Robotic arm

Abstract

The application provides a mechanical hand, comprising a palm seat, a mechanical thumb and a plurality of mechanical fingers, the mechanical thumb comprising a rotary drive assembly, a first linear driver, a thumb metacarpus and a thumb fingertip, the rotary drive assembly being arranged on the inner side of the palm seat and used for driving the thumb metacarpus and the thumb fingertip to rotate relative to the palm seat, the first linear driver being arranged in the thumb metacarpus and the thumb fingertip, each mechanical finger comprising a second linear driver, a finger metacarpus and a finger fingertip, the second linear driver being arranged on the side of the finger metacarpus away from the finger fingertip, and the second linear drivers of the plurality of mechanical fingers being arranged on the outer side of the palm seat. The mechanical hand provided by the application has a simple overall structure and occupies a small space.

Description

Technical Field

[0001] This invention relates to the field of hand technology, and in particular to a robotic hand. Background Technology

[0002] As the most complex structure in humanoid robots, the robotic hand needs to simultaneously meet various conditions such as gripping force, gripping accuracy, self-adaptation, and degrees of freedom to further approximate the operation of a real human hand. Currently, the thumb structure of robotic hands is complex and occupies a large space, which is not conducive to grasping objects and is also prone to damage. Furthermore, existing thumb and finger structures, such as linear actuators, are externally mounted to avoid contact with the object being grasped during operation, thus affecting the ease of operation.

[0003] Therefore, it is necessary to provide a robotic arm to solve the above-mentioned technical problems. Summary of the Invention

[0004] This invention provides a robotic arm to solve the technical problems of existing technologies, such as large space occupation.

[0005] Firstly, a robotic hand, comprising: Palm-shaped base; A mechanical thumb, comprising a rotary drive assembly, a first linear actuator, a thumb root, and a thumb tip. The rotary drive assembly is disposed inside the palm base and is used to drive the thumb root and thumb tip to rotate relative to the palm base, thereby moving the thumb root and thumb tip closer to and further away from the palm base. The first linear actuator is disposed inside the thumb root and thumb tip and is used to drive the thumb root and thumb tip to rotate, thereby enabling the mechanical thumb to bend and unfold. Multiple mechanical fingers, each of the mechanical fingers including a second linear actuator, a finger root and a finger tip, the second linear actuator being disposed on the side of the finger root away from the finger tip, the second linear actuator of the mechanical finger being disposed on the outer side of the palm base, the second linear actuator driving the finger root and the finger tip to rotate, so as to realize the bending and unfolding of the mechanical finger; The mechanical finger includes a support base, a second swing arm, and a third link. The support base is connected to a second linear actuator. The proximal end of the third link is hinged to the output end of the second linear actuator, and the distal end of the third link is hinged to the proximal end of the finger root. The proximal ends of the second swing arm and the finger root are both hinged to the support base, and the distal ends of the finger root and the second swing arm are both hinged to the finger tip. The mechanical finger has an extended state and a bent state. The output end of the second linear actuator can move linearly relative to the support base, driving the third link and the second swing arm to move, causing the finger root to rotate relative to the support base and the finger tip to rotate relative to the finger root, thereby switching the mechanical finger between the extended state and the bent state. The mechanical finger also includes a second elastic element, the proximal end of which is hinged to the distal end of the third link, and the distal end of which is connected to the middle section of the second swing arm. The fingertip includes a connecting part and a working part connected to each other. The working part is fixedly connected to the connecting part and is located on the inner side of the mechanical finger. The proximal end of the connecting part is provided with a third hinge structure and a fourth hinge structure. The third hinge structure is closer to the inner side of the mechanical finger than the fourth hinge structure. The distal end of the finger root is hinged to the fingertip through the third hinge structure. The distal end of the second swing arm is hinged to the fingertip through the fourth hinge structure.

[0006] In conjunction with the first aspect, in one possible implementation, the plurality of mechanical fingers are arranged side by side, wherein any two of the second linear actuators are arranged non-parallel, and the distance between two adjacent mechanical fingers gradually increases from the proximal end to the distal end of the same mechanical finger; and / or, the rotary drive assembly and each of the second linear actuators extend in the same direction, and the rotary drive assembly and the adjacent second linear actuators at least partially overlap.

[0007] In conjunction with the first aspect, in one possible implementation, the palm base has an outer mounting surface and an inner mounting surface disposed opposite to each other, the housings of the plurality of second linear actuators are fixedly mounted on the outer mounting surface, the mechanical thumb further includes a mounting member, the mounting member is fixedly connected to the rotary drive assembly, the mounting member is connected to the inner mounting surface of the palm base, such that the rotary drive assembly is mounted on the inner side of the palm base.

[0008] In conjunction with the first aspect, in one possible implementation, the thumb root and thumb tip are hinged together. The mechanical thumb further includes a first swing arm, a first connecting rod, and a second connecting rod. The first swing arm, the first connecting rod, and the second connecting rod are arranged sequentially from the proximal end to the distal end of the mechanical thumb. The rotary drive assembly is connected to the first swing arm. The first linear actuator is disposed inside the thumb root and connected to the thumb root. The output end of the first linear actuator is hinged to the distal end of the first connecting rod and the second connecting rod. The proximal end of the first connecting rod is hinged to the first swing arm, and the second connecting rod is hinged to the thumb tip. The rotary drive assembly is used to drive the first swing arm to rotate, thereby causing the thumb root and thumb tip to rotate. The output end of the first linear actuator extends and retracts, causing the first connecting rod and the second connecting rod to move, thereby causing the thumb root and thumb tip, which are hinged to the first connecting rod and the second connecting rod, to rotate, realizing the bending and unfolding of the mechanical thumb.

