A finger mechanism and robot

Abstract

This application discloses a finger mechanism and a robot, relating to the field of robotics. It solves the technical problem in related technologies where finger mechanisms hinder the bending of the hand of a robotic hand, making it difficult for the hand to cooperate with the finger mechanism for grasping. The finger mechanism includes a rigid drive component, a link component, and a knuckle component. The link component is connected to the rigid drive component and the knuckle component, respectively. The rigid drive component drives the knuckle component to grasp the object to be grasped through the link component. The rigid drive component, the link component, and the knuckle component are arranged along a first direction. Along a second direction, the connection position between the link component and the rigid drive component is higher than the connection position between the link component and the knuckle component, so that the rigid drive component is offset relative to the knuckle component along the second direction. The second direction is the direction away from the knuckle component, and the first direction and the second direction have an angle.

Description

Technical Field

[0001] This application relates to, but is not limited to, the field of robotics, and in particular to a finger mechanism and a robot. Background Technology

[0002] With the improvement of intelligence, people are using robotic arms on robots to grasp objects.

[0003] The robotic hand includes a hand and finger mechanism that connects the hand. However, due to the structural design of the finger mechanism itself, the hand is hindered from bending, resulting in a poor degree of bending and making it difficult for the hand and finger mechanism to work together to grasp the object to be grasped. Summary of the Invention

[0004] This application provides a finger mechanism and a robot that increases the degree of bending of the palm, thereby reducing the difficulty of the palm and finger mechanism cooperating to grasp the object to be grasped.

[0005] To achieve the above objectives, the technical solution of this application embodiment is implemented as follows:

[0006] In a first aspect, this application provides a finger mechanism, which includes a rigid drive assembly, a linkage assembly, and a knuckle assembly. The linkage assembly is connected to the rigid drive assembly and the knuckle assembly, respectively. The rigid drive assembly drives the knuckle assembly to grasp an object through the linkage assembly. The rigid drive assembly, the linkage assembly, and the knuckle assembly are arranged along a first direction. Along a second direction, the connection position between the linkage assembly and the rigid drive assembly is higher than the connection position between the linkage assembly and the knuckle assembly, so that the rigid drive assembly is offset relative to the knuckle assembly along the second direction. The second direction is a direction away from the knuckle assembly, and the first direction and the second direction are perpendicular.

[0007] The finger mechanism provided in this application, along the second direction, has a higher connection point between the linkage assembly and the rigid drive assembly than between the linkage assembly and the knuckle assembly. This causes the rigid drive assembly to be offset relative to the knuckle assembly along the second direction. When the knuckle assembly is located on the palm side of the robot hand, the rigid drive assembly is offset away from the palm side. In other words, there is an offset gap between the rigid drive assembly and the palm along the second direction. When the palm and finger mechanism cooperate to grasp an object, the rigid drive assembly reduces the degree of palm bending, thereby lowering the difficulty of the palm and finger mechanism cooperating in grasping. Compared to related technologies where the rigid drive assembly is close to the palm, hindering palm bending and making it difficult for the palm and finger mechanism to cooperate in grasping, this application, by making the connection point between the linkage assembly and the rigid drive assembly higher along the second direction than between the linkage assembly and the knuckle assembly, and by offsetting the rigid drive assembly relative to the knuckle assembly along the second direction, achieves the technical effect of increasing the degree of palm bending and thus reducing the difficulty of the palm and finger mechanism cooperating in grasping an object.

[0008] In one possible implementation provided in this application, the finger mechanism further includes a fixing plate. The protective portion of the fixing plate is fixedly connected to the side of the rigid drive assembly near the knuckle assembly. The connecting portion of the fixing plate is connected to the linkage assembly. Along the second direction, the knuckle assembly and the side of the protective portion near the knuckle assembly form an offset space, which is used to place the target object.

[0009] In one possible implementation provided in this application, the rigid drive assembly includes a connecting seat and a power push rod assembly. The connecting seat is fixed to one side of the protective part along the second direction. A sliding groove assembly is provided on the connecting seat. The power push rod assembly is located in the sliding groove assembly and slides relative to the sliding groove assembly to drive the knuckle assembly to grasp the object to be grasped.

[0010] In one possible implementation provided in this application, the power push rod assembly includes a first power push rod, the sliding groove assembly includes a first sliding groove extending along a first direction on the connecting seat, the first power push rod is disposed in the first sliding groove, the connecting rod assembly includes a first connecting rod and a second connecting rod, the finger assembly includes a proximal finger joint, the first connecting rod is connected to the first power push rod via a first rotating shaft, and is connected to both sides of the proximal finger joint along a third direction via a second rotating shaft, the second connecting rod is connected to both sides of the proximal finger joint along a third direction via a third rotating shaft, and the second connecting rod is connected to the connecting part via a fourth rotating shaft; wherein, the third direction is perpendicular to the first direction and the second direction, the axes of the first rotating shaft, the second rotating shaft and the third rotating shaft are parallel to the third direction, and the axis of the fourth rotating shaft is parallel to the second direction.

[0011] In one possible implementation provided in this application, the power push rod assembly includes two first power push rods, and the sliding groove assembly includes first sliding grooves symmetrically arranged along a third direction on the connecting seat. The two first power push rods are respectively disposed in the two first sliding grooves. The two first connecting rods are respectively connected to the two first power push rods through a first rotating shaft, and are respectively connected to the two sides of the proximal phalanx along a third direction through a second rotating shaft. The second connecting rod is connected to the two sides of the proximal phalanx along a third direction through a third rotating shaft, and the second connecting rod is connected to the connecting fixing plate through a fourth rotating shaft.

[0012] In one possible implementation provided in this application, the outer contours of both the first and second rotating shafts are spherical.

