A high degree of freedom mechanical finger

Abstract

This invention provides a high-degree-of-freedom robotic finger, comprising: a first base, a driving unit, and a second base connected to the first base. The driving unit includes a first actuator, a second actuator, and a third actuator. The first actuator is used to move a second rotating part disposed on the second base; the second actuator is used to move the third rotating part disposed on the second base; and the third actuator is used to move a fourth rotating part. When the first and second actuators are driven synchronously, the second base drives the proximal phalanx to rotate around the X-axis; when the second actuator is driven alone, the second base drives the proximal phalanx to rotate around the Y-axis; and when the third actuator is driven alone, the fourth rotating part drives the middle phalanx to rotate around the X-axis. The robotic finger provided by this invention achieves three active degrees of freedom of movement through a series-parallel hybrid mechanism to improve finger dexterity, and drives each phalanx to rotate around the X-axis through three actuators to improve the gripping force of the robotic finger.

Description

Technical Field

[0001] This invention belongs to the field of robotic arm technology, and in particular relates to a high-degree-of-freedom robotic finger. Background Technology

[0002] The transmission methods of robotic arms mainly adopt wire transmission and linkage transmission. Wire transmission has the advantages of light weight and small space occupation, but the mechanical fingers of wire transmission have insufficient load capacity and low transmission efficiency and precision. Linkage transmission has the advantages of strong grasping force and high motion precision, but the mechanical fingers of rigid linkage have poor adaptability and are difficult to fit objects of different sizes and shapes.

[0003] The grasping dexterity and accuracy of a robotic hand are its key performance characteristics. Current research on robotic hands mainly focuses on the development of humanoid dexterous robotic hands, aiming to create humanoid robotic hands capable of precise movement. Traditional robotic fingers mostly adopt a jointed structure, which has a small number of drive units, greatly limiting the flexibility of the robotic hand. At the same time, their load capacity, workspace, and grasping adaptability are insufficient.

[0004] Improving the active degrees of freedom of robotic fingers is of great significance for the grasping flexibility and accuracy of robotic hands. At the same time, the independence and decoupling of the motion between multiple degrees of freedom of robotic fingers are of great significance for the ease of implementation of motion control of robotic hands. Summary of the Invention

[0005] The purpose of this invention is to provide a high degree of freedom robotic finger to solve the problems of insufficient degree of freedom, gripping ability and adaptability of existing robotic hands, to achieve decoupling of flexion and extension movements and lateral swing movements, to improve the flexibility and accuracy of the robotic finger, and at the same time to ensure sufficient gripping force.

[0006] To solve the above-mentioned technical problems, the present invention can adopt the following technical solution: a high-degree-of-freedom mechanical finger, comprising: a first base extending along the Z-axis, a driving part disposed on the first base, and a second base rotatably connected to the first base via a first rotating part, wherein the proximal phalanx of the mechanical finger is connected to the second base, the driving part includes a first actuator, a second actuator, and a third actuator, the first actuator being used to move the second rotating part disposed on the second base, the second actuator being used to move the third rotating part disposed on the second base, and the third actuator being used to move the fourth rotating part to transmit power to the middle phalanx; when the first actuator and the second actuator are driven synchronously, the second base drives the proximal phalanx to rotate around the X-axis; when the second actuator is driven independently relative to the first actuator, the second base drives the proximal phalanx to rotate around the Y-axis; and when the third actuator is driven, the fourth rotating part drives the middle phalanx to rotate.

[0007] Furthermore, the proximal phalanx includes a proximal phalanx connecting rod and a middle phalanx transmission rod. The proximal phalanx connecting rod is fixedly connected to the second base. The middle phalanx includes a middle phalanx connecting rod connected to the middle phalanx transmission rod. The mechanical finger connects the middle phalanx transmission rod and the fourth rotating part via a fixed-axis transmission rod. The fixed-axis transmission rod is rotatably connected to the proximal phalanx connecting rod via a fifth rotating part. When the third actuator moves the fourth rotating part, the fixed-axis transmission rod is forced to rotate around the fifth rotating part, and the middle phalanx transmission rod drives the middle phalanx connecting rod to rotate, causing the middle phalanx to rotate around the X-axis. Furthermore, the fixed-axis transmission rod is an "L"-shaped rod, and the inflection point of the fixed-axis transmission rod is connected to the proximal phalanx connecting rod via the fifth rotating part.

