Finger assembly and humanoid hand

Abstract

The present invention provides a finger assembly and anthropomorphic hand, which relate to the technical field of anthropomorphic manipulators. The finger assembly includes a proximal phalanx, a middle phalanx, a fingertip, a driving mechanism, and a connecting rod mechanism. The proximal phalanx is hinged to the middle phalanx. The driving mechanism includes a motor, a universal coupling, a lead screw, and a nut. The motor is fixed to the proximal phalanx, the nut is fixed to the middle phalanx, the lead screw and the nut are threadedly connected, one end of the universal coupling is connected to the output shaft of the motor, and the other end is connected to the lead screw. The driving mechanism is used to drive the middle phalanx to rotate relative to the proximal phalanx. The connecting rod mechanism is provided in the middle phalanx and connects the proximal phalanx and the fingertip, and is used to achieve synchronous bending movement of the fingertip and the middle phalanx. The finger assembly and the anthropomorphic hand of the present invention are driven by the provision of a universal coupling and a lead screw and nut mechanism, which can achieve efficient transmission when the finger is bent at a small angle and self-locking when bent at a large angle. The finger assembly and the anthropomorphic hand have the characteristics of strong load-bearing capacity, high energy utilization rate, and strong endurance.

Description

Technical Field

[0001] The present invention relates to the technical field of humanoid manipulators, and in particular to a finger assembly and a humanoid hand. Background Art

[0002] Artificial hands are often used to replace human hands to perform tasks such as grasping and manipulation. They are precise and flexible. Their finger components, as an important component of the artificial hand, can achieve flexion and extension functions similar to those of human fingers.

[0003] In related technologies, the bending and self-locking of finger assemblies are typically achieved through a built-in motor and a transmission mechanism. Due to the limited size of the finger assembly, the motor cannot be equipped with a brake mechanism for self-locking. Therefore, a unidirectional power transmission mechanism such as a worm gear is often used for self-locking. However, this type of transmission mechanism has low transmission efficiency, places high load requirements on the motor, and wastes excessive energy to achieve the self-locking function, which is not conducive to continuous operation that simulates human hands. Summary of the Invention

[0004] The technical problem solved by the present invention is that existing finger joints cannot have both self-locking characteristics and high transmission efficiency, and the transmission efficiency is low and energy is seriously wasted in order to obtain the self-locking characteristics.

[0005] To solve the above problems, on the one hand, the present invention provides a finger assembly, including a proximal knuckle, a middle knuckle, a fingertip knuckle, a driving mechanism and a connecting rod mechanism, the proximal knuckle, the middle knuckle and the fingertip knuckle are arranged in sequence, and the proximal knuckle is hinged to the middle knuckle; the driving mechanism includes a motor, a universal coupling, a screw and a nut, the motor is fixed to the proximal knuckle, the nut is fixed to the middle knuckle, the screw is located in the middle knuckle and is threadedly connected to the nut, one end of the universal coupling is connected to the output shaft of the motor, and the other end is connected to the screw, and the driving mechanism is used to drive the middle knuckle to rotate relative to the proximal knuckle; the connecting rod mechanism is arranged in the middle knuckle and connects the proximal knuckle and the fingertip knuckle, and is used to drive the fingertip knuckle to rotate relative to the middle knuckle when the middle knuckle rotates relative to the proximal knuckle.

[0006] Optionally, the middle phalanx rotates relative to the proximal phalanx between an initial position and an end position; when the middle phalanx is at the initial position, the nut is located at one end of the screw, and when the middle phalanx is at the end position, the nut is located at the other end of the screw.

[0007] Optionally, when the middle knuckle is located at the initial position, the sum of the axis angle between the output shaft of the motor and the universal joint and the axis angle between the universal joint and the lead screw is between 0-30°.

[0008] Optionally, when the middle finger joint is located at the end position, the angle between the output shaft of the motor and the axis of the universal joint is between 0-45°, and the angle between the axis of the universal joint and the lead screw is between 0-45°.

[0009] Optionally, a rotation angle of the middle phalanx relative to the proximal phalanx from the initial position to the terminal position is between 0-90°.

