freedom, and can realize grasping, operation and fine operation similar to human hands; through the above settings, the overall mechanical hand is not only compact and simple in structure, small in occupied volume, and low in manufacturing cost. 2) The pneumatic muscle is driven by compressed air to simulate the contraction and extension of biological muscle, which is not only low in cost, clean and safe, simple to install, light in quality and small in size, but also similar in mechanical properties to biological muscle. In addition, by sealing the tubular member of the pneumatic muscle through the seal and by setting the circular ring member, the tubular member and the woven mesh will not be twisted to affect the function of the pneumatic muscle. 3) By fixing one end of the metacarpophalangeal connecting piece to the palm and rotatably connecting the other end to the first side swing piece through the protruding structure and the groove structure, the degree of freedom of the mechanical hand can be increased, the movement mode of the mechanical hand is closer to the movement mode of the human hand, and the movement precision and bionic performance can be improved. 4) The guide structure can make the fingers move in the opposite direction of the adjacent two fingers, and compared with multidirectional movement, the stability of this unidirectional movement mode is higher, and motion interference (for example, when the cable drives the finger to bend, the first side swing piece also bends) does not occur, which can improve the movement precision. At the same time, the guide structure will limit the bending and stretching of the first side swing piece, but will not limit the bending and stretching of the fingers, and will not affect the bionic performance of the mechanical hand. 5) By making the knuckles flexible and the surface rough, and setting a sensor at the finger pad of the knuckle, not only the softness and friction of the finger pad can be increased to avoid damage to the mechanical hand and the grasped object, but also based on the state information of the grasped object and the force condition of the finger obtained by the sensor, the closed-loop control of the movement of the mechanical hand can be further realized. BRIEF DESCRIPTION OF DRAWINGS

[0016] The present specification will be further illustrated in the form of exemplary embodiments, which will be described in detail with reference to the accompanying drawings. These embodiments are not limiting, and in these embodiments, the same numbers represent the same structures, wherein:

[0017] Figure 1is a structural schematic view of adjacent knuckles employing different types of rolling contact joints according to some embodiments of the present specification;

[0018] Figure 2 is a structural schematic view of a robot hand according to some embodiments of the present specification;

[0019] Figure 3 is an exploded view of a hand according to some embodiments of the present specification;

[0020] Figure 4 is a structural schematic view of a finger according to some embodiments of the present specification;

[0021] Figure 5 is an exploded view of a finger according to some embodiments of the present specification;

[0022] Figure 6 is a structural schematic view of adjacent knuckles connected by rigid string according to some embodiments of the present specification;

[0023] Figure 7 is a side view of a finger according to some embodiments of the present specification;

[0024] Figure 8 is a structural schematic view of internal structure of a cable in a finger according to some embodiments of the present specification;

[0025] Figure 9 is a structural schematic view of internal structure of a fifth cable in a finger according to some embodiments of the present specification;

[0026] Figure 10 is a structural schematic view of a pneumatic muscle according to some embodiments of the present specification;

[0027] Figure 11 is a cross-sectional view of a pneumatic muscle according to some embodiments of the present specification;

[0028] Figure 12 is an exploded view of a seal according to some embodiments of the present specification;

[0029] Figure 13 is a structural schematic view of a pneumatic muscle according to some embodiments of the present specification;

[0030] Figure 14 is a structural schematic view of a palm on the palm side according to some embodiments of the present specification;

[0031] Figure 15 is a top view of a finger according to some embodiments of the present specification;

[0032] Figure 16Fig. 6 is a schematic diagram of an internal structure of a finger with a sixth cable arranged therein according to some embodiments of the present specification;

[0033] Figure 17 Fig. 7 is a schematic diagram of a structure of a palm on a back side of a hand according to some embodiments of the present specification;

[0034] Figure 18 Fig. 8 is a schematic diagram of a structure of a thumb according to some embodiments of the present specification;

[0035] Figure 19 Fig. 9 is a schematic diagram of an internal structure of a thumb with a seventh cable and an eighth cable arranged therein according to some embodiments of the present specification;

[0036] Figure 20 Fig. 10 is a schematic diagram of an internal structure of a thumb with a ninth cable arranged therein according to some embodiments of the present specification;

[0037] Figure 21 Fig. 11 is a schematic diagram of a structure of a thumb bent according to some embodiments of the present specification;

[0038] Figure 22 Fig. 12 is a schematic diagram of a structure of a base according to some embodiments of the present specification.

[0039] Reference signs:

[0040] 1, hand; 11, finger; 111, phalanx; 111-1, distal phalanx; 111-2, middle phalanx; 111-3, proximal phalanx; 11-1, thumb; 1111, recess; 1121, first side swing; 1122, second side swing; 1131, metacarpal joint; 1132, connecting part; 1133, mounting part; 1141, protruding structure; 1142, recess structure; 115, guide structure; 1151, guide rail; 1152, guide column; 116, flexible pad; 117, sensor; 12, rigid rope; 12-1, first rigid rope; 12-2, second rigid rope; 13, palm; 131, first half palm; 132, second half palm; 133-1, first mounting hole position; 133-2, second mounting hole position; 133-3, third mounting hole position; 133-4, fourth mounting hole position; 134, cable fixing hole; 14, back cover; 15, wrist connecting shaft; 16, hand base; 161, fifth mounting hole position; 162, counterbore;

[0041] 2, driving part; 21, pneumatic muscle; 211, tubular member; 212, woven mesh; 213, vent hole; 220-1, tenth cable; 220-2, eleventh cable; 221, first cable; 222, second cable; 223, third cable; 224, fourth cable; 225, fifth cable; 226, sixth cable; 227, seventh cable; 228, eighth cable; 229, ninth cable; 23, sealing member; 231, first part; 2311, first threaded structure; 2312, connector; 23121, conical outer side surface; 232, second part; 2321, second threaded structure; 2322, inner side inclined surface; 233, circular ring member;

[0042] 3, connecting block; 31, protruding part; 32, wire passing hole;

[0043] 4, base; 41, mounting plate; 42, support column. DETAILED DESCRIPTION

[0044] In order to more clearly illustrate the technical solutions of the embodiments of the present specification, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are only some examples or embodiments of the present specification, and for those skilled in the art, the present specification can also be applied to other similar scenarios without creative labor on the basis of these drawings. Unless it is clear from the language environment or otherwise stated, the same reference numbers in the drawings represent the same structure or operation.

[0045] It should be understood that the "system", "device", "unit" and / or "module" used herein is a method for distinguishing different components, elements, parts, portions or assemblies at different levels. However, if other words can achieve the same purpose, the words can be replaced by other expressions.

[0046] As shown in the specification and claims, unless the context clearly indicates otherwise, "one", "a", "an", and / or "the" do not refer to the singular, but also include the plural. Generally speaking, the terms "comprise" and "include" only indicate the inclusion of the steps and elements explicitly identified, and these steps and elements do not constitute an exclusive list, and the method or device can also include other steps or elements.

[0047] The common transmission mode in dexterous hands is connecting rod transmission and gear transmission. Connecting rod transmission requires the setting of multiple connection points and connecting rods, resulting in complex system structure, and further increasing the volume and weight of the overall structure. At the same time, the dexterity and flexibility of the dexterous hand are poor due to the rigidity and motion path of the connecting rod. Gear transmission also requires the setting of multiple gears, bearings and other mechanical components, resulting in complex system structure, and further increasing the volume and weight of the overall structure. In addition, the joints of the dexterous hand are generally articulated joints or rolling contact joints. The articulated joint moves with a fixed rotation center, and the motion accuracy and fluency are low, and the bionic performance is poor.

[0048] Figure 1 is a structural schematic diagram of adjacent knuckles adopting different types of rolling contact joints according to some embodiments of the present specification. As shown in Figure 1 , Figure 1 (a)-(c) in are respectively a gear meshing rolling contact joint, an elastic rod constrained rolling contact joint, and a flexible belt constrained rolling contact joint.

[0049] The gear meshing rolling contact joint connects two joint bodies through a rigid rod, and the contact surfaces of the two joint bodies are tooth surfaces, which can achieve accurate transmission and improve transmission stability. However, a small gap needs to be reserved during meshing to prevent jamming, and these small gaps will cause a dead space (the input shaft rotates while the output shaft lags behind) during reverse motion, affecting positioning accuracy, and therefore are not suitable for high-precision repeat positioning application scenarios.

[0050] The flexible belt constrained rolling contact joint is constrained by a soft and non-extensible rope, which provides tension to keep the two joint bodies in contact while preventing relative sliding of the constrained rolling contact joint. However, after a long period of operation, the rope will creep, causing a gap between the two joints, reducing transmission accuracy, and this structure needs to be additionally limited in the direction of the joint rotation axis to avoid axial sliding of the joint.

[0051] The elastic rod constrained rolling contact joint is limited by an elastic rod to prevent relative sliding of the rolling contact joint. However, the elastic constraint rod will produce relative displacement relative to the joint body during the rotation of the joint, and cannot provide tension to keep the joint in rolling contact at all times, so precise control is difficult.

[0052] The present specification proposes a mechanical hand to effectively reduce the overall volume and manufacturing cost by designing a compact and simple structure, uses a flexible belt constrained rolling contact joint, and improves the rope to reduce creep, which can effectively reduce the friction and wear of the joint, improve the motion accuracy and fluency, and make the joint motion mode closer to the human hand, and additionally limits the joint in the direction of the rotation axis to effectively prevent axial sliding of the joint, thereby increasing the stability and accuracy of the motion of the mechanical hand.

