Finger assembly and manipulator

Abstract

The finger assembly comprises a first knuckle, a second knuckle, a third knuckle and a coupling muscle, and the first knuckle is rotationally connected with the second knuckle; the third knuckles are rotationally connected with the second knuckles; the coupling muscle penetrates through the finger pulp face and the finger back face of the second knuckle, one end of the coupling muscle is connected with the first knuckle, and the other end of the coupling muscle is connected with the third knuckle; when the second knuckles rotate in one direction relative to the first knuckles, the second knuckles act on the coupling muscles to drive the third knuckles to rotate in the same direction relative to the second knuckles. It can be understood that the first knuckles, the second knuckles and the third knuckles are connected through the coupling muscles of the structural form, in the application process, the movement between the second knuckles and the third knuckles has good coupling performance, and therefore the movement between the middle phalanx and the far phalanx of the fingers of the human body is better simulated; the finger assembly has a good application effect even in a complex working environment.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a finger assembly and a manipulator. Background Art

[0002] With the development of artificial intelligence, various intelligent devices have developed rapidly, especially intelligent robots, which have been widely developed in various fields. Among them, the finger assembly of the manipulator, as a key component of the robot, has even more important design requirements.

[0003] In the related art, each phalanx of the finger assembly is connected by a traction wire, and the driver drives the traction wire bidirectionally to realize the movement of each phalanx of the finger assembly.

[0004] However, in the application process, the coupling between the middle phalanx and the end phalanx of the phalanx assembly is poor, resulting in the finger assembly being unable to imitate the movements of the human finger well, and the use effect is poor in the face of a relatively complex working environment. Summary of the Utility Model

[0005] The utility model aims to solve at least one of the technical problems existing in the prior art. For this purpose, the utility model provides a finger assembly and a manipulator, and the finger assembly has good coupling so as to be able to imitate the movements of the human finger well.

[0006] In a first aspect, an embodiment of the present application provides a finger assembly, including:

[0007] A first phalanx;

[0008] A second phalanx, rotatably connected to the first phalanx;

[0009] A third phalanx, rotatably connected to the second phalanx;

[0010] A coupling muscle, passing through the ventral surface and the dorsal surface of the second phalanx, one end of the coupling muscle is connected to the first phalanx, and the other end is connected to the third phalanx;

[0011] Wherein, when the second phalanx rotates in one direction relative to the first phalanx, the second phalanx acts on the coupling muscle to drive the third phalanx to rotate in the same direction relative to the second phalanx.

[0012] According to some embodiments of the utility model, when the third phalanx rotates in the other direction relative to the second phalanx, the third phalanx pulls the coupling muscle to drive the second phalanx to rotate in the other direction relative to the first phalanx.

[0013] According to some embodiments of the present utility model, the coupling muscle includes a first coupling section, a second coupling section, and a third coupling section. Among them, the second coupling section penetrates through the ventral surface and the dorsal surface of the second phalanx. The first coupling section is connected to one end of the second coupling section close to the dorsal surface and extends to the dorsal surface of the first phalanx to be connected to the first phalanx; the third coupling section is connected to one end of the second coupling section close to the ventral surface and extends to the ventral surface of the third phalanx to be connected to the third phalanx.

[0014] According to some embodiments of the present utility model, the finger assembly further includes a first return spring, which is connected to the second phalanx and the third phalanx, and is used to rotate and reset the third phalanx relative to the second phalanx in the other direction when the second phalanx is not acted on.

[0015] According to some embodiments of the present utility model, a connection protrusion is provided on the dorsal surface of the first phalanx. The connection protrusion is provided with a first connection through hole along the length direction of the first phalanx. A first retaining member is fixedly provided at the end of the first coupling section. The first coupling section penetrates through the first connection through hole, and the first retaining member is used to abut against one end of the first connection through hole away from the second phalanx.

[0016] According to some embodiments of the present utility model, the third phalanx is provided with a second connection through hole penetrating through its ventral surface and dorsal surface. A second retaining member is fixedly provided at the end of the third coupling section. The third coupling section penetrates through the second connection through hole, and the second retaining member is used to abut against the end of the second connection through hole close to its dorsal surface.

[0017] According to some embodiments of the present utility model, a positioning protrusion is provided on the ventral surface of the second phalanx. The positioning protrusion is provided with a positioning through hole, and the third coupling section penetrates through the positioning through hole.

