Mechanical finger and robot hand

Abstract

The application discloses a mechanical finger and a mechanical hand. The disclosed mechanical finger comprises a framework, a finger body, a first driving mechanism and a second driving mechanism. The finger body comprises a first connecting part and a second connecting part which are arranged at intervals. The first driving mechanism is connected with the framework and is used for driving the framework to drive the finger body to rotate around the direction of the second rotation axis. The second driving mechanism comprises a telescopic driving member. The first end of the telescopic driving member is rotationally connected with the second connecting part. In the case that the first driving mechanism drives the framework to drive the finger body to rotate around the direction of the second rotation axis, the second connecting part drives the first end of the telescopic driving member to rotate around the second end of the telescopic driving member. The telescopic driving member can drive the finger body to rotate around the first rotation axis through the second connecting part. The above scheme can solve the problem that the control flexibility of the mechanical finger is low due to the fact that the tendon rope is prone to relaxation in the related art.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical hand, and in particular to a mechanical finger and a mechanical hand. BACKGROUND

[0002] Nowadays, in the industrial field or other fields, it is more and more common to use a mechanical hand installed at the end of a mechanical arm to grasp an object. With the increasing functional requirements for the mechanical hand, the mechanical hand needs to have a finger bending function and a finger separating function, so as to improve the grasping ability of the mechanical hand.

[0003] In the related art, each mechanical finger of the mechanical hand is connected through four tendons, and the bending function and the separating function of each mechanical finger are respectively transmitted by using two tendons to transmit power. For example, when the mechanical finger is bent, one tendon is pulled to bend, and the other tendon is pulled to unfold the mechanical finger. However, when the bending function and the separating function of the mechanical finger are realized by using the tendons, the tendons need to be arranged more finely to avoid interference with the movement of other components, and the tendons are prone to relaxation during long-term operation, which ultimately leads to low control flexibility of the mechanical hand. SUMMARY

[0004] The present application discloses a mechanical finger and a mechanical hand to solve the problem of low control flexibility of the mechanical finger in the related art due to the relaxation of the tendons.

[0005] To solve the above technical problems, the present application is implemented as follows:

[0006] First aspect: the present application discloses a mechanical finger, comprising a skeleton, a finger body, a first driving mechanism and a second driving mechanism, wherein:

[0007] The finger body comprises a first connecting part and a second connecting part arranged at intervals, the finger body is rotationally connected with the skeleton in the direction of rotation around a first rotation axis through the first connecting part, the first driving mechanism is connected with the skeleton and is used to drive the skeleton to drive the finger body to rotate in the direction of rotation around a second rotation axis, the first rotation axis and the second rotation axis are perpendicular to each other, and the second driving mechanism comprises a telescopic driving member, a first end of the telescopic driving member is rotationally connected with the second connecting part.

[0008] In the case where the first driving mechanism (300) drives the skeleton to drive the finger body to rotate in the direction of rotation around a second rotation axis, the second connecting part drives the first end of the telescopic driving member to rotate around the second end of the telescopic driving member, and the telescopic driving member can drive the finger body to rotate around the first rotation axis through the second connecting part, wherein the first end of the telescopic driving member is opposite to the second end of the telescopic driving member.

[0009] In a second aspect, the application also discloses a mechanical hand, comprising a shell and the mechanical finger of the first aspect, wherein the first driving mechanism is arranged in the shell, and the second end of the telescopic driving member is connected with the shell.

[0010] The technical scheme adopted by the application can achieve the following technical effects:

[0011] The mechanical finger disclosed by the embodiment of the application is provided with the first connecting part and the second connecting part arranged at intervals, and the second driving mechanism comprises the telescopic driving member, so that the finger body can be rotationally connected with the framework in the direction of the first rotation axis through the first connecting part, and the first driving mechanism can drive the framework to rotate in the direction of the second rotation axis by being connected with the framework, so as to realize the swing of the mechanical finger, and further realize the separation and convergence of the plurality of mechanical fingers in the case that the mechanical hand comprises the plurality of mechanical fingers; the first end of the telescopic driving member is rotationally connected with the second connecting part, so that the telescopic driving member can drive the finger body to rotate in the direction of the first rotation axis, thereby realizing the bending action of the mechanical finger.