[0013] In one possible implementation provided in this application, the power push rod assembly includes a second power push rod, the sliding groove assembly includes a second sliding groove extending along a first direction between two symmetrical first sliding grooves on the connecting seat, the first sliding groove being higher than the second sliding groove along a second direction, the linkage assembly includes a third link and a fourth link, the third link being connected to the second power push rod via a fifth pivot, the third link being connected to the second link via a sixth pivot, the outer contours of the fifth and sixth pivots being spherical, the third link being connected to the fourth link via a seventh pivot, the proximal phalanx forming a first receiving cavity with an opening along the first direction, and the third link and the fourth link being positioned... Within the first receiving cavity, the knuckle assembly includes a first middle knuckle, a second middle knuckle, and a distal knuckle. The first middle knuckle and the proximal knuckle are connected along the third direction via an eighth pivot, and the first middle knuckle and the distal knuckle are connected along the third direction via a ninth pivot. The first middle knuckle forms a second receiving cavity with an opening along the first direction. At least a portion of the second middle knuckle is located within the second receiving cavity. The second middle knuckle and the proximal knuckle are connected along the third direction via a tenth pivot. The fourth link is connected to the second middle knuckle via an eleventh pivot, and the second middle knuckle and the distal knuckle are connected along the third direction via a twelfth pivot.

[0014] Among them, the axial directions of the fifth, sixth, seventh, eighth, ninth, tenth, eleventh and twelfth rotating axes are all the same as those of the third axis.

[0015] In one possible implementation provided in this application, the first sliding groove includes a first limiting part disposed toward the knuckle assembly. When the first power push rod slides relative to the first sliding groove, the first limiting part abuts against the side of the first power push rod toward the knuckle assembly. The second sliding groove includes a second limiting part disposed along a second direction. When the second power push rod slides relative to the second sliding groove, the second limiting part abuts against the side of the second power push rod along the second direction.

[0016] In one possible implementation provided in this application, the finger mechanism further includes an elastic pretensioner, the first end of which is fixed to the third link, and the second end of which is fixed to the fourth link.

[0017] In a second aspect, this application provides a robot comprising a finger mechanism, a robotic hand, and a robotic arm as provided in any of the first aspects, wherein the robotic hand forms a receiving cavity, the knuckle assembly of the finger mechanism is located outside the receiving cavity, and the rigid drive assembly is disposed inside the receiving cavity.

[0018] The robot provided in this application includes the finger mechanism provided in any of the first aspects. The rigid drive component in the finger mechanism is offset relative to the knuckle component in a direction away from the knuckle component, and the knuckle component and the palm are located on the same side. In other words, the offset of the rigid drive component relative to the knuckle component in a direction away from the palm increases the distance between the rigid drive component and the palm, thereby reducing the degree to which the rigid drive component hinders the bending of the palm and increasing the degree of bending of the palm. At this time, when the robot controls the manipulator to grasp the object to be grasped, the palm can cooperate with the fingers to bend to a greater degree, so as to provide more directional limits for the object to be grasped, thereby making the robot grasp the object to be grasped more accurately. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the robot provided in an embodiment of this application;

[0020] Figure 2 This is a schematic diagram of a robot finger mechanism that does not include the proximal phalanx, provided in an embodiment of this application.

[0021] Figure 3 This is a schematic diagram of the drive component in the finger mechanism of a robot provided in an embodiment of this application;

[0022] Figure 4 This is a schematic diagram of a robot finger mechanism where only the proximal phalanx bends, provided in an embodiment of this application.

[0023] Figure 5 This is a schematic diagram of the structure of the finger mechanism in the robot provided in the embodiments of this application, showing only the proximal phalanx deflecting and swinging;

[0024] Figure 6 A schematic diagram of the structure of the finger mechanism in the robot provided in this application embodiment, in which the proximal phalanx, the first middle phalanx, the second middle phalanx, and the distal phalanx are all bent;

[0025] Figure 7 The mechanical analysis diagram of the finger mechanism in the robot provided in the embodiments of this application and the finger mechanism in related technologies.

[0026] Figure Labels

[0027] 1-Manipulator; 11-Fixed plate; 12-Finger mechanism; 121-Rigid drive assembly; 1211-Connecting seat; 12111-First sliding groove; 12112-Second sliding groove; 1212-Power push rod assembly; 12121-First power push rod; 12122-Second power push rod; 122-Link assembly; 1221-First link; 1222-Second link; 1223-Third link; 1224-Fourth link; 123-Knuckle assembly; 1231-Proximal hand 1232 - First middle finger joint; 1233 - Second middle finger joint; 1234 - End finger joint; 13 - Elastic preload; 14 - First pivot; 15 - Second pivot; 16 - Third pivot; 17 - Fourth pivot; 18 - Fifth pivot; 19 - Sixth pivot; 20 - Seventh pivot; 21 - Eighth pivot; 22 - Ninth pivot; 23 - Tenth pivot; 24 - Eleventh pivot; 25 - Twelfth pivot; A - First direction; B - Second direction; C - Third direction. Detailed Implementation

[0028] It should be noted that, unless otherwise specified, the embodiments and technical features in the embodiments of this application can be combined with each other, and the detailed descriptions in the specific implementation should be understood as explanations of the purpose of this application and should not be regarded as undue limitations on this application.

[0029] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the specific technical solutions of this application will be further described in detail below with reference to the accompanying drawings of the embodiments of this application. The following embodiments are used to illustrate this application, but are not intended to limit the scope of this application.

[0030] In the embodiments of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of this application, unless otherwise stated, "multiple" means two or more.

[0031] Furthermore, in the embodiments of this application, directional terms such as "upper," "lower," "left," and "right" are defined relative to the positions in which the components are schematically placed in the accompanying drawings. It should be understood that these directional terms are relative concepts, used for relative description and clarification, and can change accordingly depending on the position of the components in the accompanying drawings.