[0018] According to some embodiments of the present utility model, the second phalanx is provided with a guiding hole penetrating through its ventral surface and dorsal surface. The extending direction of the guiding hole is inclined relative to the length direction of the second phalanx, and the coupling muscle penetrates through the guiding hole.

[0019] According to some embodiments of the present utility model, the finger assembly further includes:

[0020] A connection seat;

[0021] A connecting phalanx, one end of the connecting phalanx is rotatably connected to the connecting seat around a first preset axis, and the other end is rotatably connected to the first phalanx around a second preset axis. The two ends of the first preset axis are respectively arranged towards the facing directions of the palmar surface and the dorsal surface of the connecting phalanx, and the two ends of the second preset axis are respectively arranged towards the facing directions of the two lateral surfaces of the connecting phalanx;

[0022] A second return spring, connected to the connecting seat and the connecting phalanx, for correcting the posture of the connecting phalanx when the acting force is removed;

[0023] A third return spring, connected to the connecting phalanx and the first phalanx, for straightening the first phalanx when the acting force is removed.

[0024] In a second aspect, an embodiment of the present application provides a manipulator, including:

[0025] A palm bracket;

[0026] The above-mentioned finger assembly, the first phalanx is rotatably arranged on the palm bracket;

[0027] A first traction assembly, arranged on the palm bracket, and a first traction wire of the first traction assembly is connected to the second phalanx.

[0028] It can be seen from the above technical solutions that the embodiment of the present application has the following advantages: The first phalanx, the second phalanx and the third phalanx are connected by the coupling muscles with the above structural form. When applied, the movement between the second phalanx and the third phalanx has better coupling. That is, when the external driving force drives the second phalanx to rotate in a large arc relative to the first phalanx, the coupling muscles are used to drive the third phalanx to rotate in a small arc relative to the second phalanx, so as to better imitate the movement between the middle phalanx and the distal phalanx of the human finger. Even in the face of a relatively complex working environment, the finger assembly has a better application effect. Description of the Drawings

[0029] Figure 1 It is a schematic structural diagram of the finger assembly of the embodiment of the present invention at an angle;

[0030] Figure 2 It is a schematic structural diagram of the finger assembly of the embodiment of the present invention at another angle;

[0031] Figure 3 It is an exploded structural diagram of the finger assembly of the embodiment of the present invention;

[0032] Figure 4 It is a schematic cross-sectional structural diagram of the finger assembly of the embodiment of the present invention;

[0033] Figure 5Structural schematic diagram of another embodiment of the finger assembly according to an embodiment of the present utility model;

[0034] Figure 6 is Figure 5 the schematic diagram of the explosion structure in

[0035] Figure 7 Overall structural schematic diagram of the manipulator according to an embodiment of the present utility model.

[0036] Among them, the meanings of the reference numerals are as follows:

[0037] 100, finger assembly; 110, first finger joint; 111, connecting protrusion; 1111, first connecting through hole; 120, second finger joint; 121, positioning protrusion; 1211, positioning through hole; 122, guiding hole; 130, third finger joint; 131, second connecting through hole; 140, coupling muscle; 141, first coupling section; 142, second coupling section; 143, third coupling section; 144, first holding member; 145, second holding member; 150, connecting finger joint; 151, first preset axis; 152, second preset axis; 160, connecting seat; 170, first return spring; 180, second return spring; 190, third return spring; 200, first traction assembly; 210, first traction wire; 300, second traction assembly; 310, second traction wire; 400, manipulator; 410, palm bracket. Detailed implementation manners

[0038] The embodiments of the present utility model will be described in detail below. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements with the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are only used to explain the present utility model and should not be construed as a limitation to the present utility model.

[0039] In the description of the present utility model, it should be understood that the orientation or positional relationship indicated by terms such as up, down, front, back, top, bottom, etc., is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present utility model.

[0040] In the description of the present utility model, the meaning of several is more than one, the meaning of multiple is more than two, greater than, less than, exceeding, etc. are understood as not including the present number, and above, below, within, etc. are understood as including the present number. If the first and second are described only for the purpose of distinguishing technical features, they should not be construed as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or the sequence of the indicated technical features.

[0041] In the description of the present utility model, unless otherwise clearly defined, terms such as "arrangement", "installation", and "connection" should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present utility model in combination with the specific content of the technical solution.

