A connecting rod coupling type mechanical finger

Abstract

The present invention provides a linkage-coupled robotic finger, comprising a base and a phalangeal portion connected to the base. The base includes a first base extending along the Z-axis and a second base connected to the first base. The phalangeal portion includes a proximal phalangeal and a middle phalangeal. A proximal phalangeal connecting rod is fixedly connected to the second base for rotational follow-up. The robotic finger includes a fixed-axis transmission rod connected to the proximal phalangeal connecting rod. One end of the middle phalangeal transmission rod is connected to the middle phalangeal connecting rod, and the other end is connected to the fixed-axis transmission rod via a fifth rotating portion. The fifth rotating portion is connected to the first base via a fourth rotating portion. When the second base drives the proximal phalangeal to rotate about the X-axis, the fixed-axis transmission rod and the middle phalangeal connecting rod rotate in opposite directions around the ends of the middle phalangeal transmission rod. In a specific embodiment of the robotic finger of the present invention, when the proximal phalangeal rotates along the X-axis with the first base, the middle phalangeal is coupled to the movement to achieve grasping. The linkage-coupled drive reduces the number of actuators and provides a flexible collision buffering function.

Description

Technical Field

[0001] The invention belongs to the technical field of manipulators, and in particular relates to a connecting rod coupling type manipulator finger. Background Art

[0002] To assist or replace human hands in human work environments, robotic arms must achieve flexible and precise movements. Based on the relationship between the manipulator's degrees of freedom and the number of actuators, they are generally categorized as underactuated and fully actuated. Existing underactuated manipulators are primarily categorized as coupled, flat-grip, adaptive, coupled-adaptive, and flat-grip adaptive. Underactuated manipulators can reduce weight and structural complexity by minimizing the number of actuators.

[0003] The transmission methods of the robot arm mainly include wire transmission and connecting rod transmission. The wire transmission method has the advantages of light weight and small space occupation, but the load capacity of the wire-driven mechanical fingers is insufficient, and the transmission efficiency and accuracy are low; the connecting rod transmission method has the advantages of strong grasping force and high motion accuracy, but the rigid connecting rod structure has poor ability to withstand collision / impact. Summary of the Invention

[0004] The purpose of the present invention is to provide a link-coupled robotic finger to solve the problems of insufficient number of degrees of freedom commonly found in robotic fingers in the prior art, most of which only have active flexion and extension movements, are unable to actively swing sideways and rotate, cannot achieve multi-directional spatial grasping, and the rigid link has poor impact resistance. The present invention provides a link-coupled robotic finger containing elastic parts, which has active flexion and extension, swing sideways and overall rotation movements, and can also achieve collision buffering protection functions.

[0005] To solve the above technical problems, the present invention can adopt the following technical solutions: a link-coupled robotic finger, comprising a base and a knuckle portion connected to the base, the base comprising a first base extending along the Z axis, and a second base rotatably connected to the first base through a first rotating portion, the knuckle portion comprising a proximal knuckle and a middle knuckle, the proximal knuckle comprising a proximal knuckle connecting rod and a middle knuckle transmission rod, the proximal knuckle connecting rod being fixedly connected to the second base to follow the rotation, the robotic finger comprising a fixed-axis transmission rod connected to the proximal knuckle connecting rod, one end of the middle knuckle transmission rod being connected to the middle knuckle connecting rod, and the other end being connected to the fixed-axis transmission rod through a fifth rotating portion, the fifth rotating portion being connected to the first base through a fourth rotating portion, and when the second base drives the proximal knuckle to rotate around the X axis, the fixed-axis transmission rod and the middle knuckle connecting rod rotate in opposite directions around the two ends of the middle knuckle transmission rod.

[0006] Furthermore, the robotic finger includes a driving part arranged on a first base, and the driving part includes a first actuator and a second actuator, the first actuator is used to move a second rotating part arranged on the second base, and the second actuator is used to move a third rotating part arranged on the second base, when the first actuator and the second actuator are driven synchronously, the second rotating part and the third rotating part move along the YZ plane, and the second base drives the proximal knuckle to rotate around the X-axis; when the second actuator is driven alone, the third rotating part moves along the XZ plane, and the second base drives the proximal knuckle to rotate around the Y-axis.