[0009] In conjunction with the first aspect, in one possible implementation, the mechanical thumb further includes a first elastic element, the proximal end of the first link being connected to one end of the first elastic element, and the other end of the first elastic element being connected to the first swing arm.

[0010] In conjunction with the first aspect, in one possible implementation, the base of the thumb and the tip of the thumb are hollow structures, the proximal end of the first connecting rod, the first elastic element, and the housing of the first linear actuator are disposed inside the base of the thumb, and the second connecting rod, the distal end of the first connecting rod, and the output end of the first linear actuator are disposed inside the tip of the thumb.

[0011] In conjunction with the first aspect, in one possible implementation, the finger root is a hollow structure, and the second swing arm, the third connecting rod, and the second elastic element are disposed inside the finger root.

[0012] In conjunction with the first aspect, in one possible implementation, the support base is fixedly connected to the housing of the second linear actuator. The end of the support base away from the housing of the second linear actuator is provided with a first hinge structure and a second hinge structure. Compared with the second hinge structure, the first hinge structure is closer to the inner side of the mechanical finger. The proximal end of the second swing arm is hinged to the support base through the first hinge structure, and the proximal end of the finger root is hinged to the support base through the second hinge structure.

[0013] The robotic hand provided in this application embodiment saves space by mounting the rotation drive assembly of the robotic thumb and the second linear actuator of the robotic finger on opposite sides of the palm base, thereby making the robotic hand more compact and flexible. Attached Figure Description

[0014] Figure 1 This is a three-dimensional schematic diagram of the robotic arm provided in the embodiments of this application.

[0015] Figure 2 yes Figure 1 A three-dimensional diagram of the robotic arm from another angle.

[0016] Figure 3 This is a three-dimensional schematic diagram of the robotic arm after removing the palm cover plate according to an embodiment of this application.

[0017] Figure 4 This is a three-dimensional schematic diagram of the robotic arm after removing the back cover plate of the hand, as provided in the embodiments of this application.

[0018] Figure 5 This is a three-dimensional schematic diagram of the mechanical thumb in the embodiments of this application.

[0019] Figure 6 yes Figure 5 A 3D diagram of a mechanical thumb after removing the base and tip of the thumb.

[0020] Figure 7 yes Figure 6 A three-dimensional diagram of the mechanical thumb from another angle.

[0021] Figure 8 This is a schematic diagram showing the connection relationship of each component of the mechanical thumb when it is unfolded in the embodiment of this application.

[0022] Figure 9 This is a three-dimensional schematic diagram of the mechanical finger provided in the embodiment of this application when it is in the unfolded state.

[0023] Figure 10 yes Figure 9 A cross-sectional schematic diagram of the mechanical finger in the image.

[0024] Figure 11 This is a three-dimensional schematic diagram from another angle of the mechanical finger provided in the embodiment of the present invention when it is in the unfolded state.

[0025] Figure 12A This is a schematic diagram showing the connection relationship of each component when the mechanical finger is in the unfolded state in an embodiment of this application.

[0026] Figure 12B This is a schematic diagram showing the connection relationship of each component when the mechanical finger is in a bent state in an embodiment of this application.

[0027] Figure 13 This is a cross-sectional schematic diagram of the mechanical finger provided in the embodiment of this application when it is in a bent state.

[0028] Key component symbols: Robotic arm - 10; Robotic thumb - 100; Thumb root - 110; First hinge - 111; Thumb tip - 120; Rotary drive assembly - 130; Rotary motor - 131; Reducer - 132; Rotary bearing - 133; Bearing housing - 134; Mounting component - 135; First swing arm - 140; Rotary connection - 141; Mounting plate - 142; Second hinge - 1421; Connecting rod - 1422; First linear actuator - 150; Housing of the first linear actuator - 151; Output end 152; Hinge shaft - 1521; Third hinge - 153; First connecting rod - 160; Proximal end - 161; Turning part - 162; Extension part - 163; Distal end - 164; Connecting block - 165; Connecting ring - 166; Second Linkage - 170; First connecting end - 171; Second connecting end - 172; Hinge pin - 173; First elastic element - 180; Mechanical finger - 200; Finger root - 210; Inner side plate - 211; Outer side plate - 212; Finger tip - 220; Connecting part - 221; Working part - 222; Third hinge structure - 223; Fourth hinge structure - 224; Second linear actuator - 230; Housing of the second linear actuator - 231; Output end - 232; Support base - 240; First hinge structure - 241; Second hinge structure - 242; Second swing arm - 250; Third link - 260; Second elastic element - 270; Palm seat - 300; Inner mounting surface - 310; Outer mounting surface - 320; Palm cover plate - 400; Back of hand cover plate - 500. Detailed Implementation

[0029] The following description of various embodiments of the present invention is based on the accompanying drawings.

[0030] In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the term "connection" should be interpreted broadly. For example, "connection" can be a detachable connection or a non-detachable connection; it can be a direct connection or an indirect connection through an intermediate medium. "Fixed connection" means that the components are connected to each other and their relative positional relationship remains unchanged after connection. "Rotary connection" means that the components are connected to each other and can rotate relative to each other after connection. The term "integral molding" means that during the formation of one of a plurality of components, that component is connected to the other components without requiring further processing (such as bonding, welding, snap-fit ​​connection, screw connection) to connect the two components together. The directional terms mentioned in the embodiments of the present invention, such as "top," "bottom," "inner," "outer," and "side," are only for reference to the directions in the accompanying drawings. Therefore, the directional terms used are for better and clearer explanation and understanding of the embodiments of the present invention, and are not intended to 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 embodiments of the present invention.

[0031] Please see Figures 1 to 4 , Figures 1 to 4 This is a three-dimensional schematic diagram of the robotic hand provided in this application embodiment at different angles and in different states. In this embodiment, the robotic hand 10 includes a palm base 300, a robotic thumb 100, and multiple robotic fingers 200. The robotic thumb 100 and the multiple robotic fingers 200 are all mounted on the palm base 300.