[0010] Optionally, one of the proximal phalanx and the middle phalanx is fixed with a first rotating shaft, and the other one is hinged to the first rotating shaft.

[0011] Optionally, the axes of the output shaft of the motor, the universal joint and the lead screw are located in the same plane and are all arranged perpendicular to the axis of the first rotating shaft.

[0012] Optionally, the connecting rod mechanism includes a second rotating shaft, a third rotating shaft, a first connecting rod and a second connecting rod; the second rotating shaft is fixed to the proximal knuckle; the third rotating shaft is fixed to the middle knuckle; the first end of the first connecting rod is hinged to the second rotating shaft; the second connecting rod includes a first rod segment and a second rod segment connected to each other, a preset angle is formed between the first rod segment and the second rod segment, the connection between the first rod segment and the second rod segment is hinged to the third rotating shaft, the end of the first rod segment away from the third rotating shaft is hinged to the second end of the first connecting rod, and the end of the second rod segment away from the third rotating shaft is fixedly connected to the proximal knuckle.

[0013] Optionally, the universal joint is a cross-axis universal joint; and / or the nut and the screw are planetary roller screws.

[0014] On the other hand, the present invention further provides a humanoid hand comprising any of the above-mentioned finger assemblies.

[0015] The finger assembly and the artificial human hand of the present invention are driven by a universal coupling and a screw-nut mechanism, which can achieve efficient transmission when the finger is bent at a small angle and self-locking when bent at a large angle. They have the characteristics of strong load-bearing capacity, high energy utilization rate, and long endurance. When the middle knuckle rotates relative to the proximal knuckle within a small angle range, the output shaft of the universal coupling and the motor, as well as the angle between the output shaft and the lead screw, are small, the transmission efficiency of the universal coupling is high, and the motor can drive the middle knuckle to rotate flexibly. Compared with the existing scheme that only uses a worm gear transmission, the transmission efficiency of the lead screw and nut mechanism is higher, and the load-bearing capacity of the finger assembly of the present invention is stronger under the condition of using a motor of the same power; when the middle knuckle rotates relative to the proximal knuckle within a large angle range for large-load operations such as lifting and pressing, the transmission efficiency of the universal coupling is low, and the finger assembly can realize a self-locking function, and the load borne by the finger assembly can be passively borne by the structure of the universal coupling itself, and the motor does not need to bear a large load. At the same time, the motor can actively output to further improve the load-bearing capacity of the finger assembly; by setting a connecting rod mechanism, the synchronous bending movement of the fingertip and the middle knuckle can be realized, the overall flexion and extension amplitude of the finger assembly and the movement similarity with the human finger are improved, and the load-bearing and grasping capabilities of the finger assembly are stronger. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic structural diagram of a finger assembly according to an embodiment of the present invention;

[0017] Figure 2 for Figure 1 Schematic diagram of the internal structure of the middle finger component in one direction;

[0018] Figure 3 for Figure 2 Schematic diagram of the axis of the motor output shaft, universal coupling and lead screw;

[0019] Figure 4 for Figure 2 Schematic diagram of the rotation state of the finger assembly under viewing angle;

[0020] Figure 5 for Figure 4 Schematic diagram of the axis of the motor output shaft, universal coupling and lead screw;

[0021] Figure 6 for Figure 1 Schematic diagram of the internal structure of the middle finger assembly from the other direction; Figure 7 It is a linear relationship diagram of the angle between the axis of the universal coupling and the connecting shaft and the transmission efficiency;

[0022] Figure 8 A schematic diagram of the internal structure of a finger assembly according to another embodiment of the present invention;

[0023] Figure 9 for Figure 8Schematic diagram of the rotation state of the middle finger assembly.

[0024] Description of reference numerals:

[0025] 10-proximal phalanx; 11-first rotating shaft; 20-middle phalanx; 30-tip phalanx; 41-motor; 42-universal coupling; 43-screw; 44-nut; 51-second rotating shaft; 52-third rotating shaft; 53-first connecting rod; 54-second connecting rod; 541-first rod segment; 542-second rod segment. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0027] It should be noted that in the present invention, descriptions such as "first" and "second" are only used for descriptive purposes and should not be understood as indicating or implying their relative importance or implicitly indicating the number of the technical features indicated. Therefore, features defined as "first" and "second" may explicitly or implicitly include at least one of such features. The directions or positional relationships indicated by the terms "upper", "lower", "front", "back", "left", "right", etc. are based on the directions or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention and simplifying the description. They do not indicate or imply that the devices or elements referred to must have a specific direction, be constructed and operate in a specific direction. Therefore, they should not be understood as limiting the present invention.

