Manipulators and robots

Abstract

The application relates to a mechanical hand and a robot. The mechanical hand comprises a palm, a mechanical finger and a driving structure. The palm comprises a palm plane and a palm side surface perpendicular to the palm plane. The mechanical finger is arranged on the palm side surface. The driving structure is arranged between the palm and the mechanical finger to connect the mechanical finger and the palm in a connecting direction. The driving structure is used to drive the mechanical finger to rotate around a rotation axis, the rotation axis extends perpendicularly to the connecting direction and is parallel to the palm plane. The driving structure is also used to drive the mechanical finger to rotate around a swing axis, the swing axis intersects the palm plane. The swing axis is perpendicular to the rotation axis. The mechanical finger of the application can rotate in two different directions, thereby having the motion freedom degree similar to that of a human finger, and improving the humanization degree of the mechanical hand. In addition, the mechanical hand of the application can meet the motion freedom degree requirement of simple actions, so that the mechanical hand can fit the posture of a human hand and has enough ability to perform simple hand actions.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a robotic arm and a robot. Background Technology

[0002] With the continuous development of humanoid robots, humanoid robots are increasingly coming into people's view. Humanoid robots can mimic human movements and postures to perform work tasks, so people hope that robots can enter daily life and replace people in performing tedious tasks in daily life.

[0003] The robotic arm is a key component. How to make the robotic arm as human-like as possible and improve the reliability of its operation are issues of great concern in the industry. Summary of the Invention

[0004] This application provides a robotic arm and a robot to address some or all of the shortcomings in related technologies.

[0005] The first aspect of this application provides a robotic arm comprising:

[0006] The palm includes a palmar plane and a palmar lateral surface perpendicular to the palmar plane;

[0007] Mechanical fingers, disposed on the palmar side and extending along the length direction; and

[0008] A drive structure is disposed between the palm and the mechanical finger to connect the mechanical finger and the palm in the connection direction;

[0009] The driving structure is used to drive the mechanical finger to rotate around a rotation axis, which extends perpendicular to the connection direction and is parallel to the palm plane; the driving structure is also used to drive the mechanical finger to rotate around a swing axis, which intersects the palm plane; the swing axis is perpendicular to the rotation axis.

[0010] Furthermore, the drive structure includes a pivot drive module for driving the mechanical finger to rotate around the rotation axis; the pivot drive module includes:

[0011] A pivoting drive gear, wherein the drive pivot axis of the pivoting drive gear extends along the connection direction;

[0012] A pivot motor is fixed to the palm portion and fixedly connected to the pivot drive gear, used to drive the pivot drive gear to rotate;

[0013] A pivot driven gear is fixedly connected to the mechanical finger and rotatably connected to the palm; the pivot driven gear meshes with the pivot driving gear; the driven pivot axis of the pivot driven gear coincides with the rotation axis.

[0014] Furthermore, the driving structure includes a swing driving module for driving the mechanical finger to rotate around the rotation axis and driving the mechanical finger to rotate around the swing axis; the swing driving module includes:

[0015] A swing motor includes a swing motor base and a cross shaft fixedly connected to the swing motor base; the cross shaft includes a first shaft extending along the rotation axis and a second shaft extending along the swing axis.

[0016] The oscillating gear set includes a first oscillating gear and a second oscillating gear; the first oscillating gear and the second oscillating gear are respectively rotatably connected to the first shaft; the oscillating motor drives the first oscillating gear and the second oscillating gear to rotate in the same direction or in opposite directions;

[0017] An output gear is disposed between the first oscillating gear and the second oscillating gear, and meshes with the first oscillating gear and the second oscillating gear respectively; the axis of the output gear coincides with the oscillating axis; the output gear is fixedly connected to the mechanical finger; the mechanical finger is rotatably connected to the second shaft.

[0018] Furthermore, the swing motor includes:

[0019] Motor body;

[0020] The first driving gear is fixedly connected to the motor body; the first driving gear meshes with the first oscillating gear; the rotation axis of the first driving gear extends along the connection direction;

[0021] The second driving gear is fixedly connected to the motor body; the second driving gear meshes with the second oscillating gear; the rotation axis of the second driving gear extends along the connection direction.

[0022] Further, the first oscillating gear includes a first main gear and a first sub-gear fixedly connected; the first main gear meshes with the first driving gear; the first sub-gear meshes with the output gear; the diameter of the first main gear is larger than that of the first sub-gear; and / or,

[0023] The second oscillating gear includes a second main gear and a second sub-gear that are fixedly connected; the second main gear meshes with the second driving gear; the second sub-gear meshes with the output gear; and the diameter of the second main gear is larger than that of the second sub-gear.

[0024] Furthermore, the mechanical finger includes a palm root unit and a finger unit; the driving structure is also disposed between the palm root unit and the finger unit to connect the palm root unit and the finger unit, and drive the finger unit to pivot around the bending axis; the projection of the bending axis intersects with the projection of the rotation axis.

[0025] Furthermore, the mechanical finger includes a fingertip module; the robotic hand also includes:

[0026] A force sensor, located on the fingertip module, is used to detect the fingertip force of the mechanical finger.

[0027] Furthermore, the fingertip module includes a fingertip panel and a fingertip base; the fingertip panel and the fingertip base are slidably connected; at least a portion of the force sensor is disposed on the side of the fingertip base facing the fingertip panel.

[0028] Furthermore, the side of the fingertip seat facing the fingertip panel includes a guide post; the fingertip panel includes a guide hole that mates with the guide post; and / or,

[0029] The fingertip seat includes a guide hole on the side facing the fingertip panel; the fingertip panel includes a guide post that mates with the guide hole.

[0030] Furthermore, the fingertip module also includes an elastic element disposed between the finger pad panel and the fingertip seat; one end of the elastic element abuts against the finger pad panel and the other end abuts against the fingertip seat; the elastic element is in a compressed state.

[0031] Furthermore, the robotic arm also includes:

[0032] An angle sensor is located at the base of the mechanical finger to measure the angle between the mechanical finger and the palm.

[0033] Furthermore, the number of mechanical fingers includes multiple ones; each mechanical finger is provided with a corresponding driving structure and is connected to the palm through the driving structure.

[0034] Furthermore, the palmar surface includes a front end face and a side end face perpendicular to the front end face; the plurality of mechanical fingers include a first mechanical finger disposed on the side end face and a second mechanical finger disposed on the front end face; the angle between the axis of the first mechanical finger and the palmar plane is greater than or equal to 10 degrees and less than or equal to 30 degrees.

[0035] Furthermore, the fingertip of the first mechanical finger and the fingertip of the second mechanical finger are disposed on the same plane.

[0036] A second aspect of this application provides a robot, including a torso, an upper limb, and a robotic hand. One end of the upper limb is connected to the robotic hand, and the other end is connected to the torso. The robotic hand includes:

[0037] The palm includes a palmar plane and a palmar lateral surface perpendicular to the palmar plane;

[0038] Mechanical fingers, disposed on the palmar side; and

[0039] A drive structure is disposed between the palm and the mechanical finger to connect the mechanical finger and the palm in the connection direction;

[0040] The driving structure is used to drive the mechanical finger to rotate around a rotation axis, which extends perpendicular to the connection direction and is parallel to the palm plane; the driving structure is also used to drive the mechanical finger to rotate around a swing axis, which intersects the palm plane; the swing axis is perpendicular to the rotation axis.