[0007] Furthermore, the first rotating part is arranged below the second rotating part and the third rotating part, the fourth rotating part is arranged below the first rotating part, and the third rotating part is arranged on the side of the second rotating part. The Y axes of the first rotating part, the second rotating part and the fourth rotating part are collinear and the X axes are parallel; the X axes of the second rotating part and the third rotating part are collinear.

[0008] Furthermore, when the first actuator and the second actuator are driven synchronously, the second base rotates around the X axis of the first rotating part and the fourth rotating part; when the second actuator is driven alone, the second base rotates around the Y axis of the first rotating part, the second rotating part and the fourth rotating part.

[0009] Furthermore, the robotic finger includes a transmission part that transmits power of the driving part to the second base, the driving part is arranged inside the first base, and the transmission part is arranged above the driving part.

[0010] Furthermore, the transmission part includes a first linear motion member, a first transmission rod, a second linear motion member, a second transmission rod, a first gear set and a second gear set, the first gear set transmits the movement of the first actuator to the first linear motion member, the first linear motion member converts the rotational movement of the first actuator into linear motion along a preset direction, the first transmission rod is connected to the first linear motion member to move the second rotating part according to the power of the first actuator; the second gear set transmits the movement of the second actuator to the second linear motion member, the second linear motion member converts the rotational movement of the second actuator into linear motion along a preset direction, the second transmission rod is connected to the second linear motion member to move the third rotating part according to the power of the second actuator; the first gear set and the second gear set are arranged at the end of the first base.

[0011] Furthermore, the fifth rotating part has three rotational degrees of freedom, and the fifth rotating part is formed as a ball joint transmission rod.

[0012] Furthermore, the middle finger joint connecting rod includes a first rod segment and a second rod segment at a preset angle, the length of the second rod segment is smaller than the first rod segment, and the length of the second rod segment is the same as that of the fixed-axis transmission rod.

[0013] Furthermore, a buffer is included between the fourth rotating part and the first base. When the robotic finger collides / impacts, the fourth rotating part is displaced relative to the first base to provide flexible buffering.

[0014] Furthermore, the buffer member includes an elastic member arranged between the fourth rotating part and the first base, the fourth rotating part is connected to the first base through the fourth rotating part shaft, the first base includes a slide groove for installing the fourth rotating part shaft, when the robotic finger does not collide / impact, the elastic member maintains the fourth rotating part in an initial position; when the robotic finger collides / impacts, the fourth rotating part shaft can move along the slide groove, and the elastic member provides buffering force.

[0015] Furthermore, the robotic finger is formed as a thumb, and the robotic finger includes a first base rotating portion provided on a first base, and the robotic finger can be rotatably connected to the palm of the robotic hand through the first base rotating portion.

[0016] Compared with the prior art, the beneficial effects of the specific embodiments of the present invention are: 1. A coupling linkage mechanism design of two knuckles is provided. When the proximal knuckle rotates around the X-axis following the second base, the middle knuckle couples the movement to grasp objects; 2. The robotic finger can actively flex and extend, swing sideways and rotate as a whole, which improves the dexterity of the robotic finger and achieves a high degree of anthropomorphism; 3. The flexion and extension movement and the swing movement of the proximal knuckle are decoupled, simplifying the motion control of the robotic finger; 4. The elastic part serves as a transmission buffer part, so that the rigid linkage mechanism has a flexible buffering protection function. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a perspective view of a connecting rod coupling type mechanical finger according to an embodiment of the present invention;

[0018] Figure 2 is a cross-sectional view of a link-coupled robotic finger according to an embodiment of the present invention;

[0019] Figure 3 Schematic diagram of a connecting rod coupling type robotic finger rotating around the X-axis according to an embodiment of the present invention;

[0020] Figure 4 Schematic diagram of a connecting rod coupling type robotic finger rotating around the Y axis according to an embodiment of the present invention;

[0021] Figure 5 Schematic diagram of a linkage-coupled robotic finger rotating around the X-axis and the Y-axis according to an embodiment of the present invention;