[0032] In the embodiments of this application, unless otherwise explicitly specified and limited, the term "connection" should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral part; it can be a direct connection or an indirect connection through an intermediate medium.

[0033] In embodiments of this application, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0034] In the embodiments of this application, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design that is described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design. Specifically, the use of the terms "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0035] With the rapid development of technology, intelligent robots that replace humans in performing complex and repetitive tasks have emerged. This application provides a robot that can be a humanoid robot that simulates a human shape or a plant robot that simulates a plant, such as a radish robot. It should be noted that this application does not limit the type of robot.

[0036] Specifically, refer to Figure 1 and Figure 2 This application provides a robot that may include a robotic arm and a robotic hand 1 connected to the robotic arm. The robot may also include a finger mechanism 12. The robotic hand 1 forms a receiving cavity. The knuckle assembly 123 of the finger mechanism 12 is located outside the receiving cavity, and the rigid drive assembly 121 is disposed inside the receiving cavity to grasp the object to be grasped, so as to meet various needs in the application scenario.

[0037] Based on this, this application embodiment also provides a finger mechanism 12, which includes a rigid drive assembly 121, a link assembly 122, and a knuckle assembly 123. The link assembly 122 is connected to the rigid drive assembly 121 and the knuckle assembly 123 respectively. The rigid drive assembly 121 drives the knuckle assembly 123 to grasp the object to be grasped through the link assembly 122. The rigid drive assembly 121, the link assembly 122, and the knuckle assembly 123 are arranged along a first direction A. Along a second direction B, the connection position between the link assembly 122 and the rigid drive assembly 121 is higher than the connection position between the link assembly 122 and the knuckle assembly 123, so that the rigid drive assembly 121 is offset relative to the knuckle assembly 123 along the second direction B. The second direction B is a direction away from the knuckle assembly 123. The first direction A and the second direction B have an included angle.

[0038] In this embodiment, the rigid drive assembly 121, the linkage assembly 122, and the knuckle assembly 123 are arranged along the first direction A. Here, if the first direction A is the same as the extension direction of the plane where the palm is located, the finger mechanism 12 can also be called a palm-finger mechanism, and the second direction B away from the knuckle assembly 123 can be the direction of the palm towards the back of the hand; if the first direction A is perpendicular to the extension direction of the plane where the palm is located, the finger mechanism 12 can also be called a thumb mechanism, and the direction away from the knuckle assembly 123 can be the direction of the palm towards the wrist. Here, it should be noted that the finger mechanism 12 can be a palm-finger mechanism or a thumb mechanism.

[0039] Based on this, the robotic arm 1 can be equipped with only one finger mechanism 12, or it can be equipped with multiple finger mechanisms 12. When multiple finger mechanisms 12 are provided, each finger mechanism 12 can be of the same type, such as a palmar finger mechanism, or it can be of different types, such as a palmar finger mechanism and a thumb mechanism. This application embodiment does not impose any limitations on this. Furthermore, if multiple finger mechanisms 12 are provided, one finger mechanism 12 can be a thumb mechanism, and the rest can be palmar finger mechanisms. In one possible implementation provided by this application embodiment, the robotic arm 1 is equipped with four finger mechanisms 12, one of which is a thumb mechanism, and the other three are palmar finger mechanisms. Similarly, for the case of five finger mechanisms 12, the example of four finger mechanisms 12 described above can be used, where one finger mechanism 12 is a thumb mechanism, and the other four are palmar finger mechanisms.

[0040] In this embodiment, the linkage assembly 122 is connected to the rigid drive assembly 121 and the knuckle assembly 123 respectively. The rigid drive assembly 121 drives the knuckle assembly 123 to grasp the object to be grasped through the linkage assembly 122. Here, the knuckle assembly 123 may have one degree of freedom, such as the knuckle assembly 123 being flexible; of course, the knuckle assembly 123 may also have multiple degrees of freedom, such as the knuckle assembly 123 being flexible and swingable. This embodiment does not limit this. In one possible implementation provided by this embodiment, the knuckle assembly 123 may have three degrees of freedom, including the flexibility and swingability of the proximal knuckle 1231 and the flexibility of the distal knuckle 1234.

[0041] In this embodiment, the linkage assembly 122 is connected to the rigid drive assembly 121 and the knuckle assembly 123 respectively. The rigid drive assembly 121 drives the knuckle assembly 123 to grasp the object to be grasped through the linkage assembly 122. Here, the driving method of the rigid drive assembly 121 driving the knuckle assembly 123 to grasp the object to be grasped through the linkage assembly 122 can be hydraulic drive, and correspondingly, the rigid drive assembly 121 can be a hydraulic cylinder. The driving method of the rigid drive assembly 121 driving the knuckle assembly 123 to grasp the object to be grasped through the linkage assembly 122 can also be electric drive, and correspondingly, the rigid drive assembly 121 can be a power push rod. Here, it should be noted that the power of the power push rod is electric. Of course, the rigid drive assembly 121 can also drive the knuckle assembly 123 to grasp the object to be grasped through other driving methods. This embodiment does not limit this.

[0042] In this embodiment, the linkage assembly 122 is connected to the rigid drive assembly 121 and the knuckle assembly 123 respectively. The rigid drive assembly 121 drives the knuckle assembly 123 to grasp the object to be grasped through the linkage assembly 122. Here, the linkage assembly 122 can be a two-link assembly, a three-link assembly, etc., and this embodiment does not limit this. In one possible implementation provided in this embodiment, the linkage assembly 122 is a six-link assembly.