[0042] In the description of the present utility model, the description with reference to terms such as "one embodiment", "some embodiments", "schematic embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present utility model. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0043] The present utility model will be further described in detail below with reference to the accompanying drawings.

[0044] Please refer to Figures 1 to 3 , a finger assembly 100 provided by an embodiment of the present utility model, includes a first finger joint 110, a second finger joint 120, and a third finger joint 130. Specifically, one end of the first finger joint 110 is connected to the palm bracket 410 through a rotating shaft, and the other end is rotatably connected to one end of the second finger joint 120 through a rotating shaft; one end of the third finger joint 130 is rotatably connected to the other end of the second finger joint 120, and the rotating shafts of the first finger joint 110, the second finger joint 120, and the third finger joint 130 are arranged in parallel. The coupling muscle 140 passes through the finger ventral surface and the finger dorsal surface of the second finger joint 120, and there is no limitation that through holes must be provided for the coupling muscle 140 to pass through. One end of the coupling muscle 140 is connected to the first finger joint 110, and the other end is connected to the third finger joint 130 (refer to Figure 4 ); wherein, when the second finger joint 120 rotates in one direction relative to the first finger joint 110, the second finger joint 120 acts on the coupling muscle 140 to drive the third finger joint 130 to rotate in the same direction relative to the second finger joint 120.

[0045] Among them, in order to realize the rotation of the second finger joint 120 relative to the first finger joint 110, the second finger joint 120 can be directly driven by a motor to rotate relative to the first finger joint 110, or a traction line can be used to drive the second finger joint 120 to rotate relative to the first finger joint 110, or other driving methods, which will not be described one by one in this application.

[0046] Moreover, when the external driving force drives the second phalanx 120 to rotate in one direction relative to the first phalanx 110, the rotation direction of the second phalanx 120 relative to the first phalanx 110 can be the forward direction or the reverse direction; similarly, when the coupling muscle 140 drives the third phalanx 130 to rotate in one direction relative to the second phalanx 120, the rotation direction of the third phalanx 130 relative to the second phalanx 120 can be the forward direction or the reverse direction, but the rotation directions of the second phalanx 120 and the third phalanx 130 are the same. One implementation mode of the present application will be described in detail. For convenience of description, the forward direction can be understood as the facing direction of the finger ventral surface, and the reverse direction can be understood as the facing direction of the finger dorsal surface.

[0047] Specifically, one end of the coupling muscle 140 is connected to the dorsal surface of the first phalanx 110, and the other end is connected to the ventral surface of the third phalanx 130. In application, when the second phalanx 120 rotates forward relative to the first phalanx 110, the ventral surface of the second phalanx 120 acts on the coupling muscle 140 in the forward direction. Correspondingly, the coupling muscle 140 also has a restricting effect on the forward rotation of the second phalanx 120, so as to ensure that the first finger and the second phalanx 120 remain in a straight state when the second phalanx 120 is not acted on. Also, because the coupling muscle 140 passes through the ventral surface and the dorsal surface of the second phalanx 120, one end of the coupling muscle 140 is connected to the dorsal surface of the first phalanx 110, and the other end is connected to the ventral surface of the third phalanx 130, so when the ventral surface of the second phalanx 120 acts on the coupling muscle 140 in the forward direction, the coupling muscle 140 pulls the third phalanx 130 to rotate forward. Correspondingly, during the forward rotation of the second phalanx 120, the coupling muscle 140 releases the restriction on the second phalanx 120, so that both the first phalanx 110 and the second phalanx 120 rotate forward.

[0048] As can be seen from the above, the first phalanx 110, the second phalanx 120 and the third phalanx 130 are connected by the coupling muscle 140 with the above structural form. In application, the movement between the second phalanx 120 and the third phalanx 130 has better coupling. That is, when the external driving force drives the second phalanx 120 to rotate by a large arc relative to the first phalanx 110, the coupling muscle 140 is used to drive the third phalanx 130 to rotate by a small arc relative to the second phalanx 120, so as to better imitate the movement between the middle phalanx and the distal phalanx of the human finger. Even in the face of a relatively complex working environment, the finger assembly 100 has a good application effect.