[0008] Furthermore, the mechanical finger includes a third transmission rod, one end of which receives power from a third actuator, and the other end of which is connected to a fourth rotating part.

[0009] Furthermore, the first rotating part and the second rotating part are disposed on the end face of the second base, and the third rotating part is disposed on the side of the second base. When the first actuator and the second actuator are driven synchronously, they apply a force to the second base along the YZ plane, and the second base rotates around the X-axis of the first rotating part. When the second actuator is driven independently relative to the first actuator, it applies a force to the second base along the XZ plane, and the second base rotates around the Y-axis of the first rotating part.

[0010] Furthermore, the X-axis of the first rotating part and the second rotating part are parallel and the Y-axis is collinear, and the X-axis of the second rotating part and the third rotating part are collinear.

[0011] Furthermore, the mechanical finger includes a first transmission rod and a second transmission rod. One end of the first transmission rod receives power from a first actuator, and the other end is connected to a second rotating part. One end of the second transmission rod receives power from a second actuator, and the other end is connected to a third rotating part.

[0012] Furthermore, the mechanical finger includes a distal phalanx connected to the middle phalanx, and the proximal phalanx link, middle phalanx link, middle phalanx transmission rod, distal phalanx link, and distal phalanx transmission rod of the mechanical finger form a five-bar linkage.

[0013] Furthermore, the first actuator, the second actuator, and the third actuator are disposed at the end of the first base and arranged in a side triangle. The first actuator and the third actuator form the base of the side triangle, making the first base structurally compact in the X-axis direction.

[0014] Compared with the prior art, the beneficial effects of the specific embodiments of the present invention are at least as follows: 1. The mechanical finger based on the series-parallel hybrid mechanism can provide three active degrees of freedom, and both the proximal and middle phalanges can actively flex and extend; 2. The mechanical finger can actively lateralize, improving the dexterity of the mechanical finger and achieving a high degree of anthropomorphism; 3. The proximal phalanx flexion and extension and lateralization are decoupled, simplifying the motion control of the mechanical finger; 4. The flexion and extension of the mechanical finger is driven by three actuators, improving the load / grip capacity of the mechanical finger. Attached Figure Description

[0015] Figure 1 This is a perspective view of a high-degree-of-freedom mechanical finger according to an embodiment of the present invention;

[0016] Figure 2 This is a side view of a high-degree-of-freedom mechanical finger according to an embodiment of the present invention;

[0017] Figure 3 This is a schematic diagram of the first motion state of a high-degree-of-freedom mechanical finger according to an embodiment of the present invention;

[0018] Figure 4 This is a schematic diagram of the second motion state of a high-degree-of-freedom mechanical finger according to an embodiment of the present invention;

[0019] Figure 5 This is a schematic diagram of the third motion state of a high-degree-of-freedom mechanical finger according to an embodiment of the present invention;

[0020] Figure 6 This is a schematic diagram of the fourth motion state of a high-degree-of-freedom mechanical finger according to an embodiment of the present invention;

[0021] Figure 7 This is a schematic diagram of the fifth motion state of a high-degree-of-freedom mechanical finger according to an embodiment of the present invention;

[0022] Figure 8 This is a schematic diagram of the sixth motion state of a high-degree-of-freedom mechanical finger according to an embodiment of the present invention. Detailed Implementation

[0023] To make the technical solution of the present invention clearer, 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 embodiments is only for teaching those skilled in the art how to implement the present invention, and is not intended to exhaustively describe all feasible methods of the present invention, nor is it intended to limit the specific scope of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0024] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for 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 should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0025] Those skilled in the art will understand that when we say an element is “connected” or “coupled” to another element, it can be directly connected or coupled to the other element, or there may be an intermediate element. Furthermore, the term “connected” or “coupled” as used herein can include wireless connections or couplings. The word “and / or” as used herein includes any and all combinations of one or more of the associated listed items.

