Grabbing structure, grabbing device and intelligent terminal

Abstract

The invention provides a grabbing structure, a grabbing device and an intelligent terminal. The grabbing structure comprises a base, a knuckle assembly, a driving assembly, a contraction tendon rope and an extension tendon rope. The first end of the knuckle assembly is rotatably arranged on the base, and the driving assembly is installed on the base; the contraction tendon rope penetrates through the belly of the knuckle assembly and the belly of the base, the first end of the contraction tendon rope is connected with the belly of the second end of the knuckle assembly, and the second end of the contraction tendon rope is connected with the driving assembly; the stretching tendon rope is arranged on the back of the knuckle assembly and the back of the base in a penetrating mode, the first end of the stretching tendon rope is connected with the back of the second end of the knuckle assembly, and the second end of the stretching tendon rope is connected with the driving assembly. And the driving assembly is used for controlling any one of the contraction tendon rope and the stretching tendon rope to be in a winding state and controlling the other one to be in a releasing state, bending or stretching of the grabbing structure can be accurately controlled, the regulation and control effect on the grabbing structure is improved, and the use requirement is met.

Description

Technical Field

[0001] The present invention relates to the technical field of gripping devices, and in particular to a gripping structure, a gripping device and an intelligent terminal. Background Art

[0002] With the development of society, intelligent terminals such as robots are constantly appearing in people's vision and gaining great attention and development, especially in the field of service robots, which have high requirements for various indicators of end effectors. As the grasping structure of the end effector, its integration degree, anthropomorphism degree, driving mode and flexibility have attracted extensive attention from researchers.

[0003] The current grasping structure is designed as a unidirectional driven tendon transmission, in which the fingers are bent by the drive of a motor, while the finger extension relies on the rebound of the tendon of the elastic material. During multiple bending and stretching, the elastic material will continuously accumulate residual deformation and the elastic material will also continue to age, resulting in uncertain rebound force of the tendon, which leads to poor control accuracy of the bending and stretching of the grasping structure and cannot meet the use requirements. Summary of the invention

[0004] The present invention provides a grasping structure, a grasping device and an intelligent terminal to solve the problem of poor control accuracy of the existing grasping structure.

[0005] A grasping structure includes a base, a finger joint assembly, a drive assembly, a contraction tendon rope, and an extension tendon rope; The first end of the finger joint assembly is rotatably disposed on the base, and the drive assembly is mounted on the base; The contraction tendon rope is passed through the belly of the finger joint assembly and the belly of the base, and the first end of the contraction tendon rope is connected to the belly of the second end of the finger joint assembly, and the second end of the contraction tendon rope is connected to the driving assembly; The stretch tendon rope is passed through the back of the finger joint assembly and the back of the base, and the first end of the stretch tendon rope is connected to the back of the second end of the finger joint assembly, and the second end of the stretch tendon rope is connected to the driving assembly; The driving assembly is used to control either one of the contraction tendon rope and the extension tendon rope to be in a retracted state and the other to be in a released state.

[0006] Preferably, the base comprises a base body and two support arms extending from two side edges of the base body along a first direction; The first end of the finger joint assembly is rotatably mounted on the base body; The driving assembly is installed between the two support arms; The second end of the contraction tendon rope passes through the belly of the base body and is connected to the driving assembly; The second end of the extension cord passes through the back of the base body and is connected to the drive assembly.

[0007] Preferably, the base body comprises a main body portion and a connecting protrusion extending from a side surface of the main body portion along the second direction; two support arms extend from both side edges of the main body portion along the first direction; The base body is provided with a first channel and a second channel; The inlet of the first channel is located on the first surface of the main body close to the finger joint assembly, and the outlet of the first channel is located on the second surface of the connecting protrusion away from the finger joint assembly; The inlet of the second channel is located on the first surface of the connecting protrusion close to the finger joint assembly, and the outlet of the second channel is located on the second surface of the connecting protrusion away from the finger joint assembly; Either one of the contraction tendon cord and the extension tendon cord is inserted into the first channel, and the other one is inserted into the second channel.