[0049] In addition, when the finger assembly 100 is in use, an external drive module (the first traction assembly 200 described below) only needs to be connected to the second phalanx 120 and does not need to be connected to the third phalanx 130 at the same time. Accordingly, the drive module only needs to drive the second phalanx 120 to rotate and does not need to drive the third phalanx 130 to rotate. With such a setting, the overall structure of the drive module is simple and the control is more convenient.

[0050] Among them, the first traction assembly 200 includes a first driver and a first traction wire 210. The first traction wire 210 is connected to the second phalanx 120. Thus, the first driver drives the first traction wire 210, and the first traction wire 210 pulls the second phalanx 120 to move.

[0051] In some embodiments, referring to Figures 2 to 4 , when the third phalanx 130 rotates in the other direction relative to the second phalanx 120, the third phalanx 130 pulls the coupling muscle 140 to drive the second phalanx 120 to rotate in the other direction relative to the first phalanx 110.

[0052] Specifically, one end of the coupling muscle 140 is connected to the back of the finger of the first phalanx 110, and the other end is connected to the ventral surface of the third phalanx 130. In use, if the third phalanx 130 rotates in the reverse direction and resets relative to the second phalanx 120, the third phalanx 130 drives the coupling muscle 140 to be straightened, and the coupling muscle 140 acts in the reverse direction on the ventral surface of the second phalanx 120. Along with the reverse rotation of the third phalanx 130, the coupling muscle 140 drives the second phalanx 120 to rotate in the reverse direction relative to the first phalanx 110. The second phalanx 120 and the third phalanx 130 both rotate in the reverse direction and reset, so as to control the second phalanx 120 and the third phalanx 130 to be in a straightened state, that is, the overall state of the second phalanx 120 and the third phalanx 130 changes from a bent state to a straightened state.

[0053] In order to realize the reset of the second phalanx 120 and the third phalanx 130, in other possible embodiments, an external traction assembly can also be connected to the back of the fingers of the second phalanx 120 and the third phalanx 130. In this way, the traction assembly pulls the second phalanx 120 to rotate in the reverse direction and reset relative to the first phalanx 110, and pulls the third phalanx 130 to rotate in the reverse direction and reset relative to the second phalanx 120, which will not be described in detail in this application.

[0054] To achieve the reverse rotation and reset of the third phalanx 130 relative to the second phalanx 120, in some embodiments, the finger assembly 100 further includes a first return spring 170. The first return spring 170 can be a tension spring or a torsion spring. If the first return spring 170 is a tension spring, one end of the first return spring 170 is located on the back surface of the second phalanx 120 and is hooked on the pin on the back surface of the second phalanx 120. The other end of the first return spring 170 is located on the back surface of the third phalanx 130 and is hooked on the pin on the back surface of the third phalanx 130. When the second phalanx 120 is not acted upon, the first return spring 170 causes the third phalanx 130 to rotate reversely and reset relative to the second phalanx 120.

[0055] Specifically, when the third phalanx 130 rotates forward along with the second phalanx 120, the first return spring 170 is stretched. If the external driving force stops acting on the second phalanx 120, that is, the coupling muscle 140 releases the acting force on the third phalanx 130, the third phalanx 130 rotates reversely relative to the second phalanx 120 under the action of the first return spring 170. During the reverse rotation of the third phalanx 130, the coupling muscle 140 is pulled, and the coupling muscle 140 acts reversely on the ventral surface of the second phalanx 120. Under the reverse acting force of the coupling muscle 140, the second phalanx 120 rotates reversely relative to the first phalanx 110. Thus, it can be seen that both the second phalanx 120 and the third phalanx 130 rotate reversely, and the second phalanx 120 and the third phalanx 130 as a whole return from the bent state to the straight state as a whole.

[0056] As can be seen from the above, the coupling muscle 140 is used in cooperation with the first return spring 170. The coupling muscle 140 is not only used to achieve the forward rotation of the third phalanx 130 along with the second phalanx 120; at the same time, under the action of the first return spring 170, the coupling muscle 140 is also used to achieve the reverse rotation and reset of the second phalanx 120 along with the third phalanx 130. Thus, there is no need to provide a return spring between the first phalanx 110 and the second phalanx 120 to meet the reverse rotation and reset of the second phalanx 120 relative to the first phalanx 110. With such a setting, the overall structure of the finger assembly 100 is simpler.