[0041] Furthermore, the drive structure includes a pivot drive module for driving the mechanical finger to rotate around the rotation axis; the pivot drive module includes:

[0042] A pivoting drive gear, wherein the drive pivot axis of the pivoting drive gear extends along the connection direction;

[0043] A pivot motor is fixed to the palm portion and fixedly connected to the pivot drive gear, used to drive the pivot drive gear to rotate;

[0044] A pivot driven gear is fixedly connected to the mechanical finger and rotatably connected to the palm; the pivot driven gear meshes with the pivot driving gear; the driven pivot axis of the pivot driven gear coincides with the rotation axis.

[0045] Furthermore, the driving structure includes a swing driving module for driving the mechanical finger to rotate around the rotation axis and driving the mechanical finger to rotate around the swing axis; the swing driving module includes:

[0046] A swing motor includes a swing motor base and a cross shaft fixedly connected to the swing motor base; the cross shaft includes a first shaft extending along the rotation axis and a second shaft extending along the swing axis.

[0047] The oscillating gear set includes a first oscillating gear and a second oscillating gear; the first oscillating gear and the second oscillating gear are respectively rotatably connected to the first shaft; the oscillating motor drives the first oscillating gear and the second oscillating gear to rotate in the same direction or in opposite directions;

[0048] An output gear is disposed between the first oscillating gear and the second oscillating gear, and meshes with the first oscillating gear and the second oscillating gear respectively; the axis of the output gear coincides with the oscillating axis; the output gear is fixedly connected to the mechanical finger; the mechanical finger is rotatably connected to the second shaft.

[0049] Furthermore, the swing motor includes:

[0050] Motor body;

[0051] The first driving gear is fixedly connected to the motor body; the first driving gear meshes with the first oscillating gear; the rotation axis of the first driving gear extends along the connection direction;

[0052] The second driving gear is fixedly connected to the motor body; the second driving gear meshes with the second oscillating gear; the rotation axis of the second driving gear is along the connection direction.

[0053] Further, the first oscillating gear includes a first main gear and a first sub-gear fixedly connected; the first main gear meshes with the first driving gear; the first sub-gear meshes with the output gear; the diameter of the first main gear is larger than that of the first sub-gear; and / or,

[0054] The second oscillating gear includes a second main gear and a second sub-gear that are fixedly connected; the second main gear meshes with the second driving gear; the second sub-gear meshes with the output gear; and the diameter of the second main gear is larger than that of the second sub-gear.

[0055] Furthermore, the mechanical finger includes a palm root unit and a finger unit; the driving structure is also disposed between the palm root unit and the finger unit to connect the palm root unit and the finger unit, and drive the finger unit to pivot around the bending axis; the projection of the bending axis intersects with the projection of the rotation axis.

[0056] Furthermore, the mechanical finger includes a fingertip module; the robotic hand also includes:

[0057] A force sensor, located on the fingertip module, is used to detect the fingertip force of the mechanical finger.

[0058] Furthermore, the fingertip module includes a fingertip panel and a fingertip base; the fingertip panel and the fingertip base are slidably connected; at least a portion of the force sensor is disposed on the side of the fingertip base facing the fingertip panel.

[0059] Furthermore, the side of the fingertip seat facing the fingertip panel includes a guide post; the fingertip panel includes a guide hole that mates with the guide post; and / or,

[0060] The fingertip seat includes a guide hole on the side facing the fingertip panel; the fingertip panel includes a guide post that mates with the guide hole.

[0061] Furthermore, the fingertip module also includes an elastic element disposed between the finger pad panel and the fingertip seat; one end of the elastic element abuts against the finger pad panel and the other end abuts against the fingertip seat; the elastic element is in a compressed state.

[0062] Furthermore, the robotic arm also includes:

[0063] An angle sensor is located at the base of the mechanical finger to measure the angle between the mechanical finger and the palm.

[0064] Furthermore, the number of mechanical fingers includes multiple ones; each mechanical finger is provided with a corresponding driving structure and is connected to the palm through the driving structure.

[0065] Furthermore, the palmar surface includes a front end face and a side end face perpendicular to the front end face; the plurality of mechanical fingers include a first mechanical finger disposed on the side end face and a second mechanical finger disposed on the front end face; the angle between the extension axis of the first mechanical finger and the palmar plane is greater than or equal to 10 degrees and less than or equal to 30 degrees.

[0066] Furthermore, the fingertip of the first mechanical finger and the fingertip of the second mechanical finger are disposed on the same plane.

[0067] The technical solutions provided by the embodiments of this application may include the following beneficial effects:

[0068] As can be seen from the above embodiments, the mechanical finger of this application can rotate in two different directions, thereby having a degree of freedom of movement similar to that of a human finger and improving the anthropomorphism of the robotic hand. Furthermore, the robotic hand of this application is configured to meet the degree of freedom requirements for simple movements, enabling the robotic hand to mimic the posture of a human hand and possess sufficient capability for simple hand movements.

[0069] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this application. Attached Figure Description

[0070] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0071] Figure 1 The diagram shows an overall schematic representation of one embodiment of the robotic arm of this application.

[0072] Figure 2 A general schematic diagram of another embodiment of the robotic arm of this application is shown.

[0073] Figure 3 This is a schematic diagram of an embodiment of the second mechanical finger of the robotic arm of this application.

[0074] Figure 4 The diagram shows an overall schematic representation of one embodiment of the first mechanical finger of the robotic arm of this application.

[0075] Figure 5 The diagram shown is an overall schematic of one embodiment of the swing drive module of this application.

[0076] Figure 6 An exploded view of one embodiment of the fingertip module of the robotic arm of this application is shown.

[0077] Among them, 100 is a robotic arm, 1 is a palm, 12 is a palm plane, 13 is a palm side, 131 is a front end face, 132 is a side end face, 2 is a drive structure, 21 is a pivot drive module, 211 is a pivot drive gear, 212 is a pivot motor, 213 is a pivot driven gear, 22 is a swing drive module, 221 is a swing gear set, 222 is a first swing gear, 2221 is a first main gear, 2222 is a first sub-gear, 223 is a second swing gear, 2231 is a second main gear, 2232 is a second sub-gear, 224 is a swing motor, 2241 is a motor body, 2242 is a first drive gear, 2243 is a second drive gear, 2244 is a cross shaft, 22441 is a first shaft, 22442 is a second shaft, 225 is an output gear, and 3 are machines. Mechanical finger, 31 First mechanical finger, 311 Palm root unit, 312 Finger unit, 32 Second mechanical finger, 321 Mechanical index finger, 322 Mechanical middle finger, 323 Mechanical ring finger, 324 Mechanical little finger, 34 Fingertip module, 341 Finger pad panel, 342 Fingertip seat, 3421 Fingerertip inner seat, 3422 Fingerertip outer shell, 343 Guide post, 344 Elastic element, 345 Guide hole, 4 Force sensor, 5 Angle sensor, X Length direction, Y Width direction, Z Thickness direction, DE Connection direction, RA Rotation axis, SA Swing axis, FA Bending axis, A1 Active pivot axis, A2 Driven pivot axis, A3 Rotation axis, A4 Rotation axis, VA Lateral view, VB Top view. Detailed Implementation

[0078] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The manner described in the following exemplary embodiments does not represent all manner consistent with this application. Rather, they are merely examples of apparatuses consistent with some aspects of this application as detailed in the appended claims.

