Manipulators and robots

Abstract

The application relates to a mechanical hand and a robot. The mechanical hand comprises a palm, a mechanical finger, a palm driving structure and a joint structure. The palm comprises a palm plane and a palm side surface perpendicular to the palm plane. The mechanical finger comprises a fingertip, a distal finger segment and a proximal finger segment arranged along an extension direction. One end of the distal finger segment is rotationally connected with the fingertip. The palm driving structure is arranged on the palm side surface and connected with the proximal finger segment away from one end of the distal finger segment to connect the mechanical finger and the palm in a connection direction. The palm driving structure is used for driving the movement of the mechanical finger to change the angle between the mechanical finger and the palm. The connection direction is perpendicular to the palm side surface. One end of the distal finger segment away from the fingertip is rotationally connected with the joint structure. One end of the proximal finger segment away from the palm driving structure is rotationally connected with the joint structure. The joint structure can change the angle between the fingertip of the distal finger segment and the proximal finger segment.

Description

Technical Field

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

[0002] With the continuous development of deep learning, machine vision, and other fields, robots are undertaking increasingly complex tasks. At the same time, these complex tasks place higher demands on the gripping devices of robots. Humanoid robotic grippers, due to their high flexibility and strong sense of immersion in operation, are finding increasingly wider applications.

[0003] Since the human hand has a very flexible grasping function, how to make a robotic hand made of rigid materials also have the same flexible grasping function is one of the key development areas in this field. 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] A mechanical finger includes a fingertip, a distal segment, and a proximal segment arranged along an extension direction; one end of the distal segment is rotatably connected to the fingertip.

[0008] A palm drive structure is disposed on the palmar side surface and connected to the end of the proximal finger segment away from the distal finger segment, thereby connecting the mechanical finger and the palm in a connection direction; the palm drive structure is used to drive the movement of the mechanical finger to change the angle between the mechanical finger and the palm; the connection direction is perpendicular to the palmar side surface; and

[0009] The joint structure includes: the distal end of the finger segment away from the fingertip is rotatably connected to the joint structure; the proximal end of the finger segment away from the palm drive structure is rotatably connected to the joint structure; and the joint structure is capable of changing the angle between the fingertips of the distal and proximal finger segments.

[0010] Furthermore, the palm drive structure includes a pivot drive module; the pivot drive structure is used to drive the mechanical finger to rotate around a rotation axis, the rotation axis extending perpendicular to the connection direction and parallel to the palm plane; the pivot drive module includes:

[0011] A pivot motor is fixed to the palm portion; the pivot motor includes a pivot drive shaft, a pivot motor base, and a pivot shaft movably connected to the pivot motor base; the axis of the pivot shaft extends along the rotation axis; the proximal finger segment is fixedly connected to the pivot shaft;

[0012] A pivoting drive gear is fixedly connected to the pivoting drive shaft; the pivoting axis of the pivoting drive gear extends along the connection direction.

[0013] A pivot driven gear is fixedly connected to the pivot shaft; the pivot driven gear meshes with the pivot driving gear.

[0014] Furthermore, the fingertip includes a first fingertip axis and a second fingertip axis arranged in parallel; the joint structure includes a first joint axis, a second joint axis, and a third joint axis arranged in parallel.

[0015] The proximal finger segment includes a first proximal link and a second proximal link; one end of the first proximal link is fixedly connected to the pivot axis, and the other end is rotatably connected to the first joint axis; between the pivot axis and the first joint axis, the first proximal link is also rotatably connected to the second joint axis; one end of the second proximal link is rotatably connected to the pivot motor base, and the other end is rotatably connected to the third joint axis; in the axial direction of the first fingertip axis, the projections of the first proximal link and the second proximal link intersect;

[0016] The distal finger segment includes a first distal link and a second distal link; one end of the first distal link is rotatably connected to the first fingertip axis and the other end is rotatably connected to the second joint axis; one end of the second distal link is rotatably connected to the second fingertip axis and the other end is rotatably connected to the third joint axis; between the second fingertip axis and the third joint axis, the second distal link is also rotatably connected to the first joint axis; in the axial direction of the first fingertip axis, the projections of the first distal link and the second distal link intersect.

[0017] Further, the palm drive structure includes a swing drive module; the swing drive module is used to drive the mechanical finger to rotate around a rotation axis, the rotation axis extending perpendicular to the connection direction and parallel to the palm plane; the swing drive module is also used to drive the mechanical finger to rotate around a swing axis, the swing axis intersecting the palm plane; the swing axis is perpendicular to the rotation axis; the swing drive module includes:

[0018] 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.

[0019] 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 respectively;

[0020] 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 proximal finger segment; the proximal finger segment is rotatably connected to the second shaft.

[0021] Furthermore, the swing motor includes:

[0022] The main body of the swing motor;

[0023] The first driving gear is fixedly connected to the main body of the oscillating motor; the first driving gear meshes with the first oscillating gear; the rotation axis of the first driving gear extends along the connection direction;

[0024] The second driving gear is fixedly connected to the main body of the oscillating motor; the second driving gear meshes with the second oscillating gear; the rotation axis of the second driving gear is along the connection direction.

[0025] 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,

[0026] 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.

[0027] Furthermore, the joint structure includes a joint motor; the joint motor is disposed at the end of the proximal finger segment away from the palm drive structure; the joint motor includes a joint motor mount and a joint drive shaft; the joint motor mount is fixedly connected to the proximal finger segment; the joint drive shaft is rotatably connected to the joint motor mount and fixedly connected to the distal finger segment; the joint drive shaft is used to drive the distal finger segment to rotate, thereby changing the angle between the distal and proximal finger segments.

[0028] Furthermore, the joint motor includes:

[0029] A joint drive gear, wherein the joint drive axis of the joint drive gear extends along the extending direction;

[0030] The main body of the joint motor is fixed to the joint motor base and fixedly connected to the joint drive gear, and is used to drive the joint drive gear to rotate.

[0031] The driven gear of the joint is fixedly connected to the joint drive shaft; the driven gear of the joint meshes with the driving gear of the joint; the driven axis of the driven gear of the joint is perpendicular to the driving axis of the joint.

[0032] Furthermore, the fingertip includes a first fingertip axis and a second fingertip axis arranged in parallel; the distal finger segment includes:

[0033] An active linkage, one end of which is fixedly connected to the joint drive shaft and the other end of which is rotatably connected to the first fingertip shaft; the joint motor drives the active linkage to rotate around the joint drive shaft;

[0034] The driven link has one end rotatably connected to the second fingertip axis and the other end rotatably connected to the joint motor; wherein, in the axial direction of the first fingertip axis, the projections of the driving link and the driven link intersect.

[0035] Furthermore, the active link includes a first sub-link and a second sub-link; one end of the first sub-link is fixedly connected to the joint drive shaft, and the other end is rotatably connected to the second sub-link; the end of the second sub-link away from the first sub-link is rotatably connected to the first fingertip shaft; wherein, the driven link is rotatably connected to the joint drive shaft.

[0036] Furthermore, the distal finger segment also includes an elastic element disposed along the extension direction; one end of the elastic element is fixedly connected to the connection point of the fingertip, and the other end is fixedly connected to the driven link; the elastic element is in a stretched state; the connection point is away from the extension axis of the second fingertip axis.

[0037] Furthermore, the robotic arm also includes:

[0038] An angle sensor, disposed in the palm drive structure, is used to measure the angle between the mechanical finger and the palm.

[0039] Furthermore, the number of mechanical fingers includes multiple ones; each mechanical finger is provided with the palm drive structure and / or joint structure.

[0040] 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.

[0041] 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:

[0042] The palm includes a palmar plane and a palmar lateral surface perpendicular to the palmar plane;

[0043] A mechanical finger includes a fingertip, a distal segment, and a proximal segment arranged along an extension direction; one end of the distal segment is rotatably connected to the fingertip.

[0044] A palm drive structure is disposed on the palmar side surface and connected to the end of the proximal finger segment away from the distal finger segment, so as to connect the mechanical finger and the palm in the connection direction; the palm drive structure is used to drive the movement of the mechanical finger to change the angle between the mechanical finger and the palm; the connection direction is perpendicular to the palmar side surface.

[0045] The joint structure includes: the distal end of the finger segment away from the fingertip is rotatably connected to the joint structure; the proximal end of the finger segment away from the palm drive structure is rotatably connected to the joint structure; and the joint structure is capable of changing the angle between the fingertips of the distal and proximal finger segments.