[0032] The mechanical thumb 100 includes a rotary drive assembly 130, a first linear actuator 150, a thumb root 110, and a thumb tip 120. The rotary drive assembly 130 is disposed inside the palm base 300 and is used to drive the thumb root 110 and the thumb tip 120 to rotate relative to the palm base 300, so as to move the thumb root 110 and the thumb tip 120 closer to and further away from the palm base 300. The first linear actuator 150 is disposed inside the thumb root 110 and the thumb tip 120 and is used to drive the thumb root 110 and the thumb tip 120 to rotate, so as to realize the bending and unfolding of the mechanical thumb 100.

[0033] The number of mechanical fingers 200 can be set according to actual needs. In this embodiment, the robotic hand 10 is provided with four mechanical fingers 200. Each mechanical finger 200 includes a second linear actuator 230, a finger root 210, and a finger tip 220. The second linear actuator 230 is located on the side of the finger root 210 away from the finger tip 220. The second linear actuators 230 of the multiple mechanical fingers 200 are located on the outer side of the palm base 300. The second linear actuators 230 drive the finger root 210 and the finger tip 220 to rotate, thereby realizing the bending and unfolding of the mechanical fingers 200.

[0034] The robotic hand 10 provided in this application embodiment can save the volume of the robotic hand 10 after installation by installing the rotation drive assembly 130 of the robotic thumb 100 and the second linear driver 230 of the robotic finger 200 on opposite sides of the palm base 300, thereby making the space occupied by the robotic hand more compact and flexible.

[0035] In this embodiment, the plurality of robotic fingers 200 are arranged side by side. Among the plurality of robotic fingers 200, any two second linear actuators 230 are arranged non-parallel, and the distance between two adjacent robotic fingers 200 gradually increases from the proximal end to the distal end of the same robotic finger 200. The robotic fingers 200 are mounted in a divergent manner on the mounting base 300, thereby making the overall structure of the robotic hand 10 more similar to the structure of a human hand.

[0036] In some embodiments, the rotary drive assembly 130 and all the second linear actuators 230 extend in the same direction, and the rotary drive assembly 130 and the adjacent second linear actuators 230 at least partially overlap. This arrangement saves space in the robotic arm 10.

[0037] To make the structure of the robotic arm 10 more similar to that of a human hand, the length of each robotic finger 200 can be set according to actual needs.

[0038] Specifically, the palm base 300 has an outer mounting surface 310 and an inner mounting surface 320 arranged opposite to each other. The housings 231 of a plurality of second linear actuators 230 are fixedly mounted on the outer mounting surface 310. The mechanical thumb 100 also includes a mounting member 135, which is fixedly connected to the rotary drive assembly 130. The mounting member 135 is used to connect with the inner mounting surface 320 of the palm base 300, so that the rotary drive assembly 130 is mounted on the inner side of the palm base 300. In this embodiment, the mounting member 135 is mounted on the side close to the palm base 300, so that the rotary drive assembly 130 is located on the inner mounting surface 320 of the palm base 300 and on one side of the palm base 300, so as to facilitate the rotation of the mechanical thumb 100 relative to the palm base 300.

[0039] A palm cover 400 is disposed on the inner side of the palm base 300, and a back-of-hand cover 500 is disposed on the outer side of the palm base 300. Both the palm cover 400 and the back-of-hand cover 500 employ a contour-following design. The palm cover 400 and the back-of-hand cover 500 are detachably mounted on the palm base 300, forming a receiving space between them. This space allows the rotary drive assembly 130 and the multiple second linear actuators 230 to be correspondingly housed within the receiving space, thus protecting the rotary drive assembly 130 and the multiple second linear actuators 230. Furthermore, during operation, the palm cover 400 and the back-of-hand cover 500 come into contact with the object being grasped or manipulated, making operation more convenient. It is understood that the palm cover 400 and the back-of-hand cover 500 can employ different structures or materials to meet different operational needs.

[0040] Please see Figures 5 to 7 In this embodiment, the mechanical thumb 100 includes a thumb root 110 and a thumb tip 120 hinged together, a rotary drive assembly 130, a first rocker arm 140, a first linear actuator 150, a first connecting rod 160, a second connecting rod 170, and a first elastic element 180. The first rocker arm 140, the first connecting rod 160, and the second connecting rod 170 are arranged sequentially from the proximal end to the distal end of the mechanical thumb 100. The rotary drive assembly 130 is rotatably connected to the first rocker arm 140, and the first linear actuator 150 is disposed inside the thumb root 110 and connected to the thumb root 110. The output end 152 of the first linear actuator 150 is hinged to the distal end of the first connecting rod 160 and the second connecting rod 170, and the second connecting rod 170 is connected to the thumb tip 120. Specifically, as shown... Figure 5-7 As shown, the output end 152 of the first linear actuator 150, the far end of the first link 160, and the second link 170 are hinged at the same position, making the structure of the three components reasonable and compact.

[0041] In one embodiment, the mechanical thumb 100 further includes a first elastic element 180, with the proximal end of the first link 160 connected to one end of the first elastic element 180, and the other end of the first elastic element 180 connected to a first swing arm 140, for providing elastic force when the first link 160 and the first swing arm 140 move relative to each other. The connection between the first elastic element 180 and the proximal end of the first link 160 is hinged, and the connection between the first elastic element 180 and the first swing arm 140 can also be hinged.

[0042] In this application, the rotary drive assembly 130 drives the first rocker arm 140 to rotate, thereby causing the thumb root 110 and thumb tip 120 to rotate. The output end 152 of the first linear actuator 150 retracts, causing the first link 160 and the second link 170 to move, and causing the first elastic member 180 to elastically deform, thereby causing the thumb root 110 and thumb tip 120, which are hinged to the first link 160, the second link 170 and the first elastic member 180, to rotate, thereby realizing the bending and unfolding of the mechanical thumb 100.