[0012] Since the first end of the telescopic driving member can rotate relative to the second connecting part, and the second end of the telescopic driving member can rotate, in the case that the mechanical finger rotates around the second rotation axis to drive the second connecting part to rotate around the second rotation axis, the telescopic driving member can synchronously perform the telescopic movement to drive the mechanical finger to rotate around the first rotation axis, so that the rotation of the mechanical finger around the first rotation axis and the second rotation axis can be realized at the same time. Since the rotation of the mechanical finger around the first rotation axis is driven by the telescopic driving member, it is not necessary to arrange the tendon to drive, so that the structure of the mechanical finger can be relatively simple, and the problem that the tendon is prone to relaxation during long-term operation of the mechanical finger can be avoided, thereby improving the control flexibility of the mechanical finger, and the overall transmission structure of the mechanical finger can be relatively simple, the motion precision can be relatively high, and the rigidity can be relatively large by driving in the mode of the telescopic driving member. BRIEF DESCRIPTION OF DRAWINGS

[0013] Figure 1 The structure of the mechanical finger disclosed by the embodiment of the application is shown in the figure;

[0014] Figure 2 The exploded view of the mechanical finger is shown in the figure; Figure 1

[0015] Figure 3 The local structure of the mechanical hand disclosed by the embodiment of the application is shown in the figure;

[0016] Figure 4 The structure of the first part of the mechanical finger disclosed by the embodiment of the application is shown in the figure; ​

[0017] Figure 5 Structure diagram of the second part of the mechanical finger disclosed in the embodiment of the present application;

[0018] Figure 6 Structure diagram of the whole mechanical finger disclosed in the embodiment of the present application;

[0019] Figure 7 Structure diagram of the whole mechanical finger disclosed in the embodiment of the present application;

[0020] Figure 8 Structure diagram of the whole mechanical finger disclosed in the embodiment of the present application;

[0021] Figure 9 Structure diagram of the whole mechanical finger disclosed in the embodiment of the present application;

[0022] Figure 10 Structure diagram of the whole mechanical finger disclosed in the embodiment of the present application;

[0023] Figure 11 Structure diagram of the whole mechanical finger disclosed in the embodiment of the present application;

[0024] Figure 12 Structure diagram of the whole mechanical finger disclosed in the embodiment of the present application;

[0025] Figure 13 Structure diagram of the whole mechanical finger disclosed in the embodiment of the present application;

[0026] Figure 14 Structure diagram of the whole mechanical finger disclosed in the embodiment of the present application;

[0027] Figure 15 Structure diagram of the whole mechanical finger disclosed in the embodiment of the present application;

[0028] Figure 16 Structure diagram of the whole mechanical finger disclosed in the embodiment of the present application;

[0029] Figure 17 Projection diagram of the skeleton rotating around the second rotation axis;

[0030] Figure 18 Structure diagram of the whole mechanical finger disclosed in the embodiment of the present application;

[0031] Figure 19 Projection diagram of the whole mechanical finger disclosed in the embodiment of the present application;

[0032] Explanation of reference numerals:

[0033] 100 - skeleton,

[0034] 200 - finger body, 210 - first connecting part, 220 - second connecting part,

[0035] 300 - first driving mechanism,

[0036] 400 - telescopic driving part,

[0037] 500 - universal joint,

[0038] 600 - universal ball bearing,

[0039] 700 - housing,

[0040] 800 - transmission mechanism, 810 - transmission rod, 820 - gear set,

[0041] 910 - main plate, 920 - electrical interface. DETAILED DESCRIPTION

[0042] To make the objectives, technical solutions and advantages of the present application clearer, the technical solutions of the present application will be described below in connection with specific embodiments of the present application and corresponding drawings. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0043] The technical solutions disclosed in the various embodiments of the present application will be described in detail below in connection with the drawings.

[0044] Please refer to Figures 1 to 19 The disclosed mechanical finger includes a skeleton 100, a finger body 200, a first driving mechanism 300 and a second driving mechanism.

[0045] The finger body 200 includes a first connecting part 210 and a second connecting part 220 arranged at intervals, and the first connecting part 210 and the second connecting part 220 can be located at the rotating connecting end of the finger body 200.

[0046] The finger body 200 is rotatably connected with the skeleton 100 in the direction of the first rotation axis through the first connecting part 210. The first connecting part 210 can be rotatably connected with the skeleton 100 through a bearing.