[0053] Figure 2 is a structural schematic diagram of a mechanical hand according to some embodiments of the present specification; Figure 3 is an exploded view of a hand according to some embodiments of the present specification; Figure 4 is a structural schematic diagram of a finger according to some embodiments of the present specification; Figure 5 is an exploded view of a finger according to some embodiments of the present specification; Figure 6 is a structural schematic diagram of a rigid rope connecting adjacent knuckles according to some embodiments of the present specification; Figure 7 is a side view of a finger according to some embodiments of the present specification; Figure 8 is a structural schematic diagram of the internal structure of a cable in a finger according to some embodiments of the present specification.

[0054] In some embodiments, as shown in Figures 2-8 , the mechanical hand includes a hand 1 and a driving part 2. The hand 1 includes a plurality of fingers 11, each of which includes a plurality of knuckles 111 (e.g., a distal knuckle 111-1, a middle knuckle 111-2, and a proximal knuckle 111-3), and at least two adjacent knuckles 111 among the plurality of knuckles 111 are constrained to form a rolling contact by a rigid rope 12 (e.g., a first rigid rope 12-1 and a second rigid rope 12-2). Among them, at least one finger 11 in the plurality of fingers 11 includes a distal knuckle 111-1, a middle knuckle 111-2, and a proximal knuckle 111-3, the middle knuckle 111-2 is connected with at least a first cable 221 for controlling the bending of the middle knuckle 111-2, the distal knuckle 111-1 is connected with at least a second cable 222 for controlling the extension of the distal knuckle 111-1 and the middle knuckle 111-2 together, and the proximal knuckle 111-3 is connected with at least a third cable 223 and a fourth cable 224. The driving part 2 includes a plurality of pneumatic muscles 21, and the first cable 221, the second cable 222, the third cable 223, and the fourth cable 224 are respectively connected to at least one of the plurality of pneumatic muscles 21.

[0055] The hand 1 is the core component of the mechanical hand for grasping objects. In some embodiments, the hand 1 includes a plurality of fingers 11 and a palm 13. For the description of the palm 13, please refer to Figure 3 , Figure 14 and the related description.

[0056] In some embodiments, the number of fingers 11 can be 5, including 1 thumb and 4 other fingers (such as middle finger, ring finger, index finger, and little finger). In other embodiments, the number of fingers 11 can also be one or more, which can be set according to actual needs.

[0057] The knuckles 111 are the segmented structures of the fingers 11 in the robotic hand. In some embodiments, the number of knuckles 111 is related to the type of the finger 11. For example, for the thumb, the number of knuckles 111 is usually 2. For example, for the other fingers, the number of knuckles 111 is usually 3. In other embodiments, the number of knuckles 111 can also be set based on actual needs.

[0058] The distal knuckle 111-1 is the knuckle far from the palm. The middle knuckle 111-2 is the knuckle between the distal knuckle 111-1 and the proximal knuckle 111-3. The proximal knuckle 111-3 is the knuckle close to the palm.

[0059] In some embodiments, in the bionic structure of the robotic hand, the thumb includes one distal knuckle 111-1 and one proximal knuckle 111-3, and the other fingers include one distal knuckle 111-1, one middle knuckle 111-2, and one proximal knuckle 111-3.

[0060] The rigid rope 12 can be used to connect multiple structures to achieve rolling contact between the structures. The rigid rope can be made of high-strength, low-elastic modulus, and wear-resistant materials. For example, one or more combinations of steel, alloy, high-molecular polyethylene, or composite materials. In some embodiments, the rigid rope can be a steel wire rope.

[0061] In some embodiments, the rigid rope 12 can connect multiple knuckles 111 and other structures (such as the first side swing 1121 and the metacarpal phalangeal joint 1131, etc.). For the first side swing 1121 and the metacarpal phalangeal joint 1131, see Figure 5 、 Figures 14-17 and related descriptions.

[0062] Rolling contact refers to the rolling of two structures at the contact point (or contact area), and the instantaneous speed of the two structures is the same. For example, as shown in (b) of Figure 1 , the adjacent knuckles 111 can be connected by two rigid ropes 12, and the adjacent knuckles 111 can roll between the contact surfaces in the plane of the two rigid ropes 12 to form a flexible constraint rolling contact joint.

[0063] In some embodiments, the knuckles 111 are provided with connection points for fixing the rigid rope 12 and through holes for allowing the rigid rope 12 to pass through, and the knuckles 111 and other structures can be connected by at least two rigid ropes 12. For example, as shown in Figure 6As shown, the distal phalanx 111-1, the middle phalanx 111-2, the proximal phalanx 111-3, and other structures are connected by one first rigid string 12-1 and multiple second rigid strings 12-2 to form four flexibly constrained rolling contact joints. The first rigid string 12-1 has a longer length than the second rigid string 12-2, and the first rigid string 12-1 runs through the entire finger 11 and connects multiple phalanges 111 and other structures; the second rigid string 12-2 connects two adjacent phalanges 111 and other structures.

[0064] It can be understood that, due to the small size of the finger 11, the segmented arrangement makes it difficult to arrange the connection points of the rigid string 12 with the phalanges 111 and other structures. Therefore, for the convenience of installation and maintenance, the rigid string 12 is arranged in a penetrating manner, which can save space and simplify installation, and facilitate the replacement of the entire string. In other embodiments, two first rigid strings 12-1 or multiple second rigid strings 12-2 can be used to connect multiple phalanges 111 and other structures.

[0065] The cable is used to control the bending or stretching of the finger 11. The cable can be made of high-strength, low-elastic modulus, and wear-resistant materials, such as a combination of one or more of steel, alloy, high-molecular polyethylene, or composite materials.

[0066] In some embodiments, the outer surface of the cable is at least partially covered with a flexible tube. For example, the outer surface of the cable between the connection point of the phalanges 111 and the connection point of the pneumatic muscle 21 is wrapped with a flexible tube. The flexible tube can be a pipe with axial rigidity, radial flexibility, and easy bending but not easy breaking. For example, the flexible tube can include a tension spring tube.

[0067] It can be understood that, if the flexible tube is not wrapped outside the cable, the cable may affect other cables when working (such as tightening or loosening), thereby causing interference with the movement of the robot hand. Therefore, by arranging the flexible tube, the cables can be independent of each other, avoiding interference. In addition, the flexible tube can also reduce the friction during the movement of the cable, making the cable move more smoothly, and making the cable smoothly transition at the bending part and maintain the transmission of force.

[0068] In some embodiments, one end of the cable can be connected to the phalanges 111 (such as the middle or inner part of the phalanges 111), and the other end of the cable can be extended and connected to the pneumatic muscle 21 from multiple directions (such as the palmar side, the dorsal side, etc.) of the same or different phalanges 111. The connection methods include but are not limited to welding, bonding, etc. The direction of the other end of the cable from the phalanges 111 can be determined based on the structural design (such as the wire arrangement) and functional requirements.

[0069] In some embodiments, the number of cables is related to the degrees of freedom required for the finger 11. One degree of freedom corresponds to two cables, one end of one cable is connected to the palm of the knuckle 111 for driving the corresponding joint of the finger 11 to bend, and the other end of the cable is connected to the back of the same or different knuckle 111 for driving the corresponding joint of the finger 11 to extend; the other end of the two cables can be pulled out from multiple directions of the knuckle 111, extended and connected to different pneumatic muscles 21. When the pneumatic muscle 21 contracts or expands, it can pull the cable to drive the knuckle 111, thereby realizing the bending and extension of the finger 11. For example, each finger 11 except the thumb has 3 degrees of freedom, and 6 cables can be provided.

[0070] The first cable 221 is used to control the bending of the middle knuckle 111-2. In some embodiments, as shown in FIG. 2A, one end of the first cable 221 is connected to the palm of the middle knuckle 111-2 after passing through the proximal knuckle 111-3, and the other end of the first cable 221 is pulled out from the back of the proximal knuckle 111-3, extended and connected to at least one of the plurality of pneumatic muscles 21. When the pneumatic muscle 21 contracts, the first cable 221 exerts a pulling force on the palm side of the middle knuckle 111-2, thereby driving the middle knuckle 111-2 to bend. Figure 8

[0071] The second cable 222 is used to control the extension of the distal knuckle 111-1 and the middle knuckle 111-2. In some embodiments, one end of the second cable 222 is connected to the distal knuckle 111-1 after passing through the middle knuckle 111-2, and the other end of the second cable 222 is connected to at least one of the plurality of pneumatic muscles 21. As shown in FIG. 2B, one end of the second cable 222 is connected to the back of the distal knuckle 111-1 after passing through the middle knuckle 111-2, and the other end of the second cable 222 is pulled out from the back of the proximal knuckle 111-3, extended and connected to the pneumatic muscle 21. When the pneumatic muscle 21 contracts, the second cable 222 exerts a pulling force on the back side of the distal knuckle 111-1, thereby driving the distal knuckle 111-1 and the middle knuckle 111-2 to extend together. Figure 8

[0072] In some embodiments, the second cable 222 can be connected to one or more pneumatic muscles 21, and the one or more pneumatic muscles 21 are not connected to other cables.

[0073] In some embodiments of the present disclosure, by arranging the cables, the distal knuckle and the middle knuckle bend or extend together in actual operation, on the one hand, the structure can be simplified and the space can be saved to facilitate installation; on the other hand, it is beneficial to production and processing, and the cost can be reduced.

[0074] ​​Understandably, the second cable 222 can connect to the back of the distal phalanx 111-1 without passing through the middle phalanx 111-2. That is, the other end of the second cable 222 can exit from the back of either the middle phalanx 111-2 or the distal phalanx 111-1, extending and connecting to at least one of the multiple pneumatic muscles 21. In this case, the second cable 222 is only used to control the extension of the distal phalanx 111-1. Therefore, other cables can be added to the middle phalanx 111-2 for controlling its extension.

[0075] In some embodiments, the middle phalanx 111-2 is also connected to other cables (which may be referred to as the fifteenth cable), which are connected to at least one of the plurality of pneumatic muscles 21.