[0026] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0027] This invention specifically protects a high-degree-of-freedom mechanical finger, see reference. Figure 1-2 It includes: a first base 10 extending along the Z-axis, a drive part 30 disposed on the first base 10, and a second base 20 rotatably connected to the first base 10 via a first rotating part 51. Taking the human hand as an example, the Z-axis direction is the length direction of the fingers, 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.

[0028] The mechanical finger 100 includes a proximal phalanx 61 fixedly connected to a second base 20. When the second base 20 rotates relative to the first base 10, the second base 20 can drive the proximal phalanx 61 to rotate synchronously.

[0029] The driving unit 30 is used to provide power for the movement of the robotic finger 100. The driving unit 30 includes a first actuator 31, a second actuator 32, and a third actuator 33. Exemplarily, one end of the first base 10 is distributed with the second base 20, and the driving unit 30 is correspondingly arranged at the other end. Arranging the driving unit 30 at the end of the first base 10 is beneficial to reducing the width of the robotic finger 100. Compared with the method of arranging the driving unit 30 at the joint, it is beneficial to reduce the weight of the finger knuckle, and further reduce the moment of inertia of the finger movement. Optionally, the transmission part of the robotic finger is arranged on the first base. The driving unit arranged at one end of the first base generates power, and through the transmission part arranged on the first base, it is transmitted to the second base at the other end of the first base.

[0030] Among them, referring Figure 1 , the second base 20 is provided with a first rotating part 51, a second rotating part 52, and a third rotating part 53. The first actuator 31 is used to move the second rotating part 52, and the second rotating part 52 moves to make the second base 20 move; the second actuator 32 is used to move the third rotating part 53, and the third rotating part 53 moves to make the second base 20 move. The robotic finger 100 includes a fourth rotating part 54. The robotic finger 100 includes a middle finger knuckle 62 connected to the proximal finger knuckle 61. The third actuator 33 is used to move the fourth rotating part 54, and the fourth rotating part 54 is directly or indirectly connected to the middle finger knuckle transmission rod 621 to transmit the power of the third actuator 33 to the middle finger knuckle transmission rod 621 and drive the middle finger knuckle 62 to rotate.

[0031] Among them, exemplarily, the first base 10 is a fixed structural member, the second base 20 is a movable structural member. The first base 10 can be formed as a part of the robotic hand palm or connected to the palm of the robotic hand. The second base 20 can rotate with two degrees of freedom relative to the first base 10.

[0032] Referring Figure 3 , when the first actuator 31 and the second actuator 32 are driven simultaneously, the second rotating part 52 and the third rotating part 53 are simultaneously forced to move. The second rotating part 52 and the third rotating part 53 exert forces on the second base 20, and the second base 20 drives the proximal finger knuckle 61 to rotate around the X axis; referring Figure 7 , when the second actuator 32 is driven alone relative to the first actuator 31, that is, when the first actuator 31 is not driven and the second actuator 32 is in the driving state, the second actuator 32 moves the third rotating part 53, and the third rotating part 53 is forced to move, so that the second base 20 drives the proximal finger knuckle 61 to rotate around the Y axis. When the third actuator 33 is driven, the fourth rotating part 54 is forced to move, thereby driving the middle finger knuckle 62 to rotate.

[0033] In one specific embodiment, the mechanical finger 100 includes a proximal phalanx 61, a middle phalanx 62, and a distal phalanx 63. Exemplarily, the mechanical finger 100 is configured as a five-bar linkage. In other embodiments, the mechanical finger may include only two phalanges. Exemplarily, the mechanical finger is configured as a four-bar linkage.

[0034] The proximal phalanx 61 includes a proximal phalanx connecting rod 611 and a middle phalanx transmission rod 621. The proximal phalanx connecting rod 611 is fixedly connected to the second base 20. The middle phalanx 62 includes a middle phalanx connecting rod connected to the middle phalanx transmission rod 621. The mechanical finger 100 includes a fixed-axis transmission rod 432. One end of the fixed-axis transmission rod 432 is connected to the middle phalanx transmission rod 621, and the other end is provided with a fourth rotating part 54. The middle part of the fixed-axis transmission rod 432 is rotatably connected to the proximal phalanx connecting rod 611 through a fifth rotating part 55. The fourth rotating part 54 is located below the second base 20. (See reference...) Figure 4 When the third actuator 33 drives and applies force to the fourth rotating part 54, the fourth rotating part 54 moves and exerts a force on the fixed-axis transmission rod 432. The fixed-axis transmission rod 432 rotates around the fifth rotating part 55 under the force, and then drives the middle finger joint transmission rod 622 and the distal finger joint transmission rod 631 connected to the proximal finger joint transmission rod 611 to move around the X-axis through the middle finger joint transmission rod 621.