[0028] In the present invention, unless otherwise specified or limited, the terms "connection" and "fixation" should be understood in a broad sense. For example, "fixation" can mean fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will be able to understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0029] The finger assemblies imitating human hands in the prior art have the problems of low transmission efficiency and serious energy waste.

[0030] To solve the above technical problems, please refer to Figures 1 to 6 An embodiment of the present invention provides a finger assembly, including a proximal phalanx 10, a middle phalanx 20, a fingertip phalanx 30, a driving mechanism, and a connecting rod mechanism.

[0031] Among them, the proximal knuckle 10, the middle knuckle 20 and the fingertip knuckle 30 are arranged in sequence, and the proximal knuckle 10 is hinged to the middle knuckle 20; the driving mechanism includes a motor 41, a universal coupling 42, a screw 43 and a nut 44, the motor 41 is fixed to the proximal knuckle 10, the nut 44 is fixed to the middle knuckle 20, the screw 43 is located in the middle knuckle 20 and is threadedly connected to the nut 44, one end of the universal coupling 42 is connected to the output shaft of the motor 41, and the other end is connected to the screw 43, the driving mechanism is used to drive the middle knuckle 20 to rotate relative to the proximal knuckle 10; the connecting rod mechanism is arranged in the middle knuckle 20 and connects the proximal knuckle 10 and the fingertip knuckle 30, and is used to drive the fingertip knuckle 30 to rotate relative to the middle knuckle 20 when the middle knuckle 20 rotates relative to the proximal knuckle 10.

[0032] The three-section finger assembly formed by the proximal phalanx 10, the middle phalanx 20, and the fingertip 30 is similar to the three-section joint structure of a human finger. The middle phalanx 20 can rotate relative to the proximal phalanx 10, and the fingertip 30 can achieve coupled bending motion with the middle phalanx 20 through a connecting rod mechanism, making the overall flexion and extension of the finger assembly similar to the flexion and extension motion of a human finger, and can replace a human finger to perform operations such as bending and grasping. The drive mechanism is used to drive the middle phalanx 20 to rotate relative to the proximal phalanx 10. It can be understood that the rotation of the output shaft of the motor 41 can drive the rotation of the universal joint 42, and the rotation of the universal joint 42 can drive the rotation of the screw 43. The rotation of the screw 43 then causes the nut 44 and the middle phalanx 20 to perform linear motion along the axial direction of the screw 43. The middle phalanx 20 is restricted by the hinged structure with the proximal phalanx 10. When the nut 44 drives the middle phalanx 20 to move along the screw 43, the position of the middle phalanx 20 relative to the proximal phalanx 10 changes and it can only rotate relative to the proximal phalanx 10. The characteristics of the universal coupling 42 can achieve continuous rotation of the two axes when there is an axial angle between the output shaft of the motor 41 and the screw 43. The universal coupling 42 can adaptively adjust its angle with the output shaft of the motor 41 and the screw 43 to match the rotation of the middle phalanx 20. In this way, the rotation control of the middle phalanx 20 can be achieved, and the rotation angle of the middle phalanx 20 relative to the proximal phalanx 10 can be adjusted by controlling the movement position of the nut 44 on the screw 43.