[0046] Furthermore, the palm drive structure includes a pivot drive module; the pivot drive structure is used to drive the mechanical finger to rotate around a rotation axis, the rotation axis extending perpendicular to the connection direction and parallel to the palm plane; the pivot drive module includes:

[0047] A pivot motor is fixed to the palm portion; the pivot motor includes a pivot drive shaft, a pivot motor base, and a pivot shaft movably connected to the pivot motor base; the axis of the pivot shaft extends along the rotation axis; the proximal finger segment is fixedly connected to the pivot shaft;

[0048] A pivoting drive gear is fixedly connected to the pivoting drive shaft; the pivoting axis of the pivoting drive gear extends along the connection direction.

[0049] A pivot driven gear is fixedly connected to the pivot shaft; the pivot driven gear meshes with the pivot driving gear.

[0050] Furthermore, the fingertip includes a first fingertip axis and a second fingertip axis arranged in parallel; the joint structure includes a first joint axis, a second joint axis, and a third joint axis arranged in parallel.

[0051] The proximal finger segment includes a first proximal link and a second proximal link; one end of the first proximal link is fixedly connected to the pivot axis, and the other end is rotatably connected to the first joint axis; between the pivot axis and the first joint axis, the first proximal link is also rotatably connected to the second joint axis; one end of the second proximal link is rotatably connected to the pivot motor base, and the other end is rotatably connected to the third joint axis; in the axial direction of the first fingertip axis, the projections of the first proximal link and the second proximal link intersect;

[0052] The distal finger segment includes a first distal link and a second distal link; one end of the first distal link is rotatably connected to the first fingertip axis and the other end is rotatably connected to the second joint axis; one end of the second distal link is rotatably connected to the second fingertip axis and the other end is rotatably connected to the third joint axis; between the second fingertip axis and the third joint axis, the second distal link is also rotatably connected to the first joint axis; in the axial direction of the first fingertip axis, the projections of the first distal link and the second distal link intersect.

[0053] Further, the palm drive structure includes a swing drive module; the swing drive module is used to drive the mechanical finger to rotate around a rotation axis, the rotation axis extending perpendicular to the connection direction and parallel to the palm plane; the swing drive module is also used to drive the mechanical finger to rotate around a swing axis, the swing axis intersecting the palm plane; the swing axis is perpendicular to the rotation axis; the swing drive module includes:

[0054] 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.

[0055] 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 respectively;

[0056] 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 proximal finger segment; the proximal finger segment is rotatably connected to the second shaft.

[0057] Furthermore, the swing motor includes:

[0058] The main body of the swing motor;

[0059] The first driving gear is fixedly connected to the main body of the oscillating motor; the first driving gear meshes with the first oscillating gear; the rotation axis of the first driving gear extends along the connection direction;

[0060] The second driving gear is fixedly connected to the main body of the oscillating motor; the second driving gear meshes with the second oscillating gear; the rotation axis of the second driving gear is along the connection direction.

[0061] 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,

[0062] 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.

[0063] Furthermore, the joint structure includes a joint motor; the joint motor is disposed at the end of the proximal finger segment away from the palm drive structure; the joint motor includes a joint motor mount and a joint drive shaft; the joint motor mount is fixedly connected to the proximal finger segment; the joint drive shaft is rotatably connected to the joint motor mount and fixedly connected to the distal finger segment; the joint drive shaft is used to drive the distal finger segment to rotate, thereby changing the angle between the distal and proximal finger segments.

[0064] Furthermore, the joint motor includes:

[0065] A joint drive gear, wherein the joint drive axis of the joint drive gear extends along the extending direction;

[0066] The main body of the joint motor is fixed to the joint motor base and fixedly connected to the joint drive gear, and is used to drive the joint drive gear to rotate.

[0067] The driven gear of the joint is fixedly connected to the joint drive shaft; the driven gear of the joint meshes with the driving gear of the joint; the driven axis of the driven gear of the joint is perpendicular to the driving axis of the joint.

[0068] Furthermore, the fingertip includes a first fingertip axis and a second fingertip axis arranged in parallel; the distal finger segment includes:

[0069] An active linkage, one end of which is fixedly connected to the joint drive shaft and the other end of which is rotatably connected to the first fingertip shaft; the joint motor drives the active linkage to rotate around the joint drive shaft;

[0070] The driven link has one end rotatably connected to the second fingertip axis and the other end rotatably connected to the joint motor; wherein, in the axial direction of the first fingertip axis, the projections of the driving link and the driven link intersect.

[0071] Furthermore, the active link includes a first sub-link and a second sub-link; one end of the first sub-link is fixedly connected to the joint drive shaft, and the other end is rotatably connected to the second sub-link; the end of the second sub-link away from the first sub-link is rotatably connected to the first fingertip shaft; wherein, the driven link is rotatably connected to the joint drive shaft.

[0072] Furthermore, the distal finger segment also includes an elastic element disposed along the extension direction; one end of the elastic element is fixedly connected to the connection point of the fingertip, and the other end is fixedly connected to the driven link; the elastic element is in a stretched state; the connection point is away from the extension axis of the second fingertip axis.

[0073] Furthermore, the robotic arm also includes:

[0074] An angle sensor, disposed in the palm drive structure, is used to measure the angle between the mechanical finger and the palm.

[0075] Furthermore, the number of mechanical fingers includes multiple ones; each mechanical finger is provided with the palm drive structure and / or joint structure.

[0076] 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.

[0077] The technical solutions provided by the embodiments of this application may include the following beneficial effects:

[0078] As can be seen from the above embodiments, the robotic hand of this application has a high degree of adaptability to the shape of objects located in the palm. The robotic hand can grasp different objects by changing the angle between the robotic fingers and the palm, as well as the angle between the proximal and distal finger segments. Furthermore, due to the high adaptability of the robotic hand, the robotic fingers can better conform to the surface of the object, allowing the robotic hand to grasp the object more stably.

[0079] 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

[0080] 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.

[0081] Figure 1 The diagram shown is a frontal overall schematic of one embodiment of the robotic arm of this application.

[0082] Figure 2 Shown as Figure 1 The diagram shows the overall reverse side of the robotic arm.

[0083] Figure 3 The diagram shows a frontal overall schematic of one embodiment of the mechanical finger of the robotic arm of this application.

[0084] Figure 4 Shown as Figure 3 The diagram shows the overall reverse side of the mechanical finger.

[0085] Figure 5 This is a general schematic diagram of another embodiment of the mechanical finger of the robotic arm of this application.

[0086] Figure 6 The diagram shows an overall schematic of an embodiment of the swing drive module of the palm drive structure of this application.

[0087] Figure 7 The diagram shows a reverse overall view of yet another embodiment of the mechanical finger of the robotic arm of this application.

[0088] Figure 8 Shown as Figure 7 The diagram shown is a frontal overall view of the mechanical finger.

[0089] Figure 9 The diagram shown is a side view of one embodiment of the robotic arm of this application.

[0090] Figure 10 The diagram shows a simplified mechanical structure of the joint structure, proximal finger segment, and distal finger segment of one embodiment of the mechanical finger of this application.

[0091] Figure 11 The diagram shows a simplified mechanical structure of the joint structure and distal finger segment of one embodiment of the mechanical finger of this application.