[0079] The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to limit the application. Unless otherwise defined, the technical or scientific terms used in this application should be understood in their ordinary sense by one of ordinary skill in the art to which this application pertains. The terms "first," "second," and similar terms used in this application specification and claims do not indicate any order, quantity, or importance, but are only used to distinguish different components. Similarly, the terms "a" or "one," etc., do not indicate a quantity limitation, but rather indicate the presence of at least one, which will be separately stated if only "a" is referred to. "A plurality" or "several" means two or more. Unless otherwise indicated, the terms "front," "rear," "lower," and / or "upper," etc., are for ease of description only and are not limited to a location or spatial orientation. The terms "comprising" or "including," etc., mean that the elements or objects preceding "comprising" or "including" encompass the elements or objects listed following "comprising" or "including" and their equivalents, and do not exclude other elements or objects. The terms “connection” or “link” are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. The singular forms “a,” “the,” and “the” used in this specification and the appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0080] refer to Figure 1 and Figure 2This application provides a first aspect of a robotic hand 100, including a palm 1, a drive structure 2, and robotic fingers 3. The palm 1 includes a palmar plane 12 and a palmar side surface 13 perpendicular to the palmar plane 12. The robotic fingers 3 are disposed on the palmar side surface 13. The drive structure 2 is disposed between the palm 1 and the robotic fingers 3 to connect the robotic fingers 3 and the palm 1 in a connection direction DE. In other words, the robotic hand 100 forms a structure similar to a human hand. The drive structure 2 is used to drive the robotic fingers 3 to rotate about a rotation axis RA. The rotation axis RA extends perpendicular to the connection direction DE and is parallel to the palmar plane 12. The drive structure 2 is also used to drive the robotic fingers 3 to rotate about a swing axis SA, and the swing axis SA intersects the palmar plane 12. The swing axis SA is perpendicular to the rotation axis RA.

[0081] by Figure 2 In the illustrated embodiment, the extension plane of the palm plane 12 is parallel to the plane containing the length direction X and the width direction Y. When the mechanical finger 3 rotates around the rotation axis RA, the robotic hand 100 is actually simulating the back-and-forth swinging motion of a human finger, i.e., the opening and closing motion of the palm. Since the rotation axis RA is parallel to the palm plane 12, when the mechanical finger 3 rotates around the rotation axis RA, the angle between the extension axis of the mechanical finger 3 and the palm plane 12 can be changed in the plane containing the length direction X and the thickness direction Z, or the angle between the extension axis of the mechanical finger 3 and the palm plane 12 can be changed in the width direction Y and the thickness direction Z.

[0082] The swing axis SA intersects the palm plane 12. Therefore, when the mechanical finger 3 rotates around the swing axis SA, the angle between the mechanical finger 3 and the palm plane 12 remains unchanged. However, in the plane containing the length direction X and the width direction Y, the angle between the extension axis of the mechanical finger 3 and the length direction X changes. So, in fact, when the mechanical finger 3 rotates around the swing axis SA, the robotic hand 100 is simulating the left-right swinging motion of a human finger.

[0083] With this configuration, the mechanical finger 3 of this application can rotate in two different directions, thus possessing a degree of freedom of movement similar to that of a human finger, enhancing the anthropomorphism of the robotic hand 100. Furthermore, in simple actions, human fingers typically only need to swing left and right and forward and backward. Therefore, the configuration of the robotic hand 100 in this application can meet the requirements for the degree of freedom of movement in simple actions, enabling the robotic hand 100 to mimic the posture of a human hand and possess sufficient capability to perform simple hand movements such as playing the piano or pressing a keyboard.

[0084] To clearly describe the motion of the robotic arm 100, the above description involves reference directions, namely the length direction X, the width direction Y, and the thickness direction Z. It should be noted that the length direction X, the width direction Y, and the thickness direction Z are mutually perpendicular, which will not be elaborated upon further below. Furthermore, the left-right oscillation described in the text can be considered as the movement of the fingertip of the robotic finger 3 in the width direction Y; the back-and-forth oscillation can be considered as the movement of the fingertip of the robotic finger 3 in the thickness direction Z.

[0085] The palmar side 13 includes a front end surface 131 and a side end surface 132 perpendicular to the front end surface 131. The mechanical finger 3 can be disposed on the front end surface 131 or the side end surface 132, and this application is not limited in this regard. In addition, the robotic arm 100 may be provided with only one, two, or more mechanical fingers 3, and this application is not limited in this regard.

[0086] Therefore, it should be noted that since the mechanical finger 3 can be located on the front end face 131 or the side end face 132, the extension directions of different mechanical fingers 3 are different. For example... Figure 1 As shown, the mechanical finger 3 disposed on the side end face 132 extends in a different direction than the mechanical finger 3 disposed on the front end face 131.

[0087] In some embodiments, the number of mechanical fingers 3 may be multiple, thereby further approximating the shape of a human hand and improving the anthropomorphism of the robotic hand 100. In this embodiment, each mechanical finger 3 may be provided with a corresponding drive structure 2 and connected to the palm 1 through the drive structure 2, enabling the robotic hand 100 to drive each mechanical finger 3 to move, allowing it to perform more complex actions. Alternatively, some mechanical fingers 3 may be provided with drive structures 2 respectively, while others may be directly connected to the palm 1. In this case, the robotic hand 100 can only drive the mechanical fingers 3 provided with drive structures 2 to move, while other mechanical fingers 3 remain fixed to the palm 1. Since human fingers have dominant fingers such as the index and middle fingers, and auxiliary fingers such as the ring finger, those skilled in the art can configure the dominant mechanical fingers 3 to be connected to the palm 1 through the drive structure 2, and the auxiliary mechanical fingers 3 to be fixedly connected to the palm 1, thereby maximizing the functionality of the robotic hand 100 and reducing production costs to a certain extent.

[0088] like Figure 1 As shown, the plurality of mechanical fingers 3 include a first mechanical finger 31 disposed on the side end face 132 and a second mechanical finger 32 disposed on the front end face 131. Figure 1 and Figure 2In the illustrated embodiment, the second mechanical finger 32 may include a mechanical index finger 321, a mechanical middle finger 322, a mechanical ring finger 323, and a mechanical little finger 324. The first mechanical finger 31 disposed on the side end face 132 may serve as the thumb of the robotic hand 100. In this way, the robotic hand 100 can simulate the finger distribution of a human hand, making the robotic hand 100 more anthropomorphic.

