Finger, mechanical gripper and robot thereof

Abstract

The embodiment of the invention belongs to the field of mechanical claws, and relates to a finger which comprises a driving assembly, a joint assembly, a transmission assembly and attachments. The driving assembly and the multiple joints are sequentially arranged in the moving direction of the linear driving structure. The linear driving structure is arranged on the driving bracket; each joint comprises a joint bottom and a joint side wall; the joint bottom and the joint side wall jointly define a channel for containing the transmission assembly. The attachment is arranged at the end, away from the joint bottom, of the joint side wall to serve as the joint top of the joint. The adjacent joints as well as the first joint and the driving assembly are hinged through pivots respectively; the pivot is positioned on the edge of the joint side wall corresponding to one side of the joint top; the driving assembly drives the N joints to relatively rotate around the pivots through cooperation of the joint assemblies and the transmission assembly. The invention further relates to a mechanical gripper and a robot thereof. According to the technical scheme provided by the invention, the finger can have a larger contact surface for mounting attachments.

Description

Technical Field

[0001] The present application relates to the technical field of mechanical grippers, and more specifically, to a finger, a mechanical gripper and a robot thereof. Background Art

[0002] With the development of science and technology, robots such as humanoid robots and industrial manipulators have gradually become popular in all walks of life, which has put forward new and higher requirements for robots regarding dexterous operation.

[0003] To achieve the above goals, people have tried to develop dexterous hands and combine them with various attachments (such as sensors and anti-slip pads). Taking the attachment as a force sensor as an example, the current dexterous hands in the industry mostly use force sensors placed inside linear motors. Due to the multi-stage transmission between the linear motor and the finger surface, under the influence of friction and other factors, the force sensor has a large error and low resolution. Placing the force sensor on the finger contact surface can directly contact the object, which can effectively improve the accuracy of finger force feedback.

[0004] However, the fingers currently developed in the industry are not suitable for installing sensors due to their complex finger structures and small contact areas between the fingers and force sensors. Summary of the invention

[0005] Based on this, the embodiments of the present application provide a finger, a mechanical gripper and a robot thereof, so that the finger has a larger contact surface and is convenient for the installation of attachments.

[0006] In a first aspect, an embodiment of the present application provides a finger, which adopts the following technical solution:

[0007] A finger, comprising: a driving component, a joint component, a transmission component and an attachment; the driving component comprises: a linear driving structure and a driving bracket; the joint component comprises N joints; wherein N is an integer greater than or equal to 2;

[0008] The driving assembly and the N joints are arranged in sequence along the direction of movement of the linear driving structure;

[0009] The linear drive structure is arranged on the drive bracket;

[0010] Each joint comprises a joint bottom and a joint side wall; the joint bottom and the joint side wall together form a channel for accommodating the transmission assembly;

[0011] The attachment is arranged at one end of the joint side wall away from the joint bottom to serve as the joint top of the joint;

[0012] Adjacent joints are hinged by pivots, and the pivots are located at the edge of the joint side wall corresponding to the top of the joint;

[0013] The driving assembly drives the N joints to rotate relatively around the pivot respectively through the cooperation of the joint assembly and the transmission assembly.

[0014] Further, each of the joints comprises a joint frame and a shell;

[0015] The shell is fixed outside the joint frame;

[0016] The joint realizes the articulation through the joint skeleton; and / or,

[0017] The shell includes a shell bottom and a shell side wall; the frame includes a frame bottom and the frame side wall; the joint frame and the shell side wall serve as the joint side wall; the shell bottom and the frame bottom serve as the joint bottom.

[0018] Further, the joint assembly includes three joints; the three joints are the first joint, the second joint and the third joint;

[0019] Each adjacent joint is hinged by a pivot, and the pivot is located at the edge of the joint side wall corresponding to the top of the joint through the following structure:

[0020] A second hinge hole is provided at the edge of the joint side wall corresponding to the joint top at the second end of the first joint; the joint top is the inner side corresponding to the bending direction of the finger;

[0021] A third hinge hole and a fourth hinge hole are arranged on the edge of the joint side wall of the second joint corresponding to the top of the joint; the third hinge hole is located at the first end of the second joint; and the fourth hinge hole is located at the second end of the second joint;

[0022] The second hinge hole and the third hinge hole are hinged via a second pivot; the fourth hinge hole and the fifth hinge hole are hinged via a third pivot.