[0035] In the above manner, the first actuator 31 and the second actuator 32 can realize the movement of the proximal phalanx 61 around the X-axis driven by the second base 20, that is, the flexion / extension (flexion-extension) movement of the proximal phalanx 61 driven by the second base 20; the second actuator 32 can realize the movement of the proximal phalanx 61 around the Y-axis driven by the second base 20, that is, the adduction / abduction (lateral swing) movement of the mechanical finger 100 driven by the second base 20; the third actuator 33 causes the middle phalanx 62 to rotate actively, realizing the active flexion-extension of the middle phalanx 62. The mechanical finger 100 has three active degrees of freedom, and both the proximal phalanx 61 and the middle phalanx 62 of the mechanical finger 100 can actively flex and extend, making the grasping of the mechanical hand more accurate.

[0036] Furthermore, the fixed-axis transmission rod 432 is formed as an "L"-shaped rod, and the inflection point of the fixed-axis transmission rod 432 is rotatably connected to the proximal phalanx connecting rod 611 through the fifth rotating part 55. The "L"-shaped design of the fixed-axis transmission rod 432 is used to avoid interference during the movement of the mechanical finger 100.

[0037] Furthermore, the mechanical finger 100 includes a transmission unit that transmits power from the drive unit 30. The transmission unit of the mechanical finger 100 includes a first transmission rod 411, a second transmission rod 421, and a third transmission rod 431. One end of the first transmission rod 411 receives power from the first actuator 31, and the other end is connected to the second rotating part 52. Moving the second rotating part 52 causes the second base 20 to rotate. One end of the second transmission rod 421 receives power from the second actuator 32, and the other end is connected to the third rotating part 53. Moving the third rotating part 53 causes the second base 20 to rotate. One end of the third transmission rod 431 receives power from the third actuator 33, and the other end is connected to the fourth rotating part 54. Moving the fourth rotating part 54 drives the fixed-axis transmission rod 432 to move, thereby causing the middle finger joint connecting rod 622 to rotate.

[0038] Specifically, one end of the fixed-axis transmission rod 432 is connected to the third transmission rod 431, and the other end is connected to the middle finger joint transmission rod 621. The fixed-axis transmission rod and the third transmission rod are connected through the fourth rotating part 54. The middle part of the fixed-axis transmission rod 432 is rotatably connected to the proximal finger joint connecting rod 611 through the fifth rotating part 55. When the third actuator 33 is driven, the third transmission rod 431 transmits power to move the fourth rotating part 54, which in turn drives the fixed-axis transmission rod 432 to rotate around the fifth rotating part 55, thereby driving the middle finger joint transmission rod 621 to move.

[0039] In one specific embodiment, the reference Figure 1 The transmission unit further includes a first linear motion component, a second linear motion component, and a third linear motion component, which are used to convert the rotational motion of the first actuator 31, the second actuator 32, and the third actuator 33 into linear motion, respectively. For example, the first linear motion component, the second linear motion component, and the third linear motion component each include a lead screw 412, a nut 413, a nut seat 414, and a guide 415. 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, for example, include a guide rod.

[0040] Specifically, one end of the first transmission rod 411 is connected to the first linear motion member, and the other end is connected to the X-axis of the second rotating part 52; one end of the second transmission rod 421 is connected to the second linear motion member, and the other end is connected to the Y-axis of the third rotating part 53.