[0089] It should be noted that the second mechanical finger 32 may be at least one of a mechanical index finger 321, a mechanical middle finger 322, a mechanical ring finger 323, and a mechanical little finger 324, and this application is not limited in this regard. Furthermore, similar to the aforementioned embodiments, at least one of the first mechanical finger 31 and the second mechanical finger 32 may be connected to the palm 1 via a drive structure 2. In embodiments where the number of second mechanical fingers 32 is multiple, some of the second mechanical fingers 32 may be provided with the drive structure 2, and some of the second mechanical fingers 32 may be directly connected to the palm 1; this application is not limited in this regard.

[0090] To simulate a relaxed human hand posture, in some embodiments, the angle between the extension axis of the first mechanical finger 31 and the palm plane 12 is greater than or equal to 10 degrees and less than or equal to 30 degrees. For example, the angle between the axis of the first mechanical finger 31 and the palm plane 12 can be 10 degrees, 20 degrees, or 30 degrees. An angle that is too small will make the robotic hand 100 appear tense and stiff. An angle that is too large will make the robotic hand 100 look unnatural and will occupy space due to the excessive spread of the first mechanical finger 31. Furthermore, the second mechanical finger 32 can also be in a slightly bent state to simulate the natural relaxed posture of a human hand and improve the anthropomorphism of the robotic hand 100.

[0091] Furthermore, in embodiments where the robotic arm 100 is used for playing the piano or pressing keys, this angle range allows the first robotic finger 31 to simulate the posture of a human thumb placed on the keyboard or piano keys. For example... Figure 1 As shown, in this embodiment, the fingertips of the first mechanical finger 31 and the second mechanical finger 32 are positioned on the same plane. With this configuration, the robotic arm 100 can mimic the natural posture of a human hand placed on a keyboard, thereby performing operations such as playing the piano and pressing keys.

[0092] To drive the mechanical finger 3 to move around the rotation axis RA, the drive structure 2 can be a motor. The motor is directly connected to the mechanical finger 3, thus directly driving the mechanical finger 3 to complete its rotation. (Reference) Figure 3In some embodiments, the drive structure 2 includes a pivot drive module 21 for driving the mechanical finger 3 to rotate about the rotation axis RA. The pivot drive module 21 includes a pivot drive gear 211, a pivot motor 212, and a pivot driven gear 213. The pivot motor 212 is fixed to the palm portion 1 and fixedly connected to the pivot drive gear 211, for driving the pivot drive gear 211 to rotate. The drive pivot axis A1 of the pivot drive gear 211 extends along the connection direction DE. The pivot driven gear 213 is fixedly connected to the mechanical finger 3 and rotatably connected to the palm portion 1. The pivot driven gear 213 meshes with the pivot drive gear 211, and the driven pivot axis A2 of the pivot driven gear 213 coincides with the rotation axis RA. In other words, the driven pivot axis A2 and the drive pivot axis A1 are perpendicular.

[0093] by Figure 3 The illustrated embodiment is an example. Figure 3 The mechanical finger 3 is shown as mechanical middle finger 322, and the rotation axis RA extends along the width direction Y. The active pivot axis A1 extends along the connection direction DE, and in this embodiment, it is shown as the active pivot axis A1 extending along the length direction X. The driven pivot axis A2 coincides with the rotation axis RA, and in this embodiment, the driven pivot axis A2 is shown as extending along the width direction Y.

[0094] The pivot motor 212 drives the pivot drive gear 211 to rotate around the active pivot axis A1, and the meshing of the pivot drive gear 211 and the pivot driven gear 213 transforms this rotational motion into rotation around the driven pivot axis A2. Since the pivot driven gear 213 is fixedly connected to the mechanical finger 3, it can drive the mechanical finger 3 to rotate around the rotation axis RA. By setting the pivot drive module 21, the robot 100 can realize the transformation of the motion plane through gear transmission. Therefore, the pivot motor 212 can be set along the connection direction DE, coinciding with the extension direction of the mechanical finger 3, which is beneficial for hiding in the palm 1 and improving the aesthetics of the robot 100. Compared with the embodiment where the motor directly drives the mechanical finger 3 to rotate, requiring the motor to be arranged along the direction of the rotation axis RA, the pivot drive module 21 can make reasonable use of the space of the robot 100, allowing multiple mechanical fingers 3 to be arranged compactly side by side, improving the anthropomorphism and structural compactness of the robot 100.

[0095] Furthermore, the diameter of the pivoting drive gear 211 can be smaller than the diameter of the pivoting driven gear 213. This allows for an increase in torque through the gear ratio, thereby reducing the parameter requirements of the pivoting motor 212. In addition, since the drive pivoting axis A1 extends along the connection direction DE, and the rotation axis of the pivoting driven gear 213 extends along the rotation axis RA, a change in the diameter of the pivoting drive gear 211 is reflected in a change in the diameter of the mechanical finger 3, and a change in the diameter of the pivoting driven gear 213 is reflected in a change in the length of the mechanical finger 3. Since the length of a human finger is much greater than its diameter, this arrangement can also approximate the size of a human finger, which is beneficial for increasing torque while also improving the anthropomorphism and lightness of the mechanical finger 3.

[0096] refer to Figure 4 The mechanical finger 3 includes a palm root unit 311 and a finger unit 312. A pivot drive module 21 is also disposed between the palm root unit 311 and the finger unit 312 to connect the palm root unit 311 and the finger unit 312 and drive the finger unit 312 to pivot around the bending axis FA. The projection of the bending axis FA intersects the projection of the rotation axis RA.

[0097] In this embodiment, the mechanical finger 3 is shown as the first mechanical finger 31, simulating the movement of a human thumb. The pivoting movement between the first mechanical finger 31 and the palm 1 is achieved by the pivoting drive module 21 at the end of the palm root unit 311 away from the finger unit 312. The pivoting drive module 21 between the palm root unit 311 and the finger unit 312 can drive the bending of the first mechanical finger 31, and the bending direction is different from the rotation direction of the first mechanical finger 31, thus increasing the first mechanical finger 31's degree of freedom of movement. In this way, the first mechanical finger 31 can perform more complex movements. In the embodiment where the robotic hand 100 is used to play the piano, this arrangement allows the first mechanical finger 31 to not only move up and down to press and release the keys, but also to move left and right, enabling the first mechanical finger 31 to play more keys located in different positions while the robotic hand 100 remains stationary, simulating the playing posture of a human hand and improving the anthropomorphism of the robotic hand 100.

[0098] Admittedly, in other embodiments, the mechanical index finger 321, mechanical middle finger 322, etc. of the second mechanical finger 32 may include a palm root unit 311 and a finger unit 312, and the palm root unit 311 and the finger unit 3125 may be connected by a pivot drive module 21. This application does not limit this.

[0099] refer to Figure 5The drive structure 2 also includes a swing drive module 22. The swing drive module 22 is used to drive the mechanical finger 3 to rotate around the rotation axis RA and to drive the mechanical finger 3 to rotate around the swing axis SA. The swing drive module 22 includes a swing gear set 221, a swing motor 224, and an output gear 225. The swing motor 224 includes a swing motor base and a cross shaft 2244 fixedly connected to the swing motor base. The cross shaft 2244 includes a first shaft 22441 extending along the rotation axis RA and a second shaft 22442 extending along the swing axis SA.