[0092] Among them, 100 is the robotic arm, 1 is the palm, 11 is the palm plane, 12 is the palm side surface, 121 is the front end face, 122 is the side end face, 2 are the robotic fingers, 21 is the fingertip, 211 is the first fingertip axis, 211 is the A axis, 212 is the second fingertip axis, 22 is the distal finger segment, 221 is the first distal link, 222 is the second distal link, 223 is the active link, 2231 is the first sub-link, 2232 is the second sub-link, 224 is the driven link, 2241 is the connecting hole, 225 is the elastic element, 23 is the proximal finger segment, and 231 is the first proximal link. 232 Second proximal link, 24 First mechanical finger, 25 Second mechanical finger, 251 Mechanical index finger, 252 Mechanical middle finger, 253 Mechanical ring finger, 254 Mechanical little finger, 3 Palm drive structure, 31 Pivot drive module, 311 Pivot motor, 3111 Pivot drive shaft, 3112 Pivot motor mount, 3113 Pivot shaft, 312 Pivot drive gear, 313 Pivot driven gear, 32 Oscillating drive module, 321 Oscillating motor, 3211 Oscillating motor mount, 321 2. Cross shaft, 32121 First shaft, 32122 Second shaft, 3213 Swing motor body, 3214 First driving gear, 3215 Second driving gear, 322 Swing gear set, 3221 First swing gear, 32211 First main gear, 32212 First sub-gear, 3222 Second swing gear, 32221 Second sub-gear, 32222 Second main gear, 323 Output gear, 4. Joint structure, 41 First joint shaft, 42 Second joint shaft, 43 Third joint shaft, 44 Joint motor, 441 Joint motor base, 442 Joint drive shaft, 443 Joint driving gear, 444 Joint motor body, 445 Joint driven gear, 5. Angle sensor, DC connection direction, DE extension direction, RA rotation axis, SA swing axis, 321A rotation axis, A2 rotation axis, A3 rotation axis, A4 joint driving axis, A5 joint driven axis, EA extension axis, GS gripping space, α included angle, VA lateral view, VB top view. Detailed Implementation

[0093] 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.

[0094] 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.

[0095] refer to Figure 1 and Figure 2 This application provides a robotic hand 100 in its first aspect. The robotic hand 100 includes a palm 1, robotic fingers 2, a palm drive structure 3, and a joint structure 4. The palm 1 includes a palmar plane 11 and a palmar surface 12 perpendicular to the palmar plane 11. The robotic finger 2 includes a fingertip 21, a distal phalanx 22, and a proximal phalanx 23 arranged along an extension direction DE. One end of the distal phalanx 22 is rotatably connected to the fingertip 21. The palm drive structure 3 is disposed on the palmar surface 12 and connected to the end of the proximal phalanx 23 away from the distal phalanx 22, thereby connecting the robotic finger 2 and the palm 1 in the connection direction DC. The palm drive structure 3 is used to drive the movement of the robotic finger 2 to change the angle between the robotic finger 2 and the palm 1. The end of the distal phalanx 22 away from the fingertip 21 is rotatably connected to the joint structure 4. The end of the proximal phalanx 23 away from the palm drive structure 3 is rotatably connected to the joint structure 4. The joint structure 4 can change the angle between the distal finger segment 22 and the proximal finger segment 23 fingertip 21. The connection direction DC is perpendicular to the palmar side surface 12.

[0096] The palm drive structure 3 can change the angle between the mechanical finger 2 and the palm 1, enabling the robotic hand 100 to perform opening and closing movements similar to those of a human hand. The joint structure 4 can change the angle between the distal segment 22 and the proximal segment 23 of the mechanical finger 2, enabling the mechanical finger 2 to perform finger bending movements similar to those of a human hand.

[0097] With this configuration, the robotic arm 100 exhibits high adaptability to the shape of objects located on the palm 1. The robotic arm 100 can grasp different objects by changing the angle between the robotic finger 2 and the palm 1, as well as the angle between the proximal finger segment 23 and the distal finger segment 22. Furthermore, due to the high adaptability of the robotic arm 100, the robotic finger 2 can better conform to the surface of the object, allowing the robotic arm 100 to grasp the object more stably.

[0098] The palmar side 12 includes a front end surface 121 and a side end surface 122 perpendicular to the front end surface 121. The mechanical finger 2 can be disposed on the front end surface 121 or the side end surface 122, 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 2, and this application is not limited in this regard.

[0099] Therefore, it should be noted that since the mechanical finger 2 can be located on the front end face 121 or the side end face 122, the connection direction DC will differ for different mechanical fingers 2. For example... Figure 1 As shown, the mechanical finger 2 disposed on the side end face 122 has a different connection direction DC than the mechanical finger 2 disposed on the front end face 121, while the multiple mechanical fingers 2 disposed on the front end face 121 have the same connection direction DC. Furthermore, the connection direction DC and the extension direction DE of the mechanical finger 2 can be the same or different. For example... Figure 1 In the illustrated embodiment, the connection direction DC and extension direction DE of the mechanical finger 2 disposed on the front end face 121 are both perpendicular to the front end face 121. The connection direction DC and extension direction DE of the mechanical finger 2 disposed on the side end face 122 are also perpendicular.

[0100] In some embodiments, the number of mechanical fingers 2 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 2 may be provided with a corresponding palm drive structure 3 and connected to the palm 1 through the palm drive structure 3, enabling the robotic hand 100 to drive each mechanical finger 2 to move, allowing it to perform more complex actions. Alternatively, some mechanical fingers 2 may be provided with palm drive structures 3 respectively, while others may be directly connected to the palm 1. In this case, the robotic hand 100 can only drive the mechanical fingers 2 provided with palm drive structures 3 to move, while other mechanical fingers 2 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 2 to be connected to the palm 1 through the palm drive structure 3, and the auxiliary mechanical fingers 2 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.

[0101] Similarly, in embodiments where there are multiple mechanical fingers 2, all mechanical fingers 2 may be provided with joint structures 4, or only some mechanical fingers 2 may be provided with joint structures 4. Furthermore, mechanical fingers 2 may simultaneously be provided with palm drive structures 3 and joint structures 4, enabling the mechanical fingers 2 to have high flexibility. Alternatively, mechanical fingers 2 may only be provided with joint structures 4, thereby reducing the production cost of mechanical fingers 2.

[0102] like Figure 1 As shown, the plurality of mechanical fingers 2 include a first mechanical finger 24 disposed on the side end face 122 and a second mechanical finger 25 disposed on the front end face 121. Figure 1 and Figure 2 In the illustrated embodiment, the second mechanical finger 25 may include a mechanical index finger 251, a mechanical middle finger 252, a mechanical ring finger 253, and a mechanical little finger 254. The first mechanical finger 24 disposed on the side end face 122 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, giving the robotic hand 100 a higher degree of anthropomorphism.

[0103] It should be noted that the second mechanical finger 25 may be at least one of a mechanical index finger 251, a mechanical middle finger 252, a mechanical ring finger 253, and a mechanical little finger 254, and this application is not limited in this regard. Furthermore, similar to the aforementioned embodiments, at least one of the first mechanical finger 24 and the second mechanical finger 25 may be connected to the palm 1 via a driving structure. In embodiments where the number of second mechanical fingers 25 is multiple, some of the second mechanical fingers 25 may be provided with a palm driving structure 3, while some of the second mechanical fingers 25 may be directly connected to the palm 1; this application is not limited in this regard.

[0104] Figure 1 and Figure 2 In the illustrated embodiment, the first mechanical finger 24, mechanical index finger 251, mechanical middle finger 252, mechanical ring finger 253, and mechanical little finger 254 are each equipped with a joint structure 4 and a palm drive structure 3, enabling the multiple mechanical fingers 2 to perform opening and closing movements of the robotic hand 100, as well as bending movements. With this configuration, the robotic hand 100 can grasp objects of different sizes, and the mechanical fingers 2 can adapt to different surfaces of the objects by bending. This improves the anthropomorphism of the robotic hand 100, as well as its gripping flexibility and stability.

[0105] refer to Figure 9 When the robotic arm 100 grasps an object, the object is located within the grasping space GS formed by the palm 1 and the first robotic finger 24. To enable the robotic arm 100 to better grasp the object, in some embodiments, the angle α between the extension axis EA of the first robotic finger 24 and the palm plane 11 is greater than or equal to 10 degrees and less than or equal to 30 degrees. For example, the angle α between the extension axis EA of the first robotic finger 24 and the palm plane 11 can be 10 degrees, 20 degrees, or 30 degrees. With this configuration, when the first robotic finger 24 grasps the object, it can apply a force towards the palm plane 11, while the palm plane 11 can apply a force towards the first robotic finger 24 to counteract it, thus ensuring the object remains stably within the grasping space GS. When the angle α is too small or too large, the direction of the force applied by the first robotic finger 24 to the object changes, making it difficult for other components of the robotic arm 100 to counteract the force. Therefore, the object may detach from the grasping space GS, leading to unstable grasping.