[0023] Furthermore, the driving assembly drives the N joints to rotate relative to each other around the pivot through the cooperation between the joint assembly and the transmission assembly, which is achieved by the following structure:

[0024] The first end of the first joint is hinged to the output end of the linear drive structure;

[0025] The transmission assembly comprises: a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod, a sixth connecting rod and a seventh connecting rod;

[0026] The first end of the first connecting rod is fixed to the driving bracket; the second end of the first connecting rod is hinged to the first end of the second connecting rod; and the middle part of the first connecting rod is hinged to the first end of the first joint;

[0027] The middle portion of the third connecting rod is hinged to the first joint, and both ends of the third connecting rod are hinged to the second end of the second connecting rod and the first end of the fourth connecting rod respectively;

[0028] The first end of the second joint corresponding to the first joint is hinged to the second end of the fourth connecting rod; the second end of the first joint corresponding to the second joint is hinged to the first end of the fifth connecting rod;

[0029] The middle part of the sixth connecting rod is hinged to the second joint; the two ends of the sixth connecting rod are respectively hinged to the second end of the fifth connecting rod and the first end of the seventh connecting rod;

[0030] The second end of the seventh connecting rod is hinged to the third joint.

[0031] Further, the middle portion of the first connecting rod is hinged to the first end of the first joint through a first pivot, and the first joint rotates around the first pivot;

[0032] The first end of the first connecting rod is fixed to the bracket top of the driving bracket so that the first pivot is located at the edge of the joint top of the first joint; and / or,

[0033] The output end of the driving assembly is hinged to the first end of the first joint through a fourth pivot.

[0034] Further, the second ends corresponding to the first joint and the second joint are hinged to the first end of the fifth connecting rod through the following structure:

[0035] The first joint extends toward the second joint to form a first extension portion; the first extension portion is hinged to the first end of the fifth connecting rod; and / or,

[0036] The hinge connection between the end of the second joint corresponding to the first joint and the second end of the fourth connecting rod is realized by the following structure:

[0037] The second joint extends toward the first joint to form a second extension portion; the second extension portion is hinged to the second end of the fourth connecting rod; and / or,

[0038] The second end of the seventh connecting rod is hinged to the third joint through the following structure:

[0039] The third joint extends toward the second joint to form a third extension portion; the second end of the seventh connecting rod is hinged to the third extension portion.

[0040] Further, the fourth connecting rod and the fifth connecting rod cooperate to limit the limit angle of relative rotation between the first joint and the second joint; and / or,

[0041] The seventh link cooperates with the fourth link and the fifth link to limit the limit angle of relative rotation between the third joint and the second joint; and / or,

[0042] The first end of the first connecting rod is fixed to the top of the driving bracket; the top of the bracket corresponds to the top of the joint.

[0043] Further, the joint tops of the plurality of joints are located in the same plane when not driven by the drive assembly; and / or,

[0044] An accommodating space is formed inside the driving bracket, and the linear driving structure is accommodated in the accommodating space; and / or

[0045] The driving bracket includes a bracket bottom and a bracket top; the bracket top is arranged corresponding to the joint top of the joint; the bracket bottom is used to connect with other structures.

[0046] In a second aspect, an embodiment of the present application provides a robotic gripper comprising at least one finger as described in any one of the above items.

[0047] In a third aspect, the present application provides a robot, which adopts the following technical solution:

[0048] A robot comprises a robot body and the above-mentioned mechanical gripper; the mechanical gripper is arranged at the execution end of the robot body.

[0049] Compared with the prior art, the embodiments of the present application have the following beneficial effects:

[0050] The embodiment of the present application hinges each adjacent joint to each other through a pivot to form a rotation center for relative rotation between each other. The pivot is located at the edge of the joint side wall corresponding to the top of the joint, thereby placing the transmission assembly behind the rotation center of the joint, so that the finger has a larger contact surface for installing the attachment, which is beneficial to the installation of the attachment and better realizes the function of the attachment.

[0051] In addition, by accommodating the transmission assembly in the channel surrounded by the bottom of the joint and the side walls of the joint, the overall structure of the finger can be made more compact, and the volume of the finger can be relatively reduced; the finger can also be made more beautiful as a whole. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the scheme of the present application, a brief introduction is given below to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0053] Figure 1 A schematic diagram of the overall structure of an embodiment of the present application in which the finger is in a straightened state;

[0054] Figure 2 A schematic diagram of an exploded structure of an embodiment of the present application in which a finger is in a bent state;

[0055] Figure 3 A schematic diagram of the planar structure of an embodiment of the present application in which a joint side wall on one side of the finger is hidden in an extreme bending state;

[0056] Figure 4 A schematic structural diagram of an embodiment of the present application in which a joint side wall, a joint bottom and attachments on one side of a finger are hidden in a bent state;

[0057] Figure 5 A schematic diagram of the exploded structure of an embodiment of the present application in which a finger is bent and the attachment is hidden.