[0100] The oscillating gear set 221 includes a first oscillating gear 222 and a second oscillating gear 223. The oscillating motor 224 drives the first oscillating gear 222 and the second oscillating gear 223 to rotate in the same direction or in opposite directions. The first oscillating gear 222 and the second oscillating gear 223 are rotatably connected to the first shaft 22441. The output gear 225 is...

[0101] It is positioned between the first oscillating gear 222 and the second oscillating gear 223, and meshes with the first oscillating gear 2225 and the second oscillating gear 223 respectively. The axis of the output gear 225 coincides with the oscillating axis SA, and the output gear 225 is fixedly connected to the mechanical finger 3. The mechanical finger 3 is rotatably connected to the second shaft 22442.

[0102] The driving process of the swing drive module 22 is described below. When the first swing gear 222 and the second swing gear 223 rotate at the same speed and in the same direction in the lateral view VA, taking clockwise rotation as an example, the first...

[0103] The meshing of the first oscillating gear 222 and the output gear 225 causes the output gear 225 to have a counterclockwise rotation tendency, while the meshing of the second oscillating gear 223 and the output gear 225 causes the output gear 225 to have a clockwise rotation tendency. Therefore, the forces on both sides of the output gear 225 cancel each other out, keeping the output gear 225 stationary. At this time, the output gear 225, the first oscillating gear 222, and the second oscillating gear 223 are in a relatively stationary state. Therefore, the rotation of the first oscillating gear 222 and the second oscillating gear 223 driven by the oscillating motor 224 is manifested as the cross shaft 2244, the output gear 225, the first oscillating gear 222, and the second oscillating gear 223 rotating together around the rotation axis RA. Since the mechanical finger 3 is rotatably connected to the second shaft 22442, and the axis of the second shaft 22442 is perpendicular to the rotation axis RA, the second shaft 22442 drives the mechanical finger 3 to rotate around the rotation axis RA, realizing the rotational movement of the mechanical finger 3 as a whole around the rotation axis RA.

[0104] When the first oscillating gear 222 and the second oscillating gear 223 rotate in opposite directions at the same speed in the lateral view VA, taking the first oscillating gear 222 rotating counterclockwise and the second oscillating gear 223 rotating clockwise as an example, the meshing of the first oscillating gear 222 and the output gear 225 causes the output gear 225 to tend to rotate clockwise, and the meshing of the second oscillating gear 223 and the output gear 225 also causes the output gear 225 to tend to rotate clockwise. Therefore, at this time, the output gear 225 rotates clockwise around the oscillation axis SA. Since the output gear 225 and the mechanical finger 3 are fixed, and the mechanical finger 3 is rotatably connected to the second shaft 22442, the output gear 225 drives the mechanical finger 3 to rotate as a whole around the oscillation axis SA.

[0105] With this configuration, the swing drive module 22 can achieve not only the rotational movement of the mechanical finger 3 around the rotation axis RA, but also the rotational movement of the mechanical finger 3 around the swing axis SA. It is evident that a single swing drive module 22 can give the mechanical finger 3 two degrees of freedom. Compared to embodiments where separate motors are used for the rotational movement around the swing axis SA and the rotational movement around the rotation axis RA, the swing drive module 22 only requires the swing motor 224 to drive both the rotational movements around the swing axis SA and the rotation axis RA. Therefore, the number of motors can be reduced, improving the structural compactness of the robot 100 and thus increasing the internal space utilization of the robot 100. Therefore, the swing drive module 22 helps to reduce the overall size of the robot 100 and improve its anthropomorphism and aesthetics.

[0106] Furthermore, the oscillating motor 224 may include a motor body 2241, a first driving gear 2242, and a second driving gear 2243. The rotation axis A3 of the first driving gear 2242 and the rotation axis A4 of the second driving gear 2243 extend along the connection direction DE, respectively. The first driving gear 2242 is fixedly connected to the motor body 2241, and the second driving gear 2243 is fixedly connected to the motor body 2241, so that the motor body 2241 can drive the rotational motion of the first driving gear 2242 and the second driving gear 2243, respectively. The first driving gear 2242 meshes with the first oscillating gear 222, and the second driving gear 2243 meshes with the second oscillating gear 223.

[0107] The rotation direction of the first driving gear 2242 in the top view VB is opposite to the rotation direction of the first oscillating gear 222 in the lateral view VA. In other words, when the first driving gear 2242 rotates clockwise, it can drive the first oscillating gear 222 to rotate counterclockwise. When the first driving gear 2242 rotates counterclockwise, it can drive the first oscillating gear 222 to rotate clockwise.

[0108] Similarly, the rotation direction of the second drive gear 2243 in the top view VB is the same as the rotation direction of the second oscillating gear 223 in the lateral view VA. In other words, when the second drive gear 2243 rotates clockwise, it can drive the second oscillating gear 223 to rotate clockwise. When the second drive gear 2243 rotates counterclockwise, it can drive the second oscillating gear 223 to rotate counterclockwise.

[0109] As discussed above, when the first oscillating gear 222 and the second oscillating gear 223 rotate in the same direction, the oscillating drive module 22 drives the mechanical finger 3 to rotate around the rotation axis RA. At this time, the rotation directions of the first driving gear 2242 and the second driving gear 2243 are opposite. When the first oscillating gear 222 and the second oscillating gear 223 rotate in opposite directions, the oscillating drive module 22 drives the mechanical finger 3 to rotate around the oscillation axis SA. At this time, the rotation directions of the first driving gear 2242 and the second driving gear 2243 are the same.

[0110] Therefore, the motor body 2241 can control the rotation direction of the first drive gear 2242 and the second drive gear 2243 respectively to control the movement direction of the mechanical finger 3. Since the rotation axis A3 of the first drive gear 2242 and the rotation axis A4 of the second drive gear 2243 extend along the connection direction DE, the swing motor 224 can be arranged along the extension direction of the mechanical finger 3 and placed in the palm 1, which is beneficial to hide the swing motor 224 and improve the aesthetics of the robot hand 100. In addition, placing the swing motor 224 in the palm 1 not only helps to improve the structural compactness of the robot hand 100 and reduce the overall size of the robot hand 100, but also, since most of the exposed components are the palm 1 and the mechanical finger 3, it helps to improve the anthropomorphism of the robot hand 100.

[0111] In some embodiments, the first drive gear 2242 and the first oscillating gear 222 may have the same diameter. In other embodiments, the diameter of the first oscillating gear 222 may be larger than that of the first drive gear 2242. Thus, the reduction ratio between the first oscillating gear 222 and the first drive gear 2242 allows the first oscillating gear 222 to amplify torque, which helps reduce the parameter requirements of the motor body 2241, thereby reducing the size and cost of the oscillating drive module 22. Similarly, the diameter of the second drive gear 2243 may be less than or equal to the diameter of the second oscillating gear 223, as will not be elaborated further in this application.