[0106] The palm drive structure 3 can change the angle between the mechanical finger 2 and the palm 1 by changing the angle between the extension direction DE of the mechanical finger 2 and the palm plane 11, or by changing the angle between the extension direction DE of the mechanical finger 2 and the palm side surface 12. In an embodiment where the mechanical finger 2 is a mechanical index finger 251, the mechanical index finger 251 is disposed on the front end surface 121, therefore the palm drive structure 3 can be used to change the angle between the extension direction DE of the mechanical index finger 251 and the front end surface 121. In an embodiment where the mechanical finger 2 is a first mechanical finger 24, the first mechanical finger 24 is disposed on the side end surface 122, therefore the palm drive structure 3 can be used to change the angle between the extension direction DE of the first mechanical finger 24 and the side end surface 122.

[0107] In an embodiment where the palm drive structure 3 changes the angle between the extension direction DE of the mechanical finger 2 and the palm plane 11, the palm drive structure 3 can be a motor. The motor is directly connected to the mechanical finger 2, thereby driving the movement of the mechanical finger 2. This configuration is structurally simple.

[0108] In other embodiments, the palm drive structure 3 includes a pivot drive module 31. The following describes... Figures 1 to 4 The mechanical ring finger 253 is used as an example for illustration. The pivot drive module 31 drives the mechanical finger 2 to rotate around the rotation axis RA. The rotation axis RA extends perpendicular to the connection direction DC and is parallel to the palm plane 11. The pivot drive module 31 includes a pivot motor 311, a pivot drive gear 312, and a pivot driven gear 313. The pivot motor 311 is fixed to the palm portion 1 and includes a pivot drive shaft 3111, a pivot motor base 3112, and a pivot shaft 3113 movably connected to the pivot motor base 3112. The axis of the pivot shaft 3113 extends along the rotation axis RA. The proximal segment 23 of the mechanical finger 2 is fixedly connected to the pivot shaft 3113. The pivot drive gear 312 is fixedly connected to the pivot drive shaft 3111, and the active pivot axis 312A of the pivot drive gear 312 extends along the connection direction DC. The pivot driven gear 313 is fixedly connected to the pivot shaft 3113, and the pivot driven gear 313 meshes with the pivot driving gear 312.

[0109] The pivot motor 311 drives the pivot drive shaft 3111 to rotate, thus the pivot drive shaft 3111 can drive the pivot drive gear 312 to rotate around the drive pivot axis 312A. The meshing of the pivot drive gear 312 and the pivot driven gear 313 converts this rotational motion into rotation around the rotation axis RA. Since the pivot driven gear 313 and the pivot shaft 3113 are fixedly connected, and the proximal finger segment 23 is also fixedly connected to the pivot shaft 3113, the rotation of the pivot driven gear 313 can drive the mechanical finger 2 to rotate around the rotation axis RA.

[0110] By setting up the pivot drive module 31, the robotic arm 100 can achieve changes in the plane of motion through gear transmission. Therefore, the pivot motor 311 can be set along the connection direction DC, which is beneficial for hiding in the palm 1 and improving the aesthetics of the robotic arm 100. Compared with the embodiment where the motor directly drives the mechanical fingers 2 to rotate, requiring the motor to be arranged along the rotation axis RA, the pivot drive module 31 can make reasonable use of the space of the robotic arm 100, allowing multiple mechanical fingers 2 to be arranged compactly side by side, improving the anthropomorphism and structural compactness of the robotic arm 100.

[0111] Furthermore, the diameter of the pivoting drive gear 312 can be smaller than the diameter of the pivoting driven gear 313. This allows for an increase in torque through the gear ratio, thereby reducing the parameter requirements of the pivoting motor 311. In addition, since the drive pivoting axis 321A extends along the connection direction DC, and the rotation axis of the pivoting driven gear 313 extends along the rotation axis RA, a change in the diameter of the pivoting drive gear 312 can be reflected in a change in the diameter of the mechanical finger 2, and a change in the diameter of the pivoting driven gear 313 can be reflected in a change in the length of the mechanical finger 2. 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 2.

[0112] In the above embodiments, the pivot drive module 31 of the palm drive structure 3 can be used to change the angle between the extension direction DE of the mechanical finger 2 and the palm plane 11. (See reference...) Figures 1 to 2 as well as Figures 5 to 8 In some embodiments, the palm drive structure 3 further includes a swing drive module 32. The swing drive module 32 can be used not only to drive the mechanical finger 2 to rotate around the rotation axis RA, but also to drive the mechanical finger 2 to rotate around the swing axis SA. The swing axis SA intersects the palm plane 11 and is perpendicular to the rotation axis RA.

[0113] The oscillating drive module 32 includes an oscillating motor 321, an oscillating gear set 322, and an output gear 323. The oscillating motor 321 includes an oscillating motor base 3211 and a cross shaft 3212 fixedly connected to the oscillating motor base 3211. The cross shaft 3212 includes a first shaft 32121 extending along the rotation axis RA and a second shaft 32122 extending along the oscillation axis SA. The proximal finger segment 23 is rotatably connected to the second shaft 32122. The oscillating gear set 322 includes a first oscillating gear 3221 and a second oscillating gear 3222. The first oscillating gear 3221 and the second oscillating gear 3222 are rotatably connected to the first shaft 32121. The oscillating motor 321 drives the first oscillating gear 3221 and the second oscillating gear 3222 to rotate. The output gear 323 is disposed between the first oscillating gear 3221 and the second oscillating gear 3222, and meshes with both the first oscillating gear 3221 and the second oscillating gear 3222. The axis of the output gear 323 coincides with the oscillation axis SA. Furthermore, the output gear 323 is fixedly connected to the proximal finger segment 23.

[0114] The following is combined Figure 5 and Figure 6The driving process of the swing drive module 32 is described using the mechanical index finger 251 as an example. When the first swing gear 3221 and the second swing gear 3222 rotate at the same speed and in the same direction in the lateral view VA, taking clockwise rotation as an example, the meshing of the first swing gear 3221 and the output gear 323 causes the output gear 323 to tend to rotate counterclockwise, while the meshing of the second swing gear 3222 and the output gear 323 causes the output gear 323 to tend to rotate clockwise. Therefore, the forces on both sides of the output gear 323 cancel each other out, keeping the output gear 323 stationary. At this time, the output gear 323, the first swing gear 3221, and the second swing gear 3222 are in a relatively stationary state. Therefore, the rotation of the first swing gear 3221 and the second swing gear 3222 driven by the swing motor 321 is manifested as the cross shaft 3212, the output gear 323, the first swing gear 3221, and the second swing gear 3222 rotating together around the rotation axis RA. Since the proximal finger segment 23 is connected to the second axis 32122, and the axis of the second axis 32122 is perpendicular to the rotation axis RA, the cross axis 3212 drives the proximal finger segment 23 to rotate around the rotation axis RA, thereby realizing the rotational movement of the entire mechanical finger 2 around the rotation axis RA. At this time, the change in angle between the mechanical finger 2 and the palm 1 is reflected in the change in angle between the extension direction DE of the mechanical finger 2 and the palm plane 11.

[0115] When the first oscillating gear 3221 and the second oscillating gear 3222 rotate in opposite directions at the same speed in the lateral view VA, taking the first oscillating gear 3221 rotating counterclockwise and the second oscillating gear 3222 rotating clockwise as an example, the meshing of the first oscillating gear 3221 and the output gear 323 causes the output gear 323 to tend to rotate clockwise, and the meshing of the second oscillating gear 3222 and the output gear 323 also causes the output gear 323 to tend to rotate clockwise. Therefore, at this time, the output gear 323 rotates clockwise around the oscillation axis SA. Since the output gear 323 is fixedly connected to the proximal finger segment 23, and the proximal finger segment 23 is rotatably connected to the second shaft 32122, the output gear 323 drives the proximal finger segment 23 to rotate around the oscillation axis SA, thereby driving the entire mechanical finger 2 to rotate around the oscillation axis SA. At this time, the change in angle between the mechanical finger 2 and the palm 1 is reflected in the change in angle between the extension direction DE of the mechanical finger 2 and the front end face 121.

[0116] With this configuration, the swing drive module 32 can realize not only the rotational movement of the mechanical finger 2 around the rotation axis RA, but also the rotational movement of the mechanical finger 2 around the swing axis SA. It is evident that a single swing drive module 32 can give the mechanical finger 2 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 32 only requires the swing motor 321 to drive the rotational movements around both 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 32 helps to reduce the overall size of the robot 100 and improve its anthropomorphism and aesthetics.