[0058] Figure numerals: 10 finger; 11 driving assembly; 12 finger; 13 transmission assembly; 111 linear driving structure; 112 driving bracket; 121 first joint; 122 second joint; 123 third joint; 131 first connecting rod; 132 second connecting rod; 133 third connecting rod; 134 fourth connecting rod; 135 fifth connecting rod; 136 sixth connecting rod; 137 seventh connecting rod; 138 elastic member; 1111 driving member; 1121 bracket top; 1122 bracket bottom; 1211 joint bottom of first joint; 1212 first joint Joint side wall; 1213 the skeleton of the first joint; 1214 the shell of the first joint; 1215 the first extension; 1221 the joint bottom of the second joint; 1222 the joint side wall of the second joint; 1223 the skeleton of the second joint; 1224 the shell of the second joint; 1225 the second extension; 1231 the joint bottom of the third joint; 1232 the joint side wall of the third joint; 1233 the skeleton of the third joint; 1234 the shell of the third joint; 1235 the third extension; the first pivot L1; the second pivot L2; the third pivot L3. DETAILED DESCRIPTION

[0059] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by technicians in the technical field of this application; the terms used in the specification of the application herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. The terms "first", "second", etc. in the specification and claims of this application or the above-mentioned drawings are used to distinguish different objects, not to describe a specific order.

[0060] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0061] Unless otherwise defined, references herein to a certain structural member being "fixed to", "fixedly connected to" another structural member and other similar descriptions include fixing methods such as the two structural members being prefabricated as one piece or being fixedly connected via a centering member.

[0062] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings.

[0063] like Figures 1 to 3 As shown, Figure 1 A schematic diagram of the overall structure of an embodiment of the present application in which the finger is in a straightened state; Figure 2 A schematic diagram of an exploded structure of an embodiment of the present application in which a finger is in a bent state; Figure 3 A schematic diagram of the planar structure of an embodiment of the finger provided in the present application after the joint side wall on one side is hidden in the extreme bending state.

[0064] The embodiment of the present application provides a finger 10 , which includes: a driving component 11 , a joint component 12 , a transmission component 13 and an attachment 14 .

[0065] The driving assembly 11 includes a linear driving structure 111 and a driving bracket 112 . The linear driving structure 111 is disposed on the driving bracket 112 .

[0066] Specifically, the linear drive structure may be any structure that is currently available or will be developed in the future and that can achieve linear drive motion, such as a linear motor, a cylinder, or a hydraulic cylinder.

[0067] In one embodiment, a receiving space is formed inside the driving bracket 112, and the linear driving structure 111 is received in the receiving space. This structural design makes the overall structure of the finger more beautiful and also provides good protection for the linear driving structure.

[0068] In one embodiment, the driving bracket includes a bracket bottom 1122 and a bracket top 1121; the bracket top 1121 is arranged corresponding to the joint top of the joint; the bracket bottom 1122 is used to connect with other structures (omitted in the figure). Through this structural design, the overall structure of the finger is more beautiful, and it is convenient to combine the finger with other components.

[0069] The joint assembly 12 includes N joints, wherein N is an integer greater than or equal to 2.

[0070] like Figure 1 As shown, in a preferred embodiment, the number of joints is 3, so as to better imitate the movement of human hand finger joints, which will be further described in detail in the following embodiments.

[0071] The driving assembly 11 and the N joints are arranged in sequence along the moving direction F of the linear driving structure 111 .

[0072] In one embodiment, when the finger is in the straight state, multiple joints (for example, Figure 1 The joint tops of the first joint 121, the second joint 122 and the third joint 123 shown in the figure form a plane. In the embodiment of the present application, by making the fingers in a straight state, the joint tops of multiple sections form a plane, thereby further improving the beauty of the fingers, the accuracy of unified control and the finger simulation effect.

[0073] Each joint includes: a joint bottom and a joint side wall; the joint bottom and the joint side wall together form a channel for accommodating the transmission component.

[0074] Among them, the bottom of the joint corresponds to the outer side of the finger bending direction, and the top of the joint described in the following embodiments corresponds to the inner side of the finger bending direction.

[0075] Specifically, the joint side wall and the joint bottom can be prefabricated as one piece, or can be fixedly connected via an intermediate piece.

[0076] For example, Figure 1 As shown, the first joint 121 includes: a joint bottom 1211 of the first joint, a top of the first joint and a side wall 1212 of the first joint; the second joint 122 includes: a joint bottom 1221 of the second joint, a top of the second joint and a side wall 1222 of the second joint; the third joint 123 includes: a joint bottom 1231 of the third joint, a top of the third joint and a side wall 1232 of the third joint. The specific structure of the joint will be further described in detail in the following embodiments.

[0077] The attachment 14 is arranged at one end of the joint side wall away from the joint bottom to serve as the joint top of the joint.

[0078] It should be noted that the attachment can be directly used as the joint top of the joint, for example, the attachment 14 can be directly fixed to the end of the joint side wall away from the joint bottom, so that the attachment is used as the joint top; in addition, a mounting surface or other structure can be provided at the end of the joint side wall away from the joint bottom, and the bottom surface of the attachment can be fixed to the mounting surface. Preferably, the attachment 14 is directly fixed to the end of the joint side wall away from the joint bottom, which can reduce the structural parts of the joint and further reduce the volume of the finger.

[0079] The number of attachments can be set as desired. Attachments can be set on each joint as the joint top, or on some joints. Figure 1 As shown, an attachment 14 is provided on the top of each of the three joints.