[0112] Furthermore, the first oscillating gear 222 includes a first main gear 2221 and a first sub-gear 2222 fixedly connected. The first main gear 2221 meshes with the first driving gear 2242, and the first sub-gear 2222 meshes with the output gear 225. The diameter of the first main gear 2221 is larger than that of the first sub-gear 2222. Similarly, the second oscillating gear 223 includes a second main gear 2231 and a second sub-gear 2232 fixedly connected. The second main gear 2231 meshes with the second driving gear 2243, and the second sub-gear 2232 meshes with the output gear 225. The diameter of the second main gear 2231 is larger than that of the second sub-gear 2232. This arrangement facilitates the utilization of space along the extension direction of the rotation axis RA, improving the space utilization rate of the oscillating drive module 22. Furthermore, since the smaller first sub-gear 2222 and the second sub-gear 2232 are opposite and close to each other along the rotation axis RA, it is beneficial to reduce the size of the output gear 225 meshing with the first sub-gear 2222 and the second sub-gear 2232, thus improving the compactness of the structure. Furthermore, this configuration allows for an increase in the size of the first main gear 2221 and the second main gear 2231, which is beneficial for further increasing the reduction ratio between the first oscillating gear 222 and the first driving gear 2242, and the reduction ratio between the second oscillating gear 223 and the second driving gear 2243, thereby further amplifying the torque of the motor body 2241.

[0113] Admittedly, in other embodiments, the swing drive module 22 may only have the first swing gear 222 including the first main gear 2221 and the first sub-gear 2222; or, it may only have the second swing gear 223 including the second main gear 2231 and the second sub-gear 2232, and this application is not limited in this regard.

[0114] It should be noted that in embodiments where the robotic arm 100 includes multiple mechanical fingers 3, the drive structures 2 of the mechanical fingers 3 can be the same or different. For example, the drive structure 2 of all mechanical fingers 3 can be a swing drive module 22, so all mechanical fingers 3 can perform forward and backward swinging and left and right swinging. Alternatively, some mechanical fingers 3 can be provided with a pivot drive module 21, and other mechanical fingers 3 can be provided with a swing drive module 22. Therefore, some mechanical fingers 3 can only swing forward and backward, while other mechanical fingers 3 can swing forward and backward and left and right. It can be seen that the drive structure 2 of this application has good versatility and portability, enabling those skilled in the art to configure different drive structures 2 for different mechanical fingers 3 according to actual needs, thereby enabling the robotic arm 100 to complete the desired actions.

[0115] Figure 2In the illustrated embodiment, the first mechanical finger 31 is disposed on the side end face 132 and includes a palm root unit 311 and a finger unit 312. The palm root unit 311 is connected to the palm 1 via a pivot drive module 21 and to the finger unit 312 via the same pivot drive module 21. The second mechanical finger 32 is disposed on the front end face 131 and includes a mechanical index finger 321, a mechanical middle finger 322, a mechanical ring finger 323, and a mechanical little finger 324. The mechanical index finger 321 is connected to the palm 1 via a swing drive module 22. The mechanical middle finger 322, mechanical ring finger 323, and mechanical little finger 324 are each connected to the palm 1 via the pivot drive module 21. Thus, the first mechanical finger 31 and the mechanical index finger 321 each have two degrees of freedom, while the mechanical middle finger 322, mechanical ring finger 323, and mechanical little finger 324 each have one degree of freedom. This arrangement allows the robotic hand 100 to have an appearance similar to a human hand. Furthermore, the robotic arm 100 is able to closely mimic the posture of a human hand when playing keys while using a smaller number of drive structures 2.

[0116] refer to Figure 1 In some embodiments, to detect the rotational movement of the mechanical finger 3 driven by the drive structure 2 around the rotation axis RA, the robot 100 also includes an angle sensor 5. The angle sensor 5 is disposed at the root of the mechanical finger 3 and is used to measure the angle between the mechanical finger 3 and the palm 1. The root of the mechanical finger 3 can be the connection point between the mechanical finger 3 and the drive structure 2, on the drive structure 2, or at the connection point between the drive structure 2 and the palm 1. With this configuration, the operation of the drive structure 2 can be monitored. For example, the actual degree of rotation of the mechanical finger 3 around the rotation axis RA can be monitored, and then the expected degree of rotation driven by the drive structure 2 can be compared with the actual degree of rotation. This allows for the determination of whether the drive structure 2 of the robot 100 is faulty, which is beneficial for the monitoring, maintenance, and adjustment of the robot 100, and improves the motion accuracy of the robot 100.

[0117] refer to Figure 2 and Figure 6The robotic hand 100 includes a fingertip module 34. The fingertip module 34 is used to contact a working surface. In some embodiments, the robotic hand 100 needs to press the working surface through the fingertip module 34, such as a robotic hand 100 for playing the piano or striking keyboard keys. In this embodiment, the robotic hand 100 may include a force sensor 4 disposed on the fingertip module 34. The force sensor 4 is used to detect the fingertip force of the robotic hand 100. With this configuration, it is possible to detect whether the fingertip module 34 is in contact with the working surface, and to control the pressure applied by the fingertip module 34 to the working surface based on the values ​​returned by the force sensor 4. For example, the force applied by the robotic hand 100 to the piano keys can be controlled based on the data from the force sensor 4, enabling the robotic hand 100 to play musical emotions such as gentleness, intensity, and pathos, thereby improving the anthropomorphism of the robotic hand 100 and the user's experience.

[0118] The fingertip module 34 includes a fingertip panel 341 and a fingertip base 342. In some embodiments, the force sensor 4 is disposed on the side of the fingertip panel 341 away from the fingertip base 342. In other words, the force sensor 4 is disposed on the side of the fingertip module 34 that contacts the working surface, thereby directly contacting the working surface and improving the accuracy of detection. In other embodiments, the fingertip panel 341 and the fingertip base 342 are slidably connected, and the force sensor 4 is disposed on the side of the fingertip base 342 facing the fingertip panel 341. When the fingertip module 34 is pressed against the working surface, the fingertip panel 341 slides towards the fingertip base 342, thereby pressing the force sensor 4 disposed between the fingertip panel 341 and the fingertip base 342. With this arrangement, the fingertip module 34 can accommodate the force sensor 4, thereby providing a sealed protection for the force sensor 4 and preventing moisture, dust, and other substances from affecting the force sensor 4 and causing a decrease in the sensitivity of the force sensor 4. Furthermore, the fingertip panel 341 will only press the force sensor 4 after the fingertip module 34 has contacted the working surface. Compared to embodiments where the force sensor 4 is exposed on the fingertip module 34, which may lead to accidental touches by the user or foreign objects, placing the force sensor 4 inside the fingertip module 34 improves the accuracy of the detection data. Furthermore, pressing the force sensor 4 by moving the fingertip panel 341 increases the measuring area of ​​the force sensor 4.