[0022] Figure 6a is a schematic diagram of a link-coupled robotic finger before a collision according to an embodiment of the present invention;

[0023] Figure 6b is a schematic diagram of a link-coupled robotic finger according to an embodiment of the present invention after a collision;

[0024] Figure 7a yes Figure 6a A partial enlarged view of the linkage-coupled robotic finger before a collision is shown;

[0025] Figure 7b yes Figure 6b A partial enlarged view of the linkage-coupled robotic finger after a collision is shown. DETAILED DESCRIPTION

[0026] In order to make the technical solution of the present invention clearer, the embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the specific description of the implementation mode is only used to teach those skilled in the art how to implement the present invention, rather than to exhaustively list all feasible ways of the present invention, nor to limit the specific scope of implementation of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative work should fall within the scope of protection of the present invention.

[0027] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0028] Those skilled in the art will understand that when we refer to an element as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element, or there can be intervening elements. In addition, "connected" or "coupled" as used herein can include wireless connections or couplings. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0029] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0030] The specific embodiment of the present invention protects a connecting rod coupling type mechanical finger, Figure 1-Figure 2 The robotic finger 100 includes a base and a knuckle portion connected to the base, the base includes a first base 10 and a second base 20, the first base 10 extends along the Z-axis direction, the first base 10 is a fixed structural component, the second base 20 is a movable structural component, the second base 20 is connected to the first base 10 through a first rotating portion 51 to rotate relative to the first base 10, the knuckle portion includes a proximal knuckle and a middle knuckle, the proximal knuckle includes a proximal knuckle connecting rod 611 and a middle knuckle transmission rod 621, the proximal knuckle connecting rod 611 is fixed to the second base 20, when the second base 20 rotates relative to the first base 10, the second base 20 drives the proximal knuckle connecting rod 611 to rotate.

[0031] Taking a human hand as an example, the Z-axis direction is the length direction of the finger, and the first base 10 and the second base 20 are rotatably connected to at least partially form the movement of the finger base joint.

[0032] Among them, the robotic finger 100 includes a driving unit 30 arranged on the first base 10, and a transmission unit 40 that transmits the power of the driving unit 30 to the second base. The driving unit 30 is used to drive the second base 20 to produce corresponding movement, and the proximal knuckle connecting rod 611 is fixed to the second base 20. When the second base 20 moves, the proximal knuckle follows the second base 20 to produce synchronous movement.

[0033] The robotic finger 100 includes a fixed-axis transmission rod 432 connected to the proximal knuckle link 611, one end of the middle knuckle transmission rod 621 is connected to the middle knuckle link 622, and the other end is connected to the fixed-axis transmission rod 432 through the fifth rotating part 55, that is, one end of the fixed-axis transmission rod 432 is connected to the proximal knuckle link 611, and the other end is connected to the middle knuckle transmission rod 621 through the fifth rotating part 55, and the fifth rotating part 55 is connected to the first base 10 through the fourth rotating part 54, and the middle knuckle link 622, the middle knuckle transmission rod 621, the proximal knuckle link 611 and the fixed-axis transmission rod 432 form an antiparallelogram mechanism. When the second base 20 drives the proximal phalanx to rotate around the X-axis, the proximal phalanx connecting rod 611 acts as the active moving part, driving the fixed-axis transmission rod 432 to move. The rotation direction of the fixed-axis transmission rod 432 is opposite to that of the proximal phalanx connecting rod 611. The fixed-axis transmission rod 432 and the middle phalanx connecting rod 622 are distributed at both ends of the middle phalanx transmission rod 621 and rotate in opposite directions around the middle phalanx transmission rod 621. That is, the rotation direction of the proximal phalanx connecting rod 611 is the same as that of the middle phalanx connecting rod 622. When the second base 20 drives the proximal phalanx connecting rod 611 to rotate, the middle phalanx connecting rod 622 rotates in the same direction, realizing the coupled motion of the robotic finger 100. Through the above arrangement, the proximal phalanx can be actively rotated around the X-axis through the second base 20, and the middle phalanx can be passively rotated around the X-axis based on the coupled motion. The underactuated coupled transmission structure can reduce the actuator setting of the driving unit 30, reduce the weight of the robotic finger, and reduce the structural complexity.