[0047] The first driving mechanism 300 is connected with the skeleton 100, and is used to drive the skeleton 100 to rotate the finger body 200 in the direction of the second rotation axis. The first rotation axis and the second rotation axis are perpendicular to each other.

[0048] The second driving mechanism comprises a telescopic driving member 400, a first end of the telescopic driving member 400 is rotationally connected with the second connecting part 220. A second end of the telescopic driving member 400 is rotationally arranged on a housing 700 of a mechanical hand described later. When the telescopic driving member 400 is in telescopic movement, the second end of the telescopic driving member 400 can remain stationary in the telescopic direction, and the first end of the telescopic driving member 400 moves in the telescopic direction.

[0049] When the first driving mechanism 300 drives the skeleton 100 to drive the finger body 200 to rotate around the second rotation axis, the second connecting part 220 drives the first end of the telescopic driving member 400 to rotate around the second end of the telescopic driving member 400. The telescopic driving member 400 can drive the finger body 200 to rotate around the first rotation axis through the second connecting part 220. The first end of the telescopic driving member 400 is opposite to the second end of the telescopic driving member 400.

[0050] The mechanical finger disclosed in the embodiments of the present application sets the finger body 200 to comprise the first connecting part 210 and the second connecting part 220 arranged at intervals, and the second driving mechanism comprises the telescopic driving member 400. Thus, the finger body 200 can be rotationally connected with the skeleton 100 around the first rotation axis through the first connecting part 210. The first driving mechanism 300 is connected with the skeleton 100, so that the first driving mechanism 300 can drive the skeleton 100 to drive the finger body 200 to rotate around the second rotation axis. Thus, the swing of the mechanical finger is realized. In the case that the mechanical hand comprises a plurality of mechanical fingers, the plurality of mechanical fingers can be separated and converged. The first end of the telescopic driving member 400 is rotationally connected with the second connecting part 220, so that the telescopic driving member 400 can drive the finger body 200 to rotate around the first rotation axis. Thus, the bending action of the mechanical finger is realized.

[0051] Since the first end of the telescopic driving member 400 can rotate relative to the second connecting part 220, and the second end of the telescopic driving member 400 can rotate, in the case that the mechanical finger rotates around the second rotation axis to drive the second connecting part 220 to rotate around the second rotation axis, the telescopic driving member 400 can synchronously perform telescopic movement to drive the mechanical finger to rotate around the first rotation axis. Thus, the mechanical finger can rotate around the first rotation axis and the second rotation axis at the same time. Since the rotation of the mechanical finger around the first rotation axis is driven by the telescopic driving member 400, it is not necessary to set a tendon to drive. Thus, the structure of the mechanical finger can be relatively simple, and the problem that the tendon is prone to relaxation during long-term operation of the mechanical finger can be avoided. Thus, the control flexibility of the mechanical finger can be improved. Moreover, the overall transmission structure of the mechanical finger can be relatively simple, the movement precision can be relatively high, and the rigidity can be relatively large by driving the mechanical finger in the manner of the telescopic driving member 400.

[0052] In an implementation, the first rotation axis and the second rotation axis can intersect at a point, and the second connecting portion 220 and the second rotation axis can be located on the same side of the first rotation axis when the finger body 200 is in the folded state and the unfolded state.

[0053] In another implementation, the first rotation axis and the second rotation axis can be spaced apart, and the second connecting portion 220 and the second rotation axis can be located on the same side of the first rotation axis when the finger body 200 is in the folded state and the unfolded state. The first rotation axis and the second rotation axis are spaced apart, which can avoid the mechanical finger having a large thickness in the extension direction of the second rotation axis.

[0054] In an optional embodiment, the mechanical finger can further include a universal joint 500, which can have a third rotation axis and a fourth rotation axis. The first end of the telescopic driving member 400 can be rotationally connected to the second connecting portion 220 through the universal joint 500, so that the first end of the telescopic driving member 400 can rotate around the third rotation axis or the fourth rotation axis, wherein the third rotation axis is parallel to the first rotation axis, and the fourth rotation axis is parallel to the second rotation axis. Specifically, the universal joint 500 can be a cross universal joint. When the finger body 200 is in the folded state and the unfolded state, the second rotation axis and the fourth rotation axis can coincide; when the skeleton 100 rotates around the second rotation axis and the telescopic driving member 400 does not have telescopic movement, the second rotation axis and the fourth rotation axis can coincide; when the skeleton 100 rotates around the second rotation axis and the telescopic driving member 400 has telescopic movement, the second rotation axis and the fourth rotation axis also have relative movement.