[0080] Specifically, the attachment may be any object as required, such as a sensor, a friction pad (for example, for providing friction resistance when grasping an object), a flexible component (for example, for providing flexible force when grasping an object, etc.). For ease of understanding, the present application embodiment takes the attachment as a sensor as an example for further detailed description.

[0081] Adjacent joints are hinged to each other through a pivot; the pivot is located at the edge of the joint side wall corresponding to the top side of the joint; wherein adjacent joints are any two adjacent joints in the joint assembly (for example: the first joint and the second joint can be called adjacent joints; the second joint and the third joint can be called adjacent joints.)

[0082] The driving assembly drives N joints to rotate relatively around the pivots through the cooperation of the joint assembly and the transmission assembly.

[0083] The embodiment of the present application hinges each adjacent joint to each other through a pivot to form a rotation center for relative rotation between each other. The pivot is located at the edge of the joint side wall corresponding to the top of the joint, thereby placing the transmission assembly behind the rotation center of the joint, so that the finger has a larger contact surface for installing the attachment, which is beneficial to the installation of the attachment and better realizes the function of the attachment.

[0084] In addition, by accommodating the transmission assembly in the channel surrounded by the bottom of the joint and the side walls of the joint, the overall structure of the finger can be made more compact, and the volume of the finger can be relatively reduced; the finger can also be made more beautiful as a whole.

[0085] In one embodiment, each joint includes a joint frame and a shell; the shell is fixed outside the joint frame.

[0086] Generally, the materials of the frame and the shell can be arbitrarily designed as needed. For example, the shell can be made of rigid or flexible materials as needed.

[0087] For example, Figure 2 As shown, continuing with the example of a finger including three joints (121, 122, 123), the first joint 121 includes: a skeleton 1213 of the first joint and a shell 1214 of the first joint; the second joint 122 includes: a skeleton 1223 of the second joint and a shell 1224 of the second joint; the third joint 123 includes: a skeleton 1233 of the third joint and a shell 1234 of the third joint.

[0088] The joint is articulated with adjacent joints, linear drive structures and / or transmission components through a skeleton.

[0089] In one embodiment, the shell can be fixed to the outside of the joint frame through an intermediate piece, for example, by gluing, or by providing mutually adaptable buckles and slots on the frame and the shell respectively, and the buckles and slots are snap-fitted together to fix the two together.

[0090] The embodiment of the present application articulates the joint skeleton with adjacent joints, linear drive structures and / or transmission components, and then fixes the outer shell outside the joint skeleton. In this way, when the outer shell is damaged due to wear, collision, etc., or the finger shape structure needs to be changed, the outer shell can be directly replaced, which facilitates finger maintenance and improves the flexibility of finger design.

[0091] In another embodiment, the joint skeleton can also be prefabricated as one piece with the shell (figure omitted), that is, the joint skeleton can be used as a part of the shell. By prefabricating the skeleton and the shell as one piece, that is, the joint skeleton can be used as a part of the shell, the use of finger parts can be reduced, the size and cost of the fingers can be reduced, and the assembly steps can be reduced.

[0092] In one embodiment, the shell includes a shell bottom and a shell side wall; the joint frame includes a frame bottom and a frame side wall (such as Figure 5 As shown, Figure 5 A schematic diagram of the exploded structure of an embodiment of the present application in which the finger is in a bent state and the attachment is hidden; illustratively, the skeleton 1213 of the first joint includes a skeleton bottom and a skeleton side wall). The skeleton side wall and the shell side wall together serve as the joint side wall.

[0093] In one embodiment, for a component described in the embodiment of the present application that is hinged to the "side wall of the joint"; "the edge of the joint side wall corresponding to the top side of the joint"; or "adjacent joints through a pivot hinge", etc., the above-mentioned hinges can be directly realized through the joint skeleton, and the outer shell can be arranged outside the joint skeleton, thereby making the finger more beautiful as a whole.

[0094] like Figures 1 to 5 As shown, Figure 4 A schematic structural diagram of an embodiment of the present application in which the joint side wall, joint bottom and attachments on one side of the finger are hidden in a bent state.

[0095] In one embodiment, taking the joint assembly 12 including: a first joint 121, a second joint 122 and a third joint 123 as an example, the above-mentioned “adjacent joints are hinged to each other through a pivot, and the pivot is located at the edge of the joint side wall corresponding to the top of the joint” can be realized by the following structure:

[0096] A second hinge hole is provided at the edge of the joint side wall 1212 (in one embodiment, may be referred to as "skeleton 1213") at the second end of the first joint corresponding to the top of the joint; the second hinge hole is located at one end of the joint skeleton corresponding to the second joint 122.

[0097] It should be noted that, taking the sixth hinge hole as an example, since the side walls of the joint are symmetrically arranged on both sides of the bottom of the joint, the sixth hinge hole mentioned in the embodiment of the present application is two symmetrically arranged hinge holes.