[0033] It should be noted that analysis of human hand movements reveals that fingers generally only need to passively bear significant loads after bending at a certain angle, such as during lifting or pressing. The finger assembly of the present invention, through the provision of a universal joint 42 and a screw 43 / nut 44 mechanism for transmission, can achieve efficient transmission at small finger bends and self-locking at large bends. The transmission efficiency of the universal joint 42 is related to the angle between it and the axis of the motor 41 output shaft, as well as the angle between it and the axis of the screw 43. It should be noted that the angle here refers to the angle less than or equal to 90 degrees formed by the intersection of the two axes. The smaller the angle between the axis of the universal joint 42 and the axis of the motor output shaft and the axis of the screw 43, the higher the transmission efficiency of the universal joint 42. Conversely, the larger the angle, the lower the transmission efficiency of the universal joint 42. The screw nut mechanism, however, does not have a self-locking function and has a higher transmission efficiency. It can be deduced that when the middle phalanx 20 rotates within a small angle range relative to the proximal phalanx 10, the angles between the axis of the universal coupling 42 and the axis of the output shaft of the motor 41, as well as the angles between the axis of the universal coupling 42 and the axis of the lead screw 43, are both small. The transmission efficiency of the universal coupling 42 is high, and the motor 41 can drive the middle phalanx 20 to rotate flexibly. Furthermore, compared to existing solutions that only use a worm gear transmission, the finger assembly of the present invention has a stronger load-bearing capacity when using a motor 41 of the same power. When the middle phalanx 20 rotates within a large angle range relative to the proximal phalanx 10 for heavy load operations such as lifting and pressing, the angles between the axis of the universal coupling 42 and the axis of the output shaft of the motor 41, as well as the angles between the axis of the universal coupling 42 and the axis of the lead screw 43, are both large. The transmission efficiency of the universal coupling 42 is low, and the finger assembly can achieve a self-locking function. The load borne by the finger assembly can be passively borne by the structure of the universal coupling 42 itself, without the motor 41 having to bear a large load. At the same time, the motor 41 can actively output power, further improving the load-bearing capacity of the finger assembly. In addition, the fingertip joint 30 is limited by its size and cannot be matched with the corresponding active drive structure. The rotation of the fingertip joint 30 is often ignored in the prior art, resulting in a weakened grasping ability of the finger assembly. The present invention, by providing a connecting rod mechanism, can achieve synchronous flexion and extension of the fingertip joint 30 and the middle finger joint 20, thereby increasing the overall flexion and extension range of the finger assembly and its movement similarity to that of a human finger, thereby enhancing the load-bearing and grasping capabilities of the finger assembly. The finger assembly of the present invention has a large-angle self-locking function, strong load-bearing capacity, high energy utilization rate, and long endurance, and has high use value and application prospects.

[0034] In some embodiments, the middle phalanx 20 rotates relative to the proximal phalanx 10 between an initial position and an end position; when the middle phalanx 20 is at the initial position, the nut 44 is located at one end of the screw 43, and when the middle phalanx 20 is at the end position, the nut 44 is located at the other end of the screw 43. During the process of the middle phalanx 20 rotating from the initial position to the end position, the motor 41 drives the nut 44 to move from one end of the screw 43 to the other end. By designing the length of the screw 43 and the connection position of the nut 44 and the middle phalanx 20, the rotation angle of the middle phalanx 20 relative to the proximal phalanx 10 can be limited. In the embodiment shown, the rotation angle of the middle phalanx 20 relative to the proximal phalanx 10 from the initial position to the end position is preferably 90°. When the middle phalanx 20 is at the initial position, as shown in FIG. Figure 2 As shown, the extension direction of the proximal phalanx 10 is consistent with the extension direction of the middle phalanx 20, and the finger assembly is in a straight state; when the middle phalanx 20 is in the end position, as shown in FIG. Figure 4 As shown, the extension direction of the proximal phalanx 10 is perpendicular to the extension direction of the middle phalanx 20, and the finger assembly is in a state of maximum bending amplitude.