[0043] The finger mechanism 12 provided in this application embodiment, along the second direction B, has its connection position between the link assembly 122 and the rigid drive assembly 121 higher than the connection position between the link assembly 122 and the knuckle assembly 123. This causes the rigid drive assembly 121 to be offset relative to the knuckle assembly 123 along the second direction B. When the knuckle assembly 123 is located on the palm side of the robot hand 1, the rigid drive assembly 121 is offset in a direction away from the palm side. That is, along the second direction B, there is an offset gap between the rigid drive assembly 121 and the palm. When the palm and the finger mechanism 12 cooperate to grasp the object to be grasped, the rigid drive assembly 121 provides less resistance to the bending of the palm, thereby reducing the difficulty of the palm and the finger mechanism 12 cooperating to grasp. Here, it should be further explained that the bending of the palm refers to the bending of a portion of the palm in a direction away from the reference plane, with the extended surface of the palm plane as the reference plane, and the direction in which the portion of the palm bends away from the reference plane is opposite to the direction in which the palm faces the back of the hand. Compared to related technologies, where the rigid drive component 121 fits against the palm and hinders palm bending, making it difficult for the palm and finger mechanism 12 to grip and cooperate, this application improves the degree of palm bending by making the connection position of the linkage component 122 and the rigid drive component 121 higher along the second direction B than the connection position of the linkage component 122 and the knuckle component 123. The rigid drive component 121 is offset relative to the knuckle component 123 along the second direction B, thereby improving the degree of palm bending and reducing the difficulty of the palm and finger mechanism 12 cooperating to grip the object.

[0044] Reference Figure 1 , Figure 2 and Figure 3 This application embodiment also provides a finger mechanism 12, which further includes a fixing plate 11. The protective part of the fixing plate 11 is fixedly connected to the side of the rigid drive assembly 121 near the knuckle assembly 123. The connecting part of the fixing plate 11 is connected to the connecting rod assembly 122. Along the second direction B, the knuckle assembly 123 and the side of the protective part near the knuckle assembly 123 form an offset space, which is used to place the target object.

[0045] In this embodiment, the protective part of the fixing plate 11 is fixedly connected to the side of the rigid drive assembly 121 near the knuckle assembly 123, the connecting part of the fixing plate 11 is connected to the connecting rod assembly 122, and the rigid drive assembly 121 is also connected to the connecting rod assembly 122. At this time, the fixing plate 11, the connecting rod assembly 122 and the rigid drive assembly 121 are adjacent to each other, which makes the stability of the finger mechanism 12 stronger.

[0046] In this embodiment, the protective portion of the fixing plate 11 is fixedly connected to the side of the rigid drive assembly 121 near the knuckle assembly 123. Here, "fixedly connected" refers to a fixed connection, meaning the relative positions do not change. The connection method can be a non-removable connection, such as welding or bonding. Of course, the connection method can also be a detachable connection, such as a threaded connection or a snap-fit ​​connection. This embodiment does not limit the specific method. In one possible implementation provided by this embodiment, the protective portion of the fixing plate 11 is welded to the side of the rigid drive assembly 121 near the knuckle assembly 123.

[0047] In this embodiment, the connecting portion of the fixing plate 11 is connected to the connecting rod assembly 122. The connection method between the connecting portion of the fixing plate 11 and the connecting rod assembly 122 is not limited; in other words, the position between the connecting portion and the connecting rod assembly 122 can change. For example, the connecting rod assembly 122 can rotate relative to the connecting portion, or it can translate relative to the connecting portion. This embodiment does not impose any limitations on this. In one possible implementation provided by this embodiment, the connecting rod assembly 122 can rotate relative to the connecting portion.

[0048] In this embodiment, the bias space is also used to place a target object. Here, the target object can be a sensor that enables the robotic arm 1 to interact and provide more intelligent feedback to the outside world, facilitating more accurate grasping of the object and thus improving the intelligence level of the robotic arm 1. Of course, the target object can also be other components; this embodiment does not limit this. In one possible implementation provided by this embodiment, the bias space is used to place an information acquisition device to collect the grasping information of the object.

[0049] The finger mechanism 12 provided in this application embodiment forms an offset space by setting the knuckle assembly 123 and the protective part close to the side of the knuckle assembly 123. The offset space is used to place the target object to adapt to different user needs.

[0050] Reference Figure 1 , Figure 2 and Figure 3 This application provides a finger mechanism 12. The rigid drive assembly 121 includes a connecting seat 1211 and a power push rod assembly 1212. The connecting seat 1211 is fixed to the protective part along the second direction B. A sliding groove assembly is provided on the connecting seat 1211. The power push rod assembly 1212 is located in the sliding groove assembly and slides relative to the sliding groove assembly to drive the knuckle assembly 123 to grasp the object to be grasped.

[0051] In this embodiment, the rigid drive assembly 121 may further include a feedback sensor, which may be disposed on the power push rod assembly 1212 to obtain the specific and precise position of the power push rod assembly 1212 in the sliding groove assembly.

[0052] The finger mechanism 12 provided in this application embodiment, by placing the power push rod assembly 1212 within a sliding groove and sliding it relative to the sliding groove assembly, exhibits higher rigidity and bending resistance during the gripping process of the knuckle assembly 123, thereby improving the durability of the power push rod assembly 1212 and the stability and accuracy of the knuckle assembly 123. In one possible implementation provided in this application embodiment, the knuckle assembly 123 can achieve a horizontal fingertip contact force of 15.3N.

[0053] Reference Figure 1 , Figure 2 , Figure 3 and Figure 4 This application provides a finger mechanism 12, a power push rod assembly 1212 including a first power push rod 12121, a sliding groove assembly including a first sliding groove 12111 extending along a first direction A on a connecting seat 1211, the first power push rod 12121 being disposed within the first sliding groove 12111, a connecting rod assembly 122 including a first connecting rod 1221 and a second connecting rod 1222, and a knuckle assembly 123 including a proximal knuckle 1231. The first connecting rod 1221 communicates with the first power push rod 12121. The first pivot 14 is connected to the proximal phalanx 1231 via the second pivot 15 along the third direction. The second link 1222 is connected to the proximal phalanx 1231 via the third pivot 16 along the third direction. The second link 1222 is connected to the connecting part via the fourth pivot 17. The third direction is perpendicular to the first direction A and the second direction B. The axes of the first pivot 14, the second pivot 15 and the third pivot 16 are parallel to the third direction. The axis of the fourth pivot 17 is parallel to the second direction B.