[0034] Furthermore, the driving unit 30 includes a first actuator 31 and a second actuator 32, the first actuator 31 is used to move the second rotating part 52 provided on the second base 20, and the second actuator 32 is used to move the third rotating part 53 provided on the second base 20, the first actuator 31 and the second actuator 32 are distributed in parallel, Figure 3 When the first actuator 31 and the second actuator 32 are driven synchronously, the second rotating portion 52 and the third rotating portion 53 move synchronously in the YZ plane, applying a force along the YZ plane to the second base 20, so that the second base 20 rotates around the X axis relative to the first base 10, performing flexion / extension (flexion-extension) movement; Figure 4 When the second actuator 32 is driven alone, that is, the first actuator 31 is not driven, the second actuator 32 is used to move the third rotating part 53 along the XZ plane. The third rotating part 53 is arranged on the side of the second rotating part 52. The third rotating part 53 moves along the XZ plane, so that the second base 20 generates movement around the Y axis and performs inward / outward (side swing) movement.

[0035] Understandable, Figure 5When the first actuator 31 and the second actuator 32 are driven asynchronously, the second base 20 moves both around the X axis and around the Y axis, and the second base 20 performs a compound motion of flexion and extension and lateral swing motion.

[0036] During the research process for this technical solution, the inventors of this application discovered, based on biomimetic research, that the lateral swinging motion of a human finger is, in most cases, used to reposition the finger rather than exert significant force. This motion is primarily accomplished by the interosseous muscles located in the palm, and the flexion force required is an order of magnitude smaller than that of flexion and extension. Therefore, the lateral swinging motion of a robotic finger requires only a small driving force, while flexion and extension require a relatively large driving force.

[0037] In the present application, the first actuator 31 and the second actuator 32 are driven simultaneously to realize the flexion and extension movement of the proximal knuckle driven by the second base 20. The two actuators can provide a relatively large driving force and at the same time can relatively reduce the volume of a single actuator. The first actuator 31 and the second actuator 32 are driven synchronously to realize the flexion and extension of the robotic finger 100, providing the robotic finger with a greater gripping force; the second base 20 is driven alone by the second actuator 32 to realize the lateral swing movement of the proximal knuckle, which can meet the power requirements of different movements and improve the utilization rate of the actuator. At the same time, the movement around the X-axis and the movement around the Y-axis are independent of each other and uncoupled, which reduces the difficulty of motion control.

[0038] Furthermore, the robotic finger 100 includes a transmission part 40, which exemplarily includes a first linear motion member, a first transmission rod 411, a second linear motion member, a second transmission rod 421, a first gear set 416 and a second gear set 426, wherein the first linear motion member and the second linear motion member are respectively used to convert the rotational motion of the first actuator 31 and the second actuator 32 into a linear motion along a preset direction, the first transmission rod 411 is connected to the first linear motion member and the second rotating part 52, and transmits the power of the first actuator 31 to the second rotating part 52 so that the second rotating part 52 moves; correspondingly, the second transmission rod 421 is connected to the second linear motion member and the third rotating part 53, and transmits the power of the second actuator 32 to the third rotating part 53 so that the third rotating part 53 moves, the first gear set 416 is used to transmit the power of the first actuator 31 to the first linear motion member, and the second gear set 426 is used to transmit the power of the second actuator 32 to the second linear motion member.

[0039] For example, Figure 3The first and second linear motion members include a lead screw 412, a nut 413, a nut seat 414, and a guide 415, respectively. The nut 413 is mounted on the lead screw 412, and the nut seat 414 is connected to the nut 413 and sleeved on the guide 415. The guide 415 may exemplarily include a guide rod. The second transmission rod 421 and the nut seat 414 of the second linear motion member are connected by a spherical bearing 422 to ensure the flexibility of the second transmission rod 421. The first and second linear motion members can convert the rotational motion of the first and second actuators 31 and 32 into linear motion along the guide direction.

[0040] Furthermore, the nut seats of the first linear motion member and the second linear motion member are coplanar, so that when the first actuator 31 and the second actuator 32 are driven synchronously, the second rotating portion 52 and the third rotating portion 53 move synchronously.