[0008] Preferably, the knuckle assembly comprises a proximal knuckle and a distal knuckle; The first end of the proximal finger joint is rotatably disposed on the base, and the first end of the distal finger joint is rotatably disposed on the second end of the proximal finger joint; The contraction tendon rope is passed through the belly of the distal knuckle, the belly of the proximal knuckle and the belly of the base, and the first end of the contraction tendon rope is connected to the belly of the second end of the distal knuckle, and the second end of the contraction tendon rope is connected to the driving assembly; The stretch tendon rope is passed through the back of the distal knuckle, the back of the proximal knuckle and the back of the base, and the first end of the stretch tendon rope is connected to the back of the second end of the distal knuckle, and the second end of the stretch tendon rope is connected to the drive assembly.

[0009] Preferably, a first inclined surface is provided at one end of the base close to the proximal phalanx, and a second inclined surface is provided at the first end of the proximal phalanx, and the first inclined surface cooperates with the second inclined surface to limit the bending degree of the proximal phalanx; The second end of the proximal phalanx is provided with a third inclined surface, and the first end of the distal phalanx is provided with a fourth inclined surface. The third inclined surface cooperates with the fourth inclined surface to limit the bending degree of the distal phalanx.

[0010] Preferably, the proximal knuckle comprises a first body, and the distal knuckle comprises a second body; The first end of the first body is rotatably disposed on the base through a first adapter assembly, and the first end of the second body is rotatably disposed on the second end of the second body through a second adapter assembly; The contraction tendon rope is inserted into the first body and the second body, and the first end of the contraction tendon rope is connected to the belly of the second end of the second body; The stretch tendon rope is inserted into the first main body and the second main body, and the first end of the stretch tendon rope is connected to the back of the second end of the second main body.

[0011] Preferably, a first through hole penetrating the first body along the axial direction of the first body is provided on the belly of the first body, and a second through hole penetrating the first body along the axial direction of the first body is provided on the back of the first body; The belly of the second body is provided with a first mounting hole arranged along the axial direction of the second body, and the back of the second body is provided with a second mounting hole arranged along the axial direction of the second body; The contractile tendon rope is inserted into the first through hole and the first mounting hole; The stretch tendon rope is inserted into the second through hole and the second mounting hole.

[0012] Preferably, the belly of the second end of the second body is further provided with a first accommodating groove communicating with the first mounting hole; The back of the second end of the second body is also provided with a second accommodating groove communicating with the second mounting hole; The gripping structure further includes a first pre-tightening assembly and a second pre-tightening assembly; The first pre-tightening component is arranged in the first containing groove, the first end of the contraction tendon rope passes through the first mounting hole and is connected to the first pre-tightening component, and the first pre-tightening component is used to pre-tighten the contraction tendon rope; The second pre-tightening assembly is arranged in the second accommodating groove, and the first end of the stretch tendon rope passes through the second mounting hole and is connected to the second pre-tightening assembly, and the second pre-tightening assembly is used to pre-tighten the stretch tendon rope.

[0013] Preferably, the abdomen of the second end of the second body is further provided with a first fastening hole communicating with the first containing groove; The first pre-tightening assembly includes a first fastener and a first column; the first column is placed in the first receiving groove and is used to connect the first end of the contraction tendon rope; the first fastener is inserted into the first fastening hole and is used to adjust the position of the first column in the first receiving groove; The back of the second end of the second body is also provided with a second fastening hole communicating with the second containing groove; The second pre-tensioning assembly includes a second fastener and a second column; the second column is placed in the second receiving groove and is used to connect the second end of the stretch tendon rope; the second fastener is passed through the second fastening hole and is used to adjust the position of the second column in the second receiving groove.

[0014] Preferably, the first column and the second column are both polygonal prisms.

[0015] Preferably, the distal finger joint further includes a shielding cover, and one shielding cover is respectively installed on the belly of the second body and the back of the second body, and the two shielding covers are used to shield the first accommodating groove and the second accommodating groove respectively.

[0016] Preferably, the drive assembly comprises a motor and a winding wheel; The motor is mounted on the base, and the output shaft of the motor is arranged along the second direction and connected to the winding wheel; The second end of the contractile tendon rope passes through the belly of the base and is connected to the winding wheel; The second end of the extension cord passes through the back of the base and is connected to the winding wheel.

[0017] Preferably, the winding wheel is a double-groove winding wheel, and the double-groove winding wheel comprises a first wire groove and a second wire groove spaced apart along the second direction; Any one of the contraction tendon cord and the extension tendon cord is wound in the first wire groove, and the other is wound in the second wire groove; The winding direction of the contraction tendon cord is opposite to the winding direction of the extension tendon cord.