[0076] Other cables are used to control the extension of the middle phalanx 111-2. In some embodiments, one end of the other cable is connected to the dorsal side of the middle phalanx 111-2, and the other end extends from the dorsal side of the middle phalanx 111-2 or the proximal phalanx 111-3, extending and connecting to at least one of the plurality of pneumatic muscles 21.

[0077] In some embodiments of this specification, the second cable independently controls the extension of the distal phalanx, while other cables independently control the extension of the middle phalanx, which can make the movement of the robotic arm more precise.

[0078] The third cable 223 is used to control the bending of the proximal knuckle 111-3. In some embodiments, such as Figure 8 As shown, one end of the third cable 223 is connected to the fingertip of the proximal phalanx 111-3, and the other end of the third cable 223 extends out from the back of the finger of the first side member 1121, and extends and connects to at least one of the plurality of pneumatic muscles 21.

[0079] A fourth cable 224 is used to control the extension of the proximal phalanx 111-3. In some embodiments, one end of the fourth cable 224 is connected to the back of the proximal phalanx 111-3, and the other end of the fourth cable 224 extends from the back of the first side member 1121, extending and connecting to at least one of the plurality of pneumatic muscles 21. For a description of the first side member 1121, see [link to description]. Figure 3 , Figures 14-17 The relevant description in the document.

[0080] The principle by which the third cable 223 controls the bending of the proximal phalanx 111-3 is similar to the principle by which the first cable 221 controls the bending of the middle phalanx 111-2. The principle by which the fourth cable 224 controls the extension of the proximal phalanx 111-3 is similar to the principle by which the second cable 222 controls the extension of the distal phalanx 111-1 and the middle phalanx 111-2. These principles will not be elaborated here.

[0081] It is worth noting that, Figure 8The structure and direction of the first cable 221, the second cable 222, the third cable 223 and the fourth cable 224 shown in FIG. 1 are only examples, and the cables can actually pass through from other structures or in other directions, and the present specification is not limited in this respect.

[0082] It can be understood that, since the first cable 221 is only fixedly connected to the middle phalanx 111-2, it can only drive the middle phalanx 111-2 to bend when it is tightened, and cannot directly drive the distal phalanx 111-1 to bend or stretch (i.e., the angle between the middle phalanx 111-2 and the distal phalanx 111-1 does not change). However, in the natural movement mode of a human finger, the middle phalanx 111-2 and the distal phalanx 111-1 usually rotate in coordination, i.e., when one of the middle phalanx 111-2 and the distal phalanx 111-1 rotates, the other one of the middle phalanx 111-2 and the distal phalanx 111-1 also rotates (i.e., the angle between the middle phalanx 111-2 and the distal phalanx 111-1 changes). Therefore, the bionic performance of the finger 11 can be improved by additionally arranging a cable (e.g., the fifth cable 225).

[0083] Figure 9 FIG. 1 is a schematic view of an internal structure of a finger according to some embodiments of the present specification.

[0084] In some embodiments, as shown in FIG. 1, the fifth cable 225 is arranged between the distal phalanx 111-1, the middle phalanx 111-2 and the proximal phalanx 111-3, and the two ends of the fifth cable 225 are respectively connected to the distal phalanx 111-1 and the proximal phalanx 111-3. Figure 9

[0085] The fifth cable 225 is used to control the change in the angle between the middle phalanx 111-2 and the distal phalanx 111-1. In some embodiments, as shown in FIG. 1, one end of the fifth cable 225 is connected to the palm of the distal phalanx 111-1, and the other end of the fifth cable 225 extends from the palm of the distal phalanx 111-1 to the back of the middle phalanx 111-2, and then extends and is connected to the back of the proximal phalanx 111-3. Figure 5

[0086] When the middle phalanx 111-2 is bent by the first cable 221, the section of the fifth cable 225 between the middle phalanx 111-2 and the proximal phalanx 111-3 is relatively lengthened due to the change in the angle of the rolling contact joint, and since the total length of the fifth cable 225 is fixed, the section between the distal phalanx 111-1 and the middle phalanx 111-2 is correspondingly shortened, so that the distal phalanx 111-1 rotates to the inner side of the axis of the rolling contact joint, thereby realizing coordinated rotation with the middle phalanx 111-2.

[0087] ​​It can be understood that the fifth cable 225 is provided to simulate the coordinated bending motion pattern of a human finger. In other embodiments, a plurality of cables can be added to independently control the bending and stretching of the distal phalanx 111-1 and the middle phalanx 111-2.

[0088] In some embodiments of the present specification, the fifth cable is arranged between the distal phalanx, the middle phalanx and the proximal phalanx, so that the distal phalanx rotates naturally and coordinately with the bending of the middle phalanx, thereby enhancing the bionic performance of the robot hand and taking into account the simplicity of the mechanical structure.

[0089] The driving part 2 is used to drive the hand 1 to move in cooperation with a plurality of cables (such as the first cable 221, the second cable 222, the third cable 223 and the fourth cable 224). For example, the driving part 2 drives the finger 11 to bend, stretch and rotate, etc.

[0090] The pneumatic muscle 21 is a flexible execution device that achieves push-pull action by driving external compressed gas. In some embodiments, the pneumatic muscle 21 has an inner cavity, and one end of the pneumatic muscle 21 is provided with a gas pipeline, and the other end is connected with a cable.

[0091] When the gas pipeline fills the compressed gas into the inner cavity of the pneumatic muscle 21, the pneumatic muscle 21 expands radially as the gas pressure in the inner cavity rises, and when it expands radially to a preset volume, it axially contracts (at this time, the pneumatic muscle 21 is in a contracted state), thereby driving the cable to move towards the centroid of the pneumatic muscle 21, and the phalanx 111 connected with the cable bends or stretches. For example, if the cable is connected to the finger pulp of the phalanx 111, the cable tightens the finger pulp side of the phalanx 111 to pull, thereby driving the phalanx 111 to bend. For another example, if the cable is connected to the finger back of the phalanx 111, the cable tightens the finger back side of the phalanx 111 to pull, thereby driving the phalanx 111 to stretch. The preset volume is determined based on the size and material of the pneumatic muscle 21.

[0092] When the compressed gas in the inner cavity of the pneumatic muscle 21 is discharged, the pneumatic muscle 21 will correspondingly radially contract and axially expand, and return to the initial length and volume (at this time, the pneumatic muscle 21 is in an initial state), thereby driving the cable to move away from the centroid of the pneumatic muscle 21, so that the cable is relaxed, and the force of the cable on the phalanx 111 disappears.

[0093] The contracted state refers to a state in which the gas pressure in the inner cavity of the pneumatic muscle 21 is greater than the atmospheric pressure, and the pneumatic muscle 21 is in a radially expanded and axially contracted state. The initial state refers to a state in which the gas pressure in the inner cavity of the pneumatic muscle 21 is equal to or less than the atmospheric pressure.

[0094] It should be noted that the number of pneumatic muscles 21 is set based on actual needs.

[0095] In some embodiments of the present specification, by setting rigid ropes to form rolling contact joints closer to human joints, the friction and wear of joint movement can be reduced, and the movement precision and fluency can be improved; by setting multiple cables and corresponding pneumatic muscles, the hand has multiple degrees of freedom, and can realize grasping, operation and fine operation similar to human hands; through the above settings, the overall manipulator not only has a compact and simple structure, occupies a small volume, and has fewer parts and lower manufacturing costs.

[0096] For more information about the manipulator, please refer to Figures 11-22 and related descriptions.

[0097] Figure 10 is a structural schematic diagram of a pneumatic muscle according to some embodiments of the present specification; Figure 11 is a cross-sectional view of a pneumatic muscle according to some embodiments of the present specification; Figure 12 is an exploded view of a sealing member according to some embodiments of the present specification.

[0098] In some embodiments, as shown in Figures 10-12 , the pneumatic muscle 21 includes a tubular member 211, both ends of the tubular member 211 are provided with a sealing member 23, the sealing member 23 includes a first part 231 and a second part 232, the first part 231 includes a first threaded structure 2311 and a connecting head 2312, the second part 232 includes a second threaded structure 2321 matched with the first threaded structure 2311 and an inner side slope 2322 matched with a tapered outer side surface 23121 of the connecting head 2312, both ends of the tubular member 211 are located between the connecting head 2312 and the inner side slope 2322.

[0099] The tubular member 211 can expand or contract under the action of gas pressure. In some embodiments, the tubular member 211 is a flexible pipe made of flexible materials (such as rubber, latex, polymer materials, etc.). In some embodiments, the tubular member 211 includes an inner cavity, which is in communication with the gas pipe and is used to contain compressed gas.

[0100] The sealing member 23 is used to block the two ends of the tubular member 211 to prevent gas leakage. In some embodiments, one sealing member 23 is connected to each end of the tubular member 211, and the sealing member 23 at one end is provided with a fixing hole for fixing the cable, and the sealing member 23 at the other end is provided with an air hole and a fastener (such as a stud and a nut) for installing the gas pipe. The air hole is in communication with the gas pipe and is used to introduce and release compressed gas.

[0101] In some embodiments, the seal 23 is shaped like a shuttle, which can prevent the plurality of pneumatic muscles 21 from interfering with each other or being stuck during operation. In other embodiments, the seal 23 can also be shaped in any other feasible shape as long as it can seal the tubular member 211.

[0102] The first part 231 is used to connect the tubular member 211. In some embodiments, the main body of the first part 231 is a cylinder, and the side surface of the cylinder is provided with a thread (i.e., the first thread structure 2311), and the end surface of the cylinder close to the second part 232 is provided with a connecting head 2312.

[0103] The connecting head 2312 is used to cooperate with the second part 232. In some embodiments, the connecting head 2312 can be shaped like a circular truncated cone, and the side surface of the circular truncated cone is a tapered outer side surface 23121. The inclination angle of the tapered outer side surface 23121 relative to the axis of the circular truncated cone is set based on experience.