[0041] The movement of the second base 20 relative to the first base 10 is achieved through a parallel mechanism. The first branch of the parallel mechanism includes a first linear motion member, a first transmission rod 411, and a second rotating portion 52. The second branch of the parallel mechanism includes a second linear motion member, a second transmission rod 421, a third rotating portion 53, and a spherical bearing 422. The first transmission rod 411 is connected to the X-axis of the second rotating portion 52, and the second transmission rod 421 is connected to the Y-axis of the third rotating portion 53. The first and second branches are asymmetric branches, with the first branch being a planar motion branch and the second branch being a spatial motion branch. The asymmetric branch parallel mechanism can solve the problems of insufficient load-bearing capacity and rigidity of a coupled symmetric branch parallel mechanism, while also reducing the difficulty of assembly and control.

[0042] The second base 20 is rotatably connected to the first base 10 via a first rotating portion 51. The first actuator 31 rotates the second base 20 by moving a second rotating portion 52 provided on the second base 20. The second actuator 32 rotates the second base 20 by moving a third rotating portion 53 provided on the second base 20. The first rotating portion 51 is provided below the second rotating portion 52 and the third rotating portion 53. The third rotating portion 53 is provided on the side of the second rotating portion 52. The fourth rotating portion 54 is provided below the first rotating portion 51.

[0043] The first transmission rod 411 is connected to the X-axis of the second rotating part 52. When the first actuator 31 and the second actuator 32 are driven synchronously, the second rotating part 52 and the third rotating part 53 are moved synchronously, and the second base 20 rotates around the X-axis of the first rotating part 51; the second transmission rod 421 is connected to the Y-axis of the third rotating part 53. When the second actuator 32 is driven alone, the third rotating part 53 is moved, and the second base 20 rotates around the Y-axis of the first rotating part 51.

[0044] Preferably, to decouple the rotational motion of the second base 20 about the X-axis from that about the Y-axis, the Y-axes of the first rotating portion 51, the second rotating portion 52, and the fourth rotating portion 54 are collinear and parallel to each other in terms of their X-axes, and the X-axes of the second rotating portion 52 and the third rotating portion 53 are collinear. In this case, when the first actuator 31 and the second actuator 32 are driven synchronously, the second rotating portion 52 and the third rotating portion 53 move synchronously, and the second base 20 rotates about the X-axis of the first rotating portion 51 and the fourth rotating portion 54. When the second actuator 32 is driven alone, the second base 20 rotates about the Y-axis of the first rotating portion 51 and the fourth rotating portion 54. This decoupled rotational motion reduces the difficulty of controlling the robotic finger 100.

[0045] Furthermore, the first rotating portion 51, the second rotating portion 52, the third rotating portion 53, and the fourth rotating portion 54 are used to provide two degrees of freedom of rotation. The first rotating portion 51, the second rotating portion 52, the third rotating portion 53, and the fourth rotating portion 54 can use universal joints, cross shafts, and other connecting components to achieve vertical axis rotation. The second base 20 can drive the proximal knuckle to perform flexion and extension movement around the X-axis and lateral swing movement around the Y-axis. The fifth rotating portion 55 is used to provide three degrees of freedom of rotation. Exemplarily, the fifth rotating portion 55 is formed as a ball joint transmission rod, or as three mutually perpendicular series hinges.

[0046] Furthermore, the driving unit 30 is arranged inside the first base 10, one end of the first base 10 is connected to the second base 20, and the other end is provided with a first gear set 416 and a second gear set 426, and the transmission unit 40 is arranged above the driving unit 30, so that the first base 10 has a compact structure and reduces space occupancy, especially for the scenario where the robotic finger 100 is used as a thumb, which can advantageously reduce the length of the robotic finger 100. The motion generated by the first actuator 31 is transmitted to the first linear motion member via the first gear set 416. The first gear set 416 is connected to the first actuator 31 and the first linear motion member. The first linear motion member is disposed above the first actuator 31. The first transmission rod 411 is disposed above the first linear motion member. The first transmission rod 411 moves the second rotating portion 52 according to the power of the first actuator 31. Similarly, the motion generated by the second actuator 32 is transmitted to the second linear motion member via the second gear set 426. The second gear set 426 is connected to the second actuator 32 and the second linear motion member. The second linear motion member is disposed above the second actuator 32. The second transmission rod 421 is disposed above the second linear motion member. The second transmission rod 421 moves the third rotating portion 53 according to the power of the second actuator 32. The above-mentioned overlapping design makes the structure of the first base compact.