[0043] The mechanical thumb 100 provided in this embodiment houses the first linear actuator 150 inside the thumb root 110, thereby avoiding the inconvenience caused by exposed drive devices such as motors during operation. Furthermore, the connection method between the first link 160, the second link 170, the first elastic element 180, the thumb root 110, and the thumb tip 120 in this embodiment makes the entire mechanical thumb 100 compact and flexibly driven.

[0044] In this embodiment, both the thumb root 110 and the thumb tip 120 are hollow shell structures. The thumb root 110 is hinged to the first rocker arm 140 and the first connecting rod 160, and fixedly connected to the housing 151 of the first linear actuator 150. It can be understood that since the thumb root 110 is fixedly connected to the housing 151 of the first linear actuator 150, the hinged connection between the thumb root 110 and the first rocker arm 140 and the first connecting rod 160 is equivalent to the hinged connection between the housing 151 of the first linear actuator 150 and the first rocker arm 140 and the first connecting rod 160, but this is not a limitation. The thumb root 110 is designed to mimic the shape of a thumb root. The thumb tip 120 is hinged to the second connecting rod 170 and the housing 151 of the first linear actuator 150.

[0045] In this embodiment, since both the thumb root 110 and the thumb tip 120 are hollow structures, the proximal end of the first connecting rod 160, the first elastic element 180, and the housing 151 of the first linear actuator 150 are all disposed inside the thumb root 110. The second connecting rod 170, the distal end of the first connecting rod 160, and the output end 152 of the first linear actuator 150 are disposed inside the thumb tip 120.

[0046] The rotary drive assembly 130 includes a rotary motor 131, a reducer 132, a rotary bearing 133, and a bearing housing 134 connected in sequence. A first rocker arm 140 is connected between the reducer 132 and the rotary bearing 133. The rotary motor 131 and the reducer 132 cooperate to drive the first rocker arm 140 to rotate along the rotation axis at the output end of the rotary motor 131. The rotary bearing 133 and the bearing housing 134 support the rotation of the first rocker arm 140. In this embodiment, the rotation axis at the output end of the rotary motor 131 is arranged along the extension direction of the four fingers of the robotic hand, so that the rotary drive assembly 130 can drive the robotic thumb 100 to rotate around the rotation axis.

[0047] The first rocker arm 140 is used to connect the thumb root 110, the thumb tip 120, and the elements disposed within the thumb root 110 and the thumb tip 120 to the rotation drive assembly 130. In this embodiment, the first rocker arm 140 is rotatably connected to the rotation drive assembly 130, hinged to the proximal end of the first connecting rod 160 and the thumb root 110, and hinged to the proximal end of the first elastic member 180.

[0048] Specifically, the first rocker arm 140 includes a rotating connecting part 141 and two mounting plates 142 connected to each other. The rotating connecting part 141 is connected to the rotating drive assembly 130. The two mounting plates 142 are opposite to each other and spaced apart. Each mounting plate 142 is hinged to the proximal end of a first connecting rod 160. The first linear actuator 150 is disposed between the two mounting plates 142.

[0049] In this embodiment, the rotating connection 141 is connected between the reducer 132 and the rotary bearing 133, and is used to generate rotation under the drive of the rotary motor 131. Two mounting plates 142 are located inside the thumb root 110. Each mounting plate 142 has a first hinge hole and a second hinge hole. The first hinge hole of each mounting plate 142 is used to hinge with the thumb root 110 through a first hinge member 111. Each second hinge hole is used to hinge with the first connecting rod 160 through a second hinge member 1421. The first hinge hole is located on the outside of the mechanical thumb 100, and the second hinge hole is located on the inside of the mechanical thumb 100. The first hinge member 111 and the second hinge member 1421 can be hinge shafts.

[0050] In this embodiment, a connecting rod 1422 is also connected between the two mounting plates 142. The connecting rod 1422 is used to connect the proximal end of the first elastic member 180. By setting the connecting rod 1422, the proximal end of the first elastic member 180 can be hinged to the middle of the two mounting plates 142, so as to avoid uneven application of the elastic force generated by the deformation of the first elastic member 180 to the two mounting plates 142, which would cause the movement direction of the mechanical thumb 100 to deviate.

[0051] The first linear actuator 150 is used to drive the movement of the thumb root 110 and thumb tip 120. The first linear actuator 150 can be a linear motor, which directly converts electrical energy into linear motion mechanical energy without requiring any intermediate conversion mechanism. In this embodiment, the first linear actuator 150 includes a housing 151 and an output end 152. The housing 151 can drive the output end 152 to extend and retract, thereby driving the movement of components connected to it. In this embodiment, the housing 151 is disposed at the proximal end of the mechanical thumb 100, and the output end 152 is disposed at the distal end of the mechanical thumb 100. Specifically, the housing 151 is disposed inside the thumb root 110, and the output end 152 is disposed inside the thumb tip 120.

[0052] In this embodiment, the housing 151 is disposed between two mounting plates 142. The housing 151 is fixedly connected to the thumb root 110, so that when the mechanical thumb 100 bends or rotates, the first linear actuator 150 moves synchronously with the thumb root 110. In this embodiment, the housing 151 is hinged to the thumb tip 120 and the thumb root 110. Specifically, third hinge members 153 are respectively provided on opposite sides of the housing 151, each third hinge member 153 being used to hinge the thumb root 110, the thumb tip 120, and the housing 151 together. It can be understood that the hinged connection of the thumb root 110, the thumb tip 120, and the housing 151 makes the mechanical thumb 100 structurally compact.