[0055] The mechanical finger disclosed in the embodiments of the present application sets the universal joint 500, so that the first end of the telescopic driving member 400 can be rotationally connected to the second connecting portion 220 through the universal joint 500, so that the first end of the telescopic driving member 400 can rotate around the third rotation axis or the fourth rotation axis, thereby realizing the rotational connection between the first end of the telescopic driving member 400 and the second connecting portion 220. Since the second connecting portion 220 has rotation around the first rotation axis and the second rotation axis, the third rotation axis is set to be parallel to the first rotation axis, and the fourth rotation axis is parallel to the second rotation axis, so that the first end of the telescopic driving member 400 and the second connecting portion 220 are not easy to interfere when rotating.

[0056] In another embodiment, the first end of the telescopic driving member 400 can be rotatably connected with the second connecting part 220 through a ball bearing, so as to realize the rotation connection between the first end of the telescopic driving member 400 and the second connecting part 220. Of course, the structure for realizing the rotation connection between the first end of the telescopic driving member 400 and the second connecting part 220 can also be other structures, and the application does not make specific limitation on the structure for realizing the rotation connection between the first end of the telescopic driving member 400 and the second connecting part 220.

[0057] Optionally, the mechanical finger can further comprise a universal ball bearing 600, the universal ball bearing 600 can comprise a fixed part and a rotating ball, the rotating ball can be rotatably connected with the fixed part, the second end of the telescopic driving member 400 can be connected with the rotating ball, and the fixed part can be fixed on the shell of the mechanical hand.

[0058] The mechanical finger disclosed in the embodiments of the application is provided with the universal ball bearing 600, so that the second end of the telescopic driving member 400 can be connected with the rotating ball of the universal ball bearing 600, thereby making the second end of the telescopic driving member 400 adapt to a larger range of rotation.

[0059] In other embodiments, the second end of the telescopic driving member 400 can also be realized to rotate through other structures, such as a cross universal joint, a flexible connecting member, etc., and the embodiments of the application do not limit the structure for realizing the rotation of the second end of the telescopic driving member 400.

[0060] In some cases, when the finger body 200 rotates around the second rotation axis and the telescopic driving member 400 does not perform telescopic operation, the distance between the center point of the second end of the telescopic driving member 400 and the center point of the first connecting part 210 will change, since the distance between the center point of the second end of the telescopic driving member 400 and the center point of the second connecting part 220 does not change, and the distance between the center point of the second connecting part 220 and the center point of the first connecting part 210 does not change, the angle between the finger body 200 and the telescopic driving member 400 will change, i.e., the finger body 200 will rotate relative to the first rotation axis. In order to realize that the finger body 200 is relatively static around the first rotation axis when the finger body 200 rotates around the second rotation axis, optionally, when the first driving mechanism 300 drives the skeleton 100 to rotate the finger body 200 around the second rotation axis, the telescopic driving member 400 performs telescopic operation to compensate the movement of the second connecting part 220, so as to make the finger body 200 keep relatively static around the first rotation axis.

[0061] The mechanical finger disclosed in the embodiments of the present application can keep the finger body 200 relatively static around the first rotation axis direction by driving the skeleton 100 to drive the finger body 200 to rotate around the second rotation axis direction and by driving the telescopic driving member 400 to compensate the movement of the second connecting part 220.

[0062] The present application discloses how to obtain the telescopic movement relationship of the telescopic driving member 400 when the finger body 200 rotates around the first rotation axis and around the second rotation axis. Referring to Figure 17 , Figure 17 The projection schematic diagram when the skeleton 100 rotates around the second rotation axis is shown in FIG. 4. A1 represents the center point of the second end of the telescopic driving member 400, or, when the second end of the telescopic driving member 400 is connected through the universal ball bearing 600, A1 can also represent the center point of the universal ball bearing 600; B1 represents the center point of the first connecting part 210, or represents the center point of the first rotation axis, and the center point of the first connecting part 210 coincides with the center point of the first rotation axis. H1 can represent the projection point of the second rotation axis in the xoy plane, and in the xoy plane, the distance between A1 and H1 is a fixed value L1, the distance between H1 and B1 is a fixed value L2, and a is the rotation angle of the skeleton 100 driving the finger body 200 to rotate around the second rotation axis. The rotation angle a is the target angle of the finger body 200 rotating around the second rotation axis, and is the angle that the control system needs to reach, so the rotation angle a is a known quantity. Since L1, L2 and a are known quantities, in the xoy plane, the distance L4 between A1 and B1 and the angle y can be obtained by calculation, that is, the distance L4 and the angle y are known quantities.