[0035] Preferably, when the middle phalanx 20 is in the initial position, the sum of the axis angles between the output shaft of the motor 41 and the universal joint 42 and the axis angles between the universal joint 42 and the lead screw 43 is between 0-30°. Figure 3 When the middle finger joint 20 is in the initial position, α1 is the angle between the axis of the universal joint 42 and the axis of the output shaft of the motor 41, and β1 is the angle between the axis of the universal joint 42 and the axis of the screw 43. α1 and β1 satisfy: 0≤α1+β1≤30°. Figure 7 The figure is a linear relationship diagram of the angle between the axis of the universal joint and the connecting shaft and the transmission efficiency, wherein the x-axis represents the angle between the axis of one end of the universal joint 42 and the corresponding connected shaft, and the y-axis represents the transmission efficiency between the universal joint and the corresponding connected shaft. Figure 7By calculating the transmission efficiency between the output shaft of the motor 41 and the lead screw 43 when the output shaft of the motor 41 and the lead screw 43 rotate at different angles relative to the universal joint 42, it can be seen that when the axis angle between the output shaft of the motor 41 and the universal joint 42 and the sum of the axis angles between the universal joint 42 and the lead screw 43 are between 0-30°, the motor 41 and the lead screw 43 can transmit with high efficiency (transmission efficiency greater than 75%); when the sum of the aforementioned axis angles is greater than 30°, the transmission efficiency of the motor 41 and the lead screw 43 is low, and the finger assembly can achieve self-locking. By designing the sum of the aforementioned axis angles to be between 0-30° in the initial position, the middle finger joint 20 can be prevented from self-locking in the initial position. By designing the sum of the axis angles, the self-locking range of the finger assembly can be limited. For example, to achieve self-locking when the middle phalanx 20 rotates at an angle greater than 20° relative to the proximal phalanx 10, the sum of the angles between the axis of the output shaft of the motor 41 and the universal joint 42, and the axis of the universal joint 42 and the lead screw 43 in the initial position can be designed to be approximately 10°. When the middle phalanx 20 rotates at an angle greater than 20° relative to the proximal phalanx 10, the sum of the aforementioned angles is greater than 30°, and the finger assembly can achieve self-locking. Considering that the output shaft of the motor 41 and the lead screw 43 can rotate on the same side or on opposite sides of the axis of the universal joint 42, the finger assembly can theoretically be designed to achieve self-locking when the middle phalanx 20 rotates at an angle greater than any angle between 0 and 60° relative to the proximal phalanx 10.

[0036] Preferably, when the middle phalanx 20 is at the end position, the angle between the output shaft of the motor 41 and the axis of the universal joint 42 is between 0-45°, and the angle between the axis of the universal joint 42 and the lead screw 43 is between 0-45°. Figure 5 When the middle finger joint 20 is at the end position, the angle α2 between the axis of the universal joint 42 and the axis of the output shaft of the motor 41 satisfies 0≤α2≤45°, and the angle β2 between the axis of the universal joint 42 and the axis of the lead screw 43 satisfies 0≤β2≤45°. Figure 7 It can be seen that after one end of the universal coupling 42 is connected to the shaft, the angle between the axes of the two can achieve torque transmission. That is, the output shaft of the motor 41 and one end of the universal coupling 42 must rotate within the axis angle range of 0°-45°, and the screw 43 and the other end of the universal coupling 42 must also rotate within the axis angle range of 0°-45°. By limiting the rotation angle of the output shaft of the motor 41 and the screw 43 relative to the universal coupling 42 when the middle phalanx 20 is in the terminal position, the middle phalanx 20 maintains a certain transmission efficiency during the process of rotating from the initial position to the terminal position, preventing the finger assembly from getting stuck.

[0037] Similarly, the angle between the output shaft of the motor 41 and the axis of the universal joint 42, and the angle between the axis of the screw 43 and the universal joint 42 must be maintained between 0-45°. After the two angles are superimposed, the rotation angle of the middle phalanx 20 relative to the proximal phalanx 10 from the initial position to the end position is between 0-90° to avoid the finger assembly from getting stuck. The specific angle can be designed according to the flexion and extension requirements of the finger assembly and is not limited here.

[0038] More specifically, the proximal phalanx 10, middle phalanx 20, and phalanx 30 can each be a cylindrical structure similar to the joints of a human finger. The motor 41 and nut 44 can be secured to the proximal phalanx 10 and middle phalanx 20, respectively, by bonding, screwing, or other means. The universal joint 42 is preferably a cross-axis universal joint, which provides a large deviation angle and high torque transmission efficiency. The nut 44 and screw 43 are preferably planetary roller screws, which offer higher precision, greater load capacity, and longer service life.