[0053] The output end 152 is used for telescopic movement driven by the housing 151. The output end 152 is hinged to the distal end of the first link 160 and the second link 170. Specifically, the output end 152 is connected to a hinge shaft 1521. The distal end of the first link 160 and the second link 170 are respectively provided with hinge holes and are fitted onto the hinge shaft 1521. Thus, the output end 152 is hinged to the first link 160 and the second link 170 through the hinge shaft 1521. Therefore, when the output end 152 telescopically extends or retracts, it drives the first link 160 and the second link 170 to rotate around the hinge shaft 1521 and move in the telescopic direction of the output end 152.

[0054] The proximal end of the first link 160 is hinged to the first swing arm 140, and the distal end of the first link 160 is hinged to the second link 170 and the output end 152, respectively. In this embodiment, to make the movement of the mechanical thumb 100 more precise, there are two first links 160. The two first links 160 are disposed on opposite sides of the first linear actuator 150. Specifically, each first link 160 is disposed between the corresponding mounting plate 142 and the first linear actuator 150.

[0055] In this embodiment, each first link 160 includes a proximal end 161, a bend 162, an extension 163, and a distal end 164 connected in sequence. The proximal end 161 is hinged to the first rocker arm 140, and the first elastic member 180 is hinged at the connection between the proximal end 161 and the bend 162. The output end 152 of the second link 170 and the first linear actuator 150 is connected to the distal end 164. The extension directions of the proximal end 161 and the extension 163 are parallel to each other, and the extension direction of the bend 162 is perpendicular to the extension direction of the extension 163. The length of the extension 163 is greater than the length of the proximal end 161. The proximal end 161 and the bend 162 are located inside the thumb root 110, and the extension 163 extends from inside the thumb root 110 to inside the thumb tip 110. The distal end 164 extends obliquely from the extension 163 towards the outside of the mechanical thumb 100, and the distal end 164 is located inside the thumb tip 120.

[0056] A connecting block 165 is provided between the two first connecting rods 160. The connecting block 165 is located at the connection between the proximal end 161 and the turning part 162. A connecting ring 166 is provided in the middle of the connecting block 165, and the connecting ring 166 is used to hinge the distal end of the first elastic member 180. In this way, the distal end of the first elastic member 180 is also located in the middle of the two first connecting rods 160, thereby maintaining the balance of the first elastic member 180 acting on the two first connecting rods 160. In this embodiment, along the direction from the distal end to the proximal end, the second hinge hole is located between the connecting rod 1422 and the connecting block 165.

[0057] One end of the second link 170 is hinged to the distal end of the first link 160 and the output end 152 of the first linear actuator 150, and the other end of the second link 170 extends from the distal end of the first link 160 toward the outside of the mechanical thumb 100.

[0058] In this embodiment, the second link 170 has two first connecting ends 171 and one second connecting end 172. The two first connecting ends 171 are respectively hinged to opposite sides of the output end 152 of the first linear actuator 150, and the second connecting end 172 is used to connect to the thumb tip 120. Specifically, each first connecting end 171 is sleeved on the hinge shaft 1521 of the output end 152 of the first linear actuator 150, such that each first connecting end 171 is located between the distal end of the corresponding first link 160 and the output end 152 of the first linear actuator 150. This symmetrical arrangement makes the various components inside the mechanical thumb 100 subject to balanced forces, and the movement and force application are more precise.

[0059] Two hinge pins 173 are provided at the second connecting end 172 for hinged to the hinge hole provided at the thumb tip 120, so that when the second link 170 moves under the drive of the first linear actuator 150, it drives the thumb tip 120 to move.

[0060] Please refer to the following: Figure 8 When the output end 152 of the first linear actuator 150 extends, it drives the first connecting rod 160 to deflect inward under the pull of the first elastic member 180, thereby causing the thumb root 110 and the first linear actuator 150 fixedly connected to the thumb root 110 to deflect inward. At the same time, the second connecting rod 170 deflects outward, thereby causing the thumb tip 120 to deflect inward, thus realizing the mechanical thumb 100 bending inward.

[0061] Correspondingly, when the output end 152 of the first linear actuator 150 extends or retracts, it drives the first connecting rod 160 to swing outward under the pull of the first elastic element 180, thereby causing the thumb root 110 and the first linear actuator 150 fixedly connected to the thumb root 110 to deflect inward and outward. At the same time, the second connecting rod 170 deflects inward, thereby causing the thumb tip 120 to deflect outward, thus realizing the outward unfolding of the mechanical thumb 100.

[0062] The mechanical thumb provided in this application, through the hinge structure between the rotary drive assembly 130, the first rocker arm 140, the first linear actuator 150, the first connecting rod 160, and the second connecting rod 170, can easily realize the movement of the mechanical thumb 100. The overall structure is simple and occupies little space. Furthermore, by embedding the first rocker arm 140, the first linear actuator 150, the first connecting rod 160, and the second connecting rod 170 inside the thumb root 110 and the thumb tip 120, too many components can be avoided from being exposed, making it convenient to operate during actual work.

[0063] Please see Figures 9 to 11 , Figure 9 and Figure 11 This is a three-dimensional schematic diagram of the mechanical finger 200 provided in the embodiments of this application. Figure 10 This is a cross-sectional schematic diagram of the mechanical finger 200 provided in this embodiment. In this embodiment, the mechanical finger 200 includes a finger root 210, a finger tip 220, a second linear actuator 230, a support base 240, a second swing arm 250, and a third connecting rod 260. The support base 240 is connected to the second linear actuator 230. The proximal end of the third connecting rod 260 is hinged to the output end of the second linear actuator 230, and the distal end of the third connecting rod 260 is hinged to the proximal end of the finger root 210. The proximal ends of the second swing arm 250 and the finger root 210 are both hinged to the support base 240, and the distal ends of the finger root 210 and the second swing arm 250 are both hinged to the finger tip 220.