[0063] Figure 18 The motion schematic diagram under the isometric view is shown in FIG. 5, and C1 represents the center point of the second connecting part 220. In the coordinates A1(x1, y1, z1), B1(x2, y2, z2), C1(x3, y3, z3) when the finger body 200 rotates around the second rotation axis, A1 is a fixed point, and B1 and C1 are variable points. The actual distance between A1 and C1 is L3, that is, the distance between the center point of the second end of the telescopic driving member 400 and the center point of the second connecting part 220. The distance between B1 and C1 is L5, and L5 is the distance between the center point of the first connecting part 210 and the center point of the second connecting part 220, which is a fixed value. Figure 18 The angle β in FIG. 6 represents the rotation angle of the finger body 200 around the first rotation axis. The rotation angle β is the target angle of the finger body 200 rotating around the first rotation axis, and is the angle that the control system needs to reach, so the rotation angle β is a known quantity.

[0064] Figure 19As a schematic diagram of the projection on the zox plane, the projection distance of A1 and C1 on the z axis on the zox plane is L6. Since L5 and β are known quantities, the projection distance L6 of A1 and C1 on the zox plane can be obtained by calculation.

[0065] When the rotation angle α of the finger body 200 around the second rotation axis is 0 degrees, the finger body 200 only rotates around the first rotation axis, and the motion model of the finger body 200 can be simplified as a plane model.

[0066] When the finger body 200 rotates around the second rotation axis, when 0 < α < f, f is an acute angle artificially preset, therefore, γ is also an acute angle, the relationship between the rotation angle α of the finger body 200 around the second rotation axis and the rotation angle β of the finger body 200 around the first rotation axis is:

[0067]

[0068]

[0069] Based on formula (1) and formula (2), the relationship between the rotation angle α of the finger body 200 around the second rotation axis and the rotation angle β of the finger body 200 around the first rotation axis can be obtained. In the case where the finger body 200 rotates around the first rotation axis and the second rotation axis, the relationship between the bending angle α and the separation angle β can be processed according to different logics. Wherein L3, the rotation angle α, the rotation angle β are basic variables (L3 and α can be independently controlled to change, the independent control change rule of β is related to L3 and α, that is, after L3 and α are determined, β is also determined accordingly), L1 and L2 are fixed values, L4 and L6 are change values caused by basic variables, after the basic variables are determined, L4 and L6 are also known quantities, and L5 is a fixed value. Since β and α are the angles that the control system needs to control the finger body 200 to reach, β and α are known quantities, then according to the corresponding relationship of L3, the rotation angle α and the rotation angle β, different β and α values correspond to different lengths of L3, and the required extension amount of the extension driving member 400 is also obtained. Specifically, the corresponding relationship of L3, the rotation angle α and the rotation angle β can be preset in the control system of the mechanical finger, so as to realize the automatic control of L3, the rotation angle α and the rotation angle β.

[0070] Specifically, in the case where the finger body 200 only rotates around the second rotation axis, that is, the change of the rotation angle α is known, the rotation angle α can cause the change of the rotation angle β, and then the length of L3 is also a known quantity. At this time, the extension driving member 400 is extended to adjust L3 to the corresponding length, so as to keep the rotation angle β unchanged.

[0071] In the case that the finger body 200 rotates around the first rotation axis and the second rotation axis, the rotation angle a and the rotation angle β are changed, and the rotation angle a and the rotation angle β correspond to the length of L3 in real time. At this time, the length of L3 is adjusted by the extension and contraction of the extension and contraction driving member 400, so that the rotation angle a and the rotation angle β can reach the corresponding angle.

[0072] In the case that the finger body 200 detects the actual pressure of the grasped object through the pressure sensor, the relationship between the driving force of the extension and contraction driving member 400 and the actual pressure of the grasped object of the finger body 200 is:

[0073] F = CF1 (3).