[0054] In this embodiment of the application, two first sliding grooves 12111 can be symmetrically arranged on the connecting seat 1211 along a third direction. The power push rod assembly 1212 includes two first power push rods 12121, and the two first power push rods 12121 are respectively arranged in the first sliding grooves 12111 to improve the stability of its sliding.

[0055] In this embodiment, the first rotating shaft 14 connection refers to the connection via a first rotating shaft and a first rotating shaft hole. Alternatively, it can be connected via a first rotating shaft and a first bearing hole. The explanations for the second rotating shaft 15 connection, the third rotating shaft 16 connection, and the fourth rotating shaft 17 connection are the same. In one possible implementation provided in this embodiment, only the fourth rotating shaft 17 connection uses a fourth rotating shaft equipped with a fourth rotating shaft hole.

[0056] Specifically, when the two first power push rods 12121 are pushed out at the same speed and in the same direction, the third rotating shaft 16 can rotate clockwise or counterclockwise, thereby causing the proximal phalanx 1231 to bend, similar to the bending of the human first phalanx, so as to realize the degree of freedom of the proximal phalanx 1231 in the finger mechanism 12 to bend. In one possible implementation method provided in this application, the rotation angle is 0 degrees to 90 degrees.

[0057] In one example, two first power push rods 12121 are pushed out at the same speed in the direction close to the proximal phalanx 1231. At this time, the proximal phalanx 1231 rotates clockwise about the axis of the third pivot 16, thereby causing the proximal phalanx 1231 to bend along the side close to the finger.

[0058] This application provides a finger mechanism 12. The power push rod assembly 1212 includes two first power push rods 12121. The sliding groove assembly includes first sliding grooves 12111 symmetrically arranged along a third direction on the connecting seat 1211. The two first power push rods 12121 are respectively disposed in the two first sliding grooves 12111. The two first connecting rods 1221 are respectively connected to the two first power push rods 12121 through a first rotating shaft 14, and are respectively connected to the two sides of the proximal phalanx 1231 along a third direction through a second rotating shaft 15. The second connecting rod 1222 is connected to the two sides of the proximal phalanx 1231 along a third direction through a third rotating shaft 16. The second connecting rod 1222 is connected to the fixing plate 11 through a fourth rotating shaft 17.

[0059] Reference Figure 1 , Figure 2 , Figure 3 and Figure 5 This application provides a finger mechanism 12, in which the outer contours of the first rotating shaft 14 and the second rotating shaft 15 are both spherical.

[0060] As can be seen from the above embodiments, the connection of the first rotating shaft 14 refers to the connection through the first rotating shaft and the first rotating shaft hole. The outer contour of the first rotating shaft 14 is spherical, meaning that the outer contour of the first rotating shaft 14 that fits the first rotating shaft hole is spherical, so that the two first connecting rods 1221 are respectively spherically hinged to the two first power push rods 12121. For example, when the first power push rod 12121 is provided with the first rotating shaft 14 and the first connecting rod 1221 is provided with the first rotating shaft hole, and the spherical shape means that the diameter is the same in any direction, the first connecting rod 1221 with the first rotating shaft hole can deflect in any direction of the sphere.

[0061] Similarly, as can be seen from the above embodiments, the connection of the second pivot 15 refers to the connection through the second pivot 15 and the second pivot hole. The outer contour of the second pivot 15 is spherical, meaning that the outer contour of the second pivot 15 that fits the second pivot hole is spherical, so that the two first connecting rods 1221 are respectively spherically hinged to the proximal phalanx 1231. For example, when the second pivot hole is provided on the first connecting rod 1221, and the second pivot 15 is provided on the proximal phalanx 1231, the spherical shape means that the diameter is the same in any direction, causing the proximal phalanx 1231 with the second pivot hole to be deflected in any direction of the sphere.

[0062] For example, the first link 1221 can be deflected and oscillated along the first axis 14 relative to the first power push rod 12121. Correspondingly, the first link 1221 can also be deflected and oscillated along the second axis 15 relative to the proximal phalanx 1231 to realize the degree of freedom of the proximal phalanx 1231 in the finger mechanism 12 to deflect and oscillate. When the two first power push rods 12121 are pushed out at the same speed and in opposite directions at the same time, the proximal phalanx 1231 rotates relative to the fourth axis 17, and the rotation angle is ±27 degrees.

[0063] In one example, when one of the first power push rods 12121 moves in a direction close to the proximal phalanx 1231 and the other power push rod moves in a direction away from the proximal phalanx 1231, the first link 1221 connected to the first power push rod 12121 moving in the direction close to the proximal phalanx 1231 deflects and swings towards the other first link 1221. The other first link 1221 also deflects and swings in the same direction. At this time, the proximal phalanx 1231 rotates axially relative to the fourth pivot 17, thereby achieving its deflection. It should be noted that the direction of the deflection swing is always towards the side of the first power push rod 12121 that moves away from the proximal phalanx 1231.