[0098] The joint side wall 1222 of the second joint (in one embodiment, it may be referred to as the "skeleton 1223") is provided with a third hinge hole and a fourth hinge hole at the edge corresponding to the top side of the joint, and the third hinge hole is located at the first end of the joint skeleton 1222 of the second joint corresponding to the first joint 121; the fourth hinge hole is located at the second end of the joint side wall of the second joint 122 corresponding to the third joint 13.

[0099] The second hinge hole and the third hinge hole are hinged through the second pivot L2 to hinge the first joint 121 and the second joint 122 ; the fourth hinge hole and the fifth hinge hole are hinged through the third pivot L3 to hinge the second joint 122 and the third joint 123 .

[0100] Through the above structure, the embodiment of the present application can achieve "each adjacent joint is hinged to each other through a pivot, and the pivot is located at the edge of the joint side wall corresponding to the top side of the joint."

[0101] The embodiment of the present application uses the above structure so that each adjacent joint is hinged to each other through a pivot, and the pivot is located at the edge of the joint side wall corresponding to the joint top (in some cases it can also be the attachment described in the later embodiments), thereby placing the transmission assembly behind the rotation center of the joint, thereby making way for the force sensor above, which is more conducive to the installation of the attachment and better realizes the function of the attachment.

[0102] In one embodiment, the “driving assembly 11 drives N joints to rotate relative to each other around the pivots through the transmission assembly 13” described in the above embodiment can be implemented by the following structure:

[0103] One end of the transmission assembly 13 is fixed to the driving bracket 112, and the transmission assembly is hinged to each joint.

[0104] The output end of the linear drive structure 111 is hinged to the first joint 121, and based on the linear movement of the linear drive structure 111, the first joint 121 is driven to rotate around the pivot; the first joint 11 drives the transmission assembly 13, so that each pair of adjacent joints can rotate relative to each other around the pivot therebetween.

[0105] It should be noted that the above-mentioned “the output end of the linear drive structure 111 is hinged to the first joint 121” may be “the output end of the linear drive structure 111 is fixedly connected to the driving member 1111, and is hinged to the first joint 121 through the driving member 1111; or “the output end of the linear drive structure is directly hinged to the first joint”. For ease of understanding, the embodiments of the present application are mainly described in detail below by taking the output end of the linear drive structure 111 hinged to the first joint 121 through the driving member 1111 as an example.

[0106] The embodiment of the present application drives the first joint 121 to rotate around the pivot through the linear drive structure 111, and then drives the transmission component 13 through the first joint 11, and then drives each pair of adjacent joints to rotate relative to each other around the pivot therebetween through the transmission component. Through clever structural design, more joint components can be driven to move simultaneously through a smaller number of drive components, thereby cleverly achieving under-actuation, simplifying the overall structural design of the finger, and reducing costs.

[0107] In one embodiment, the above “the driving assembly drives N joints to rotate relative to each other around the pivots through the cooperation of the joint assembly and the transmission assembly” can be implemented by the following structure:

[0108] The first end of the first joint 121 is hinged to the output end of the driving assembly 11 .

[0109] Further, in one embodiment, a joint side wall of the first end of the first joint 121 is provided with a sixth hinge hole corresponding to the output end of the drive assembly 11; the sixth hinge hole is hinged to the output end of the linear drive structure through a fourth pivot L4.

[0110] like Figures 3 to 5 As shown, the transmission assembly 13 includes: a first connecting rod 131 , a second connecting rod 132 , a third connecting rod 133 , a fourth connecting rod 134 , a fifth connecting rod 135 , a sixth connecting rod 136 and a seventh connecting rod 137 .

[0111] The first end of the first connecting rod 131 is fixed to the driving bracket 112; the second end of the first connecting rod 131 is hinged to the first end of the second connecting rod 132 (for example: hinged through the first connecting rod pivot M1); the middle part of the first connecting rod 131 forms a sixth hinge hole that cooperates with the first hinge hole of the first joint 121; the sixth hinge hole and the first hinge hole are hinged through the first pivot L1.

[0112] Further, in one embodiment, a seventh hinge hole is formed in the middle of the first link 131 to cooperate with the first hinge hole of the first joint 121; the seventh hinge hole and the first hinge hole are hinged L1 through the first pivot, so that the first joint rotates around the first pivot.

[0113] Furthermore, in one embodiment, the first end of the first connecting rod 131 is fixed to the bracket top 1221 of the driving bracket 112, so that the first pivot L1 is located at the edge of the top of the corresponding joint of the finger, so that the transmission assembly can be placed behind the rotation center of the joint, thereby making way for the force sensor above, which is more conducive to the installation of the attachment and better realizes the function of the attachment.

[0114] Exemplarily, the first link 131 is in the shape of a bending angle, and the tip of the bending angle is hinged to the skeleton of the first joint through the first pivot hinge L1; one side of the bending angle is fixedly connected to the bracket 112; and the other side is hinged to the second link 132 through the link pivot M1.