[0074] Wherein, F is the actual pressure of the grasped object of the finger body 200, F1 is the driving force of the extension and contraction driving member 400, C is the corresponding parameter of the driving force F1 of the extension and contraction driving member 400 converted into the actual pressure F of the grasped object of the finger body 200. The parameter C can be obtained by experiment or calculation.

[0075] In the case that the finger body 200 rotates around the first rotation axis and the second rotation axis, the rotation angle β and the rotation angle a are changed in real time, and the L3 value corresponding to the rotation angle β and the rotation angle a changes at each moment, so that the finger body 200 can rotate to the rotation angle β and the rotation angle a.

[0076] It should be noted that A1, B1, H1, C1 and the like disclosed in the above embodiment are equivalent to the points at the respective rotation centers.

[0077] Optionally, in the same space coordinate system, the coordinates of the center point of the second end of the extension and contraction driving member 400 are A1(x1, y1, z1, rx1, ry1, rz1), the coordinates of the center point of the first connecting part 210 are B1(x2, y2, z2, rx2, ry2, rz2), the coordinates of the center point of the second connecting part 220 are C1(x3, y3, z3, rx3, ry3, rz3), and the coordinates of the center point of the second rotation axis are H1(x4, y4, z4, rx4, ry4, rz4). Wherein, A1 and H1 are fixed coordinates, and B1 and C1 are variable coordinates.

[0078] B1=R1T1H1, wherein T1 is a translation matrix from H1 to B1 (a fixed value), and R1 is a rotation matrix of B1 around H1 (i.e. a rotation matrix around the second rotation axis, related to the separation angle of the mechanical finger). C1=R2T2B1, wherein T2 is a translation matrix from B1 to C1 (a fixed value), and R2 is a rotation matrix of C1 around B1 (i.e. a rotation matrix around the first rotation axis, related to the bending angle of the mechanical finger). According to the coordinates of A1 and C1, the target position to which the telescopic drive 400 should reach can be obtained, so that the telescopic amount required by the telescopic drive 400 during the bending, separation or closing of the mechanical finger can be obtained.

[0079] In an alternative embodiment, the mechanical finger can further comprise a force sensor, which can be arranged on the finger body 200 and used to detect the actual pressure of the finger body 200 when gripping an object. The force sensor can transmit the detected actual pressure to the telescopic drive 400, so that the telescopic drive 400 can be controlled to telescope or adjust the driving force of the telescopic drive 400 according to the actual pressure, so as to keep the actual pressure at a preset pressure.

[0080] The mechanical finger disclosed in the embodiments of the present application can control the movement of the finger body 200 around the first rotation axis according to the actual pressure detected by the force sensor, so that the compensation movement of the telescopic drive 400 can be controlled more simply without the need for complex calculation to obtain the compensation movement or compensation value of the telescopic drive 400.

[0081] In another embodiment, the force sensor can be arranged on the telescopic drive 400, which can detect the tension when the telescopic drive 400 is stretched or the pressure when the telescopic drive 400 is compressed. The detected tension or pressure can be used to obtain the actual pressure of the finger body 200 when gripping an object through calculation.

[0082] The force sensor can be a resistance strain force sensor, a photoelectric force sensor, an electromagnetic balance force sensor, etc., and the embodiments of the present application do not limit the specific type of the force sensor.

[0083] The present application further discloses a mechanical hand, which comprises a housing 700 and the mechanical finger disclosed in the above embodiments. The first driving mechanism 300 is arranged on the housing 700, and the second end of the telescopic drive 400 is rotationally connected to the housing 700.

[0084] Optionally, the mechanical finger can be multiple, and the mechanical hand can further comprise a transmission mechanism 800, and the multiple mechanical fingers can be connected through the transmission mechanism 800. The first driving mechanism 300 can be connected to the transmission mechanism 800, which is used to drive the multiple mechanical fingers to rotate around the respective second rotation axes through the transmission mechanism 800, so as to separate or close the multiple mechanical fingers.

[0085] The mechanical hand disclosed by the embodiment of the application is provided with the transmission mechanism 800, so that the first driving mechanism 300 can be connected with the transmission mechanism 800, thereby enabling the first driving mechanism 300 to drive the plurality of mechanical fingers to rotate around the respective second rotation axes through the transmission mechanism 800, so as to realize the separation or convergence of the plurality of mechanical fingers.