[0018] A grasping device comprises a palm structure and the grasping structure; the grasping structure is arranged on the palm structure. An intelligent terminal comprises a mechanical arm and the above-mentioned grasping device, wherein the grasping device is arranged on the mechanical arm.

[0019] In the above-mentioned grasping structure, grasping device and intelligent terminal, the contraction tendon rope is passed through the belly of the knuckle assembly and the belly of the base, and the two ends of the contraction tendon rope are respectively connected to the belly of the second end of the knuckle assembly and the driving assembly, and the extension tendon rope is passed through the back of the knuckle assembly and the back of the base, and the two ends of the extension tendon rope are respectively connected to the back of the second end of the knuckle assembly and the driving assembly. Under the drive of the driving assembly, any one of the contraction tendon rope and the extension tendon rope is controlled to be in a reeled state, and the other is in a released state. The reeled state here refers to the state where the tendon rope is wound up, and the released state is the state where the tendon rope is straightened. When the contraction tendon rope is in the reeled state and the extension tendon rope is in the released state, the knuckle assembly is driven to rotate clockwise around the axis where the first end of the knuckle assembly is connected to the base, so that the finger generates a bending and grasping action, ensuring the smooth completion of the bending action; when the contraction tendon rope is in the released state and the extension tendon rope is in the reeled state, the knuckle assembly is driven to rotate counterclockwise around the axis where the first end of the knuckle assembly is connected to the base, so that the finger generates an extension action. The contraction tendon rope and the extension tendon rope are used in conjunction with each other. By controlling either one of the two tendon ropes to wind up and the other to tighten and straighten, the bending or extension of the grasping structure can be accurately controlled, thereby improving the control effect of the grasping structure, meeting usage requirements, and improving the practicality of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0021] Figure 1 is an exploded view of a grabbing structure in one embodiment of the present invention Figure 2 is an isometric view of a gripping structure in one embodiment of the present invention; Figure 3 is a cross-sectional view of a gripping structure in one embodiment of the present invention; Figure 4 is a cross-sectional view of a gripping structure in a fully bent state in one embodiment of the present invention; Figure 5 is a cross-sectional view of a base in one embodiment of the present invention.

[0022] Among them, 1, base; 11, base body; 111, main body; 112, connecting protrusion; 113, first channel; 114, second channel; 12, support arm; 13, first transfer protrusion; 2, finger joint assembly; 21, proximal finger joint; 211, first body; 212, first through hole; 213, second through hole; 22, distal finger joint; 221, second body; 222, first mounting hole; 223, second mounting hole; 2 24. First accommodating groove; 225. Second accommodating groove; 226. First fastening hole; 227. Second fastening hole; 228. Shielding cover; 3. Driving assembly; 31. Motor; 32. Winding wheel; 4. Contraction tendon rope; 5. Extension tendon rope; 6. First transfer shaft; 7. Second transfer shaft; 8. First pre-tightening assembly; 81. First fastener; 82. First column; 9. Second pre-tightening assembly; 91. Second fastener; 92. Second column. DETAILED DESCRIPTION