[0117] In some embodiments, the oscillating motor 321 is directly connected to the first oscillating gear 3221 and the second oscillating gear 3222, thereby directly driving the first oscillating gear 3221 and the second oscillating gear 3222 to rotate in the same or opposite directions. Further, in other embodiments, the oscillating motor 321 includes an oscillating motor body 3213, a first driving gear 3214, and a second driving gear 3215. The first driving gear 3214 and the second driving gear 3215 are fixedly connected to the oscillating motor body 3213. The first driving gear 3214 meshes with the first oscillating gear 3221, and the second driving gear 3215 meshes with the second oscillating gear 3222. The rotation axis 3124A of the first driving gear 3214 and the rotation axis 3215A of the second driving gear 3215 extend along the connection direction DC.

[0118] The rotation direction of the first driving gear 3214 in the top view VB is opposite to the rotation direction of the first oscillating gear 3221 in the lateral view VA. In other words, when the first driving gear 3214 rotates clockwise, it can drive the first oscillating gear 3221 to rotate counterclockwise. When the first driving gear 3214 rotates counterclockwise, it can drive the first oscillating gear 3221 to rotate clockwise.

[0119] Similarly, the rotation direction of the second drive gear 3215 in the top view VB is the same as the rotation direction of the second oscillating gear 3222 in the lateral view VA. In other words, when the second drive gear 3215 rotates clockwise, it can drive the second oscillating gear 3222 to rotate clockwise. When the second drive gear 3215 rotates counterclockwise, it can drive the second oscillating gear 3222 to rotate counterclockwise.

[0120] As discussed above, when the first oscillating gear 3221 and the second oscillating gear 3222 rotate in the same direction, the oscillating drive module 32 drives the mechanical finger 2 to rotate around the rotation axis RA. At this time, the rotation directions of the first drive gear 3214 and the second drive gear 3215 are opposite. When the first oscillating gear 3221 and the second oscillating gear 3222 rotate in opposite directions, the oscillating drive module 32 drives the mechanical finger 2 to rotate around the oscillation axis SA. At this time, the rotation directions of the first drive gear 3214 and the second drive gear 3215 are the same.

[0121] Therefore, the swing motor body 3213 can control the rotation direction of the first drive gear 3214 and the second drive gear 3215 respectively to control the movement direction of the mechanical finger 2. Since the rotation axis 3214A of the first drive gear 3214 and the rotation axis 3215A of the second drive gear 3215 extend along the connection direction DC, the swing motor 321 can be arranged along the connection direction DC and set in the palm 1, which is beneficial to hide the swing motor 321 and improve the aesthetics of the robot 100. In addition, the swing motor 321 being set in the palm 1 not only helps to improve the structural compactness of the robot 100 and reduce the overall size of the robot 100; but also, since most of the exposed components of the robot 100 are the palm 1 and the mechanical finger 2, it also helps to improve the anthropomorphism of the robot 100.

[0122] In some embodiments, the first drive gear 3214 and the first oscillating gear 3221 may have the same diameter. In other embodiments, the diameter of the first oscillating gear 3221 may be larger than that of the first drive gear 3214. Thus, the reduction ratio between the first oscillating gear 3221 and the first drive gear 3214 allows the first oscillating gear 3221 to amplify torque, which helps reduce the parameter requirements of the oscillating motor body 3213, thereby reducing the size and cost of the oscillating drive module 32. Similarly, the diameter of the second drive gear 3215 may be less than or equal to the diameter of the second oscillating gear 3222, which will not be elaborated further in this application.

[0123] Furthermore, the first oscillating gear 3221 includes a first main gear 32211 and a first sub-gear 32212 fixedly connected. The first main gear 32211 meshes with the first driving gear 3214, and the first sub-gear 32212 meshes with the output gear 323. The diameter of the first main gear 32211 is larger than that of the first sub-gear 32212. Similarly, the second oscillating gear 3222 includes a second main gear 32222 and a second sub-gear 32221 fixedly connected. The second main gear 32222 meshes with the second driving gear 3215, and the second sub-gear 32221 meshes with the output gear 323. The diameter of the second main gear 32222 is larger than that of the second sub-gear 32221. This arrangement facilitates the utilization of space in the extension direction of the rotation axis RA, improving the space utilization rate of the oscillating drive module 32. Furthermore, since the smaller first sub-gear 32212 and second sub-gear 32221 are positioned opposite and close to each other on the rotation axis RA, it is advantageous to reduce the size of the output gear 323 meshing with the first sub-gear 32212 and second sub-gear 32221, thus improving the structural compactness. In addition, this arrangement allows for an increase in the size of the first main gear 32211 and second main gear 32222, which is beneficial for further increasing the reduction ratio between the first oscillating gear 3221 and the first driving gear 3214, and the reduction ratio between the second oscillating gear 3222 and the second driving gear 3215, thereby further amplifying the torque of the oscillating motor body 3213.

[0124] Admittedly, in other embodiments, the swing drive module 32 may only have the first swing gear 3221, which includes the first main gear 32211 and the first sub-gear 32212; or, it may only have the second swing gear 3222, which includes the second main gear 32222 and the second sub-gear 32221. This application does not limit this.

[0125] Furthermore, in some embodiments, the robotic arm 100 also includes an angle sensor 5 disposed on the palm drive structure 3. The angle sensor 5 is used to measure the angle between the mechanical finger 2 and the palm 1. With this configuration, the angle sensor 5 can monitor whether the palm drive structure 3 is operating normally, for example, by monitoring the actual degree of rotation of the mechanical finger 2 around the rotation axis RA, and then comparing the expected degree of rotation of the palm drive structure 3 with the actual degree of rotation. This allows for the determination of whether there are any faults or decreased accuracy in the palm drive structure 3 of the robotic arm 100, which is beneficial for the monitoring, maintenance, troubleshooting, and accuracy adjustment of the robotic arm 100.

[0126] When a user uses the robotic hand 100 to grasp an object, after the robotic hand 100 changes the angle between the robotic finger 2 and the palm 1 via the palm drive structure 3, the user can manually adjust the angle between the proximal finger segment 23 and the distal finger segment 22. For example, by bending the distal finger segment 22 to pivot around the joint structure 4, the user can make the robotic finger 2 conform to the surface of the object for grasping. Further, refer to... Figure 5 In some embodiments, the joint structure 4 includes a joint motor 44. The joint motor 44 is located at the end of the proximal finger segment 23 furthest from the palm drive structure 3, and is used to drive the distal finger segment 22 to rotate, thereby changing the angle between the distal finger segment 22 and the proximal finger segment 23. With this configuration, when using the robotic arm 100 to grasp objects, the user no longer needs to manually adjust the angle between the proximal finger segment 23 and the distal finger segment 22; they only need to control the movement of the joint motor 44, which is convenient and practical, and improves the intelligence and automation of the robotic arm 100.

[0127] like Figure 5 In the illustrated embodiment, the joint motor 44 may include a joint motor mount 441 and a joint drive shaft 442. The joint motor mount 441 is fixedly connected to the proximal phalanx 23. The joint drive shaft 442 is rotatably connected to the joint motor mount 441 and fixedly connected to the distal phalanx 22. The joint motor body is fixed to the joint motor mount 441, and... Figure 5 In the illustrated embodiment, the joint motor is concealed within the joint motor housing 441. The joint motor body can be a worm gear structure, with the worm gear structure mounted on the joint drive shaft 442. The rotation of the worm gear in the joint motor body drives the rotation of the joint drive shaft 442, thereby causing the distal finger segment 22 to rotate.

[0128] refer to Figure 7 and Figure 8 In other embodiments, the joint motor 44 further includes a joint drive gear 443 and a joint driven gear 445. The joint drive axis 443A of the joint drive gear 443 extends along the extension direction DE. The joint motor body 444 and the joint drive gear 443 are fixedly connected for driving the joint drive gear 443 to rotate. The joint driven gear 445 is fixedly connected to the joint drive shaft 442, and the joint driven gear 445 meshes with the joint drive gear 443. The joint driven axis 445A of the joint driven gear 445 is perpendicular to the joint drive axis 443A.

[0129] In fact, this structure is similar to the pivot drive module 31 of the palm drive structure 3. The joint motor body 444 drives the joint drive gear 443 to rotate around the joint drive axis 443A, and the meshing of the joint drive gear 443 and the joint driven gear 445 converts this rotational motion into rotation around the joint driven axis 445A. Since the joint driven gear 445 is fixedly connected to the joint drive shaft 442, and the distal finger segment 22 is also fixedly connected to the joint drive shaft 442, the rotation of the joint driven gear 445 can drive the distal finger segment 22 to rotate, thereby changing the angle between the distal finger segment 22 and the proximal finger segment 23.