[0039] In some embodiments, one of the proximal phalanx 10 and the middle phalanx 20 is fixed with a first rotating shaft 11 , and the other one is hinged to the first rotating shaft 11 to achieve the hinged connection of the proximal phalanx 10 and the middle phalanx 20 .

[0040] Furthermore, the axes of the motor 41's output shaft, the universal joint 42, and the lead screw 43 lie in the same plane and are all perpendicular to the axis of the first rotating shaft 11. This allows the plane formed by the axes of the motor 41's output shaft, the universal joint 42, and the lead screw 43 to be parallel to the plane formed by the rotation of the middle phalanx 20, facilitating torque transmission. The motor 41's output shaft and the lead screw 43 both rotate in the same plane relative to the universal joint 42, maximizing the transmission efficiency of the universal joint.

[0041] The first rotating shaft 11 is not limited to a specific location, and is preferably located near the proximal knuckle 10, and more specifically, may be located above or below the driving mechanism. Figure 2 and Figure 4 As shown, the first rotating shaft 11 is provided above the motor 41, the middle phalanx 20 can rotate downward from the initial position to the end position relative to the proximal phalanx 10, and the nut 44 moves from the end of the screw rod away from the universal coupling 42 toward the end close to the universal coupling 42. In other embodiments, such as Figure 8 and Figure 9 As shown, the first rotating shaft 11 can also be arranged under the motor 41, and the middle finger joint 20 can rotate downward from the initial position to the end position relative to the proximal finger joint 10, and the nut 44 moves from the end of the screw rod close to the universal coupling 42 toward the end away from the universal coupling 42.

[0042] In some embodiments, the connecting rod mechanism includes a second rotating shaft 51, a third rotating shaft 52, a first connecting rod 53 and a second connecting rod 54; the second rotating shaft 51 is fixed to the proximal phalanx 10; the third rotating shaft 52 is fixed to the middle phalanx 20; the first end of the first connecting rod 53 is hinged to the second rotating shaft 51; the second connecting rod 54 includes a first rod segment 541 and a second rod segment 542 connected to each other, and a preset angle is formed between the first rod segment 541 and the second rod segment 542. The connection between the first rod segment 541 and the second rod segment 542 is hinged to the third rotating shaft 52, and the end of the first rod segment 541 away from the third rotating shaft 52 is hinged to the second end of the first connecting rod 53, and the end of the second rod segment 542 away from the third rotating shaft 52 is fixedly connected to the proximal phalanx 10. Thus, when the middle phalanx 20 rotates relative to the proximal phalanx 10 about the first rotation axis 11, the relative positions of the second rotation axis 51 and the third rotation axis 52 change, and the angle between the first connecting rod 53 and the first rod segment 541 correspondingly increases or decreases to match the relative positions of the second rotation axis 51 and the third rotation axis 52. That is, the first connecting rod 53 rotates about the second rotation axis 51, and the second connecting rod 54 rotates about the third rotation axis 52. Correspondingly, the second rod segment 542 of the second connecting rod 54 can drive the phalanx 30 to rotate. This achieves synchronous coupled bending motion of the phalanx 30 and the middle phalanx 20.

[0043] In the illustrated embodiment, when the middle phalanx 20 rotates downward relative to the proximal phalanx 10 about the first axis 11, the third axis 52 moves away from the second axis 51, the angle between the first connecting rod 53 and the first rod segment 541 correspondingly increases, the second connecting rod 54 rotates clockwise about the third axis 52, and the finger joint connected to the end of the second rod segment 542 correspondingly rotates downward synchronously. The first connecting rod 53 is preferably a broken line rod to avoid interference with the middle phalanx 20 during rotation. It should be noted that the specific shape and length of the first connecting rod 53, the preset angle between the first rod segment 541 and the second rod segment 542, and other parameters can be designed accordingly depending on the required rotation angle of the phalanx 30, and the specific parameters are not limited here.

[0044] In addition, an embodiment of the present invention further provides a humanoid hand comprising the finger assembly of the above embodiment. Since the humanoid hand adopts all the technical solutions of the above embodiment, it has at least all the beneficial effects brought by the technical solutions of the above embodiment, which will not be described in detail here.