[0057] In other possible embodiments, other driving components can also be used to drive the third phalanx 130 to rotate reversely and reset relative to the second phalanx 120. For example, a traction component can be used to pull the third phalanx 130 to rotate reversely and reset relative to the second phalanx 120.

[0058] In some embodiments, referring to Figure 3 and Figure 4, a guide hole 122 is formed in the second phalanx 120, and both ends of the guide hole 122 extend to the finger ventral surface and the finger dorsal surface of the second phalanx 120 respectively. The coupling muscle 140 includes a first coupling segment 141, a second coupling segment 142 and a third coupling segment 143. Among them, the second coupling segment 142 is inserted into the guide hole 122 to penetrate through the finger ventral surface and the finger dorsal surface of the second phalanx 120. The first coupling segment 141 is connected to one end of the second coupling segment 142 close to the finger dorsal surface and extends to the finger dorsal surface of the first phalanx 110 to be connected to the first phalanx 110. The third coupling segment 143 is connected to one end of the second coupling segment 142 close to the finger ventral surface and extends to the finger ventral surface of the third phalanx 130 to be connected to the third phalanx 130. It can be seen that the connection structure of the coupling muscle 140 is relatively simple.

[0059] In specific applications, when the second phalanx 120 rotates forward, the second phalanx 120 slides along the coupling muscle 140 from the second coupling segment 142 to the third coupling segment 143, so as to pull the third phalanx 130 to rotate forward through the third coupling segment 143. When the third phalanx 130 rotates backward under the action of the first return spring 170, the second phalanx 120 slides along the coupling muscle 140 from the third coupling segment 143 to the second coupling segment 142. At this time, driven by the coupling muscle 140, the second phalanx 120 rotates backward and resets.

[0060] In order to ensure that the coupling muscle 140 can slide smoothly along the guide hole 122, in some embodiments, refer to Figure 2 and Figure 4 , the extending direction of the guide hole 122 is inclined with respect to the length direction of the second phalanx 120. Specifically, from the finger dorsal surface of the second phalanx 120 to the finger ventral surface of the second phalanx 120, the guide hole 122 gradually extends obliquely toward the third phalanx 130 from a position close to the first phalanx 110. With such a setting, whether the second phalanx 120 rotates forward or backward, the coupling muscle 140 can slide smoothly in the guide hole 122, avoiding the problem of the coupling muscle 140 being stuck.

[0061] In some embodiments, refer to Figure 1 and Figure 4, a positioning protrusion 121 is provided on the finger pad surface of the second finger joint 120. The positioning protrusion 121 is provided with a positioning through hole 1211. The extending direction of the positioning hole is substantially the same as the length direction of the second finger joint 120. The third coupling section 143 is inserted through the positioning through hole 1211. It can be understood that through the setting of the positioning protrusion 121, the positioning boss keeps the third coupling section 143 on the finger pad surface of the second finger joint 120 through the positioning through hole 1211. With such a setting, if the second finger joint 120 rotates forward, the third finger joint 130 can be effectively driven to rotate by the third coupling section 143. If the third finger joint 130 rotates backward, the second finger joint 120 can be effectively driven to rotate reversely relative to the first finger joint 110 by the third coupling section 143.

[0062] In order to facilitate the connection between the coupling muscle 140 and the first finger joint 110, in some embodiments, referring to Figure 2 and Figure 4 , a connection protrusion 111 is provided on the finger back surface of the first finger joint 110. The connection protrusion 111 is provided with a first connection through hole 1111 along the length direction of the first finger joint 110. A first holding member 144 is fixedly provided at the end of the first coupling section 141. The first coupling section 141 is inserted through the first connection through hole 1111. The first holding member 144 is used to abut against the end of the first connection through hole 1111 away from the second finger joint 120. Thus, the first coupling section 141 is conveniently connected to the finger back surface of the first finger joint 110.

[0063] In order to facilitate the connection between the coupling muscle 140 and the third finger joint 130, in a possible embodiment, referring to Figure 2 and Figure 4 , the third finger joint 130 is provided with a second connection through hole 131 penetrating its finger pad surface and finger back surface. A second holding member 145 is fixedly provided at the end of the third coupling section 143. The third coupling section 143 is inserted through the second connection through hole 131. The second holding member 145 is used to abut against the end of the second connection through hole 131 close to its finger back surface. Thus, the third coupling section 143 is conveniently connected to the finger pad surface of the third finger joint 130.