[0041] Specifically, the first transmission rod 411 is rotatably connected to the nut seat 414 of the first linear motion member. When the first actuator 31 generates power, the lead screw 412 drives the nut and nut seat 414 to generate linear motion according to the direction of the guide 415. The first transmission rod 411 transmits the power of the linear motion to the second base 20. The second transmission rod 421 is rotatably connected to the nut seat 414 of the second linear motion member. 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 movement of the second transmission rod 421. The mechanical finger 100's base joint movement is achieved through a parallel mechanism. The first branch of the parallel mechanism includes a first linear motion component, a first transmission rod 411, and a second rotating part 52. The second branch of the parallel mechanism includes a second linear motion component, a second transmission rod 421, a third rotating part 53, and a spherical bearing 422. The first branch is a planar motion branch, and the second branch is a spatial motion branch. When the first actuator and the second actuator are driven asynchronously, the base joint generates a composite motion of rotation around the X-axis and rotation around the Y-axis, and the second branch generates spatial motion. The first branch and the second branch are asymmetrical motion branches, distributed along the X-axis in orientation. The second base moves around the X-axis through the synchronous movement of the two branches. This solves the problem of insufficient load-bearing capacity and stiffness of the motion-decoupled asymmetrical parallel mechanism compared to the strongly coupled symmetrical branch parallel mechanism. At the same time, the asymmetrical branch parallel mechanism can reduce the difficulty of assembly and control.

[0042] The third transmission rod 431 is rotatably connected to the nut seat 414 of the third linear motion member. When the third actuator 33 generates power, the third linear motion member generates linear motion along the direction of the guide member. The third transmission rod 431 causes the fourth rotating part 54 to move, thereby driving the middle finger joint transmission rod 621 to move.

[0043] According to the mechanical finger 100 in the above specific embodiment, taking a five-bar linkage as an example, the flexion and extension motion of the mechanical finger 100 can have the following motion states:

[0044] The first state of motion, reference Figure 3 When the first actuator 31 and the second actuator 32 are driven synchronously and the third actuator 33 is not driven, the first actuator 31 and the second actuator 32 drive the second base 20 to rotate around the X-axis of the first rotating part 51, and generate synchronous rotation with the proximal phalanx connecting rod 611 fixed to the second base 20. At this time, the third transmission rod 431 and the nut seat of the third linear motion member are fixed, so that the fixed axis transmission rod 432 generates passive rotation, thereby causing the middle phalanx 62 and the distal phalanx 63 to generate passive flexion and extension movements.

[0045] The second state of motion, participation Figure 4When only the third actuator 33 is driven, and the first actuator 31 and the second actuator 32 are not driven, the third actuator 33 drives the third transmission rod 431 to move, thereby causing the fourth rotating part 54 to move. The fixed-axis transmission rod 432 generates active rotation, realizing the active flexion and extension movement of the middle phalanx 62 and the coupled passive flexion and extension movement of the distal phalanx 63.

[0046] The third state of motion, participation Figure 5 When the first actuator 31 and the second actuator 32 are driven synchronously, and the third actuator 33 is driven in the opposite direction for compensation, the second rotating part 52 and the third rotating part 53 move in opposite directions relative to the fourth rotating part 54. The proximal phalanx 61, the middle phalanx 62 and the distal phalanx 63 remain in an extended state and generate synchronous flexion and extension movements with the second base 20.

[0047] The fourth state of motion, refer to Figure 6 When the first actuator 31 and the second actuator 32 are driven synchronously, while the third actuator 33 is driven independently, the first actuator 31 and the second actuator 32 cause the second rotating part 52 and the third rotating part 53 to move synchronously. The second base 20 drives the proximal phalanx 61 to actively flex and extend, and the third actuator 33 causes the fourth rotating part 54 to move, so that the flexion and extension movements of the proximal phalanx 61 and the middle phalanx 62 are active rotations, while the flexion and extension movements of the distal phalanx 63 are coupled passive movements. In this case, the flexion and extension movements of the finger are achieved by the first actuator 31, the second actuator 32, and the third actuator 33 working together. The three actuators work together to ensure that the mechanical finger 100 has sufficient gripping force, and the flexibility and accuracy of finger flexion and extension are guaranteed.

[0048] The above four motion modes enable the mechanical finger 100 to exhibit four motion states, and the finger can perform various flexion, extension, and lateral swing movements according to different driving modes.