[0086] In an alternative embodiment, the transmission mechanism 800 can include a linkage mechanism, which can include a plurality of transmission rods 810, any two adjacent mechanical fingers can be connected through the transmission rods 810, and the mechanical fingers are rotationally connected with the transmission rods 810, the plurality of transmission rods 810 can be rotationally connected in sequence, and the first driving mechanism 300 can be connected with at least one of the plurality of transmission rods 810, for driving the plurality of transmission rods 810 to drive the plurality of mechanical fingers to separate or converge.

[0087] In an alternative embodiment, the transmission mechanism 800 can include a plurality of gear sets 820, each mechanical finger is provided with a gear set 820, any two adjacent mechanical fingers can be engaged through the gear sets 820, and the first driving mechanism 300 can be connected with at least one of the plurality of gear sets 820, for driving the plurality of mechanical fingers to separate or converge through the plurality of gear sets 820.

[0088] In some embodiments, the transmission mechanism can include the transmission rods 810 and the gear sets 820, part of the finger bodies 200 can be driven through the transmission rods 810, and the other finger bodies 200 can be driven through the gear sets 820, the transmission rods 810 and the gear sets 820 can be connected, and the first driving mechanism 300 can drive the transmission rods 810 and the gear sets 820 to drive the plurality of mechanical fingers to separate or converge. Of course, the transmission mechanism of the embodiment of the application is not limited to the above-mentioned embodiments, but can also be other structures, and the structure of the transmission mechanism is not limited in the application.

[0089] The mechanical hand disclosed by the embodiment of the application is provided with the transmission mechanism 800, so that the first driving mechanism 300 can be connected with the transmission mechanism 800, thereby enabling the first driving mechanism 300 to drive the plurality of mechanical fingers to rotate around the respective second rotation axes through the transmission mechanism 800, so as to realize the separation or convergence of the plurality of mechanical fingers.

[0090] In another implementation mode of independent rotation of the plurality of mechanical fingers around the second rotation axis, the first driving mechanism 300 can be multiple, the transmission mechanism 800 can include a plurality of gear sets 820, each mechanical finger can be provided with a gear set 820, and the plurality of first driving mechanisms 300 can correspond to the plurality of gear sets 820 one by one, so that each first driving mechanism 300 can drive the corresponding mechanical finger to move independently through the gear set 820.

[0091] In order to facilitate the control of the mechanical hand, optionally, the mechanical hand can further include a main board 910, the main board 910 can be arranged in the shell 700, the plurality of mechanical fingers can be electrically connected with the main board 910, and the side of the shell 700 away from the mechanical fingers can be provided with an electrical interface 920, and the main board 910 is electrically connected with the electrical interface 920.

[0092] The mechanical hand disclosed in the embodiment of the application is provided with the main board 910, so that the plurality of mechanical fingers are electrically connected with the main board 910, thereby the control of the main board 910 on the plurality of mechanical fingers can be realized, the main board 910 is arranged in the shell 700, which is beneficial to the protection of the main board 910, and the electrical interface 920 is arranged, which is convenient for the peripheral device structure and electrical connection of the mechanical hand and the electrical interface 920.

[0093] In the above embodiment, it should be noted that Figure 1 The first rotation axis can be parallel to the y-axis in the coordinate system, and the second rotation axis can be parallel to the z-axis in the coordinate system.

[0094] In the above embodiment of the application, the difference between each embodiment is mainly described, and the optimization features different between each embodiment can be combined to form a more optimal embodiment without contradiction, and the writing is simple, and details are not repeated here.

[0095] The embodiments of the application are described above in combination with the drawings, but the application is not limited to the above specific embodiments, and the above specific embodiments are only illustrative but not restrictive, and those skilled in the art can make many forms under the inspiration of the application without departing from the purpose of the application and the scope protected by the claims, which all belong to the protection of the application.