[0115] The middle portion of the third link 133 is hinged to the joint side wall 1212 (in one embodiment, it may be referred to as the "frame 1213") of the first joint (for example, Figure 5 As shown, the third link 133 is hinged to the first hinge hole N1 located at the skeleton 1213 through the second link pivot M2); and the two ends of the third link 133 are hinged to the second end of the second link 132 and the first end of the fourth link 134 respectively.

[0116] The first end corresponding to the second joint 122 (for example: the skeleton 1223) and the first joint 121 is hinged to the second end of the fourth connecting rod 134; the second end corresponding to the first joint 121 and the second joint 122 is hinged to the first end of the fifth connecting rod 135 (for example: the skeleton 1213 is hinged to the first end of the fifth connecting rod 135 through the fourth hinge hole N4).

[0117] The middle portion of the sixth connecting rod 136 is hinged to the joint side wall 1222 of the second joint (eg, located at the second hinge hole N2 of the frame 1223).

[0118] Both ends of the sixth link 136 are hinged to the second end of the fifth link 135 and the first end of the seventh link 137 respectively.

[0119] The second end of the seventh connecting rod 137 is hinged to the third joint 123 (eg, located at the third hinge hole N3 of the frame 1233).

[0120] In the embodiment of the present application, the skeleton 1213 of the first joint is driven to rotate around the first pivot L1 through the linear drive structure 111; the first joint 121 and the second link 132 move relative to each other (since the length of the second link 132 remains unchanged, the relative positions of the two change as the skeleton 1213 of the first joint rotates around the first pivot L1); since the length of the second link 132 remains unchanged, when the third link 133 rotates with the first joint 121, the second link 132 will pull the third link 133 to rotate to drive the fourth link 134 to transmit, and then drive the skeleton 1223 of the second joint to rotate through the fourth link 134, and the skeleton 1213 of the first joint drives the fifth link 135 to rotate (the fifth link is hinged to the second joint through the sixth link), so that the first joint and the second joint can rotate around the second pivot L2; the fifth link 135 drives the sixth link 136 and the seventh link 137 to transmit, thereby driving the third joint 123 to rotate around the third pivot L3 relative to the second joint 122.

[0121] The embodiment of the present application realizes transmission through the above-mentioned connecting rod. On the one hand, the posture of the finger can be accurately predicted; on the other hand, the finger has good rigidity and is not easily damaged.

[0122] The embodiment of the present application adopts the above structure and an ingenious hinge hole design, so that each adjacent joint and the first joint and the drive assembly are hinged to each other through the pivots passing through the hinge holes.

[0123] In one embodiment, the above “the second ends of the first joint 121 and the second joint 122 corresponding to the first end of the fifth connecting rod 135 are hingedly connected” can be realized by the following structure:

[0124] The first joint 121 (eg, the skeleton 1213 ) extends toward the second joint 122 to form a first extension portion 1215 ; the first extension portion 1215 is hinged to the first end of the fifth connecting rod 135 (eg, the first extension portion 1215 is hinged to the first end of the fifth connecting rod through the fourth hinge hole N4 ).

[0125] For example, Figure 5 As shown, the fifth connecting rod 135 is a single connecting rod, and the first extension portion 1215 is recessed inwardly to form a receiving groove corresponding to one end of the fifth connecting rod 135 . The first end of the fifth connecting rod is received in the receiving groove and is hinged to the fourth hinge hole N4 of the first extension portion 1215 .

[0126] In one embodiment, the above “the end of the second joint 122 corresponding to the first joint 121 is hinged to the second end of the fourth connecting rod 134” can be realized by the following structure:

[0127] The second joint 122 extends toward the first joint 121 to form a second extending portion 1225 ; the second extending portion 1225 is hinged to the second end of the fourth connecting rod 134 .

[0128] For example, Figure 5 As shown, the second end of the fourth connecting rod 134 forms two connecting arms; the skeleton 1223 of the second joint 122 is two skeletons symmetrically arranged with each other, and each skeleton 1223 forms a second extension part 1225 at one end corresponding to the first joint, and the fifth hinge holes N5 of the two second extension parts 1225 are respectively hinged to the sixth hinge holes N6 of the two connecting arms of the fourth connecting rod 134.

[0129] In one embodiment, the above “the second end of the seventh connecting rod 137 is hinged to the third joint 123” can be implemented by the following structure:

[0130] The third joint 123 (eg, the frame 1233 ) forms a third extension portion 1235 toward the second joint 122 ; the second end of the seventh link 137 is hinged to the third extension portion 1235 to drive the third joint to rotate around the third pivot axis L3 .

[0131] The embodiment of the present application uses the above structure to achieve the articulation of the connecting rod and the joint, thereby simplifying the finger structure.

[0132] In one embodiment, the fourth link and the fifth link cooperate with each other to limit a limit angle of relative rotation between the second joint and the first joint.