[0064] The mechanical finger 200 may further include a second elastic element 270, the proximal end of which is hinged to the distal end of the third link 260, and the distal end of the second elastic element 270 is connected to the middle section of the second rocker arm 250. The second elastic element 270 is used to maintain the relative positional relationship of the components of the mechanical finger 200.

[0065] The mechanical finger 200 has such Figure 9-12A The unfolded state shown and as Figure 12B-13 In the bent state shown, the output end of the second linear actuator 230 can move linearly relative to the support 240, driving the third link 260 and the second swing arm 250 to move, so that the finger root 210 rotates relative to the support 240 and the fingertip 220 rotates relative to the finger root 210, thereby switching the mechanical finger 200 between the unfolded state and the bent state.

[0066] The second linear actuator 230 is used to drive the movement of the finger base 210 and fingertip 220. The second linear actuator 230 can be a linear motor, which directly converts electrical energy into linear motion mechanical energy without any intermediate conversion mechanism. In this embodiment, the second linear actuator 230 includes a housing 231 and an output end 232. The housing 231 can drive the output end 232 to extend and retract, thereby driving the movement of connected components. In this embodiment, the output end 232 of the second linear actuator 230 is provided with a hinge structure for hinged connection with the third link 260.

[0067] The support base 240 is connected to the second linear actuator 230. In this embodiment, the support base 240 is fixedly connected to the housing 231 of the second linear actuator. It extends from the housing 231 of the second linear actuator towards the distal end of the mechanical finger 200. A first hinge structure 241 and a second hinge structure 242 are provided at the housing end of the support base 240 away from the second linear actuator 230. Compared to the first hinge structure 242, the first hinge structure 241 is located on the inner side of the mechanical finger 200. That is, the first hinge structure 241 is closer to the inner side of the mechanical finger 200 than the second hinge structure 242. In some embodiments, the axis of rotation of the second rocker arm 250 relative to the first hinge structure 241 and the axis of rotation of the finger root 210 relative to the second hinge structure 242 are both perpendicular to the extension / retraction direction of the output end 232 of the second linear actuator 230.

[0068] It is understood that the hinge structures described in this embodiment can be achieved by the engagement of two hinged components through holes and protrusions; or by both hinged components having hinge holes and then engaging through a pin; or by the engagement of two hinged components through a cylindrical structure; or by other methods that can achieve hinge between components. In this embodiment, the form of the hinge structure is not limited and can be selected and designed according to actual needs or ease of installation.

[0069] The third link 260 is connected between the output end 232 of the second linear actuator 230 and the finger root 210, and is also connected to one end of the second elastic member 270. The proximal end of the third link 260 is hinged to the output end 232 of the second linear actuator 230 to generate movement when the output end 232 of the second linear actuator 230 extends or retracts, and transmits the movement to the finger root 210 and the second elastic member 270. In this embodiment, the axis of rotation of the proximal end of the third link 260 relative to the output end 232 of the second linear actuator 230 is parallel to the axis of rotation of the second rocker arm 250 relative to the first hinge structure 241, and also parallel to the axis of rotation of the finger root 210 relative to the second hinge structure 242. The distal end of the third link 260 is provided with a hinge structure for hinged to the proximal end of the finger root 210. A connection point 261 is also provided at the distal end of the third link 260. The connection point 261 is used to connect with the second elastic member 270. Compared with the hinged structure at the distal end of the third link 260, the connection point 261 is closer to the inner side of the mechanical finger 200 and further away from the output end 232 of the second linear actuator 230. Specifically, the connection between the second elastic member 270 and the third link 260 can also be hinged. The third link 260 is hinged to the outer side of the finger root 210, and the support seat 240 is hinged to the inner side of the finger root 210.

[0070] The second rocker arm 250 is connected between the support base 240 and the fingertip 220, and the middle section of the second rocker arm 250 is connected to the distal end of the second elastic member 270. In this embodiment, there are two second rocker arms 250, which are disposed on opposite sides of the support base 240. The proximal end of each second rocker arm 250 is connected to one side of the support base 240, and the distal end of each second rocker arm 250 is hinged to the proximal end of the fingertip 220. Each second rocker arm 250 is inclined relative to the extension direction of the output end 232 of the second linear actuator 230, that is, the proximal end of the second rocker arm 250 is closer to the inner side of the mechanical finger 200 than the distal end of the second rocker arm 250.

[0071] The finger root 210 connects between the second linear actuator 230 and the fingertip 220, and serves to house the support base 240, the second rocker arm 250, the third link 260, and the second elastic element 270. Specifically, the finger root 210 has a contoured design and is a hollow, roughly cylindrical structure, with its proximal outer diameter larger than its distal outer diameter. The proximal end of the finger root 210 is hinged to the support base 240 and the distal end of the third link 260. In this embodiment, the finger root 210 includes an inner plate 211 located inside the mechanical finger 200 and an outer plate 212 located outside the mechanical finger 200. The inner plate 211 is hinged to the second hinge structure 242 of the support base 240. The outer plate 212 is hinged to the distal end of the third link 260.

[0072] In one specific embodiment, the inner plate 211 of the finger root 210 is provided with two hinge holes for corresponding engagement with the second hinge structure 242 of the support 240, thereby hinged the finger root 210 to the support 240 via a pivot. The inner surface of the outer plate 212 of the finger root 210 is provided with hinge holes for hinged engagement with the distal end of the third link 260, thereby hinged the distal end of the third link 260 to the finger root 210 via a pivot. The second elastic member 270 is located within the finger root 210, with its proximal end connected to the connection point 261 of the third link 260 and its distal end connected to the middle section of the second swing rod 250. Inside the finger root 210, compared to the second elastic member 270, the second swing rod 250 is closer to the inner side of the finger root 210, while the second elastic member 270 is closer to the outer side of the finger root 210. Specifically, the second elastic element 270 is located near the outer side plate 212 of the finger root 210, and the second rocker arm 250 is located near the inner side plate 211 of the finger root 210.