[0047] In an exemplary embodiment, the robotic finger 100 includes a proximal phalanx and a middle phalanx, and the middle phalanx connecting rod 622, the middle phalanx transmission rod 621, the proximal phalanx connecting rod 611 and the fixed axis transmission rod 432 form an antiparallelogram mechanism. Exemplarily, the middle phalanx connecting rod 622 includes a first rod segment 6223 and a second rod segment 6224 at a preset angle, and the first rod segment 6223 and the second rod segment 6224 form an "L"-shaped connecting rod, and the length of the second rod segment 6224 is smaller than that of the first rod segment 6223, and the second rod segment 6224 has the same length as the fixed axis transmission rod 432, and the second rod segment 6224 is connected to the middle phalanx transmission rod 621, and the fixed axis transmission rod 432 and the middle phalanx connecting rod 622 show opposite movement trends, and the proximal phalanx connecting rod 611 and the middle phalanx connecting rod 622 show the same movement trend, so as to couple and grasp the grasped object. Exemplarily, the first rod segment 6223 and the second rod segment 6224 are distributed at an obtuse angle, and the obtuse angle is directed upwards of the finger.

[0048] Exemplarily, the collision protection performance of the linkage mechanism can affect the maximum speed during grasping. Exemplarily, a buffer is included between the fourth rotating portion 54 and the first base 10. When the robotic finger 100 collides / impacts, the fourth rotating portion 54 can be displaced relative to the first base 10 to provide flexible buffering. Exemplarily, the buffer can be formed as a retractable mechanism, or, in a specific embodiment, the buffer includes an elastic member 13 disposed between the fourth rotating portion 54 and the first base 10. Figure 6a-Figure 7b The fourth rotating part 54 is connected to the first base 10 through the fourth rotating part shaft 14. The first base 10 includes a slide groove 12 for installing the fourth rotating part shaft 14. When the robotic finger 100 does not collide / impact, the elastic member 13 maintains the fourth rotating part 54 in the initial position, and the fourth rotating part 54 is colinear with the Y axis of the first rotating part 51; when the robotic finger 100 collides / impacts, the middle finger joint connecting rod 622 rotates, and drives the fifth rotating part 55 to generate displacement through the middle finger joint transmission rod 621, thereby driving the fourth rotating part shaft 14 to move along the slide groove 12, providing buffering protection for the robotic finger.

[0049] In a specific embodiment, Figure 1 The robotic finger 100 further includes a first base rotating portion 11 disposed on the first base 10. The first base rotating portion 11 can rotatably connect the robotic finger 100 to the palm of the robotic hand. The second base 20 is located at the front end of the first base 10. The rear end of the first base can be rotatably connected to the palm of the robotic hand via the first base rotating portion 11, thereby improving the flexibility of the robotic finger.

[0050] The beneficial effect of the above preferred embodiments is that a robotic finger with a connecting rod coupling is provided, and when the proximal knuckle moves around the X-axis, the middle knuckle moves in a coupled manner to grasp objects; the rotational movements of the proximal knuckle around the X-axis and around the Y-axis are decoupled from each other, reducing the difficulty of motion control of the robotic finger; the driving part and the transmission part of the robotic finger are overlapped and arranged above the first base, the structure of the first base is compact, and the length of the robotic finger is effectively shortened, making it suitable for use as a thumb.

[0051] Finally, it should be noted that due to the limitations of textual expression, the above description is merely illustrative and not exhaustive. The present invention is not limited to the disclosed embodiments. Without departing from the scope and spirit of the above examples, improvements and modifications may be made by those skilled in the art, and such improvements and modifications should also be considered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the claims.