[0049] In the process of researching this technical solution, the inventors of this application discovered, based on bionics research, that the adduction / abduction (lateral swing) movement of the human finger is mostly used to reposition the finger rather than to apply significant force. This movement is mainly accomplished by the interosseous muscles located in the palm, and is an order of magnitude smaller than the flexor force required for flexion / extension (flexion-extension) movements. Therefore, the lateral swing movement of the mechanical finger requires only a small driving force, while the flexion-extension movement requires a relatively large driving force.

[0050] Specifically, in this embodiment, the mechanical finger 100 can achieve finger flexion and extension through the synchronous drive of the first actuator 31 and the second actuator 32, providing the mechanical finger 100 with greater gripping force. More specifically, the finger can achieve finger flexion and extension based on the synchronous drive of the first actuator 31 and the second actuator 32, combined with the independent drive of the third actuator 33, so that the mechanical finger 100 can achieve finger flexion and extension based on the first actuator 31, the second actuator 32 and the third actuator 33. Both the proximal phalanx 61 and the middle phalanx 62 can actively flex and extend, and the flexion and extension angle of the middle phalanx can be adjusted according to the independent drive of the third actuator. The gripping force and flexibility of the mechanical finger are improved. At the same time, the multiple actuators provide flexion and extension power, so that the volume of a single actuator can be relatively reduced.

[0051] Specifically, refer to Figure 7 The fifth motion state of the mechanical finger is when the second actuator 32 is driven independently of the first actuator 31, that is, when the second actuator 32 is driven while the first actuator 31 is not driven. At this time, the second actuator 32 drives the third rotating part 53 to move. The third rotating part 53 is disposed on the second base 20. When the third rotating part 53 moves, it drives the second base 20 to rotate around the Y-axis, and the mechanical finger 100 performs a lateral swing motion.

[0052] Specifically, refer to Figure 8 In the sixth motion state of the mechanical finger, when the first rotating part 51 and the second rotating part 52 are driven asynchronously, the second base 20 performs a compound motion of rotating around the X-axis and rotating around the Y-axis, and the mechanical finger 100 simultaneously performs flexion-extension and lateral swinging motions.

[0053] Specifically, the first rotating part 51 and the second rotating part 52 are disposed on the end face of the second base 20, and the third rotating part 53 is disposed on the side of the second base 20. The first transmission rod 411 is connected to the X-axis of the second rotating part 52, and the second transmission rod 421 is connected to the Y-axis of the third rotating part 53. When the first actuator 31 and the second actuator 32 are driven synchronously, the first transmission rod 411 and the second transmission rod 421 cause the second rotating part 52 and the third rotating part 53 to apply a force in the YZ plane to the second base 20, and the second base 20 rotates around the X-axis of the first rotating part 51. When the second actuator 32 is driven independently of the first actuator 31, the second transmission rod 421 causes the third rotating part 53 to apply a force in the XZ plane to the second base 20, and the second base 20 rotates around the Y-axis of the first rotating part 51, and the mechanical finger 100 performs a lateral swing motion.

[0054] The aforementioned mechanical finger 100 achieves two degrees of freedom rotation of the base joint of the finger through a parallel mechanism of asymmetric branches. Compared with the existing technology that uses a parallel mechanism of symmetric branches to achieve two degrees of freedom rotation of the base joint, the branches are independent of each other and do not affect each other, thus achieving motion decoupling.

[0055] More specifically, the X-axis of the first rotating part 51 and the second rotating part 52 are parallel and the Y-axis is collinear. The X-axis of the second rotating part 52 and the third rotating part 53 are collinear. When the first actuator 31 and the second actuator 32 are driven synchronously, the first linear motion member and the second linear motion member generate linear motion. Specifically, the nut seats of the first linear motion member and the second linear motion member are coplanar, thereby causing the first transmission rod 411 and the second transmission rod 421 to move synchronously. The second rotating part 52 and the third rotating part 53 move synchronously in the YZ plane, causing the second base 20 to rotate around the X-axis of the first rotating part 51. When the second actuator 32 moves independently relative to the first actuator 31, the second transmission rod 421 is connected to the Y-axis of the third rotating part 53. The second transmission rod 421 causes the third rotating part 53 to move in the XZ plane, causing the second base 20 to rotate around the Y-axis of the first rotating part 51 and the second rotating part 52. Since the rotation of the X-axis and the rotation of the Y-axis do not affect each other, the motion of the second base 20 around the X-axis of the first rotating part 51 and the Y-axis of the first rotating part 51 are decoupled, and the rotational motion axes in the two directions are orthogonal, which reduces the complexity of motion control of the mechanical finger 100.