[0064] It can be understood that the two ends of the coupling muscle 140 are respectively connected to the first phalanx 110 and the third phalanx 130 by the above connection methods, that is, the two ends of the coupling muscle 140 are not fixed. Therefore, during the forward and reverse rotations of the first phalanx 110, the second phalanx 120, and the third phalanx 130, the two ends of the coupling muscle 140 can respectively slide relative to the first connection through hole 1111 and the second connection through hole 131, thereby making the movement of the finger assembly 100 smoother. In particular, the third coupling section 143 and the third phalanx 130 adopt the above connection method. During the forward rotation of the second phalanx 120, the pulling force of the third coupling section 143 on the third phalanx 130 is preferably changed to the force in the facing direction of the finger pad surface of the third phalanx 130, so as to preferably pull the third phalanx 130 to rotate forward.

[0065] In some embodiments, referring to Figure 5 and Figure 6 , the finger assembly 100 further includes a connecting seat 160, a connecting phalanx 150, a second return spring 180, and a third return spring 190. Among them, the connecting seat 160 is fixedly connected to the palm bracket 410. One end of the connecting phalanx 150 is rotatably connected to the connecting seat 160 around a first preset axis 151, and the other end is rotatably connected to the first phalanx 110 around a second preset axis 152. The two ends of the first preset axis 151 are respectively arranged in the facing directions of the finger pad surface and the finger back surface of the connecting phalanx 150, and the two ends of the second preset axis 152 are respectively arranged in the facing directions of the two finger side surfaces of the connecting phalanx 150. Thus, through the setting of the connecting phalanx 150, the finger assembly 100 can swing in the facing direction of the finger pad surface and the facing directions of the two finger side surfaces. Among them, the finger side surface refers to the surface located between the finger pad surface and the finger back surface.

[0066] It should be noted that a second traction assembly 300 is provided on the palm bracket 410. The second traction assembly includes a driver and a second traction wire 310. The second traction wire 310 is connected to the first phalanx 110. The driver drives the second traction wire 310, so as to pull the first phalanx 110 to move in the facing direction of the finger pad surface, thereby making the finger assembly 100 rotate in the facing direction of the finger pad surface; at the same time, the second traction assembly 300 can also pull the first phalanx 110 to move in the facing direction of the finger side surface, thereby making the finger assembly 100 rotate in the facing direction of the finger side surface.

[0067] The second return spring 180 is connected to the connection seat 160 and the connection knuckle 150, and is used to correct the posture of the connection knuckle 150 when the acting force is released. Specifically, the second return spring 180 can be a torsion spring. The second return spring 180 is sleeved on the rotating shaft of the connection knuckle 150 and the connection seat 160, and is respectively connected to the connection seat 160 and the connection knuckle 150. Thus, when the finger assembly 100 rotates in the facing direction towards the two finger sides through the connection knuckle 150, the second return spring 180 is compressed in the circumferential direction. When the restriction on the finger assembly 100 is released, the second return spring 180 acts on the finger assembly 100 through the connection knuckle 150, so that the finger assembly 100 returns to the non-swinging posture.

[0068] The third return spring 190 is connected to the connection knuckle 150 and the first knuckle 110, and is used to make the first knuckle 110 in a straight posture when the acting force is released. Specifically, after the finger assembly 100 rotates in the facing direction towards the finger pad surface, the second traction assembly 300 stops acting on the finger assembly 100. The third return spring 190 is used to make the finger assembly 100 rotate in the facing direction towards the finger back surface. More precisely, the third return spring 190 resets the finger assembly 100 to a straight posture. Of course, other driving modules can also be used to realize the reset of the finger assembly 100 in the facing direction towards the finger back surface. For example, another set of second traction assemblies 300 is provided in this application to pull the bionic hand to rotate in the facing direction towards the finger back surface.