[0133] For example, Figure 3 As shown, Figure 3 A schematic diagram of a planar structure of an embodiment of the present application after the side wall of the joint on one side is hidden in the extreme bending state of the finger. When the second joint 122 rotates to the point where the fourth link 134 and the fifth link 135 abut against each other at P (i.e., the connection point P between the two connecting arms of the fourth link 134 and the main body of the fourth link abuts against one end of the fifth link 135 located between the two connecting arms), it is the maximum limit angle of relative rotation between the second joint 122 and the first joint 121.

[0134] In a preferred embodiment, the angle of the maximum rotation limit is 90 degrees.

[0135] In one embodiment, the seventh link 137 is combined with the limit angle of relative rotation between the fourth link and the fifth link to define the maximum limit angle of relative rotation between the second joint and the third joint.

[0136] The embodiment of the present application can set the maximum rotation angles of the first joint, the second joint and the third joint as needed to imitate human fingers by cooperating the fourth link, the fifth link and the seventh link with each other, thereby further improving the ability of the fingers to imitate human hand movements.

[0137] In one embodiment, the above “the third link 133 is hinged to the joint side wall of the first joint 121; and both ends of the third link 133 are respectively hinged to the second end of the second link 132 and the first end of the fourth link 134.” can be achieved by the following structure:

[0138] The third link 133 may be H-shaped, and the second end of the second link 132 is accommodated in a groove on one side of the H-shaped third link 133, and the two are hinged to each other through a pivot; in addition, the first end of the fourth link 134 is accommodated in a groove on the other side of the H-shaped third link 133, and the two are hinged to each other through a pivot. In addition, a pivot may pass through the joint side walls on both sides of the first joint 121 and the middle of the H-shaped third link 133, so as to realize the hinge connection between the third link and the joint side wall of the first joint (for example: the first hinge hole N1 of the frame 1213).

[0139] In the embodiment of the present application, the third connecting rod is designed to be H-shaped, so that the overall structure after the connecting rod is hinged with the second connecting rod and the fourth connecting rod is more streamlined, which is conducive to further reducing the size of the finger.

[0140] Similarly, in one embodiment, the above “two ends of the sixth connecting rod 136 are respectively hinged to the second end of the fifth connecting rod and the first end of the seventh connecting rod.” can be achieved through the following structure:

[0141] The sixth link 136 may be H-shaped, and the second end of the fifth link 135 is accommodated in a recess on one side of the H-shaped sixth link 136, and the two are hinged to each other through a pivot; in addition, the first end of the seventh link 137 is accommodated in a recess on the other side of the H-shaped sixth link 136, and the two are hinged to each other through a pivot. In addition, a pivot may be passed through the joint side walls on both sides of the second joint 122 and the middle of the H-shaped sixth link 136, so that the sixth link is hinged to the joint side wall of the second joint (for example: the second hinge hole N2 of the frame 1223).

[0142] In the embodiment of the present application, the sixth connecting rod is designed to be H-shaped, so that the overall structure after the connecting rod is hinged with the fifth connecting rod and the seventh connecting rod is more streamlined, which is conducive to further reducing the size of the finger.

[0143] Based on the fingers described in the above embodiments, the present application also provides a mechanical gripper (without drawings), which includes one or more fingers 10 described in the above embodiments. The driving assembly of one or more fingers 10 is controlled to drive the fingers to rotate to control the mechanical gripper to complete the target action, such as grabbing the target object.

[0144] For the relevant description about the fingers, please refer to the above embodiments, which will not be repeated here.

[0145] Based on the mechanical gripper described in the above embodiment, the present application provides a robot (without drawings), which includes a robot body and the mechanical gripper described in the above embodiment. The mechanical gripper is arranged at the execution end of the robot body, and is used to perform actions such as grasping and moving a target object.

[0146] It should be noted that the above-mentioned robot can be any robot that exists now or will be developed in the future, such as a humanoid robot or an industrial manipulator, and this application does not limit this.

[0147] For the relevant description of the fingers and the robotic gripper, please refer to the above embodiments and will not be repeated here.

[0148] Obviously, the embodiments described above are only some embodiments of the present application, rather than all embodiments. The preferred embodiments of the present application are given in the accompanying drawings, but they do not limit the patent scope of the present application. The present application can be implemented in many different forms. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present application more thorough and comprehensive. Although the present application is described in detail with reference to the aforementioned embodiments, for those skilled in the art, it is still possible to modify the technical solutions recorded in the aforementioned specific implementation methods, or to perform equivalent replacement of some of the technical features therein. Any equivalent structure made using the contents of the specification and drawings of this application, directly or indirectly used in other related technical fields, is similarly within the scope of patent protection of this application.