[0104] The second part 232 is used to seal the end surface of the tubular member 211. The end surface refers to the opening at both ends of the tubular member 211. In some embodiments, the second part 232 is a cylinder, and the inner surface of the cylinder is provided with a thread (i.e., the second thread structure 2321), the inner diameter of the cylinder is matched with the diameter of the main body (i.e., the above-mentioned cylinder) of the first part 231, and the inner surface of the cylinder is provided with an inner inclined surface 2322 away from the first part 231.

[0105] It is worth noting that the axis of the above-mentioned cylinder, circular truncated cone and cylinder all coincide with the axis of the tubular member 211.

[0106] The inner inclined surface 2322 is used to cooperate with the tapered outer side surface 23121 of the connecting head 2312. In some embodiments, the inclination angle of the inner inclined surface 2322 is matched with the inclination angle of the tapered outer side surface 23121.

[0107] In some embodiments, the first thread structure 2311, the second thread structure 2321 and the connecting head 2312 cooperate with each other to connect the first part 231 and the second part 232 and achieve sealing.

[0108] It is worth noting that the first part 231 and the second part 232 can also be designed in any other shape that can cooperate with each other to achieve sealing.

[0109] Figure 13 is a structural schematic diagram of a pneumatic muscle according to some embodiments of the present specification. In Figure 13In the diagram, (a) is a cross-sectional view of a pneumatic muscle in its initial state according to some embodiments of the present specification; (b) is a structural schematic diagram of a pneumatic muscle in its initial state according to some embodiments of the present specification; and (c) is a structural schematic diagram of a pneumatic muscle in its contracted state according to some embodiments of the present specification.

[0110] In some embodiments, such as Figure 13 As shown, a braided mesh 212 is fitted onto the outer surface of the tubular component 211. The braided mesh 212 can be made of a non-elastic or low-elastic material, such as nylon or metal. Understandably, because the braided mesh 212 is non-elastic or low-elastic, it can restrict the radial expansion of the tubular component 211, causing the tubular component 211 to change from radial expansion to axial contraction.

[0111] In some embodiments, the seal 23 is provided with a vent 213, which communicates with the inner cavity of the gas pipe and the tubular component 211 for introducing and releasing compressed gas.

[0112] In some embodiments, the pneumatic muscle 21 is in Figure 13 In the initial state shown in (b), compressed gas is continuously supplied to the inner cavity of the tubular member 211 through the vent 213 via the gas pipe. The tubular member 211 expands radially as the internal air pressure rises. When the radial expansion reaches the point where the braided mesh 212 is fully stretched, the braided mesh 212 restricts the radial expansion of the tubular member 211. The air pressure inside the tubular member 211 continues to rise, causing axial contraction. At this time, the pneumatic muscle 21 is in a state of... Figure 13 The contracted state is shown in (c) above. The pneumatic muscle 21 is in... Figure 13 In the compressed state shown in (c), the vent 213 discharges the compressed gas from the inner cavity of the tubular member 211, causing the tubular member 211 to undergo radial contraction and axial expansion, gradually returning to its initial length and volume. The pneumatic muscle 21 returns to its original state. Figure 13 The initial state is shown in (b) of the diagram.

[0113] In some embodiments, when compressed gas is continuously supplied to the inner cavity of the tubular member 211, the pneumatic muscle 21 gradually changes from its initial state to a compressed state. The seal 23 connected to the cable moves towards the centroid of the tubular member as the tubular member 211 contracts axially, thereby tightening the cable and causing the knuckle 111 connected to the cable to bend or extend. For example, if the cable is connected to the fingertip of the knuckle 111 (e.g., the first cable 221, the third cable 223, etc.), the tightening of the cable applies a pulling force to the fingertip side of the knuckle 111, causing the knuckle 111 to bend. As another example, if the cable is connected to the back of the knuckle 111 (e.g., the second cable 222, the fourth cable 224, etc.), the tightening of the cable applies a pulling force to the back of the knuckle 111, causing the knuckle 111 to extend.

[0114] In some embodiments, when the inner cavity of the tubular member 211 continuously discharges compressed gas, the pneumatic muscle 21 gradually recovers from the compressed state to the initial state, the seal 23 connected to the cable moves away from the center of the tubular member 211, and the cable is relaxed, and the force of the cable on the knuckles 111 disappears.

[0115] It can be understood that during the movement of the mechanical hand, the inner inclined surface 2322 can rotate relative to the connector 2312, so that the flexible tubular member 211 and the woven mesh 212 wrapped on the outer surface of the tubular member 211 are twisted. Therefore, the rotation of the tubular member 211 and the woven mesh 212 can be prevented from being synchronized by setting a component such as a ring 233.

[0116] In some embodiments, as shown in FIG. 8, the seal 23 further includes a ring 233. The ring 233 is used to prevent the tubular member 211 and the woven mesh 212 from being twisted. In some embodiments, the curvature of the ring 233 matches the curvature of the tapered outer surface 23121. Figure 12

[0117] During the sealing process, the technician or the automatic device first places the first part 231 away from the side of the connector 2312 into the tubular member 211, and then wraps the woven mesh 212 on the tubular member 211 and the first part 231. Then, the end of the tubular member 211 and the woven mesh 212 is tightened on the tapered outer surface 23121 of the connector 2312, and the ring 233 is screwed in to press the tubular member 211 and the woven mesh 212, so that the tubular member 211 and the woven mesh 212 are fixed on the tapered outer surface 23121. Finally, the second part 232 is screwed into the first part 231. During this process, the first threaded structure 2311 and the second threaded structure 2321 rotate relative to each other to generate an axial pressing force, the tapered outer surface 23121 and the inner inclined surface 2322 gradually approach each other, and the connector 2312 and the ring 233 press the tubular member 211 and the woven mesh 212, thereby achieving sealing.

[0118] It should be noted that the above structure and sealing process are only examples and do not limit the present specification.

[0119] In some embodiments of the present specification, the pneumatic muscle is driven by compressed air, simulating the contraction and extension of biological muscles. It is not only low in cost, clean and safe, easy to install, light in quality and small in size, but also has similar mechanical properties to biological muscles. In addition, by setting a seal for the tubular member of the pneumatic muscle, and by setting a ring, the tubular member and the woven mesh will not be twisted to affect the function of the pneumatic muscle.

[0120] Figure 14 ​is a structural schematic diagram of the palm side of the palm shown according to some embodiments of the present specification. Figure 15 is a top view of the finger shown according to some embodiments of the present specification. Figure 16 is a schematic diagram of the internal structure of the finger shown according to some embodiments of the present specification.

[0121] In some embodiments, as shown in Figure 3 , Figures 14-16 , the hand 1 further includes a palm 13, and a first side swing 1121 is arranged between the at least one finger 11 and the palm 13, and the at least one finger 11 and the first side swing 1121 are constrained to form a rolling contact through the rigid rope 12, and the first side swing 1121 is rotatably connected with the palm 13; the first side swing 1121 is connected with at least two sixth cables 226, and the at least two sixth cables 226 are respectively connected with at least one of the plurality of pneumatic muscles 21.

[0122] The palm 13 is the central part of the hand 1. In some embodiments, the shape and overall size of the palm 13 are similar to the shape and size of human hand bones. In some embodiments, the side of the palm 13 is provided with a plurality of first mounting hole positions 133-1, and a plurality of fingers 11 (such as the little finger, the ring finger, the middle finger, and the index finger) can be connected to the corresponding first mounting hole positions 133-1 through mounting members (such as screws, etc.); the side of the palm 13 is provided with a second mounting hole position 133-2 for the thumb 11-1, and the thumb 11-1 is connected to the second mounting hole position 133-2 through a mounting member (such as a screw, etc.). The inside of the palm 13 is hollow, for arranging cables, tubes, or other structures.

[0123] In some embodiments, as shown in Figure 14 , the palm 13 includes a first half-palm 131 and a second half-palm 132. The first half-palm 131 refers to the half-palm excluding the thumb 11-1, and the second half-palm 132 refers to the half-palm including the thumb 11-1.

[0124] In some embodiments, the first half-palm 131 and the second half-palm 132 are connected through two rigid ropes 12 to form a rolling contact joint. The way of forming a rolling contact joint between the first half-palm 131 and the second half-palm 132 through the rigid rope 12 is similar to the way of providing the rigid rope 12 to form a rolling contact joint between the knuckles 111, which is described in detail in Figure 1 and Figure 6 , which will not be repeated here.

[0125] In some embodiments, two cables are connected to the first half-palm 131. One end of one cable is connected to the palm side of the first half-palm 131, and the other end is connected to at least one of a plurality of pneumatic muscles 21 for controlling the bending of the first half-palm 131. The other cable is connected to the back side of the first half-palm 131, and the other end is connected to at least one of a plurality of pneumatic muscles 21 for controlling the extension of the first half-palm 131.

[0126] In some embodiments, two cables are connected to the second half of the palm 132. The connection position and control principle of the cables on the second half of the palm 132 are similar to those of the cables on the first half of the palm 131.

[0127] Understandably, after the fingers 11 are installed on the palm 13, the surface of the back of the hand is relatively rough due to the presence of multiple mounting parts and threads. Therefore, a back of the hand cover 14 can be installed on the surface of the back of the hand to improve the appearance of the palm 13.

[0128] Figure 17 This is a schematic diagram of the structure of the palm on the back of the hand according to some embodiments of this specification.

[0129] In some embodiments, such as Figure 3 , Figure 17 As shown, the hand 1 also includes a back hand cover 14. A third mounting hole 133-3 for the back hand cover 14 is provided on the back side of the palm 13. The back hand cover 14 is mounted in the third mounting hole 133-3 by a mounting component (such as a screw). There is a gap between the palm 13 and the back hand cover 14, which is used to arrange cables, conduits or other structures.