[0119] In some embodiments, the fingertip seat 342 includes an inner fingertip seat 3421 and a outer fingertip shell 3422. The inner fingertip seat 3421 is housed within the outer fingertip shell 3422, and the fingertip panel 341 is connected to the inner fingertip seat 3421. The space between the inner fingertip seat 3421 and the outer fingertip shell 3422 can be used to accommodate a force sensor 4 and circuitry such as a circuit board, further achieving a sealed circuit structure. Part of the force sensor 4 passes through a hole pre-set in the inner fingertip seat 3421, thus being exposed between the fingertip panel 341 and the inner fingertip seat 3421 and in contact with the fingertip panel 341. Since the fingertip panel 341 and the fingertip seat 342 are slidably connected, impurities can enter the fingertip module 34 through the gap between the fingertip panel 341 and the fingertip seat 342, negatively impacting the force sensor 4 and other circuitry. By providing a fixedly connected inner fingertip seat 3421 and outer fingertip shell 3422, the sealing performance of the fingertip seat 342 can be improved, strengthening the protection of the circuitry.

[0120] The sliding connection between the fingertip seat 342 and the finger pad panel 341 can be achieved by having the outer wall of the finger pad panel 341 completely wrap around the outer side of the fingertip seat 342. Alternatively, in some embodiments, the side of the fingertip seat 342 facing the finger pad panel 341 includes a guide post 343. The finger pad panel 341 includes a guide hole 345 that mates with the guide post 343. The guide post 343 and the guide hole 345 are simple to process and assemble, and have a good fit. Admittedly, it is also possible that the side of the fingertip seat 342 facing the finger pad panel 341 includes a guide hole 345, and the finger pad panel 341 includes a guide post 343 that mates with the guide hole 345. Alternatively, the fingertip seat 342 includes a guide hole 345 and a guide post 343, and the finger pad panel 341 includes a mating guide post 343 and a guide hole 345; this application is not limited to this.

[0121] To aid in the rebound and reset of the fingertip panel 341, the fingertip module 34 also includes an elastic element 344 disposed between the fingertip panel 341 and the fingertip seat 342. One end of the elastic element 344 abuts against the fingertip panel 341, and the other end abuts against the fingertip seat 342, and the elastic element 344 is in a compressed state. When the fingertip panel 341 contacts the working surface, the elastic element 344 is further compressed, allowing the fingertip panel 341 to contact the force sensor 4. Since the elastic element 344 is always in a compressed state, when the fingertip panel 341 is not in contact with the working surface, the elastic element 344 continuously applies a force away from the fingertip seat 342 to the fingertip panel 341, allowing the fingertip panel 341 to remain away from the force sensor 4.

[0122] In embodiments where the fingertip seat 342 includes a guide post 343 and the fingertip panel 341 includes a guide post 343, the elastic member 344 can be sleeved on the guide post 343, so that the force of the elastic member 344 is maintained from the fingertip seat 342 to the fingertip panel 341, which helps to ensure the return effect of the elastic member 344 on the fingertip panel 341. Admittedly, the elastic member 344 can also be placed directly between the fingertip panel 341 and the fingertip seat 342, and this application is not limited to this.

[0123] A second aspect of this application provides a robot including a torso, an upper limb, and a robotic hand 100 as described in the foregoing embodiments. One end of the upper limb is connected to the robotic hand, and the other end is connected to the torso, thereby forming a structure similar to that of a human body. The mechanical fingers 3 of the robotic hand 100 are capable of rotational movement in two different directions, enabling the robot to perform actions similar to human hand movements, such as playing the piano or typing on a keyboard, thereby improving the robot's anthropomorphism.

[0124] The robot is equipped with electronic components such as power supplies, drivers, and controllers, which enable it to drive the mechanical movements of the robotic arm 100. It is understood that these electronic components can be located in the torso or upper limbs to improve the robot's structural compactness and integrity. Alternatively, they can be located externally to the robot; this application is not limited in this regard.

[0125] It should be noted that the beneficial effects described above for the various embodiments of the robotic arm 100 can also be used to describe the robot of this application. For the sake of brevity, this application will not repeat them here.

[0126] The specific embodiments described herein are merely illustrative examples of the spirit of this application. Those skilled in the art to which this application pertains may make various modifications, additions, or use similar methods to replace the described specific embodiments, without departing from the spirit of this application or exceeding the scope defined by the appended claims.

[0127] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

Claims

1. A robotic arm, characterized in that, include: The palm includes a palmar plane and a palmar lateral surface perpendicular to the palmar plane; Mechanical fingers are located on the palmar side; as well as A drive structure is disposed between the palm and the mechanical finger to connect the mechanical finger and the palm in the connection direction; The driving structure is used to drive the mechanical finger to rotate around a rotation axis, which extends perpendicular to the connection direction and is parallel to the palm plane; the driving structure is also used to drive the mechanical finger to rotate around a swing axis, which intersects the palm plane; the swing axis is perpendicular to the rotation axis. The number of mechanical fingers includes multiple mechanical fingers; each mechanical finger is provided with a corresponding driving structure and is connected to the palm through the driving structure; the palm side includes a front end face and a side end face perpendicular to the front end face; the multiple mechanical fingers include a first mechanical finger provided on the side end face and four second mechanical fingers provided on the front end face; the finger pads of the first mechanical finger and the finger pads of the second mechanical fingers are provided on the same plane; The rotation axis of the first mechanical finger is parallel to the side end face; the rotation axis of the second mechanical finger is parallel to the front end face. The first mechanical finger includes a palm root unit and a finger unit; the driving structure is also disposed between the palm root unit and the finger unit to connect the palm root unit and the finger unit and drive the finger unit to pivot around the bending axis; the projection of the bending axis intersects with the projection of the rotation axis.

2. The robotic arm according to claim 1, characterized in that, The drive structure includes a pivot drive module for driving the mechanical finger to rotate around the rotation axis; The pivot drive module includes: A pivoting drive gear, wherein the drive pivot axis of the pivoting drive gear extends along the connection direction; A pivot motor is fixed to the palm portion and fixedly connected to the pivot drive gear, used to drive the pivot drive gear to rotate; A pivot driven gear is fixedly connected to the mechanical finger and rotatably connected to the palm; the pivot driven gear meshes with the pivot driving gear; the driven pivot axis of the pivot driven gear coincides with the rotation axis.

3. The robotic arm according to claim 1, characterized in that, The driving structure includes a swing driving module for driving the mechanical finger to rotate around the rotation axis and driving the mechanical finger to rotate around the swing axis; The swing drive module includes: A swing motor includes a swing motor base and a cross shaft fixedly connected to the swing motor base; the cross shaft includes a first shaft extending along the rotation axis and a second shaft extending along the swing axis. The oscillating gear set includes a first oscillating gear and a second oscillating gear; the first oscillating gear and the second oscillating gear are respectively rotatably connected to the first shaft; the oscillating motor drives the first oscillating gear and the second oscillating gear to rotate in the same direction or in opposite directions; An output gear is disposed between the first oscillating gear and the second oscillating gear, and meshes with the first oscillating gear and the second oscillating gear respectively; the axis of the output gear coincides with the oscillating axis; the output gear is fixedly connected to the mechanical finger; the mechanical finger is rotatably connected to the second shaft.

4. The robotic arm according to claim 3, characterized in that, The swing motor includes: Motor body; The first driving gear is fixedly connected to the motor body; the first driving gear meshes with the first oscillating gear; the rotation axis of the first driving gear extends along the connection direction; The second driving gear is fixedly connected to the motor body; the second driving gear meshes with the second oscillating gear; the rotation axis of the second driving gear is along the connection direction.