Claims

1. A connecting rod coupling type mechanical finger, characterized in that: The cam is connected to the base by a first rotating part, and the cam is connected to the base by a second rotating part, wherein the cam is connected to the base by a first rotating part and the cam is connected to the base by a second rotating part. The cam is connected to the base by a first rotating part and the cam is connected to the base by a second rotating part. The cam is connected to the base by a first rotating part and the cam is connected to the base by a second rotating part. The cam is connected to the base by a first rotating part and the cam is connected to the base by a second rotating part.

2. The link-coupled robotic finger according to claim 1, characterized in that: The robotic finger includes a driving part arranged on a first base, and the driving part includes a first actuator and a second actuator, the first actuator is used to move a second rotating part arranged on the second base, and the second actuator is used to move a third rotating part arranged on the second base. When the first actuator and the second actuator are driven synchronously, the second rotating part and the third rotating part move along the YZ plane, and the second base drives the proximal knuckle to rotate around the X axis; when the second actuator is driven alone, the third rotating part moves along the XZ plane, and the second base drives the proximal knuckle to rotate around the Y axis.

3. The link-coupled robotic finger according to claim 2, characterized in that: The first rotating part is arranged below the second rotating part and the third rotating part, the fourth rotating part is arranged below the first rotating part, and the third rotating part is arranged on the side of the second rotating part. The Y axes of the first rotating part, the second rotating part and the fourth rotating part are collinear and the X axes are parallel; the X axes of the second rotating part and the third rotating part are collinear.

4. The link-coupled robotic finger according to claim 3, characterized in that: When the first actuator and the second actuator are driven synchronously, the second base rotates around the X axis of the first rotating part and the fourth rotating part; when the second actuator is driven alone, the second base rotates around the Y axis of the first rotating part, the second rotating part and the fourth rotating part.

5. The link-coupled robotic finger according to claim 2, characterized in that: The robotic finger includes a transmission part that transmits power of a driving part to a second base. The driving part is arranged inside the first base, and the transmission part is arranged above the driving part.

6. The link-coupled robotic finger according to claim 5, characterized in that: The transmission part includes a first linear motion member, a first transmission rod, a second linear motion member, a second transmission rod, a first gear set and a second gear set. The first gear set transmits the movement of the first actuator to the first linear motion member, and the first linear motion member converts the rotational movement of the first actuator into linear motion along a preset direction. The first transmission rod is connected to the first linear motion member to move the second rotating part according to the power of the first actuator; the second gear set transmits the movement of the second actuator to the second linear motion member, and the second linear motion member converts the rotational movement of the second actuator into linear motion along a preset direction. The second transmission rod is connected to the second linear motion member to move the third rotating part according to the power of the second actuator; the first gear set and the second gear set are arranged at the end of the first base.

7. The link-coupled robotic finger according to claim 1, characterized in that: The fifth rotating part has three rotational degrees of freedom and is formed as a ball joint transmission rod.

8. The link-coupled robotic finger according to claim 1, characterized in that: The middle finger joint connecting rod includes a first rod segment and a second rod segment at a preset angle, the length of the second rod segment is smaller than the first rod segment, and the length of the second rod segment is the same as that of the fixed-axis transmission rod.

9. The link-coupled robotic finger according to claim 1, characterized in that: A buffer is included between the fourth rotating part and the first base. When the robotic finger collides / impacts, the fourth rotating part is displaced relative to the first base to provide flexible buffering.

10. The link-coupled robotic finger according to claim 9, characterized in that: The buffer member includes an elastic member arranged between the fourth rotating part and the first base, the fourth rotating part is connected to the first base through the fourth rotating part shaft, the first base includes a slide groove for installing the fourth rotating part shaft, when the robotic finger does not collide / impact, the elastic member maintains the fourth rotating part in an initial position; when the robotic finger collides / impacts, the fourth rotating part shaft can move along the slide groove, and the elastic member provides a buffering force.

11. The link-coupled robotic finger according to claim 1, characterized in that: The robotic finger is formed as a thumb, and the robotic finger includes a first base rotating portion provided on a first base. The robotic finger can be rotatably connected to a palm of the robotic hand through the first base rotating portion.

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