[0056] Specifically, the proximal phalanx link 611 is connected to one end of the second base 20. For example, the proximal phalanx link 611 is connected to the lower end of the second base 20. When the second base 20 moves, it drives the proximal phalanx link 611 fixed to the second base 20 to move, so that the proximal phalanx 61 follows the movement of the second base 20.

[0057] Furthermore, the fourth rotating part 54 is disposed below the second base 20. The fourth rotating part 54 is connected to the third transmission rod 431 and transmits power to the middle knuckle transmission rod 621. The fourth rotating part 54 can, for example, generate motion around the X-axis and around the Y-axis. When the fourth rotating part 54 receives power from the third actuator, the fourth rotating part 54 rotates around the X-axis of the fifth rotating part 55. The fixed-axis transmission rod 432 is rotatably connected to the proximal knuckle link 611 through the fifth rotating part 55. One end of the fixed-axis transmission rod 432 is connected to the fourth rotating part 54, and the other end is rotatably connected to the middle knuckle transmission rod 621. When the fourth rotating part 54 receives power, the middle knuckle transmission rod 621 generates motion around the X-axis around the fifth rotating part 55.

[0058] When the second base 20 rotates around the X-axis and around the Y-axis, it drives the proximal phalanx 61 to perform corresponding movements. The fourth rotating part 54 can provide the corresponding degrees of freedom to adapt to the corresponding movements of the second base 20.

[0059] The second base 20 moves around the X-axis of the first rotating part 51 according to the synchronous movement of the second rotating part 52 and the third rotating part 53. The second base 20 moves around the Y-axis of the first rotating part 51 and the second rotating part 52 according to the movement of the third rotating part 53. The X-axis movement and the Y-axis movement are independent of each other, so that the movement of the second base 20 around the X-axis and the movement around the Y-axis are uncoupled.

[0060] Understandably, the parallel finger mechanism includes a first and second branch chain distributed in parallel with the base joints, and the first actuator 31 and the second actuator 32 are distributed in parallel. The serial mechanism includes a third actuator 33, a third linear motion member, and a fixed-axis transmission rod 432. Therefore, the mechanical finger 100 performs motion based on the serial-parallel hybrid mechanism.

[0061] Understandably, the first rotating part 51, the second rotating part 52, and the third rotating part 53 can rotate in at least two directions, so that the base joint can achieve two degrees of freedom of movement. For example, the first rotating part 51, the second rotating part 52, and the third rotating part 53 can use connecting components such as universal joints and cross shafts to achieve rotation along the vertical axis.

[0062] Understandably, the fourth rotating part 54 can rotate in at least two directions. When the third actuator 33 moves the fourth rotating part 54, the fourth rotating part 54 can rotate about the X-axis; when the mechanical finger 100 performs a lateral swing motion, the fourth rotating part 54 can rotate about the Y-axis to accommodate the lateral swing motion of the finger. Specifically, the fourth rotating part 54 can adopt a curved universal joint to avoid interference during the movement.

[0063] Optionally, the first actuator 31, the second actuator 32, and the third actuator 33 are rotary actuators. They are located at the end of the first base 10 and arranged in a side triangle. The first actuator 31 and the second actuator 32 are positioned opposite each other above the third actuator 33, and the second actuator 32 is positioned opposite each other to the right of the first actuator 31 and the second actuator 32. The first actuator 31 and the third actuator 33 form the base of the side triangle. This arrangement makes the structure of the rear drive unit of the mechanical finger 100 more compact within the first base 10.