[0130] Based on the embodiments described above for the joint motor 44, refer to Figure 5 The fingertip 21 may include a first fingertip axis 211 and a second fingertip axis 212 arranged in parallel. The distal finger segment 22 includes an active link 223 and a driven link 224. One end of the active link 223 is fixedly connected to the joint drive shaft 442, and the other end is rotatably connected to the first fingertip axis 211. The joint motor 44 drives the active link 223 to rotate around the joint drive shaft 442. One end of the driven link 224 is rotatably connected to the second fingertip axis 212, and the other end is rotatably connected to the joint motor 44. The projections of the active link 223 and the driven link 224 intersect in the axial direction 221A of the first fingertip axis 211.

[0131] Combination Figure 11 The simplified mechanical structure is illustrated below. When the active link 223 rotates around the joint drive shaft 442, it drives the first fingertip shaft 211 to rotate around the joint drive shaft 442. Since the first fingertip shaft 211 and the second fingertip shaft 212 are connected to the fingertip 21, the active link 223 can indirectly drive the second fingertip shaft 212 to rotate, thereby driving the driven link 224 connected to the second fingertip shaft 212 to rotate. The lengths of the driven link 224 and the active link 223 are fixed, and the first fingertip shaft 211 and the active link 223 are rotatably connected, and the second fingertip shaft 212 and the driven link 224 are rotatably connected. Therefore, the active link 223 and the driven link 224 restrain each other, allowing the fingertip 21 to switch between pointing towards the palm 1 and away from the palm 1 in the extension direction DE. Thus, when the robotic arm 100 needs to grasp a small object, its fingertips 21 can bend towards the palm 1 to hook the object and prevent it from falling. Therefore, this design improves the adaptability of the robotic arm 100 to different object sizes and expands its application range.

[0132] In this embodiment, one end of the driven link 224 connected to the joint motor 44 can be connected to the joint motor mount 441. Therefore, by adjusting the connection position between the driven link 224 and the joint motor mount 441, parameters such as the angle of the driving link 223 and the driven link 224 can be adjusted, thereby controlling the movement of the fingertip 21. Furthermore, refer to... Figure 7 and Figure 8 Taking mechanical finger 24 as an example, the driven link 224 can be rotatably connected to the joint drive shaft 442. In this embodiment, the driving link 223 includes a first sub-link 2231 and a second sub-link 2232. One end of the first sub-link 2231 is fixedly connected to the joint drive shaft 442, and the other end is connected to the second sub-link 2232. The end of the second sub-link 2232 away from the first sub-link 2231 is rotatably connected to the first fingertip shaft 211.

[0133] The joint drive shaft 442 rotates, causing the first sub-rod 2231 to rotate. The first sub-rod 2231 pushes the second sub-rod 2232 to move. The second sub-rod 2232, in turn, pushes the fingertip 21 to move the driven link 224, allowing the fingertip 21 to switch between pointing towards the palm 1 and moving away from the palm 1 in the extension direction DE. With this configuration, the active link 223 can be split into two independent sub-rods. The user can adjust the angle between the second sub-rod 2232 and the driven link 224 by adjusting the lengths of the first and second sub-rods 2231 and 2232. Compared to embodiments that change the connection position on the joint motor mount 441, this configuration allows for convenient adjustment of the relationship between the active link 223 and the driven link 224, thereby adjusting the movement of the fingertip 21.

[0134] The first sub-rod 2231 and the second sub-rod 2232 can be fixedly connected, forming a bent active link 223. In embodiments where the active link 223 is integrally formed, when the driven link 224 touches an object, the object can block further pivoting of the driven link 224, making it difficult for the integrally formed active link 223 to continue pivoting. Therefore, in some embodiments, the first sub-rod 2231 and the second sub-rod 2232 are rotatably connected. When the driven link 224 touches an object, the driven link 224 stops moving, thus fixing the position of the second fingertip axis 212. At this time, the first sub-rod 2231 can still continue to rotate, pushing the second sub-rod 2232 to continue moving towards the fingertip 21, thereby driving the first fingertip axis 211 to rotate around the second fingertip axis 212, realizing the rotation of the fingertip 21 around the second fingertip axis 212.

[0135] With this configuration, when the robotic arm 100 is grasping an object, even when the proximal finger segment 23 and the distal finger segment 22 have already come into contact with the object and can no longer move, the robotic arm 100 can still change the angle of the fingertip 21 and the fingertip 21 of the distal finger segment 22, so that the fingertip 21 can hold the object in the grasping space GS, thereby improving the grasping stability of the robotic arm 100.

[0136] Furthermore, the distal finger segment 22 also includes an elastic element 225 disposed along the extension direction DE. One end of the elastic element 225 is fixedly connected to the connection point (not shown) of the fingertip 21, and the other end is fixedly connected to the driven link 224, and the elastic element 225 is in a stretched state. The connection point is away from the axis of the second fingertip axis 212. When the fingertip 21 rotates around the second fingertip axis 212, since the connection point is away from the axis of the second fingertip axis 212, the connection point also rotates around the second fingertip axis 212. Rotating the fingertip 21 toward the distal finger segment 22 is called forward rotation, and rotating the fingertip 21 away from the distal finger segment 22 is called reverse rotation. When the fingertip 21 rotates forward, the straight-line distance between the connection point and the fixed point of the elastic element 225 on the driven link 224 increases, and the elastic element 225 is further stretched. When the fingertip 21 rotates reverse, the straight-line distance between the connection point and the fixed point of the elastic element 225 on the driven link 224 decreases. Since the elastic element 225 is in a stretched state, the tension of the elastic element 225 can help pull the fingertip 21 back to its original position.

[0137] Those skilled in the art can configure the fixed position of the elastic element 225 on the driven link 224 according to actual needs. For example, when the length of the elastic element 225 is short, the fixed position can be close to the second fingertip axis 212. When the length of the elastic element 225 is long, the fixed position can be close to the joint drive shaft 442. Figure 8 As shown, the driven link 224 includes multiple connecting holes 2241 in its extension direction DE. Those skilled in the art can replace the elastic element 225 with different lengths and elastic coefficients according to the state of the robot 100, or it can be easy to replace various elastic elements 225 of different specifications, so that the mechanical finger 2 can be used with a variety of commercially available elastic elements 225, thereby reducing maintenance costs.

[0138] In embodiments where the distal segment 22 includes an active link 223 and a driven link 224, the joint motor 44 may be a worm gear drive structure as described above, or a drive structure provided with a joint active gear 443 and a joint driven gear 445, or a structure in which the motor directly drives the joint drive shaft 442, for example. This application does not limit this.

[0139] In other embodiments, the joint structure 4 does not have a joint motor 44. In this embodiment, the joint structure 4 cooperates with the pivot drive module 31 to drive a change in the angle between the distal phalanx 22 and the proximal phalanx 23. (See reference...) Figure 3 and Figure 4 The joint structure 4 includes a first joint axis 41, a second joint axis 42, and a third joint axis 43 arranged in parallel. The proximal finger segment 23 includes a first proximal link 231 and a second proximal link 232. The distal finger segment 22 includes a first distal link 221 and a second distal link 222. One end of the first proximal link 231 is fixedly connected to a pivot shaft 3113, and the other end is rotatably connected to the first joint axis 41. Between the pivot shaft 3113 and the first joint axis 41, the first proximal link 231 is also rotatably connected to the second joint axis 42. One end of the second proximal link 232 is rotatably connected to a pivot motor base 3112, and the other end is rotatably connected to the third joint axis 43. One end of the first distal link 221 is rotatably connected to a first fingertip axis 211, and the other end is rotatably connected to the second joint axis 42. One end of the second distal link 222 is rotatably connected to the second fingertip axis 212, and the other end is rotatably connected to the third joint axis 43. Between the second fingertip axis 212 and the third joint axis 43, the second distal link 222 is also rotatably connected to the first joint axis 41. Specifically, in the axial direction of the first fingertip axis 211, the projections of the first proximal link 231 and the second proximal link 232 intersect, and the projections of the first distal link 221 and the second distal link 222 intersect.