[0064] Reference Figure 1 , Figure 2 , Figure 3 and Figure 6This application provides a finger mechanism 12, a power push rod assembly 1212 including a second power push rod 12122, a sliding groove assembly including a second sliding groove 12112 extending along a first direction A between two symmetrical first sliding grooves 12111 on a connecting seat 1211, the first sliding groove 12111 being higher than the second sliding groove 12112 along a second direction B, a linkage assembly 122 including a third link 1223 and a fourth link 1224, the third link 1223 being connected to the second power push rod 12122 via a fifth pivot 18, the third link 1223 being connected to the second link 1222 via a sixth pivot 19, the outer contours of the fifth pivot 18 and the sixth pivot 19 being spherical, the third link 1223 being connected to the fourth link 1224 via a seventh pivot 20, the proximal phalanx 1231 forming a first receiving cavity with an opening along the first direction A, the third link 122... 3 and the fourth link 1224 are located in the first receiving cavity. The knuckle assembly 123 includes a first middle knuckle 1232, a second middle knuckle 1233 and a distal knuckle 1234. The first middle knuckle 1232 and the proximal knuckle 1231 are connected by an eighth pivot 21 along the third direction. The first middle knuckle 1232 and the distal knuckle 1234 are connected by a ninth pivot 22 along the third direction. The first middle knuckle 1232 forms a second receiving cavity with an opening provided along the first direction A. At least a portion of the second middle knuckle 1233 is located in the second receiving cavity. The second middle knuckle 1233 and the proximal knuckle 1231 are connected by a tenth pivot 23 along the third direction. The fourth link 1224 is connected to the second middle knuckle 1233 by an eleventh pivot 24. The second middle knuckle 1233 and the distal knuckle 1234 are connected by a twelfth pivot 25 along the third direction.

[0065] Among them, the axial directions of the fifth rotating shaft 18, the sixth rotating shaft 19, the seventh rotating shaft 20, the eighth rotating shaft 21, the ninth rotating shaft 22, the tenth rotating shaft 23, the eleventh rotating shaft 24 and the twelfth rotating shaft 25 are all the same as the third direction.

[0066] In this embodiment, the third link 1223 is connected to the second power push rod 12122 via the fifth rotating shaft 18, and the third link 1223 is connected to the second link 1222 via the sixth rotating shaft 19. The outer contours of the fifth rotating shaft 18 and the sixth rotating shaft 19 are both spherical. In other words, the third link 1223 is spherically hinged to the second power push rod 12122. When the first link 1221 deflects and swings relative to the first power push rod 12121 along the axial direction of the first rotating shaft 14, and when the first link 1221 deflects and swings relative to the proximal phalanx 1231, the third link 1223 can achieve synchronous deflection and swing, reducing the phenomenon of the finger mechanism 12 getting stuck due to only the first link 1221 deflecting and swinging.

[0067] In this embodiment, the proximal phalanx 1231 forms a first receiving cavity with openings on both sides along the first direction A. The third link 1223 and the fourth link 1224 are located within the first receiving cavity. Concealing the third link 1223 and the fourth link 1224 within the first receiving cavity, and integrating the link assembly 122 and the proximal phalanx 1231 into a single design, enhances aesthetics. Furthermore, the proximal phalanx 1231 provides mechanical restraint in case of loss of control of the third link and the fourth link 1224, ensuring high reliability. Additionally, a sensor cable can be routed through the phalanx assembly 123 within the first receiving cavity, improving overall safety. Similarly, the first middle phalanx 1232 forms a second receiving cavity with openings on both sides along the first direction A, and at least a portion of the second middle phalanx 1233 is located in the second receiving cavity. The first middle phalanx can provide mechanical restraint for the second middle phalanx 1233, which has high reliability. At the same time, a sensor cable can be installed through the phalanx assembly 123 in the second receiving cavity, which can improve the overall safety.

[0068] In this embodiment, the fifth rotating shaft 18 connection refers to a connection via a fifth rotating shaft and a fifth rotating shaft hole. Alternatively, it can be connected via a fifth rotating shaft and a fifth bearing hole. The explanation for the second rotating shaft 15 connection, the third rotating shaft 16 connection, and the fourth rotating shaft 17 connection is the same. In one possible implementation provided in this embodiment, only the eighth rotating shaft 21 connection, the eleventh rotating shaft 24 connection, and the twelfth rotating shaft 25 connection use the rotating shaft and bearing hole method, thus reducing the coefficient of friction.

[0069] In this embodiment, the first middle phalanx 1232 and the second middle phalanx 1233 can both simulate human joints and serve as linkage transmission. Therefore, the first middle phalanx 1232 can be called the fifth link and the second middle phalanx 1233 can be called the sixth link, thus realizing the integration of the phalanx assembly 123 and the linkage assembly 122.

[0070] Specifically, when the second power push rod 12122 slides along the second sliding groove 12112, the distal phalanx 1234, under the rotation of the fifth rotating shaft 18, the sixth rotating shaft 19, the seventh rotating shaft 20, the eighth rotating shaft 21, the ninth rotating shaft 22, the tenth rotating shaft 23, the eleventh rotating shaft 24 and the second rotating shaft 15, drives the first middle phalanx 1232, the second middle phalanx 1233 and the distal phalanx 1234 to move clockwise or counterclockwise, thereby causing the distal phalanx 1234 to bend, similar to the bending of the second phalanx of a human finger, so as to realize the degree of freedom of bending of the distal phalanx 1234 in the finger mechanism 12. In one possible implementation method provided in the embodiment of this application, the bending angle of the distal phalanx 1234 is 0 degrees to 76.3 degrees.

[0071] In one example, when the second power push rod 12122 moves away from the finger assembly 123, the third link 1223 moves away from the finger assembly 123. At this time, the third link 1223 moves counterclockwise around the third pivot 16. At this time, the fourth link 1224 moves away from the finger assembly 123. The first middle finger joint 1232 rotates clockwise around the axis of the eighth pivot 21, and the second middle finger joint 1233 rotates clockwise around the axis of the tenth pivot 23. This, in turn, drives the end finger joint 1234 to rotate clockwise around the axes of the ninth pivot 22 and the twelfth pivot 25, thereby achieving the bending of the end finger joint 1234.