[0045] In summary, the finger assembly and the artificial human hand of the present invention are driven by the universal coupling 42 and the screw 43 nut 44 mechanism, which can achieve efficient transmission when the finger assembly is bent at a small angle and self-locking when bent at a large angle. Compared with the existing technology, the finger assembly has a stronger load-bearing capacity and higher energy utilization rate.

[0046] Although the present invention is disclosed as above, the protection scope of the present invention is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. A finger assembly, characterized in that: The invention comprises a proximal phalanx (10), a middle phalanx (20), a fingertip phalanx (30), a driving mechanism and a connecting rod mechanism, wherein the proximal phalanx (10), the middle phalanx (20) and the fingertip phalanx (30) are arranged in sequence, and the proximal phalanx (10) is hinged to the middle phalanx (20); The driving mechanism comprises a motor (41), a universal joint (42), a lead screw (43) and a nut (44), wherein the motor (41) is fixed to the proximal phalanx (10), the nut (44) is fixed to the middle phalanx (20), the lead screw (43) is located in the middle phalanx (20) and is threadedly connected to the nut (44), one end of the universal joint (42) is connected to the output shaft of the motor (41), and the other end is connected to the lead screw (43), and the driving mechanism is used to drive the middle phalanx (20) to rotate relative to the proximal phalanx (10); The connecting rod mechanism is arranged in the middle phalanx (20) and connects the proximal phalanx (10) and the fingertip joint (30), and is used to drive the fingertip joint (30) to rotate relative to the middle phalanx (20) when the middle phalanx (20) rotates relative to the proximal phalanx (10); the connecting rod mechanism includes: a second rotating shaft (51) fixed to the proximal phalanx (10); A third rotating shaft (52) is fixedly mounted on the middle finger joint (20); a first connecting rod (53), wherein a first end of the first connecting rod (53) is hinged to the second rotating shaft (51); The second connecting rod (54) comprises a first rod segment (541) and a second rod segment (542) connected to each other, wherein a preset angle is formed between the first rod segment (541) and the second rod segment (542), and the connection between the first rod segment (541) and the second rod segment (542) is hinged to the third rotating shaft (52), an end of the first rod segment (541) away from the third rotating shaft (52) is hinged to the second end of the first connecting rod (53), and an end of the second rod segment (542) away from the third rotating shaft (52) is fixedly connected to the proximal finger joint (10).

2. The finger assembly according to claim 1, wherein: The middle phalanx (20) rotates relative to the proximal phalanx (10) between an initial position and an end position; When the middle finger joint (20) is located at the initial position, the nut (44) is located at one end of the lead screw (43); when the middle finger joint (20) is located at the terminal position, the nut (44) is located at the other end of the lead screw (43).

3. The finger assembly according to claim 2, wherein: When the middle finger joint (20) is located at the initial position, the sum of the axis angle between the output shaft of the motor (41) and the universal joint (42) and the axis angle between the universal joint (42) and the lead screw (43) is between 0° and 30°.

4. The finger assembly according to claim 2, wherein: When the middle finger joint (20) is located at the end position, the angle between the output shaft of the motor (41) and the axis of the universal joint (42) is between 0-45 degrees, and the angle between the axis of the universal joint (42) and the lead screw (43) is between 0-45 degrees.

5. The finger assembly according to claim 2, wherein: The rotation angle of the middle phalanx (20) relative to the proximal phalanx (10) from the initial position to the terminal position is between 0 and 90 degrees.

6. The finger assembly according to claim 1, wherein: One of the proximal phalanx (10) and the middle phalanx (20) is fixedly provided with a first rotating shaft (11), and the other is hinged to the first rotating shaft (11).

7. The finger assembly according to claim 6, wherein: The output shaft of the motor (41) and the axis of the lead screw (43) are located in the same plane and are both arranged perpendicular to the axis of the first rotating shaft (11).

8. The finger assembly according to claim 1, wherein: The universal joint (42) is a cross-shaft universal joint (42); and / or the lead screw (43) is a planetary roller lead screw (43).

9. A humanoid hand, characterized in that: The finger assembly comprises the finger assembly according to any one of claims 1 to 8.

Images