[0130] The lateral swing member is used to control the lateral swinging of the fingers 11 relative to the palm 13. It is worth noting that lateral swinging can include the fingers 11 swinging towards or away from their adjacent fingers (i.e., the fingers 11 swinging closer to or away from their adjacent fingers), bending or extending towards or away from the palm, or rotating 360° in a plane perpendicular to the length of the palm 13. For example, the lateral swing member controls the fingers 11 to swing towards or away from their adjacent fingers, and / or move towards or away from the palm, or rotate 360° in a plane perpendicular to the length of the palm 13. The first lateral swing member 1121 is used to control the lateral swinging of the fingers 11 other than the thumb 11-1 relative to the palm 13.

[0131] In some embodiments, such as Figures 5-6As shown, one end of the first side swing 1121 is connected to the proximal phalanx 111-3 through the first rigid rope 12-1 and the second rigid rope 12-2, so that a rolling contact joint is formed between the finger 11 and the first side swing 1121, and the other end of the first side swing 1121 is rotatably connected to the palm 13 through the metacarpophalangeal joint 1131.

[0132] The rotatable connection means that the first side swing 1121 is connected to the palm 13 and the first side swing 1121 can rotate relative to the palm 13. In some embodiments, the rotatable connection between the first side swing 1121 and the palm 13 can be achieved in various ways. For example, a ball joint can be provided between the first side swing 1121 and the palm 13. For another example, the metacarpophalangeal joint 1131 can be provided between the first side swing 1121 and the palm 13.

[0133] The sixth cable 226 is used to control the swing of the first side swing 1121 towards or away from the adjacent finger. In some embodiments, as shown in FIG. 1, one end of the two sixth cables 226 is symmetrically arranged on both sides of the first side swing 1121, and the other end of the sixth cable 226 extends out of the first side swing 1121 and is connected to at least one of the plurality of pneumatic muscles 21. Figure 16

[0134] In some embodiments, when at least one pneumatic muscle 21 connected to one of the sixth cables 226 contracts, it will pull the sixth cable 226, thereby driving the first side swing 1121 to move towards the side where the sixth cable 226 is arranged, and in turn driving the finger 11 to move synchronously; when at least one pneumatic muscle 21 connected to the other sixth cable 226 contracts, it will pull the other sixth cable 226, thereby driving the first side swing 1121 to move towards the side where the sixth cable 226 is arranged, and in turn driving the finger 11 to move synchronously.

[0135] In some embodiments of the present specification, by arranging the first side swing to form a rolling contact between the first side swing and the palm, and by arranging the sixth cable, the degree of freedom of the mechanical hand can be increased, the movement mode of the mechanical hand is closer to the movement mode of the human hand, and the movement precision and the bionic performance are improved.

[0136] In some embodiments, as shown in FIG. 1, the metacarpophalangeal joint 1131 is arranged between the first side swing 1121 and the palm 13, and the metacarpophalangeal joint 1131 is rotatably connected to the palm 13. Figure 5 ​As shown, the first side swing piece 1121 is rotatably connected to the palm 13 through the metacarpal connecting piece 1131. One of the first side swing piece 1121 and the metacarpal connecting piece 1131 is provided with a protruding structure 1141, and the other is provided with a recess structure 1142. The protruding structure 1141 is rotatably arranged in the recess structure 1142. The metacarpal connecting piece 1131 is fixedly connected to the palm 13.

[0137] The metacarpal connecting piece 1131 is used to connect the palm 13 and the first side swing piece 1121. In some embodiments, the metacarpal connecting piece 1131 and the palm 13 can be fixedly connected in various ways. For example, welding, clamping, threaded connection, etc. In some embodiments, one end of the metacarpal connecting piece 1131 is fixedly installed in the first mounting hole 133-1 on the palm 13 through a mounting piece, and the other end of the metacarpal connecting piece 1131 forms a rolling contact joint with the first side swing piece 1121 through the cooperation of the protruding structure 1141 and the recess structure 1142.

[0138] The protruding structure 1141 refers to a protrusion used to form a rolling contact joint between the first side swing piece 1121 and the metacarpal connecting piece 1131. The recess structure 1142 refers to a recess used to form a rolling contact joint between the first side swing piece 1121 and the metacarpal connecting piece 1131.

[0139] In some embodiments, one of the first side swing piece 1121 and the metacarpal connecting piece 1131 is provided with the protruding structure 1141, and the other is provided with the recess structure 1142. For example, the protruding structure 1141 is arranged on the end face of the first side swing piece 1121 facing the metacarpal connecting piece 1131, and the recess structure 1142 is arranged on the end face of the metacarpal connecting piece 1131 facing the first side swing piece 1121. For another example, the recess structure 1142 is arranged on the end face of the first side swing piece 1121 facing the metacarpal connecting piece 1131, and the protruding structure 1141 is arranged on the end face of the metacarpal connecting piece 1131 facing the first side swing piece 1121.

[0140] In some embodiments, the recess structure 1142 includes an opening and a groove, and the opening width of the recess structure 1142 is smaller than the groove width. The shape and size of the opening are set based on actual needs. For example, the opening can be circular, rectangular, etc.

[0141] In some embodiments, the protruding structure 1141 comprises a first structure and a second structure, the first structure is embedded in the groove, and the second structure extends from the opening. At least one width of the first structure is greater than the opening width of the groove structure 1142 and less than the groove width of the groove structure 1142, and the length of the first structure is less than the groove depth. At least one width of the second structure is less than the opening width of the groove structure 1142, and the length of the second structure is not less than the opening depth. The width refers to the dimension of the structure perpendicular to the length direction of the finger 11, and the length and the depth refer to the dimension of the structure parallel to the length direction of the finger 11.

[0142] In some embodiments, one end of the first structure is arranged on one of the end surface of the first side swing piece 1121 facing the metacarpal joint 1131 or the end surface of the groove structure 1142 arranged on the first side swing piece 1121 facing the metacarpal joint 1131, and the other end of the first structure is connected to the second structure. The opening is arranged on the end surface of the groove structure 1142 facing the second structure.

[0143] In some embodiments, the protruding structure 1141 and the groove structure 1142 can have various matching shapes, so that the protruding structure 1141 rotates in the groove structure 1142 and does not come out. For example, the groove of the protruding structure 1141 is in the shape of a circular arc, the first structure of the groove structure 1142 is a sphere, and the curvature of the first structure matches the curvature of the groove. When the mechanical hand moves, the second structure can rotate within the range of the opening, so that the first side swing piece 1121 rotates around the palm 13.

[0144] It can be understood that the shape and size of the opening limit the movement position and movement direction of the finger 11 at this time. For example, when the opening is a circular opening, the protruding structure 1141 moves within the range of the circular opening, so that the finger 11 rotates 360° in the plane perpendicular to the length direction of the finger 11. For another example, when the opening is a rectangular opening, the protruding structure 1141 reciprocates in the length direction of the rectangular opening, thereby driving the movement of the finger 11.

[0145] It should be noted that the above description of the protruding structure 1141 and the groove structure 1142 is only as an example, and in other embodiments, other structures can also be used to realize the rotatable connection between the first side swing piece 1121 and the palm 13, which is not limited in the present description.

[0146] In some embodiments of the present description, by fixedly connecting one end of the metacarpal joint to the palm and rotatably connecting the other end to the first side swing piece through the protruding structure and the groove structure, the degree of freedom of the mechanical hand can be increased, the movement mode of the mechanical hand is closer to the movement mode of the human hand, and the movement accuracy and the bionic performance are improved.

[0147] In some embodiments, asFigure 5 As shown, the first side swing piece 1121 and the metacarpal phalangeal joint 1131 are provided with a guide structure 115, which includes a guide rail 1151 and a guide column 1152. The guide rail 1151 is arranged on one of the first side swing piece 1121 and the metacarpal phalangeal joint 1131, and the guide column 1152 is arranged on the other one. The extension direction of the guide rail 1151 is the direction in which the finger 11 swings laterally, and can also be understood as the relative direction between adjacent fingers.

[0148] The guide structure 115 is used to realize the swinging of the finger 11 towards or away from its adjacent finger. For example, the first side swing piece 1121 can reciprocate in the extension direction of the guide structure 115, thereby driving the finger 11 to move relative to the adjacent two fingers 11. The extension direction is the length direction of the guide structure 115. The relative direction of the two adjacent fingers 11 is the direction perpendicular to the length direction of the finger 11 and the thickness direction of the palm 13.

[0149] In some embodiments, the number of guide structures 115 on the first side swing piece 1121 can be one or more. For example, the number of guide structures 115 can be three. It can be understood that in the case of arranging only one guide structure 115, the finger 11 can deflect in a direction perpendicular to the length direction of the guide structure 115, thereby causing the side edges of the guide rail 1151 and the guide column 1152 to be brittle and broken. When three guide structures 115 are arranged, the three guide structures 115 can prevent the finger 11 from deflecting in a direction perpendicular to the length direction of the guide structure 115, thereby improving the stability of the structure.

[0150] It is worth noting that the guide structure 115 will limit the rotation of the first side swing piece 1121 and the metacarpal phalangeal joint 1131 around the rolling contact joint therebetween, and the first side swing piece 1121 and the metacarpal phalangeal joint 1131 can only move relative to the extension direction of the guide structure 115, thereby improving the stability of the structure.

[0151] The guide rail 1151 is a groove structure in the guide structure 115, which is used to realize the movement of the finger 11 in the relative direction of the adjacent two fingers 11. The guide column 1152 is a column structure in the guide structure 115, which is used to realize the movement of the finger 11 in the relative direction of the adjacent two fingers 11.

[0152] The guide rail 1151 and the guide column 1152 are correspondingly arranged and respectively arranged on the first side swing piece 1121 and the metacarpal phalangeal joint 1131. Their arrangement positions are similar to those of the protrusion structure 1141 and the groove structure 1142, which will not be described here.