[0073] The outer surface of the fingertip 220 is smoothly connected to the finger root 210. The outer shape of the fingertip 220 is also a contoured design. It is understood that the outer shape or material of the fingertip can be designed according to actual needs. In this embodiment, the fingertip 220 includes a connecting part 221 and a working part 222 that are connected to each other. The working part 222 is fixedly connected to the connecting part 221 and is located inside the mechanical finger 200. In this embodiment, the proximal end of the connecting part 221 is provided with a third hinge structure 223 and a fourth hinge structure 224. The third hinge structure 223 is closer to the inner side of the mechanical finger 200 than the fourth hinge structure 224. The distal end of the finger root 210 is hinged to the fingertip 220 through the third hinge structure 223, and the distal end of the second rocker arm 250 is hinged to the fingertip 220 through the fourth hinge structure 224.

[0074] In a preferred embodiment, the axes of relative rotation between the two components of all the hinge structures in the mechanical finger 200 are parallel to each other.

[0075] Please refer to the following: Figure 9-13 The mechanical finger 200 provided in this application embodiment is implemented by, as follows: Figure 12A The unfolded state shown has been switched to the following: Figure 12B The bending process shown is explained as follows: The output terminal 232 of the second linear actuator 230 extends, that is... Figure 12A As the third link 260 moves upward, the portion connecting the proximal end to the output end 232 moves towards the distal end along with the output end 232. Figure 12A (Moves upwards), the part connecting the third link 260 and the finger root 210 swings inwards toward the mechanical finger 200. Figure 12A (Swinging from center to left), causing the finger root 210 to pivot relative to the support base 140 towards the inside of the mechanical finger 200. Figure 12A (pivoting to the left), the base of the finger 210 drives a portion of the fingertip 220 to swing inward toward the mechanical finger 200. Figure 12A (Swinging from center to left), the other part of the fingertip 220 drives the second lever 250 to pivot relative to the support 140 towards the inside of the mechanical finger 200. Figure 12A (pivoting to the left), the fingertip 220 pivots relative to the finger root 210 towards the inside of the mechanical finger 200 ( Figure 12A (pivoting to the left from the center), the elastic force of the second elastic element 270 is tightened to maintain the relative relationship between the components.

[0076] Please refer to the following: Figure 9-13 The mechanical finger 200 provided in this application embodiment is implemented by, as follows: Figure 12A The bending state shown has been switched to the state shown. Figure 12B The process of the unfolded state shown is explained as follows: The output terminal 232 of the second linear actuator 230 retracts, that is... Figure 12B As the third link 260 moves downwards, the portion connecting the proximal end of the third link 260 and the output end 232 moves towards the proximal end along with the output end 232. Figure 12B (Moves downwards), the part connecting the third link 260 and the finger root 210 swings outwards towards the mechanical finger 200. Figure 12B (Swinging from center to right), causing the finger root 210 to pivot relative to the support base 140 towards the outer side of the mechanical finger 200. Figure 12B (Pivot to the right), the base of the finger 210 drives a portion of the fingertip 220 to swing outwards towards the mechanical finger 200. Figure 12B (Swinging from center to right), the other part of the fingertip 220 drives the second lever 250 to pivot relative to the support 140 towards the outside of the mechanical finger 200. Figure 12B(pivoting to the right), the fingertip 220 pivots outward from the finger root 210 relative to the mechanical finger 200. Figure 12B (pivoting to the right from the center), the elastic force of the second elastic element 270 is tightened to maintain the relative relationship between the components.

[0077] like Figure 1-4 As shown, the thumb tip 120 and thumb root 110 are located on one side of the palm base 300, and the finger tips 220 and finger roots 210 are located on the adjacent side. When the thumb tip 120 is bent, it is close to the inside of the palm base 300, and the finger tips 220 are also close to the inside of the palm base 300 when bent, so as to form a gripping state.

[0078] like Figure 1-4 As shown, when the thumb tip 120 and thumb root 110 are spread out, they are away from the palm base 300. The finger tips 220 and finger roots 210 are spread out. When the thumb tip 120 and thumb root 110 are spread out, the thumb tip 120 and thumb root 110 are in a straight state. The thumb tip 120 and thumb root 110 are in a straight state, forming an angle between them. The angle is (0°, 90°], preferably [30°, 90°], but not limited thereto.

[0079] The robotic arm 10 provided in this application, through the hinge structure between the second linear actuator 230, support base 240, second swing arm 250, third link 260, second elastic element 270, finger root 210, and finger tip 220, allows for convenient movement of the robotic finger 200 via the second linear actuator 230. The overall structure is simple and occupies little space. Furthermore, by embedding the support base 240, second swing arm 250, third link 260, and second elastic element 270 inside the finger root 210, excessive components are avoided from being exposed, facilitating operation during actual work.

[0080] It is understood that the proximal end mentioned in this application refers to the end close to the palm base 300 of the robotic hand 10, or the end away from the thumb tip 120, or the end away from the finger tip 220; the distal end mentioned in this embodiment refers to the end away from the palm base 300, or the end close to the thumb tip 120, or the end close to the finger tip 220, but is not limited thereto.

[0081] It is understood that the inner side of the mechanical thumb 100 mentioned in this application refers to the side in which the mechanical thumb 100 bends, or the inner side of the mechanical thumb 100 is the side corresponding to the inner side of the palm base 300; the outer side of the mechanical thumb 100 refers to the side opposite to the inner side of the mechanical thumb 100, or the outer side of the mechanical thumb 100 is the side corresponding to the outer side of the palm base 300, but is not limited thereto.