[0072] In addition, refer to Figure 1 , Figure 2 and Figure 7 In this embodiment of the application, the rigid drive assembly 121 is offset relative to the finger assembly 123 along the second direction B via the linkage assembly 122, which can also be called an offset linkage mechanism. In related technologies, the drive assembly is not offset from the finger assembly along the second direction, which can also be called a concentric linkage mechanism. The implementation method is to translate the power push rod group 1212 to cause the linkage assembly 122 to move, and finally to achieve the bending of the finger assembly 123 by rotating the finger assembly 123 around the pivot.

[0073] A brief kinematic analysis of the described mechanism is performed. The initial angle between the first link 1221 and / or the third link 1223 and the first power push rod 12121 or the second power push rod 12122 in the horizontal displacement direction is β1. The initial angle between the proximal phalanx 1231 and the horizontal plane is α1. The initial angle between the first link 1221 and / or the third link 1223 and the proximal phalanx 1231 is Ω1. When the first power push rod 12121 or the second power push rod 12122 moves from the first position... When the device moves to the second position, the angle between the first link 1221 and / or the third link 1223 and the first power push rod 12121 and / or the second power push rod 12122 in the horizontal displacement direction becomes β2, and β2 < β1, that is, the angle decreases; the angle between the proximal phalanx 1231 and the horizontal plane increases to α2, that is, the degree of finger bending increases; the angle between the first link 1221 and / or the third link 1223 and the proximal phalanx 1231 becomes Ω2, and Ω2 > Ω1, that is, the angle increases.

[0074] A brief mechanical analysis is performed on the described mechanism, and the thrust of the first power push rod 12121 and / or the second power push rod 12122 is set as F. 动力推杆 The force acting on the first link 1221 and / or the third link 1223 along the extension direction of the link has Then, this force is transmitted by the first link 1221 and / or the third link 1223 to the connection between the first link 1221 and / or the third link 1223 and the proximal phalanx 1231. The magnitude and direction are the same as described above. This force can then drive the proximal phalanx 1231 to rotate about the axis of rotation, which is manifested as a change in the magnitude of α, for example, α1 and α2, which drive the proximal phalanx 1231. Based on motion analysis, when the first power push rod 12121 and / or the second power push rod 12122 move to the left (i.e., the push rod is extended), β1 decreases, therefore Cosβ1 increases, and F... 偏置连杆机构 It also increases accordingly; and as Ω1 increases, SinΩ1 increases, so F 偏置近端指节 The force will also increase, meaning the bending torque of the fingers will increase, and the force at the fingertips will gradually increase during the grasping process. This allows for the grasping of heavier objects and a more stable hold on the object being grasped. Furthermore, the force at the fingertips can be flexibly controlled through pressure feedback from the fingertip sensor.

[0075] In a center-to-center linkage mechanism, its When the first power push rod moves from the first position to the second position, γ1 increases to γ2, then Cosγ1 will decrease, corresponding to F 对心连杆机构 The force transmitted from the first and / or third links to the proximal phalanx connection will decrease when the thrust of the first and / or second power push rods is equal. Furthermore, as the angle ρ1 between the force transmitted along the direction of the first and / or third links and the proximal phalanx gradually increases to an obtuse angle ρ2, the force driving the proximal phalanx to rotate will also decrease. This will decrease again, resulting in a significant reduction in fingertip strength.

[0076] By comparison, it can be found that the first power push rod 12121 and / or the second power push rod 12122 of the offset linkage mechanism can achieve the rotation of the proximal phalanx 1231 at an equal angle by moving a relatively small distance.

[0077] Reference Figure 1 , Figure 2 and Figure 3 This application provides a finger mechanism 12. The first sliding groove 12111 includes a first limiting part disposed in the direction of the knuckle assembly 123. When the first power push rod 12121 slides relative to the first sliding groove 12111, the first limiting part abuts against the side of the first power push rod 12121 facing the knuckle assembly 123. The second sliding groove 12112 includes a second limiting part disposed along the second direction B. When the second power push rod 12122 slides relative to the second sliding groove 12112, the second limiting part abuts against the side of the second power push rod 12122 along the second direction B.

[0078] The finger mechanism 12 provided in this application embodiment provides a first limiting part in the first sliding groove 12111 toward the knuckle assembly 123. When the first power push rod 12121 slides relative to the first sliding groove 12111, the first limiting part abuts against the side of the first power push rod 12121 toward the knuckle assembly 123, reducing the risk of the first power push rod 12121 sliding out of the first sliding groove 12111. Similarly, by including a second limiting part in the second sliding groove 12112 along the second direction B, when the second power push rod 12122 slides relative to the second sliding groove 12112, the second limiting part abuts against the side of the second power push rod 12122 along the second direction B, reducing the risk of the second power push rod 12122 sliding out of the second sliding groove 12112.

[0079] Reference Figure 1 , Figure 2 and Figure 3 This application provides a finger mechanism 12, which further includes an elastic pretensioner 13. The first end of the elastic pretensioner 13 is fixed to the third link 1223, and the second end of the elastic pretensioner 13 is fixed to the fourth link 1224.

[0080] In this embodiment, the elastic pretensioner 13 can be a tension spring, a spring deflector, etc. This embodiment does not limit the application. In one possible implementation provided by this embodiment, the elastic pretensioner 13 is a tension spring.

[0081] In this embodiment, the tension spring can be exposed outside the proximal phalanx 1231 or hidden inside the first receiving cavity of the proximal phalanx 1231. In one possible implementation provided in this embodiment, the tension spring is hidden inside the first receiving cavity to improve the overall aesthetics of the finger mechanism 12. Furthermore, for ease of fixation, both ends of the tension spring can be configured as hooks.