[0153] In some embodiments, the guide rail 1151 and the guide column 1152 are shaped and sized to fit each other. The guide column 1152 is clamped in the guide rail 1151, and the guide column 1152 can reciprocate in the guide rail 1151, thereby driving the finger 11 to move. In some embodiments, the length of the guide rail 1151 in the direction of its extension is greater than the length of the guide column 1152 in the direction of its extension.

[0154] It can be understood that, in order to limit the moving range of the finger 11 in the opposite direction of the adjacent two fingers 11, a locking structure can be further provided on the guide rail 1151 and the guide column 1152.

[0155] In some embodiments of the present specification, the guide structure can drive the finger to move in the opposite direction of the adjacent two fingers, and compared with multi-directional movement, the stability of such one-way movement mode is higher, and motion interference (for example, when the cable drives the finger to bend, the first side swing also bends) does not occur, which can improve the motion accuracy. At the same time, the guide structure can limit the bending and stretching of the first side swing, but does not limit the bending and stretching of the finger, and does not affect the bionic performance of the mechanical hand.

[0156] Figure 18 FIG. 7 is a structural schematic diagram of a thumb according to some embodiments of the present specification; Figure 19 FIG. 8 is a structural schematic diagram of the thumb according to some embodiments of the present specification, in which a seventh cable and an eighth cable are arranged in the internal structure; Figure 20 FIG. 9 is a structural schematic diagram of the thumb according to some embodiments of the present specification, in which a ninth cable is arranged in the internal structure; Figure 21 FIG. 10 is a structural schematic diagram of the thumb in a bending state according to some embodiments of the present specification.

[0157] In some embodiments, as shown in FIG. 11, Figures 18-21 the plurality of fingers 11 includes a thumb 11-1, the thumb 11-1 includes a distal phalanx 111-1 and a proximal phalanx 111-3, the proximal phalanx 111-3 is connected to the palm 13 through a connecting portion 1132; the proximal phalanx 111-3 is connected to a seventh cable 227 for controlling the bending of the proximal phalanx 111-3, the distal phalanx 111-1 is connected to an eighth cable 228 for controlling the stretching of the distal phalanx 111-1 and the proximal phalanx 111-3 together, and the connecting portion 1132 is connected to at least two ninth cables 229, and the seventh cable 227, the eighth cable 228 and the ninth cable 229 are respectively connected to at least one of the plurality of pneumatic muscles 21.

[0158] In some embodiments, as shown in FIG. 11, Figures 18-20As shown, the thumb 11-1 can include a distal phalanx 111-1 and a proximal phalanx 111-3. A rolling contact joint is formed between the distal phalanx 111-1 and the proximal phalanx 111-3 by two rigid strings 12. In other embodiments, the thumb 11-1 can include a distal phalanx 111-1, a middle phalanx 111-2 and a proximal phalanx 111-3.

[0159] The connecting part 1132 is used to connect the proximal phalanx 111-3 and the palm 13. In some embodiments, one end of the connecting part 1132 can be connected to the second mounting hole 133-2 on the side of the palm 13 by a mounting member (e.g., a screw), and the other end of the connecting part 1132 forms a rolling contact joint with the proximal phalanx 111-3 by two rigid strings 12.

[0160] The seventh cable 227 is used to control the bending of the distal phalanx 111-1 and the proximal phalanx 111-3 together. In some embodiments, the control principle of the seventh cable 227 is similar to that of the first cable 221. As shown in FIG. 11B, Figure 19 The seventh cable 227 is connected to the palm side of the proximal phalanx 111-3 at one end, and the other end of the seventh cable 227 extends out from the back side of the connecting part 1132 and is connected to at least one of the plurality of pneumatic muscles 21. When the pneumatic muscle 21 contracts, the seventh cable 227 exerts a pulling force on the palm side of the proximal phalanx 111-3, thereby causing the proximal phalanx 111-3 to bend.

[0161] The eighth cable 228 is used to control the extension of the distal phalanx 111-1 and the proximal phalanx 111-3 together. In some embodiments, the control principle of the eighth cable 228 is similar to that of the second cable 222. As shown in FIG. 11C, Figure 19 The eighth cable 228 is connected to the back side of the distal phalanx 111-1 at one end, and the other end of the eighth cable 228 extends out from the back side of the connecting part 1132 and is connected to the pneumatic muscle 21. When the pneumatic muscle 21 contracts, the eighth cable 228 exerts a pulling force on the back side of the distal phalanx 111-1, causing the distal phalanx 111-1 and the proximal phalanx 111-3 to extend together.

[0162] The ninth cable 229 is used to control the lateral swing of the finger 11. In some embodiments, the control principle of the ninth cable 229 is similar to that of the sixth cable 226. Referring to Figure 20 , one end of the two ninth cables 229 is symmetrically arranged on both sides of the second lateral swing part 1122, and the other end of the ninth cable 229 extends out from the second lateral swing part 1122 and is connected to at least one of the plurality of pneumatic muscles 21. The symmetric arrangement means that the two ninth cables 229 are symmetrically arranged about the central axis of the second lateral swing part 1122.

[0163] In some embodiments, when at least one pneumatic muscle 21 connected with one of the ninth cables 229 contracts, the ninth cable 229 is pulled, thereby driving the second side swing piece 1122 to move to the side where the ninth cable 229 is arranged, and in turn driving the thumb 11-1 to move synchronously; when at least one pneumatic muscle 21 connected with another ninth cable 229 contracts, the other ninth cable 229 is pulled, thereby driving the second side swing piece 1122 to move to the side where the ninth cable 229 is arranged, and in turn driving the thumb 11-1 to move synchronously.

[0164] It can be understood that the tenth cable 220-1 and the eleventh cable 220-2 can also be arranged on the palmar side and the dorsal side of the connection part 1132.

[0165] The tenth cable 220-1 is used to control the bending of the connection part 1132. In some embodiments, the control principle of the tenth cable 220-1 is similar to that of the third cable 223. One end of the tenth cable 220-1 is connected with the palmar side of the connection part 1132, and the other end of the tenth cable 220-1 is arranged to extend out of the dorsal side of the second side swing piece 1122 and connected to at least one of the plurality of pneumatic muscles 21.

[0166] The eleventh cable 220-2 is used to control the stretching of the connection part 1132. In some embodiments, the control principle of the eleventh cable 220-2 is similar to that of the fourth cable 224. One end of the eleventh cable 220-2 is connected with the dorsal side of the connection part 1132, and the other end of the eleventh cable 220-2 is arranged to extend out of the dorsal side of the second side swing piece 1122 and connected to at least one of the plurality of pneumatic muscles 21.

[0167] In some embodiments of the present specification, the thumb is connected to the palm by the connection part, and the knuckles of the thumb are bent and laterally swing by the plurality of cables, so that the hand has multiple degrees of freedom, and the grasping, operation and fine operation similar to the human hand can be realized; through the above arrangement, the overall mechanical hand has a compact and simple structure, occupies a small volume, has few parts, and has a low manufacturing cost.

[0168] It can be understood that, in order to realize the coordinated rotation between the distal phalanx 111-1, the proximal phalanx 111-3 and the connecting portion 1132 of the thumb 11-1, a thirteenth cable similar to the fifth cable 225 can be arranged between the distal phalanx 111-1 and the connecting portion 1132. One end of the thirteenth cable is connected to the palm of the distal phalanx 111-1, and the other end of the thirteenth cable extends from the palm of the distal phalanx 111-1 to the back of the proximal phalanx 111-3, and then extends and is connected to the back of the connecting portion 1132. When the proximal phalanx 111-3 is bent by the traction of the seventh cable 227, the segment of the thirteenth cable between the proximal phalanx 111-3 and the connecting portion 1132 is relatively lengthened due to the change of the angle of the rolling contact joint, and since the total length of the thirteenth cable is fixed, the segment between the distal phalanx 111-1 and the proximal phalanx 111-3 will be shortened accordingly, so that the distal phalanx 111-1 rotates inward around the axis of the rolling contact joint, thereby realizing the coordinated rotation with the proximal phalanx 111-3.

[0169] In some embodiments, a second side swing piece 1122 is arranged between the connecting portion 1132 and the palm 13, and two ends of the second side swing piece 1122 are respectively connected to the connecting portion 1132 and the palm 13. Wherein, the opposite ends of the connecting portion 1132 and the second side swing piece 1122 are arc surfaces. Wherein, the opposite ends refer to the ends of the connecting portion 1132 and the second side swing piece 1122 that face each other.

[0170] The second side swing piece 1122 is used to control the lateral swing of the thumb 11-1. The structure and control principle of the second side swing piece 1122 and the connection manner of the second side swing piece 1122 with the connecting portion 1132 and the palm 13 are similar to the structure, control principle and connection manner of the first side swing piece 1121 with the proximal phalanx 111-3 and the palm 13, which are described in detail in the related description of Figures 14-17 , and will not be described here.

[0171] It is worth noting that the lateral swing range of the human thumb is larger than that of other fingers. Therefore, in order to improve the bionic performance of the mechanical hand, the rotation or movement range of the second side swing piece 1122 is larger than that of the first side swing piece 1121.

[0172] It can be understood that, as shown in Figure 21 , the arc surface can make the connecting portion 1132 and the second side swing piece 1122 rotate more smoothly around the rolling contact joint between them, avoiding jamming.

[0173] In some embodiments of the present application, the second side swing piece with a larger rotation angle is arranged on the thumb, and the connecting part and the end opposite to the second side swing piece are both arranged as a circular arc surface. On the one hand, the bionic performance of the mechanical hand and the smoothness of the finger movement can be improved. On the other hand, the thumb can better cooperate with other fingers to realize the grasping action.