Claims

1. A mechanical finger, characterized in that, It includes a skeleton (100), a finger body (200), a first drive mechanism (300), and a second drive mechanism, wherein: The finger body (200) includes a first connecting part (210) and a second connecting part (220) located at the rotatable connecting end of the finger body (200) and spaced apart. The finger body (200) is rotatably connected to the skeleton (100) through the first connecting part (210) in the direction of a first rotation axis. The center point of the first connecting part (210) coincides with the center point of the first rotation axis. The second connecting part (220) has a center point. The first driving mechanism (300) is connected to the skeleton (100) and is used to drive the skeleton (100) to drive the finger body (200) to rotate in the direction of a second rotation axis, thereby realizing the swinging of the mechanical finger. The first rotation axis and the second rotation axis are perpendicular to each other. The second driving mechanism includes a telescopic driving member (400). The first end of the telescopic driving member (400) is rotatably connected to the second connecting part (220) and is used to realize the bending action of the mechanical finger. When the first driving mechanism (300) drives the skeleton (100) to rotate the finger body (200) around the second rotation axis, the second connecting part (220) drives the first end of the telescopic driving member (400) to rotate around the second end of the telescopic driving member (400). The telescopic driving member (400) can drive the finger body (200) to rotate around the first rotation axis through the second connecting part (220). The telescopic driving member (400) extends and retracts to compensate for the movement of the second connecting part (220) so that the finger body (200) remains relatively stationary in the direction around the first rotation axis. The first end of the telescopic driving member (400) is opposite to the second end of the telescopic driving member (400).

2. The mechanical finger according to claim 1, characterized in that, The mechanical finger also includes a universal joint (500) having a third rotation axis and a fourth rotation axis. The first end of the telescopic drive member (400) is rotatably connected to the second connecting part (220) through the universal joint (500) so that the first end of the telescopic drive member (400) can rotate around the third rotation axis or the fourth rotation axis, wherein the third rotation axis is parallel to the first rotation axis and the fourth rotation axis is parallel to the second rotation axis.

3. The mechanical finger according to claim 1, characterized in that, The mechanical finger also includes a universal ball bearing (600), which includes a fixed part and a rotating ball. The rotating ball is rotatably connected to the fixed part, and the second end of the telescopic drive (400) is connected to the rotating ball.

4. The mechanical finger according to claim 1, characterized in that, The mechanical finger also includes a force sensor located on the finger body (200) for detecting the actual pressure of the finger body (200) gripping an object. The telescopic drive (400) is connected to the force sensor and is used to extend and retract according to the actual pressure so that the actual pressure is maintained at a preset pressure.

5. A robotic arm, characterized in that, The device includes a housing (700) and a mechanical finger as described in any one of claims 1 to 4, wherein the first drive mechanism (300) is disposed on the housing (700), and the second end of the telescopic drive member (400) is rotatably connected to the housing (700).

6. The robotic arm according to claim 5, characterized in that, The robotic hand comprises multiple robotic fingers, and the robotic hand further includes a transmission mechanism (800). The multiple robotic fingers are connected through the transmission mechanism (800). The first driving mechanism (300) is connected to the transmission mechanism (800) and is used to drive the multiple robotic fingers to rotate around their respective second rotation axes through the transmission mechanism (800) so that the multiple robotic fingers can separate or come together.

7. The robotic arm according to claim 6, characterized in that, The transmission mechanism (800) includes a linkage mechanism, which includes multiple transmission links (810). Any two adjacent mechanical fingers are connected through the transmission links (810), and the mechanical fingers are rotatably connected to the transmission links (810). The multiple transmission links (810) are rotatably connected in sequence. The first driving mechanism (300) is connected to at least one of the multiple transmission links (810) to drive the multiple transmission links (810) to cause the multiple mechanical fingers to separate or come together.

8. The robotic arm according to claim 6, characterized in that, The transmission mechanism (800) includes multiple gear sets (820), each of the mechanical fingers is provided with the gear set (820), any two adjacent mechanical fingers mesh through the gear set (820), the first drive mechanism (300) is connected to the gear set (820) and is used to drive the multiple mechanical fingers to separate or come together through the multiple gear sets (820).

9. The robotic arm according to claim 6, characterized in that, There are multiple first driving mechanisms (300), and the transmission mechanism (800) includes multiple gear sets (820). Each mechanical finger is provided with the gear set (820). The multiple first driving mechanisms (300) correspond one-to-one with the multiple gear sets (820) so that each first driving mechanism (300) drives the corresponding mechanical finger to move independently through the gear set (820).

10. The robotic arm according to claim 6, characterized in that, The robotic arm also includes a motherboard (910), which is located inside the housing (700). The multiple robotic fingers are electrically connected to the motherboard (910). An electrical interface (920) is provided on the side of the housing (700) away from the robotic fingers. The motherboard (910) is electrically connected to the electrical interface (920).

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