[0082] The finger mechanism 12 provided in this application embodiment has an elastic preload 13 between the third link 1223 and the fourth link 1224. When the fourth link 1224 rotates around the third link 1223, the elastic preload 13 changes length and generates a preload force, which acts on the entire link assembly 122. This keeps the third link 1223 and the fourth link 1224 in a taut state, reducing the play in the third link 1223 and the fourth link 1224, thereby reducing the play in the entire link assembly 122 and the gap in the entire finger mechanism 12, and achieving higher precision position control of the knuckle assembly 123.

[0083] The above are merely preferred embodiments of this application and are not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A finger mechanism characterized by, include: Rigid drive components; Linkage assembly; The finger assembly, the linkage assembly is connected to the rigid drive assembly and the finger assembly respectively, the rigid drive assembly drives the finger assembly to grasp the object to be grasped through the linkage assembly, the rigid drive assembly, the linkage assembly and the finger assembly are arranged along a first direction, and along a second direction, the connection position of the linkage assembly and the rigid drive assembly is higher than the connection position of the linkage assembly and the finger assembly, so that the rigid drive assembly is offset relative to the finger assembly in the second direction; The second direction is the direction away from the knuckle assembly, and the first direction is perpendicular to the second direction.

2. The finger mechanism of claim 1, wherein The finger mechanism further includes a fixing plate, the protective portion of which is fixedly connected to the rigid drive assembly on the side near the knuckle assembly, and the connecting portion of which is connected to the linkage assembly. Along the second direction, the knuckle assembly and the protective portion on the side near the knuckle assembly form an offset space, which is used to place a target object.

3. The finger mechanism of claim 2, wherein, The rigid drive assembly includes a connecting seat and a power push rod assembly. The connecting seat is fixed to the protective part on one side along the second direction. The connecting seat is provided with a sliding groove assembly. The power push rod assembly is located in the sliding groove assembly and slides relative to the sliding groove assembly to drive the knuckle assembly to grasp the object to be grasped.

4. The finger mechanism of claim 3, wherein The power push rod assembly includes a first power push rod, the sliding groove assembly includes a first sliding groove extending along the first direction on the connecting seat, the first power push rod is disposed in the first sliding groove, the connecting rod assembly includes a first connecting rod and a second connecting rod, the knuckle assembly includes a proximal knuckle, the first connecting rod is connected to the first power push rod through a first rotating shaft, and is connected to both sides of the proximal knuckle along a third direction through a second rotating shaft, the second connecting rod is connected to both sides of the proximal knuckle along the third direction through a third rotating shaft, and the second connecting rod is connected to the connecting part through a fourth rotating shaft; Wherein, the third direction is perpendicular to the first direction and the second direction, the axes of the first, second and third rotating shafts are parallel to the third direction, and the axis of the fourth rotating shaft is parallel to the second direction.

5. The finger mechanism of claim 4, wherein, The power push rod assembly includes two first power push rods. The sliding groove assembly includes first sliding grooves symmetrically arranged along a third direction on the connecting seat. The two first power push rods are respectively disposed in the two first sliding grooves. The two first connecting rods are respectively connected to the two first power push rods through a first rotating shaft, and respectively connected to the two sides of the proximal phalanx along the third direction through a second rotating shaft. The second connecting rod is connected to the two sides of the proximal phalanx along the third direction through a third rotating shaft. The second connecting rod is connected to the connecting fixing plate through a fourth rotating shaft.

6. The finger mechanism of claim 5, wherein, The outer contours of both the first and second rotating shafts are spherical.

7. The finger mechanism of claim 6, wherein The power push rod assembly includes a second power push rod. The sliding groove assembly includes a second sliding groove extending along the first direction, symmetrically disposed between two first sliding grooves on the connecting seat. Along the second direction, the first sliding groove is higher than the second sliding groove. The connecting rod assembly includes a third connecting rod and a fourth connecting rod. The third connecting rod is connected to the second power push rod via a fifth pivot, and the third connecting rod is connected to the second connecting rod via a sixth pivot. The outer contours of the fifth and sixth pivots are both spherical. The third connecting rod is connected to the fourth connecting rod via a seventh pivot. The proximal phalanx forms a first receiving cavity with an opening along the first direction. The third connecting rod and the fourth connecting rod are located in the first receiving cavity. The knuckle assembly includes a first middle knuckle, a second middle knuckle, and a distal knuckle. The first middle knuckle and the proximal knuckle are connected along the third direction via an eighth pivot. The first middle knuckle and the distal knuckle are connected along the third direction via a ninth pivot. The first middle knuckle forms a second receiving cavity with an opening along the first direction. At least a portion of the second middle knuckle is located within the second receiving cavity. The second middle knuckle and the proximal knuckle are connected along the third direction via a tenth pivot. The fourth link is connected to the second middle knuckle via an eleventh pivot. The second middle knuckle and the distal knuckle are connected along the third direction via a twelfth pivot. The axial directions of the fifth, sixth, seventh, eighth, ninth, tenth, eleventh, and twelfth rotating axes are all the same as those of the third axis.

8. The finger mechanism of claim 7, wherein, The first sliding groove includes a first limiting part disposed toward the knuckle assembly. When the first power push rod slides relative to the first sliding groove, the first limiting part abuts against the side of the first power push rod toward the knuckle assembly. The second sliding groove includes a second limiting part disposed along a second direction. When the second power push rod slides relative to the second sliding groove, the second limiting part abuts against the side of the second power push rod along the second direction.

9. The finger mechanism of claim 7, wherein, The finger mechanism also includes an elastic pretensioner, the first end of which is fixed to the third link, and the second end of which is fixed to the fourth link.

10. A robot, characterized in that, include: The finger mechanism according to any one of claims 1 to 9; A robotic arm, wherein the robotic arm forms a receiving cavity, the knuckle assembly of the finger mechanism is located outside the receiving cavity, and the rigid drive assembly is disposed inside the receiving cavity; A robotic arm, which is connected to the robotic hand.

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