[0174] In some embodiments, the curvature range of the circular arc surface is 0.125-0.25. In some embodiments, the curvature range of the circular arc surface can also be 0.1-0.3. For example, the curvature of the circular arc surface is 0.2.

[0175] In some embodiments of the present application, the curvature of the circular arc surface affects the angle and path of the joint rotation. By limiting the curvature range of the arc surface, the collision or disengagement caused by too large or too small curvature can be avoided, so that the mechanical hand moves smoothly.

[0176] In some embodiments, as shown in Figures 18-19 , the second side swing piece 1122 and the palm 13 are provided with a mounting part 1133, and the two ends of the mounting part 1133 are fixedly connected with the second side swing piece 1122 and the palm 13 respectively.

[0177] The mounting part 1133 is used to connect the second side swing piece 1122 and the palm 13. The structure and fixing mode of the mounting part 1133 are similar to those of the metacarpophalangeal joint connecting piece 1131. For details, please refer to the related description in Figure 3 、 Figures 14-17 , which will not be described here again.

[0178] In some embodiments of the present application, the mounting part connects the second side swing piece and the palm, which can make the movement mode of the thumb closer to that of the human thumb, so as to better cooperate with other fingers to realize the grasping action.

[0179] In some embodiments, as shown in Figure 5 、 Figure 18 、 Figure 19 and Figure 21 , the mechanical hand further comprises a connecting block 3 arranged between at least two adjacent knuckles 111 and located on the finger pulp side of the plurality of fingers 11. The connecting block 3 comprises two protruding parts 31 rotatably arranged in the grooves 1111 of the at least two adjacent knuckles 111, and the connecting block 3 is provided with a wire passing hole 32 for the cable to pass through.

[0180] The connecting block 3 is used to increase the moment of the cable, limit the rotation of the rolling contact joint, and avoid the sliding of the rolling contact joint.

[0181] In some embodiments, the connecting block 3 can be disposed in multiple locations. For example, when the finger 11 is the thumb 11-1, the connecting block 3 can be disposed between the knuckle 111 and the connecting portion 1132, or between the connecting portion 1132 and the second side member 1122, etc. As another example, when the finger 11 is another finger, the connecting block 3 can be disposed between two adjacent knuckles 111, or between the proximal knuckle 111-3 and the first side member 1121, etc.

[0182] In some embodiments, the connecting block 3 can be of various shapes, as long as it can be installed between adjacent structures. For example, the connecting block 3 can be Y-shaped, cylindrical, triangular, etc. This is merely an example. Figure 3 As shown, the connecting block 3 is Y-shaped, with the circular protrusions at both ends of the upper part of the Y-shape being protrusions 31; the protrusion at the lower part of the Y-shape is provided with a wire hole 32 parallel to the length direction of the knuckle.

[0183] In some embodiments, such as Figure 21 As shown, when finger 11 is bent, the protruding part below the "Y"-shaped connecting block 3 will abut against the fingertip of the knuckle 111, thereby restricting the rotation of the rolling contact joint and preventing the rolling contact joint from sliding due to excessive tension of the cable.

[0184] The protrusion 31 is used to insert into the groove 1111. The groove 1111 is used to receive the protrusion 31. In some embodiments, the groove 1111 may be provided on the surface of the knuckle 111, the first side member 1121, the connecting portion 1132, the second side member 1122, etc., near the rolling contact joint.

[0185] The cable pass-through hole 32 is used for passing cables through. In some embodiments, the cable passes through the cable pass-through hole 32 and presses the connector 3 tightly into the groove 1111 to prevent the connector 3 from coming out.

[0186] In some embodiments, such as Figure 19 As shown, when finger 11 is the thumb 11-1, the seventh cable 227 can pass through the proximal phalanx 111-3 and through the wire hole 32 of the connecting block 3 located between the proximal phalanx 111-3 and the connecting part 1132 to the connecting part 1132; the tenth cable 220-1 can pass through the connecting part 1132 and through the wire hole 32 of the connecting block 3 located between the connecting part 1132 and the second side member 1122 to the second side member 1122.

[0187] In some embodiments, such as Figure 8As shown, when the finger 11 is other fingers, the first cable 221 can pass out from the middle finger joint 111-2, pass out from the wire passing hole 32 of the connecting block 3 arranged between the middle finger joint 111-2 and the proximal finger joint 111-3 to the proximal finger joint 111-3; the third cable 223 can pass out from the proximal finger joint 111-3, pass out from the wire passing hole 32 of the connecting block 3 arranged between the proximal finger joint 111-3 and the first side swing piece 1121 to the first side swing piece 1121.

[0188] In some embodiments of the present application, by arranging the connecting block, the moment of the cable can be increased, the rotation of the rolling contact joint can be limited, and the sliding of the rolling contact joint can be avoided, thereby making the movement of the robot more accurate.

[0189] In some embodiments, the finger pulp of at least one finger joint 111 of the plurality of finger joints 111 is flexible; and / or, the finger pulp of at least one finger joint 111 is provided with a sensor 117.

[0190] In some embodiments, the material of the finger pulp can be the same as or different from the material of other parts of the finger 11. For example, the finger pulp part can be flexible and rough in surface, while the remaining parts can have stronger rigidity. It can be understood that the flexible and rough surface of the finger pulp not only prevents the robot from damaging the object, but also increases the friction of the finger 11 to prevent the object from falling.

[0191] In some embodiments, the technician or automated equipment can make the surface of the finger pulp of the finger joint 111 flexible and rough in a variety of ways. For example, the technician or automated equipment can perform surface treatment (such as grinding, etching or adding a plurality of protrusions, etc.) on the finger pulp. For another example, the technician or automated equipment can also install a flexible piece (such as a flexible pad) on the surface of the finger pulp.

[0192] In some embodiments, as shown in Figure 5 and Figure 18 The finger pulp of the distal finger joint 111-1, the middle finger joint 111-2 and the proximal finger joint 111-3 is provided with a flexible pad 116. In some embodiments, the finger pulp of the connecting part 1132 is also provided with a flexible pad 116.

[0193] In some embodiments, the flexible pad 116 can be made of materials with flexibility and frictional resistance. For example, rubber, silicone, etc. It should be noted that the material and thickness of the flexible pad 116 arranged on the finger pulp side of each finger joint 111 or connecting part 1132 can be the same or different, which can be determined based on the type, weight, shape, etc. of the grasped object.

[0194] In some embodiments, the flexible pads 116 can be connected to the fingerpads by adhesion, clamping, bolting, etc. In some embodiments, the flexible pads 116 can be curved flexible pads that fit the surface of the knuckles 111. The flexible pads 116 can make the fingerpads higher than the surface of the knuckles 111, increase the thickness of the fingers 11, and increase the friction of the fingerpads, thereby facilitating the gripping of objects by the robot hand.

[0195] In some embodiments of the present disclosure, the flexible pads provided at the fingerpads of the knuckles can increase the thickness, surface roughness, and flexibility of the fingers, thereby facilitating the gripping of objects by the robot hand.

[0196] In some embodiments, the roughness of the surface of the fingerpads of the distal knuckle 111-1, the middle knuckle 111-2, and the proximal knuckle 111-3 is different. It can be understood that the force conditions of the knuckles 111 are also different when gripping objects. In order to improve the friction of the surface of the fingerpads of the knuckles 111, and thereby improve the stability of the gripping of objects by the fingers 11, the surface of the fingerpads of the knuckles 111 can be treated or designed to have different roughness. For example, the distal knuckle 111-1 and the proximal knuckle 111-3 are more likely to contact the object when gripping the object, and the corresponding contact force will also be larger, which has a significant impact on the stability of gripping. Therefore, the roughness of the surface of the fingerpads of the distal knuckle 111-1 and the proximal knuckle 111-3 is greater than that of the middle knuckle 111-2. For example only, more protrusions can be provided on the surface of the fingerpads of the distal knuckle 111-1 and the proximal knuckle 111-3 than on the surface of the fingerpads of the middle knuckle 111-2.

[0197] In some embodiments of the present disclosure, the flexible rough surfaces corresponding to different knuckles can adapt to the actual working conditions of different objects to be gripped, and can increase the thickness of the fingers, thereby facilitating the gripping and increasing the friction, and achieving precise gripping and control of the robot hand.

[0198] It can be understood that, in order to avoid damage or dropping of the object to be gripped, sensors can be added to the fingers 11 to determine the force conditions of the knuckles 111 and the state information of the object to be gripped, and thereby adjust the motion control of the robot fingers.

[0199] In some embodiments, as shown in Figure 5 and Figure 18 , different sensors 117 are provided on the fingerpads of the distal knuckle 111-1, the middle knuckle 111-2, and the proximal knuckle 111-3.

[0200] In some embodiments, the sensor 117 can be disposed on the palm of the knuckle 111. For example, the sensor 117 can be disposed on the flexible pad 116 of the knuckle 111. In some embodiments, the sensor 117 can be a flexible sensor. It can be understood that, compared with a common sensor, the flexible sensor can deform with the bending and stretching of the hand, and will not damage the grasped object.

[0201] In some embodiments, the sensor 117 can include one or more combinations of a pressure sensor, a temperature sensor, a position sensor, and the like.

[0202] The pressure sensor is used to capture the pressure of the knuckle 111 during the operation of the robot hand, and the robot hand can adjust the bending state of the knuckle 111 based on the pressure, thereby forming a closed-loop control.

[0203] The temperature sensor is used to capture the temperature of the grasped object during the operation of the robot hand. The robot hand can obtain the state of the grasped object based on the temperature, and adjust the grasping state. For example, if the temperature is lower than a preset temperature, the operation is stopped and heating is continued; if the temperature is higher than the preset temperature, the fingers are opened, and the grasping is performed after cooling to prevent damage to the robot hand and the grasped object.