5. The robotic arm according to claim 4, characterized in that, The first oscillating gear includes a first main gear and a first sub-gear fixedly connected; the first main gear meshes with the first driving gear; the first sub-gear meshes with the output gear; the diameter of the first main gear is larger than that of the first sub-gear. And / or, The second oscillating gear includes a second main gear and a second sub-gear that are fixedly connected; the second main gear meshes with the second driving gear; the second sub-gear meshes with the output gear; and the diameter of the second main gear is larger than that of the second sub-gear.

6. The robotic arm according to claim 1, characterized in that, The mechanical finger includes a fingertip module; the robotic hand also includes: A force sensor, located on the fingertip module, is used to detect the fingertip force of the mechanical finger.

7. The robotic arm according to claim 6, characterized in that, The fingertip module includes a fingertip panel and a fingertip base; the fingertip panel and the fingertip base are slidably connected; at least a portion of the force sensor is disposed on the side of the fingertip base facing the fingertip panel.

8. The robotic arm according to claim 7, characterized in that, The side of the fingertip seat facing the fingertip panel includes a guide post; the fingertip panel includes a guide hole that mates with the guide post; and / or, The fingertip seat includes a guide hole on the side facing the finger pad panel; the finger pad panel includes a guide post that mates with the guide hole.

9. The robotic arm according to claim 7, characterized in that, The fingertip module also includes an elastic element disposed between the finger pad panel and the fingertip seat; one end of the elastic element abuts against the finger pad panel and the other end abuts against the fingertip seat; the elastic element is in a compressed state.

10. The robotic arm according to claim 1, characterized in that, The robotic arm also includes: An angle sensor is located at the base of the mechanical finger to measure the angle between the mechanical finger and the palm.

11. The robotic arm according to claim 1, characterized in that, The angle between the extension axis of the first mechanical finger and the palm plane is greater than or equal to 10 degrees and less than or equal to 30 degrees.

12. A robot comprising a torso, an upper limb, and a robotic hand; one end of the upper limb is connected to the robotic hand, and the other end is connected to the torso; characterized in that, The robotic arm includes: The palm includes a palmar plane and a palmar lateral surface perpendicular to the palmar plane; Mechanical fingers, disposed on the palmar side; and A drive structure is disposed between the palm and the mechanical finger to connect the mechanical finger and the palm in the connection direction; The driving structure is used to drive the mechanical finger to rotate around a rotation axis, which extends perpendicular to the connection direction and is parallel to the palm plane; the driving structure is also used to drive the mechanical finger to rotate around a swing axis, which intersects the palm plane; the swing axis is perpendicular to the rotation axis. The number of mechanical fingers includes multiple mechanical fingers; each mechanical finger is provided with a corresponding driving structure and is connected to the palm through the driving structure; the palm side includes a front end face and a side end face perpendicular to the front end face; the multiple mechanical fingers include a first mechanical finger provided on the side end face and four second mechanical fingers provided on the front end face; the finger pads of the first mechanical finger and the finger pads of the second mechanical fingers are provided on the same plane; The rotation axis of the first mechanical finger is parallel to the side end face; the rotation axis of the second mechanical finger is parallel to the front end face. The first mechanical finger includes a palm root unit and a finger unit; the driving structure is also disposed between the palm root unit and the finger unit to connect the palm root unit and the finger unit and drive the finger unit to pivot around the bending axis; the projection of the bending axis intersects with the projection of the rotation axis.

13. The robot according to claim 12, characterized in that, The drive structure includes a pivot drive module for driving the mechanical finger to rotate around the rotation axis; The pivot drive module includes: A pivoting drive gear, wherein the drive pivot axis of the pivoting drive gear extends along the connection direction; A pivot motor is fixed to the palm portion and fixedly connected to the pivot drive gear, used to drive the pivot drive gear to rotate; A pivot driven gear is fixedly connected to the mechanical finger and rotatably connected to the palm; the pivot driven gear meshes with the pivot driving gear; the driven pivot axis of the pivot driven gear coincides with the rotation axis.

14. The robot according to claim 12, characterized in that, The driving structure includes a swing driving module for driving the mechanical finger to rotate around the rotation axis and driving the mechanical finger to rotate around the swing axis; the swing driving module includes: A swing motor includes a swing motor base and a cross shaft fixedly connected to the swing motor base; the cross shaft includes a first shaft extending along the rotation axis and a second shaft extending along the swing axis. The oscillating gear set includes a first oscillating gear and a second oscillating gear; the first oscillating gear and the second oscillating gear are respectively rotatably connected to the first shaft; the oscillating motor drives the first oscillating gear and the second oscillating gear to rotate in the same direction or in opposite directions; An output gear is disposed between the first oscillating gear and the second oscillating gear, and meshes with the first oscillating gear and the second oscillating gear respectively; the axis of the output gear coincides with the oscillating axis; the output gear is fixedly connected to the mechanical finger; the mechanical finger is rotatably connected to the second shaft.

15. The robot according to claim 14, characterized in that, The swing motor includes: Motor body; The first driving gear is fixedly connected to the motor body; the first driving gear meshes with the first oscillating gear; the rotation axis of the first driving gear extends along the connection direction; The second driving gear is fixedly connected to the motor body; the second driving gear meshes with the second oscillating gear; the rotation axis of the second driving gear is along the connection direction.

16. The robot according to claim 15, characterized in that, The first oscillating gear includes a first main gear and a first sub-gear fixedly connected; the first main gear meshes with the first driving gear; the first sub-gear meshes with the output gear; the diameter of the first main gear is larger than that of the first sub-gear. And / or, The second oscillating gear includes a second main gear and a second sub-gear that are fixedly connected; the second main gear meshes with the second driving gear; the second sub-gear meshes with the output gear; and the diameter of the second main gear is larger than that of the second sub-gear.

17. The robot according to claim 12, characterized in that, The mechanical finger includes a fingertip module; the robotic hand also includes: A force sensor, located on the fingertip module, is used to detect the fingertip force of the mechanical finger.

18. The robot according to claim 17, characterized in that, The fingertip module includes a fingertip panel and a fingertip base; the fingertip panel and the fingertip base are slidably connected; at least a portion of the force sensor is disposed on the side of the fingertip base facing the fingertip panel.

19. The robot according to claim 18, characterized in that, The side of the fingertip seat facing the fingertip panel includes a guide post; the fingertip panel includes a guide hole that mates with the guide post; and / or, The fingertip seat includes a guide hole on the side facing the finger pad panel; the finger pad panel includes a guide post that mates with the guide hole.

20. The robot according to claim 18, characterized in that, The fingertip module also includes an elastic element disposed between the finger pad panel and the fingertip seat; one end of the elastic element abuts against the finger pad panel and the other end abuts against the fingertip seat; the elastic element is in a compressed state.

21. The robot according to claim 12, characterized in that, The robotic arm also includes: An angle sensor is located at the base of the mechanical finger to measure the angle between the mechanical finger and the palm.

22. The robot according to claim 12, characterized in that, The angle between the extension axis of the first mechanical finger and the palm plane is greater than or equal to 10 degrees and less than or equal to 30 degrees.

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