[0140] Combination Figure 10 The pivot axis 3113 drives the first proximal link 231 to rotate. The first proximal link 231 is rotatably connected to the first joint axis 41 and the second joint axis 42, respectively. Therefore, the first proximal link 231 can drive the second distal link 222 connected to the first joint axis 41 and the first distal link 221 connected to the second joint axis 42 to move. The second distal link 222 is also connected to the third joint axis 43 and the second fingertip axis 212. Therefore, the movement of the second distal link 222 can also drive the rotation of the second proximal link 232 connected to the third joint axis 43 and the movement of the fingertip 21. The first distal link 221 is also connected to the first fingertip axis 211. Therefore, the movement of the first distal link 221 can drive the movement of the fingertip 21.

[0141] When the drive shaft drives the first proximal link 231 to move, the first proximal link 231, the second proximal link 232, the first distal link 221, and the second distal link 222 are limited by their respective lengths and the angles between them, thus exhibiting the following characteristics: Figure 10 The mechanical finger shown is bent.

[0142] With this configuration, the mechanical finger 2 does not require an additional joint motor 44 for the joint structure 4. By associating the proximal finger segment 23 and the distal finger segment 22 with the palm drive structure 3, the palm drive structure 3 can not only drive the mechanical finger 2 to change the angle between its extension direction DE and the palm plane 11, but also drive the proximal finger segment 23 and the distal finger segment 22 to change their angles. This improves the utilization rate of the palm drive structure 3, simplifies the structure of the mechanical finger, and reduces the production cost of the mechanical finger 2.

[0143] like Figure 1 In the illustrated embodiment, the palm drive structure 3 of the mechanical ring finger 253 and mechanical little finger 254 is capable of bending the mechanical fingers 2. When the ring and little fingers of a human hand move towards the palm, they are usually accompanied by finger bending. Therefore, this configuration improves the anthropomorphism of the robotic hand 100. Furthermore, since the mechanical ring finger 253 and mechanical little finger 254 typically play an auxiliary rather than a dominant role when grasping objects, this configuration eliminates the need for joint motors 44, allowing for the fitting of most grasping postures with fewer joint motors 44. This helps reduce the production cost of the robotic hand 100 while ensuring its normal operation.

[0144] also, Figure 1 In the embodiment shown, the joint structure 4 of the first mechanical finger 24, the mechanical index finger 251 and the mechanical middle finger 252 is provided with a joint motor 44, which can improve the adjustment flexibility of the first mechanical finger 24, the mechanical index finger 251 and the mechanical middle finger 252, so that the robotic hand 100 can grasp objects of different sizes and with irregular outer surfaces.

[0145] Furthermore, similar to the dexterity of the index finger and thumb of a human hand, the palm drive structure 3 of the first mechanical finger 24 and the mechanical index finger 251 is a swing drive module 32, which enables the first mechanical finger 24 and the mechanical index finger 251 of the robotic hand 100 to swing relative to the palm side 12, thereby adjusting their gripping position when grasping objects, which helps to improve the adaptability and dexterity of the robotic hand 100 to grasp objects of different sizes.

[0146] It should be noted that, Figure 1The embodiments shown should be considered exemplary and not restrictive. Those skilled in the art can set different numbers of mechanical fingers 2 according to actual needs, or set the palm drive structure 3 of the first mechanical finger 24, mechanical index finger 251, mechanical middle finger 252, mechanical ring finger 253, and mechanical little finger 254 to be the same, or set the joint structure 4 to be the same, etc., and are not limited in this regard. The joint structure 4 and palm drive structure 3 of this application can be set on the mechanical fingers 2 as needed, so that the mechanical fingers 2 can have different movement capabilities and degrees of freedom. Therefore, the joint structure 4 and palm drive structure 3 have strong adaptability and high transplantability.

[0147] Based on the various embodiments described above for the robotic hand 100, this application also provides a robot. The robot includes a torso, an upper limb, and the robotic hand 100 of this application. One end of the upper limb is connected to the robotic hand 100, and the other end is connected to the torso, thus forming a structure similar to the human body. The robotic hand 100 of this application has high adaptability to the shape of objects located in the palm 1. By changing the angle between the robotic finger 2 and the palm 1, and the angle between the proximal finger segment 23 and the distal finger segment 22, the operator can enable the robot to grasp different objects. Furthermore, due to the high adaptability of the robotic hand 100, the robot can grasp objects better and more stably, preventing objects from falling out of the robot's robotic hand 100. Therefore, the robot of this application can be used in scenarios requiring high hand dexterity, such as handling and grasping.

[0148] 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.

[0149] It should be noted that the beneficial effects described above for the various embodiments of the robotic arm can also be used to describe the robot of this application. For the sake of brevity, this application will not repeat them here.

[0150] 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.

[0151] 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; A mechanical finger includes a fingertip, a distal segment, and a proximal segment arranged along an extension direction; one end of the distal segment is rotatably connected to the fingertip; the mechanical finger includes a first mechanical finger and a second mechanical finger; the second mechanical finger includes a mechanical index finger, a mechanical middle finger, a mechanical ring finger, and a mechanical little finger; A palm drive structure is disposed on the palm side and connected to the end of the proximal finger segment away from the distal finger segment, so as to connect the mechanical finger and the palm in the connection direction; the palm drive structure includes a pivot drive module; The pivoting drive 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 drive module includes a pivoting motor fixed to the palm; the pivoting motor includes a pivoting drive shaft, a pivoting motor base, and a pivoting shaft movably connected to the pivoting motor base; the axis of the pivoting shaft extends along the rotation axis; the proximal finger segment is fixedly connected to the pivoting shaft; the connection direction is perpendicular to the palm side surface; as well as Joint structure; the distal end of the finger segment away from the fingertip is rotatably connected to the joint structure; The end of the proximal finger segment furthest from the palm drive structure is rotatably connected to the joint structure. The joint structure can change the angle between the fingertips of the distal phalanx and the proximal phalanx; The fingertips of the mechanical ring finger and the mechanical little finger respectively include a first fingertip axis and a second fingertip axis arranged in parallel; the joint structure of the mechanical ring finger and the mechanical little finger includes a first joint axis, a second joint axis, and a third joint axis arranged in parallel; the proximal finger segment includes a first proximal link and a second proximal link; one end of the first proximal link is fixedly connected to the pivot axis, and the other end is rotatably connected to the first joint axis; between the pivot axis and the first joint axis, the first proximal link is also rotatably connected to the second joint axis; one end of the second proximal link is rotatably connected to the pivot motor base, and the other end is... The third joint axis is rotatably connected; in the axial direction of the first fingertip axis, the projections of the first proximal link and the second proximal link intersect; the distal finger segment includes a first distal link and a second distal link; one end of the first distal link is rotatably connected to the first fingertip axis and the other end is rotatably connected to the second joint axis; one end of the second distal link is rotatably connected to the second fingertip axis and the other end is rotatably connected to the third joint axis; between the second fingertip axis and the third joint axis, the second distal link is also rotatably connected to the first joint axis; in the axial direction of the first fingertip axis, the projections of the first distal link and the second distal link intersect; The fingertips of the first mechanical finger, the mechanical index finger, and the mechanical middle finger each include a first fingertip axis and a second fingertip axis arranged in parallel. The joint structure of the first mechanical finger, the mechanical index finger, and the mechanical middle finger includes a joint motor. The joint motor is located at the end of the proximal finger segment away from the palm drive structure. The joint motor includes a joint motor mount and a joint drive shaft. The joint motor mount is fixedly connected to the proximal finger segment. The joint drive shaft is rotatably connected to the joint motor mount and fixedly connected to the distal finger segment. The joint drive shaft is used to drive the distal finger segment to rotate, thereby changing the angle between the distal and proximal finger segments. The distal finger segments of the first mechanical finger, the mechanical index finger, and the mechanical middle finger include an active link and a driven link. One end of the active link is fixedly connected to the joint drive shaft, and the other end is rotatably connected to the first fingertip axis. The joint motor drives the active link to rotate around the joint drive shaft. One end of the driven link is rotatably connected to the second fingertip axis, and the other end is rotatably connected to the joint motor; wherein, in the axial direction of the first fingertip axis, the projections of the driving link and the driven link intersect.

2. The robotic arm according to claim 1, characterized in that, The pivot drive module also includes: A pivoting drive gear is fixedly connected to the pivoting drive shaft; the pivoting axis of the pivoting drive gear extends along the connection direction. A pivot driven gear is fixedly connected to the pivot shaft; the pivot driven gear meshes with the pivot driving gear.