[0204] The position sensor is used to capture the real-time position information of the grasped object during the operation of the robot hand. The robot hand can determine whether the grasping is stable based on the real-time position information.

[0205] In some embodiments of the present specification, by disposing a flexible sensor at the palm, the state information of the grasped object and the force condition of the fingers can be obtained without damaging the grasped object, so as to realize the closed-loop control of the motion of the robot hand, thereby improving the control accuracy of the robot hand.

[0206] In some embodiments of the present specification, by making the knuckle flexible and the surface rough, and disposing a sensor at the palm of the knuckle, not only the softness and friction of the palm can be increased to avoid damaging the robot hand and the grasped object, but also the state information of the grasped object and the force condition of the fingers obtained based on the sensor can further realize the closed-loop control of the motion of the robot hand.

[0207] Figure 22 FIG. 1 is a structural schematic diagram of a robot hand according to some embodiments of the present specification.

[0208] In some embodiments, as shown in FIG. 1, the robot hand further includes a base 4, and the palm 13 is rotatably disposed on the base 4. Figure 22

[0209] The base 4 is used to support the hand part 1 and the driving part 2. In some embodiments, the base 4 includes a plurality of mounting plates 41 and a plurality of support columns 42.

[0210] ​The mounting plate 41 is used to mount the support column 42 and the pneumatic muscle 21. The support column 42 is used to support the mounting plate 41 to prevent the structure from collapsing.

[0211] In some embodiments, as shown in FIG. 1, a plurality of mounting holes are provided on the mounting plate 41 at intervals. The two ends of the support column 42 and the pneumatic muscle 21 can be connected to the mounting holes of two adjacent mounting plates 41 by welding, bolting, or the like. Figure 22

[0212] It can be understood that the mounting holes of adjacent mounting plates 41 are parallel in the length direction parallel to the mounting plate 41, so that the structure supports the column 42 and the pneumatic muscle 21 perpendicular to the mounting plate 41, so that the structure has better stability.

[0213] In some embodiments, the mounting plate 41 can have various shapes. For example, circular, square, etc. It can be understood that a plurality of circular mounting plates 41 are connected to support the column 42 and the pneumatic muscle 21, so that the base 4 forms a shape close to the human forearm, increasing the bionic performance.

[0214] In some embodiments, a plurality of mounting plates 41 are arranged in parallel, and the spacing between the plurality of mounting plates 41 can be the same or different, which can be determined according to the length of the pneumatic muscle 21 and the length of the support column 42. A plurality of adjacent mounting plates 41 can divide the pneumatic muscle 21 into multiple layers, and one layer of pneumatic muscle 21 is mounted between two adjacent mounting plates 41. The plurality of pneumatic muscles 21 in each layer are arranged closely and have gaps. The air duct of the upper pneumatic muscle passes through the gap between the lower pneumatic muscles, and the cable connected above the lower pneumatic muscle needs to pass through the gap of the upper pneumatic muscle. The number of pneumatic muscles 21 and the number of layers are set based on actual needs. For example, 36 cables and corresponding 36 pneumatic muscles 21 are provided, and the 36 pneumatic muscles 21 are divided into two layers, of which 12 pneumatic muscles 21 are located in the upper layer and 12 pneumatic muscles 21 are located in the lower layer.

[0215] It can be understood that dividing the pneumatic muscle 21 into multiple layers can solve the problem of excessive radial size caused by arranging multiple pneumatic muscles 21 in a single layer. At the same time, the multiple layers of pneumatic muscles 21 can form a state similar to the human forearm, increasing the bionic performance of the mechanical hand.

[0216] In some embodiments, as shown in FIG. 1, the hand 1 further includes a wrist connecting shaft 15 and a hand base 16. Figure 3

[0217] The wrist connecting shaft 15 is used to connect the palm 13 and the hand base 16. The hand base 16 is used to support the palm 13. In some embodiments, as shown in FIG. 1, the hand base 16 is connected to the wrist connecting shaft 15 by welding, bolting, or the like. Figure 3 Figure 14 ​​​As shown, the bottom of the palm 13 is provided with a fourth mounting hole 133-4, and the upper portion of the hand base 16 is provided with a fifth mounting hole 161, one end of the wrist connecting shaft 15 can be embedded in the fourth mounting hole 133-4, and the other end of the wrist connecting shaft 15 is embedded in the fifth mounting hole 161, thereby forming a mechanical wrist joint.

[0218] In some embodiments, as shown in Figure 14 As shown, the bottom plane of the palm 13 is provided with four cable fixing holes 134, which are evenly distributed along the bottom plane of the palm 13, and four fourteenth cables are fixed in one cable fixing hole 134 and connected to the pneumatic muscle 21 through the cable fixing hole 134 to control the movement of the mechanical wrist joint. Among them, the bottom plane refers to the plane of the palm 13 close to and perpendicular to the length direction of the wrist connecting shaft 15.

[0219] It can be understood that the fourteenth cable can control the movement of the mechanical wrist joint in the four directions where the fourteenth cable is arranged by the radial contraction of the connected pneumatic muscle 21.

[0220] In some embodiments, as shown in Figure 3 As shown, the bottom of the hand base 16 is provided with a counterbore hole 162 corresponding to the number of cables (including the first cable to the fifteenth cable), and the end of the flexible tube wrapped outside the cable abuts around the counterbore hole 162 of the hand base 16, and the cable passes through the corresponding counterbore hole 162 and is connected to the pneumatic muscle 21.

[0221] In some embodiments of the present specification, by arranging the base to support the entire hand and reasonably arranging the position of the pneumatic muscle, the interference between the pneumatic muscles during work can be prevented, and the stability of the movement of the mechanical hand can be increased. At the same time, the movement of the mechanical wrist joint can be controlled by fourteenth cable, so that the movement mode of the wrist of the mechanical hand is similar to that of the human wrist, and the bionic performance of the mechanical hand is increased.

[0222] The above has described the basic concept, and it is obvious that the above detailed disclosure is only as an example for those skilled in the art, and does not constitute a limitation on the present specification. Although it is not explicitly stated here, those skilled in the art can make various modifications, improvements and corrections to the present specification. Such modifications, improvements and corrections are suggested in the present specification, so such modifications, improvements and corrections still belong to the spirit and scope of the exemplary embodiments of the present specification.

Claims

1. A robot, characterized in that The utility model relates to a hand, including a plurality of fingers, each of the fingers includes a plurality of knuckles, at least two adjacent knuckles of the plurality of knuckles are constrained by rigid rope to form rolling contact, the hand further includes a palm, the plurality of fingers include a thumb, the thumb includes a distal phalanx and a proximal phalanx, the proximal phalanx is connected with the palm through a connecting part, a second side swing piece is arranged between the connecting part and the palm, two ends of the second side swing piece are connected with the connecting part and the palm respectively, wherein, the connecting part and the opposite end of the second side swing piece are arc surfaces, Wherein, at least one of the plurality of fingers includes a distal phalanx, a middle phalanx and a proximal phalanx, the middle phalanx is connected with at least a first cable for controlling the bending of the middle phalanx, the distal phalanx is connected with at least a second cable for controlling the stretching of the distal phalanx and the middle phalanx together, and the proximal phalanx is connected with at least a third cable and a fourth cable. A first side swing piece is arranged between the at least one finger and the palm, the at least one finger and the first side swing piece are constrained by the rigid rope to form rolling contact, the first side swing piece is rotatably connected with the palm through a metacarpophalangeal joint, the first side swing piece is connected with at least two sixth cables, and one end of the at least two sixth cables is symmetrically arranged on both sides of the first side swing piece. One of the first side swing piece and the metacarpophalangeal joint is provided with a convex structure, and the other is provided with a groove structure, the convex structure is rotatably arranged in the groove structure, the metacarpophalangeal joint is fixedly connected with the palm, the groove structure includes a circular opening and a groove body, the convex structure moves within the range of the circular opening, so that the at least one finger rotates 360 degrees in the plane perpendicular to the length direction of the at least one finger. A connecting block is arranged between the at least two adjacent knuckles and located on the side of the finger pulp of the plurality of fingers, the connecting block is "Y" shaped, the connecting block includes two convex parts, the two convex parts are rotatably arranged in the grooves of the at least two adjacent knuckles respectively, and the connecting block is provided with a wire passing hole for the cable to pass through. A driving part includes a plurality of pneumatic muscles, one end of the first cable, the second cable, the third cable, the fourth cable and the at least two sixth cables is connected with at least one of the plurality of pneumatic muscles respectively. One end of the second cable is connected with the distal phalanx through the middle phalanx, and the other end of the second cable is connected with at least one of the plurality of pneumatic muscles.

2. The robot of claim 1, wherein A fifth cable is arranged between the distal phalanx, the middle phalanx and the proximal phalanx, and two ends of the fifth cable are connected with the distal phalanx and the proximal phalanx respectively.

3. The robot of claim 1, wherein The proximal phalanx is connected with a seventh cable for controlling the bending of the proximal phalanx, the distal phalanx is connected with an eighth cable for controlling the stretching of the distal phalanx and the proximal phalanx together, the connecting part is connected with at least two ninth cables, and the seventh cable, the eighth cable and the ninth cable are connected with at least one of the plurality of pneumatic muscles respectively.

4. The robot of claim 1, wherein ​ 5. The robot of claim 1, wherein The finger pulp of at least one of the plurality of knuckles is flexible; and / or, The finger pulp of the at least one knuckle is provided with a sensor.

6. The robot of claim 1, wherein The pneumatic muscle comprises a tubular member, both ends of the tubular member are provided with a seal, the seal comprises a first part and a second part, the first part comprises a first threaded structure and a connecting head, the second part comprises a second threaded structure matched with the first threaded structure and an inner side slope matched with a tapered outer side surface of the connecting head, both ends of the tubular member are located between the connecting head and the inner side slope.

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