[0069] In order to enable the second traction assembly 300 to drive the finger assembly 100 to swing in the facing direction of the two-finger side surface and the facing direction of the finger belly surface, in a possible implementation manner, there are two sets of the second traction assemblies 300. The traction wire of one set of the second traction assemblies 300 is connected to the left edge of the finger belly surface close to the finger side surface, and the traction wire of the other set of the second traction assemblies 300 is connected to the right edge of the finger belly surface close to the finger side surface. Thus, in the facing direction of the finger belly surface, the two sets of the second traction assemblies 300 pull the finger assembly 100 simultaneously. Under the action of the two sets of the second traction assemblies 300, the finger assembly 100 rotates in the facing direction of the finger belly surface, and the finger assembly 100 does not yaw in the facing direction of the finger side surface. For the convenience of description, the two sets of the second traction assemblies 300 are divided into the left and right second traction assemblies 300. When the left second traction assembly 300 pulls the finger assembly 100, the second traction assembly 300 provides a leftward traction force for the finger assembly 100, and the finger assembly 100 rotates leftward under the action of the left second traction assembly 300. When the right second traction assembly 300 pulls the finger assembly 100, the second traction assembly 300 provides a rightward traction force for the finger assembly 100, and the finger assembly 100 rotates rightward under the action of the right second traction assembly 300. It should be noted that when the two sets of the second traction assemblies 300 pull the finger assembly 100 respectively, although the second traction assembly 300 provides a force in the facing direction of the finger belly surface for the finger assembly 100, the provided force cannot overcome the elastic force of the third return spring 190. Therefore, when the finger assembly 100 is subjected to the pulling force of one set of the second traction assemblies 300, the finger assembly 100 only swings to the left or right, and does not rotate in the facing direction of the finger belly surface.

[0070] It should be noted that through the arrangement of the two sets of the second traction assemblies 300 in the present application, the two sets of the second traction assemblies 300 cooperate with each other, so as to realize the swing of the finger assembly 100 in the facing direction of the two-finger side surface and the swing in the facing direction of the finger belly surface. With such an arrangement, it is not necessary to correspondingly set a driver for the swing of the finger assembly 100 in each direction, which reduces the structural difficulty and control difficulty of the manipulator 400. The manipulator 400 is also more convenient in application, and the manufacturing cost and weight are effectively reduced.

[0071] Furthermore, the elastic force of the second return spring 180 is greater than the elastic force of the first return spring 170. It can be understood that when one set of the second traction assemblies 300 of the two sets of the second traction assemblies 300 uses the traction wire to pull the finger assembly 100 to rotate in the facing direction of the finger side surface, since the elastic force of the second return spring 180 is greater than the elastic force of the first return spring 170, the second traction assembly 300 preferentially overcomes the elastic force of the first return spring 170, so that the finger assembly 100 rotates in the facing direction of the finger side surface under the action of the second traction assembly 300.

[0072] The present application also discloses a manipulator 400. Referring to Figure 4 and Figure 7 , it includes a palm bracket 410, the above-mentioned finger assembly 100 and a first traction assembly 200. Among them, the first phalanx 110 is rotatably arranged on the palm bracket 410; the first traction assembly 200 is arranged on the palm bracket 410, and the first traction wire 210 of the first traction assembly 200 is connected to the second phalanx 120.

[0073] Specifically, the first traction assembly 200 pulls the second phalanx 120 to rotate forward relative to the first phalanx 110 through the first traction wire 210. The finger pad surface of the second phalanx 120 acts on the coupling muscle 140 in the forward direction. Correspondingly, the coupling muscle 140 also has a restrictive effect on the forward rotation of the second phalanx 120, so as to ensure that the first finger and the second phalanx 120 remain in a straight state when the second phalanx 120 is not acted on. Also, because the coupling muscle 140 passes through the finger pad surface and the finger back surface of the second phalanx 120, one end of the coupling muscle 140 is connected to the finger back surface of the first phalanx 110, and the other end is connected to the finger pad surface of the third phalanx 130. Therefore, when the finger pad surface of the second phalanx 120 acts on the coupling muscle 140 in the forward direction, the coupling muscle 140 pulls the third phalanx 130 to rotate forward. Correspondingly, during the forward rotation of the second phalanx 120, the coupling muscle 140 releases the restriction on the second phalanx 120, so that both the first phalanx 110 and the second phalanx 120 rotate forward.

[0074] It can be seen that the first phalanx 110, the second phalanx 120 and the third phalanx 130 are connected by the coupling muscle 140 with the above structural form. When applied, the movement between the second phalanx 120 and the third phalanx 130 has better coupling. That is, when the first traction assembly 200 drives the second phalanx 120 to rotate in a large arc relative to the first phalanx 110, the coupling muscle 140 is used to drive the third phalanx 130 to rotate in a small arc relative to the second phalanx 120, so as to better imitate the movement between the middle phalanx and the distal phalanx of the human finger. Thus, even in the face of a relatively complex working environment, the manipulator 400 has a good application effect.