Claims

1. A finger, characterized in that: include: A drive assembly, a joint assembly, a transmission assembly and an attachment; the drive assembly includes: a linear drive structure and a drive bracket; the joint assembly includes N joints; wherein N is an integer greater than or equal to 2; The driving assembly and the N joints are arranged in sequence along the direction of movement of the linear driving structure; The linear drive structure is arranged on the drive bracket; Each joint comprises a joint bottom and a joint side wall; the joint bottom and the joint side wall together form a channel for accommodating the transmission assembly; The attachment is arranged at one end of the joint side wall away from the joint bottom to serve as the joint top of the joint; Adjacent joints are hinged by pivots, and the pivots are located at the edge of the joint side wall corresponding to the top of the joint; The driving assembly drives the N joints to rotate relatively around the pivot respectively through the cooperation of the joint assembly and the transmission assembly.

2. The finger according to claim 1, characterized in that: Each of the joints comprises a joint frame and a shell; The shell is fixed outside the joint frame; The joint realizes the articulation through the joint skeleton; and / or The shell includes a shell bottom and a shell side wall; the frame includes a frame bottom and the frame side wall; the joint frame and the shell side wall serve as the joint side wall; the shell bottom and the frame bottom serve as the joint bottom.

3. The finger according to claim 1 or 2, characterized in that: The joint assembly includes three joints; the three joints are the first joint, the second joint and the third joint; Each adjacent joint is hinged by a pivot, and the pivot is located at the edge of the joint side wall corresponding to the top of the joint through the following structure: A second hinge hole is provided at the edge of the joint side wall corresponding to the joint top at the second end of the first joint; the joint top is the inner side corresponding to the bending direction of the finger; A third hinge hole and a fourth hinge hole are arranged on the edge of the joint side wall of the second joint corresponding to the top of the joint; the third hinge hole is located at the first end of the second joint; and the fourth hinge hole is located at the second end of the second joint; The second hinge hole and the third hinge hole are hinged via a second pivot; the fourth hinge hole and the fifth hinge hole are hinged via a third pivot.

4. The finger according to claim 1 or 2, characterized in that: The driving assembly drives the N joints to rotate relative to each other around the pivot through the cooperation between the joint assembly and the transmission assembly, which is realized by the following structure: The first end of the first joint is hinged to the output end of the linear drive structure; The transmission assembly comprises: a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod, a sixth connecting rod and a seventh connecting rod; The first end of the first connecting rod is fixed to the driving bracket; the second end of the first connecting rod is hinged to the first end of the second connecting rod; and the middle part of the first connecting rod is hinged to the first end of the first joint; The middle portion of the third connecting rod is hinged to the first joint, and both ends of the third connecting rod are hinged to the second end of the second connecting rod and the first end of the fourth connecting rod respectively; The first end of the second joint corresponding to the first joint is hinged to the second end of the fourth connecting rod; the second end of the first joint corresponding to the second joint is hinged to the first end of the fifth connecting rod; The middle part of the sixth connecting rod is hinged to the second joint; the two ends of the sixth connecting rod are hinged to the second end of the fifth connecting rod and the first end of the seventh connecting rod respectively; The second end of the seventh connecting rod is hinged to the third joint.

5. The finger according to claim 4, characterized in that: The middle portion of the first connecting rod is hinged to the first end of the first joint through a first pivot, and the first joint rotates around the first pivot; The first end of the first connecting rod is fixed to the bracket top of the driving bracket so that the first pivot is located at the edge of the joint top of the first joint; and / or, The output end of the driving assembly is hinged to the first end of the first joint through a fourth pivot.

6. The finger according to claim 4, characterized in that: The second ends of the first joint and the second joint corresponding to the first end of the fifth connecting rod are hingedly connected by the following structure: The first joint extends toward the second joint to form a first extension portion; the first extension portion is hinged to the first end of the fifth connecting rod; and / or, The hinge connection between the end of the second joint corresponding to the first joint and the second end of the fourth connecting rod is realized by the following structure: The second joint extends toward the first joint to form a second extension portion; the second extension portion is hinged to the second end of the fourth connecting rod; and / or, The second end of the seventh connecting rod is hinged to the third joint through the following structure: The third joint extends toward the second joint to form a third extension portion; the second end of the seventh connecting rod is hinged to the third extension portion.

7. The finger according to claim 4, characterized in that: The fourth link cooperates with the fifth link to limit the limit angle of relative rotation between the first joint and the second joint; and / or, The seventh link cooperates with the fourth link and the fifth link to limit the limit angle of relative rotation between the third joint and the second joint; and / or, The first end of the first connecting rod is fixed to the top of the driving bracket; the top of the bracket corresponds to the top of the joint.

8. The finger according to claim 1 or 2, characterized in that: The joint tops of the plurality of joints are located in the same plane when not driven by the drive assembly; and / or, An accommodating space is formed inside the driving bracket, and the linear driving structure is accommodated in the accommodating space; and / or The driving bracket includes a bracket bottom and a bracket top; the bracket top is arranged corresponding to the joint top of the joint; the bracket bottom is used to connect with other structures.

9. A mechanical gripper, characterized in that: Comprising at least one finger according to any one of claims 1 to 8.

10. A robot, characterized in that: It comprises a robot body and the mechanical gripper as claimed in claim 9; the mechanical gripper is arranged at the execution end of the robot body.

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