[0064] The advantages of the above preferred embodiments are as follows: a three-degree-of-freedom mechanical finger design is provided, in which the proximal and middle phalanges of the mechanical finger can actively flex and extend, while the mechanical finger can actively swing laterally, ensuring the flexibility of finger movement; the flexion and extension movements of the proximal phalanges and the lateral swing movements are decoupled, reducing the difficulty of motion control of the mechanical finger; the flexion and extension movements of the mechanical finger can be driven by two or three actuators, and the use of multiple actuators to provide flexion and extension power improves the load / grip capacity of the mechanical finger.

[0065] Finally, it should be noted that due to the limitations of written expression, the above description is merely exemplary and not exhaustive. The present invention is not limited to the disclosed embodiments. Without departing from the scope and spirit of the above examples, those skilled in the art can make several improvements and modifications, which 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 high degree of freedom robotic finger, characterized by, The mechanical finger comprises a first base extending along the Z axis, a driving part arranged on the first base, and a second base rotatably connected to the first base through a first rotating part, a proximal phalanx of the mechanical finger being connected to the second base, the driving part comprising a first actuator, a second actuator and a third actuator, the first actuator being used to move a second rotating part arranged on the second base, the second actuator being used to move a third rotating part arranged on the second base, and the third actuator being used to move a fourth rotating part to transmit power to a middle phalanx, when the first actuator and the second actuator are synchronously driven, the second base drives the proximal phalanx to rotate around the X axis, when the second actuator is driven alone relative to the first actuator, the second base drives the proximal phalanx to rotate around the Y axis, and when the third actuator is driven, the fourth rotating part drives the middle phalanx to rotate, the proximal phalanx comprises a proximal phalanx connecting rod and a middle phalanx transmission rod, the proximal phalanx connecting rod is fixedly connected to the second base, the middle phalanx comprises a middle phalanx connecting rod connected to the middle phalanx transmission rod, the mechanical finger connects the middle phalanx transmission rod and the fourth rotating part through a fixed shaft transmission rod, the fixed shaft transmission rod is rotatably connected to the proximal phalanx connecting rod through a fifth rotating part, when the third actuator moves the fourth rotating part, the fixed shaft transmission rod is forced to rotate around the fifth rotating part, the middle phalanx transmission rod drives the middle phalanx connecting rod to rotate to make the middle phalanx rotate around the X axis, the first rotating part and the second rotating part are arranged on the end surface of the second base, the third rotating part is arranged on the side surface of the second base, when the first actuator and the second actuator are synchronously driven, an acting force is applied to the second base along the YZ plane, the second base rotates around the X axis of the first rotating part, when the second actuator is driven alone relative to the first actuator, an acting force is applied to the second base along the XZ plane, the second base rotates around the Y axis of the first rotating part, the mechanical finger comprises a first transmission rod and a second transmission rod, one end of the first transmission rod receives the power of the first actuator, and the other end of the first transmission rod is connected to the second rotating part, one end of the second transmission rod receives the power of the second actuator, and the other end of the second transmission rod is connected to the third rotating part. The first transmission rod is connected to the X axis of the second rotating part, and the second transmission rod is connected to the Y axis of the third rotating part. The fixed shaft transmission rod is an "L" shaped rod, and the inflection point of the fixed shaft transmission rod is connected to the proximal phalanx connecting rod through the fifth rotating part.

2. The high-dof robotic finger of claim 1, wherein, The mechanical finger comprises a third transmission rod, one end of the third transmission rod receives the power of the third actuator, and the other end of the third transmission rod is connected to the fourth rotating part.

3. The high-dof robotic finger of claim 1, wherein, The X axes of the first rotating part and the second rotating part are parallel, and the Y axes are collinear, and the X axes of the second rotating part and the third rotating part are collinear.

4. The high-dof robotic finger of claim 1, wherein, The mechanical finger comprises a distal phalanx connected to the middle phalanx, and the proximal phalanx connecting rod, the middle phalanx connecting rod, the middle phalanx transmission rod, the distal phalanx connecting rod and the distal phalanx transmission rod of the mechanical finger form a five-bar mechanism.

5. The high-dof robotic finger of claim 1, wherein, The first actuator, the second actuator and the third actuator are arranged on the end of the first base and arranged in a side triangle, the first actuator and the third actuator form the bottom side of the side triangle, so that the first base is compact in the X axis direction.

6. The high-dof robotic finger of claim 1, wherein, ​

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