[0082] It is understood that the inner side of the mechanical finger 200 mentioned in this application refers to the side in which the mechanical finger 200 bends, or the side corresponding to the inner side of the palm base 300; the outer side of the mechanical finger 200 refers to the side opposite to the inner side of the mechanical finger 200, or the side corresponding to the outer side of the palm base 300, but is not limited thereto.

[0083] The above description is merely a specific implementation of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A robotic arm, comprising: Palm-shaped base; A mechanical thumb, comprising a rotary drive assembly, a first linear actuator, a thumb root, and a thumb tip. The rotary drive assembly is disposed inside the palm base and is used to drive the thumb root and thumb tip to rotate relative to the palm base, thereby moving the thumb root and thumb tip closer to and further away from the palm base. The first linear actuator is disposed inside the thumb root and thumb tip and is used to drive the thumb root and thumb tip to rotate, thereby enabling the mechanical thumb to bend and unfold. Multiple mechanical fingers, each of the mechanical fingers including a second linear actuator, a finger root and a finger tip, the second linear actuator being disposed on the side of the finger root away from the finger tip, the second linear actuators of the multiple mechanical fingers being disposed on the outer side of the palm base, the second linear actuator driving the finger root and the finger tip to rotate, so as to realize the bending and unfolding of the mechanical fingers; The mechanical finger includes a support base, a second swing arm, and a third link. The support base is connected to a second linear actuator. The proximal end of the third link is hinged to the output end of the second linear actuator, and the distal end of the third link is hinged to the proximal end of the finger root. The proximal ends of the second swing arm and the finger root are both hinged to the support base, and the distal ends of the finger root and the second swing arm are both hinged to the finger tip. The mechanical finger has an extended state and a bent state. The output end of the second linear actuator can move linearly relative to the support base, driving the third link and the second swing arm to move, causing the finger root to rotate relative to the support base and the finger tip to rotate relative to the finger root, thereby switching the mechanical finger between the extended state and the bent state. The mechanical finger also includes a second elastic element, the proximal end of which is hinged to the distal end of the third link, and the distal end of which is connected to the middle section of the second swing arm. The fingertip includes a connecting part and a working part connected to each other. The working part is fixedly connected to the connecting part and is located on the inner side of the mechanical finger. The proximal end of the connecting part is provided with a third hinge structure and a fourth hinge structure. The third hinge structure is closer to the inner side of the mechanical finger than the fourth hinge structure. The distal end of the finger root is hinged to the fingertip through the third hinge structure. The distal end of the second swing arm is hinged to the fingertip through the fourth hinge structure.

2. The robotic arm as described in claim 1, characterized in that, The plurality of mechanical fingers are arranged side by side, wherein any two of the second linear actuators are arranged in a non-parallel manner, and the distance between two adjacent mechanical fingers gradually increases from the proximal end to the distal end of the same mechanical finger; and / or, the rotary drive assembly and each of the second linear actuators extend in the same direction, and the rotary drive assembly and the adjacent second linear actuators at least partially overlap.

3. The robotic arm as described in claim 2, characterized in that, The palm base has an outer mounting surface and an inner mounting surface arranged opposite to each other. The housings of the plurality of second linear actuators are fixedly mounted on the outer mounting surface. The mechanical thumb also includes a mounting member, which is fixedly connected to the rotary drive assembly. The mounting member is connected to the inner mounting surface of the palm base so that the rotary drive assembly is mounted on the inner side of the palm base.

4. The robotic arm as described in claim 1, characterized in that, The thumb base and thumb tip are hinged together. The mechanical thumb also includes a first swing arm, a first connecting rod, and a second connecting rod. The first swing arm, the first connecting rod, and the second connecting rod are arranged sequentially from the proximal end to the distal end of the mechanical thumb. The rotary drive assembly is connected to the first swing arm. The first linear actuator is disposed inside the thumb base and connected to the thumb base. The output end of the first linear actuator is hinged to the distal end of the first connecting rod and the second connecting rod. The proximal end of the first connecting rod is hinged to the first swing arm. The second connecting rod is hinged to the thumb tip. The rotary drive assembly is used to drive the first swing arm to rotate, thereby causing the thumb base and thumb tip to rotate. The output end of the first linear actuator extends and retracts, causing the first connecting rod and the second connecting rod to move, thereby causing the thumb base and thumb tip, which are hinged to the first connecting rod and the second connecting rod, to rotate, realizing the bending and unfolding of the mechanical thumb.

5. The robotic arm as described in claim 4, characterized in that, The mechanical thumb also includes a first elastic element, the proximal end of the first connecting rod is connected to one end of the first elastic element, and the other end of the first elastic element is connected to the first swing arm.

6. The robotic arm as described in claim 5, characterized in that, The base of the thumb and the tip of the thumb are hollow structures. The proximal end of the first connecting rod, the first elastic element, and the housing of the first linear actuator are disposed inside the base of the thumb. The second connecting rod, the distal end of the first connecting rod, and the output end of the first linear actuator are disposed inside the tip of the thumb.

7. The robotic arm as described in claim 1, characterized in that, The finger root is a hollow structure, and the second swing rod, the third connecting rod, and the second elastic element are disposed inside the finger root.

8. The robotic arm as described in claim 1 or 7, characterized in that, The support base is fixedly connected to the housing of the second linear actuator. The end of the support base away from the housing of the second linear actuator is provided with a first hinge structure and a second hinge structure. Compared with the second hinge structure, the first hinge structure is closer to the inner side of the mechanical finger. The proximal end of the second swing arm is hinged to the support base through the first hinge structure, and the proximal end of the finger root is hinged to the support base through the second hinge structure.

Images