[0075] The technical means disclosed in the solution of the present utility model are not limited to the technical means disclosed in the above embodiments, but also include technical solutions composed of any combination of the above technical features. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present utility model, several improvements and retouches can be made, and these improvements and retouches are also regarded as the protection scope of the present utility model.

Claims

1. A finger assembly, characterized in that, Comprising: The first phalanx; The second phalanx, which is rotatably connected to the first phalanx; The third phalanx, which is rotatably connected to the second phalanx; A coupling muscle, passing through the ventral surface and the dorsal surface of the second phalanx, one end of the coupling muscle is connected to the first phalanx, and the other end is connected to the third phalanx; Wherein, when the second phalanx rotates in one direction relative to the first phalanx, the second phalanx acts on the coupling muscle to drive the third phalanx to rotate in the same direction relative to the second phalanx.

2. The finger assembly according to claim 1, wherein When the third phalanx rotates in the other direction relative to the second phalanx, the third phalanx pulls the coupling muscle to drive the second phalanx to rotate in the other direction relative to the first phalanx.

3. The finger assembly according to claim 1, wherein The coupling muscle includes a first coupling section, a second coupling section and a third coupling section. Wherein, the second coupling section passes through the ventral surface and the dorsal surface of the second phalanx, the first coupling section is connected to one end of the second coupling section close to the dorsal surface and extends to the dorsal surface of the first phalanx to be connected to the first phalanx; the third coupling section is connected to one end of the second coupling section close to the ventral surface and extends to the ventral surface of the third phalanx to be connected to the third phalanx.

4. The finger assembly according to any one of claims 1-3, characterized in that, The finger assembly further includes a first return spring, which is connected to the second phalanx and the third phalanx, and is used to reset the rotation of the third phalanx in the other direction relative to the second phalanx when the second phalanx is not acted on.

5. The finger assembly according to claim 3, wherein A connecting protrusion is provided on the dorsal surface of the first phalanx. The connecting protrusion is provided with a first connecting through hole along the length direction of the first phalanx. A first retaining member is fixedly provided at the end of the first coupling section. The first coupling section passes through the first connecting through hole, and the first retaining member is used to abut against one end of the first connecting through hole away from the second phalanx.

6. The finger assembly according to claim 3, wherein The third phalanx is provided with a second connecting through hole penetrating its ventral surface and dorsal surface. A second retaining member is fixedly provided at the end of the third coupling section. The third coupling section passes through the second connecting through hole, and the second retaining member is used to abut against the end of the second connecting through hole close to its dorsal surface.

7. The finger assembly according to claim 3, wherein A positioning protrusion is provided on the ventral surface of the second phalanx. The positioning protrusion is provided with a positioning through hole, and the third coupling section passes through the positioning through hole.

8. The finger assembly according to claim 1, wherein The second phalanx is provided with a guiding hole penetrating its ventral surface and dorsal surface. The extending direction of the guiding hole is inclined relative to the length direction of the second phalanx, and the coupling muscle passes through the guiding hole.

9. The finger assembly according to claim 1, characterized in that, The finger assembly further includes: A connecting seat; A connecting phalanx, one end of the connecting phalanx is rotatably connected to the connecting seat around a first preset axis, and the other end is rotatably connected to the first phalanx around a second preset axis. The two ends of the first preset axis are respectively arranged towards the facing directions of the ventral surface and the dorsal surface of the connecting phalanx, and the two ends of the second preset axis are respectively arranged towards the facing directions of the two finger sides of the connecting phalanx; A second return spring, connected to the connecting seat and the connecting phalanx, and is used to correct the posture of the connecting phalanx when the acting force is removed; A third return spring, connected to the connecting knuckle and the first knuckle, is configured to make the first knuckle in a straight posture when the acting force is released.

10. A manipulator, characterized in that, Comprising: A palm bracket; The finger assembly according to any one of claims 1 to 9, wherein the first knuckle is rotatably provided on the palm bracket; A first traction assembly is provided on the palm bracket, and a first traction wire of the first traction assembly is connected to the second knuckle.

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