3. The robotic arm according to claim 1, characterized in that, The palm drive structure includes a swing drive module; the swing drive module is used to drive the mechanical finger to rotate around a rotation axis, the rotation axis extending perpendicular to the connection direction and parallel to the palm plane; the swing drive module is also used to drive the mechanical finger to rotate around a swing axis, the swing axis intersecting the palm plane; the swing axis is perpendicular to the rotation 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 respectively; 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 proximal finger segment; the proximal finger segment is rotatably connected to the second shaft.

4. The robotic arm according to claim 3, characterized in that, The swing motor includes: The main body of the swing motor; The first driving gear is fixedly connected to the main body of the oscillating motor; 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 main body of the oscillating motor; 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 joint motor includes: A joint drive gear, wherein the joint drive axis of the joint drive gear extends along the extending direction; The main body of the joint motor is fixed to the joint motor base and fixedly connected to the joint drive gear, and is used to drive the joint drive gear to rotate. The driven gear of the joint is fixedly connected to the joint drive shaft; the driven gear of the joint meshes with the driving gear of the joint; the driven axis of the driven gear of the joint is perpendicular to the driving axis of the joint.

7. The robotic arm according to claim 1, characterized in that, The active link includes a first sub-link and a second sub-link; one end of the first sub-link is fixedly connected to the joint drive shaft, and the other end is rotatably connected to the second sub-link; the end of the second sub-link away from the first sub-link is rotatably connected to the first fingertip shaft; wherein, the driven link is rotatably connected to the joint drive shaft.

8. The robotic arm according to claim 7, characterized in that, The distal finger segment also includes an elastic element arranged along the extension direction; one end of the elastic element is fixedly connected to the connection point of the fingertip, and the other end is fixedly connected to the driven link; the elastic element is in a stretched state; the connection point is away from the extension axis of the second fingertip axis.

9. The robotic arm according to claim 1, characterized in that, The robotic arm also includes: An angle sensor, disposed in the palm drive structure, is used to measure the angle between the mechanical finger and the palm.

10. The robotic arm according to claim 1, characterized in that, The number of mechanical fingers includes multiple ones; each mechanical finger is provided with the palm drive structure and / or joint structure.

11. The robotic arm according to claim 10, characterized in that, 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.

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; A mechanical finger includes a fingertip, a distal segment, and a proximal segment arranged along an extension direction; one end of the distal segment is rotatably connected to the fingertip; the mechanical finger includes a first mechanical finger and a second mechanical finger; the second mechanical finger includes a mechanical index finger, a mechanical middle finger, a mechanical ring finger, and a mechanical little finger; A palm drive structure is disposed on the palmar surface and connected to the end of the proximal finger segment away from the distal finger segment, thereby connecting the mechanical finger and the palm in a connection direction. The palm drive structure includes a pivot drive module. The pivot drive structure drives the mechanical finger to rotate around a rotation axis, which extends perpendicular to the connection direction and is parallel to the palm plane. The drive module includes a pivot motor fixed to the palm. The pivot motor includes a pivot drive shaft, a pivot motor base, and a pivot shaft movably connected to the pivot motor base. The axis of the pivot shaft extends along the rotation axis. The proximal finger segment is fixedly connected to the pivot shaft. The connection direction is perpendicular to the palmar surface. A joint structure is provided; the distal phalanx, away from the fingertip, is rotatably connected to the joint structure; the proximal phalanx, away from the palm drive structure, is rotatably connected to the joint structure; the joint structure is capable of changing the angle between the distal phalanx and the proximal phalanx; the joint structure includes a joint motor; the joint motor is disposed at the end of the proximal phalanx away from the palm drive structure; the joint motor includes a joint motor mount and a joint drive shaft; the joint motor mount is fixedly connected to the proximal phalanx; the joint drive shaft is rotatably connected to the joint motor mount and fixedly connected to the distal phalanx; the joint drive shaft is used to drive the distal phalanx to rotate, thereby changing the angle between the distal phalanx and the proximal phalanx. The fingertips of the mechanical ring finger and the mechanical little finger respectively include a first fingertip axis and a second fingertip axis arranged in parallel; the joint structure of the mechanical ring finger and the mechanical little finger includes a first joint axis, a second joint axis, and a third joint axis arranged in parallel; the proximal finger segment includes a first proximal link and a second proximal link; one end of the first proximal link is fixedly connected to the pivot axis, and the other end is rotatably connected to the first joint axis; between the pivot axis and the first joint axis, the first proximal link is also rotatably connected to the second joint axis; one end of the second proximal link is rotatably connected to the pivot motor base, and the other end is... The third joint axis is rotatably connected; in the axial direction of the first fingertip axis, the projections of the first proximal link and the second proximal link intersect; the distal finger segment includes a first distal link and a second distal link; one end of the first distal link is rotatably connected to the first fingertip axis and the other end is rotatably connected to the second joint axis; one end of the second distal link is rotatably connected to the second fingertip axis and the other end is rotatably connected to the third joint axis; between the second fingertip axis and the third joint axis, the second distal link is also rotatably connected to the first joint axis; in the axial direction of the first fingertip axis, the projections of the first distal link and the second distal link intersect; The fingertips of the first mechanical finger, the mechanical index finger, and the mechanical middle finger each include a first fingertip axis and a second fingertip axis arranged in parallel; the distal segments of the first mechanical finger, the mechanical index finger, and the mechanical middle finger each include an active link and a driven link; one end of the active link is fixedly connected to the joint drive shaft, and the other end is rotatably connected to the first fingertip axis; the joint motor drives the active link to rotate around the joint drive shaft; one end of the driven link is rotatably connected to the second fingertip axis, and the other end is rotatably connected to the joint motor; wherein, in the axial direction of the first fingertip axis, the projections of the active link and the driven link intersect.

13. The robot according to claim 12, characterized in that, The pivot drive module also includes: A pivoting drive gear is fixedly connected to the pivoting drive shaft; the pivoting axis of the pivoting drive gear extends along the connection direction. A pivot driven gear is fixedly connected to the pivot shaft; the pivot driven gear meshes with the pivot driving gear.

14. The robot according to claim 12, characterized in that, The palm drive structure includes a swing drive module; the swing drive module is used to drive the mechanical finger to rotate around a rotation axis, the rotation axis extending perpendicular to the connection direction and parallel to the palm plane; the swing drive module is also used to drive the mechanical finger to rotate around a swing axis, the swing axis intersecting the palm plane; the swing axis is perpendicular to the rotation 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 respectively; 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 proximal finger segment; the proximal finger segment is rotatably connected to the second shaft.

15. The robot according to claim 14, characterized in that, The swing motor includes: The main body of the swing motor; The first driving gear is fixedly connected to the main body of the oscillating motor; 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 main body of the oscillating motor; 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 joint motor includes: A joint drive gear, wherein the joint drive axis of the joint drive gear extends along the extending direction; The main body of the joint motor is fixed to the joint motor base and fixedly connected to the joint drive gear, and is used to drive the joint drive gear to rotate. The driven gear of the joint is fixedly connected to the joint drive shaft; the driven gear of the joint meshes with the driving gear of the joint; the driven axis of the driven gear of the joint is perpendicular to the driving axis of the joint.

18. The robot according to claim 12, characterized in that, The active link includes a first sub-link and a second sub-link; one end of the first sub-link is fixedly connected to the joint drive shaft, and the other end is rotatably connected to the second sub-link; the end of the second sub-link away from the first sub-link is rotatably connected to the first fingertip shaft; wherein, the driven link is rotatably connected to the joint drive shaft.

19. The robot according to claim 18, characterized in that, The distal finger segment also includes an elastic element arranged along the extension direction; one end of the elastic element is fixedly connected to the connection point of the fingertip, and the other end is fixedly connected to the driven link; the elastic element is in a stretched state; the connection point is away from the extension axis of the second fingertip axis.

20. The robot according to claim 12, characterized in that, The robotic arm also includes: An angle sensor, disposed in the palm drive structure, is used to measure the angle between the mechanical finger and the palm.

21. The robot according to claim 12, characterized in that, The number of mechanical fingers includes multiple ones; each mechanical finger is provided with the palm drive structure and / or joint structure.

22. The robot according to claim 21, characterized in that, 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.

Images