[0023] In order to make the technical problems, technical solutions and beneficial effects solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0024] In the description of the present invention, it should be understood that the terms "longitudinal", "radial", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0025] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0026] The embodiment of the present invention provides a grasping structure, referring to Figure 1 and Figure 2The grasping structure includes a base 1, a finger joint assembly 2, a driving assembly 3, a contraction tendon rope 4 and an extension tendon rope 5; the first end of the finger joint assembly 2 is rotatably set on the base 1, and the driving assembly 3 is installed on the base 1; the contraction tendon rope 4 is passed through the abdomen of the finger joint assembly 2 and the abdomen of the base 1, and the first end of the contraction tendon rope 4 is connected to the abdomen of the second end of the finger joint assembly 2, and the second end of the contraction tendon rope 4 is connected to the driving assembly 3; the extension tendon rope 5 is passed through the back of the finger joint assembly 2 and the back of the base 1, and the first end of the extension tendon rope 5 is connected to the back of the second end of the finger joint assembly 2, and the second end of the extension tendon rope 5 is connected to the driving assembly 3; the driving assembly 3 is used to control any one of the contraction tendon rope 4 and the extension tendon rope 5 to be in a retracted state, and the other to be in a released state. As an example, the grasping structure is a finger in the grasping device, which can be any one of the index finger, middle finger, ring finger, little finger and thumb. The grasping structure specifically includes a base 1, a finger joint assembly 2, a driving assembly 3, a contraction tendon rope 4 and an extension tendon rope 5; when installed, the base 1 is used as a support reference, the first end of the finger joint assembly 2 is rotatably set on the base 1, and the driving assembly 3 is installed on the base 1 as a power source to drive the contraction tendon rope 4 and the extension tendon rope 5 to work. The contraction tendon rope 4 is passed through the belly of the knuckle assembly 2 and the belly of the base 1, and the first end of the contraction tendon rope 4 is connected to the belly of the second end of the knuckle assembly 2, and the second end of the contraction tendon rope 4 is connected to the driving assembly 3, and the driving assembly 3 is controlled to reel in the contraction tendon rope 4, thereby driving the knuckle assembly 2 to rotate around the axis where the first end of the knuckle assembly 2 is connected to the base 1, so that the knuckle assembly 2 is bent; the extension tendon rope 5 is passed through the back of the knuckle assembly 2 and the back of the base 1, and the first end of the extension tendon rope 5 is connected to the back of the second end of the knuckle assembly 2, and the second end of the extension tendon rope 5 is connected to the driving assembly 3, and the driving assembly 3 is controlled to reel in the extension tendon rope 5, thereby driving the knuckle assembly 2 to rotate around the axis where the first end of the knuckle assembly 2 is connected to the base 1, so that the knuckle assembly 2 is extended.

[0027] In this example, under the drive of the driving component 3, any one of the contraction tendon rope 4 and the extension tendon rope 5 is controlled to be in a reeled state, and the other is in a released state. The reeled state here refers to the state in which the tendon rope is wound up, and the released state is the state in which the tendon rope is straightened. When the contraction tendon rope 4 is in the reeled state and the extension tendon rope 5 is in the released state, the knuckle assembly 2 is driven to rotate clockwise around the axis where the first end of the knuckle assembly 2 is connected to the base 1, so that the finger produces a bending and grasping action, ensuring the smooth completion of the bending action; when the contraction tendon rope 4 is in the released state and the extension tendon rope 5 is in the reeled state, the knuckle assembly 2 is driven to rotate counterclockwise around the axis where the first end of the knuckle assembly 2 is connected to the base 1, so that the finger produces an extension action. The contraction tendon rope 4 and the extension tendon rope 5 are used in combination. By controlling any one of the two tendons to be wound and reeled, and the other to be tightened and straightened, the bending or extension of the grasping structure can be accurately controlled, the control effect of the grasping structure is improved, the use requirements are met, and the practicality of the equipment is improved.

[0028] In one embodiment, referring to Figure 1 and Figure 2 The base 1 includes a base body 11 and two support arms 12 extending from the two side edges of the base body 11 along a first direction; the first end of the finger joint assembly 2 is rotatably mounted on the base body 11; the driving assembly 3 is installed between the two support arms 12; the second end of the contraction tendon 4 passes through the belly of the base body 11 and is connected to the driving assembly 3; the second end of the extension tendon 5 passes through the back of the base body 11 and is connected to the driving assembly 3.

[0029] As an example, the base 1 includes a base body 11 and two support arms 12; the base body 11 serves as a support reference, and the two support arms 12 extend from the two side edges of the base body 11 along a first direction. During installation, the first end of the finger joint assembly 2 is rotatably mounted on the base body 11. Specifically, a first transfer protrusion 13 can be provided on the base body 11, and the first end of the finger joint assembly 2 can be rotatably mounted on the first transfer protrusion 13 through the first transfer shaft 6; or, the first transfer protrusion 13 is provided on the first end of the finger joint assembly 2, and the base body 11 can be rotatably mounted on the first transfer protrusion 13 through the first transfer shaft 6. The driving component 3 is installed between the two support arms 12, and the second end of the contraction tendon rope 4 passes through the belly of the base body 11 and is connected to the driving component 3; the second end of the extension tendon rope 5 passes through the back of the base body 11 and is connected to the driving component 3. Under the drive of the driving component 3, any one of the contraction tendon rope 4 and the extension tendon rope 5 is controlled to be in a retracted state, and the other is in a released state. The contraction tendon rope 4 and the extension tendon rope 5 are used in combination. By controlling any one of the two tendons to be wound and reeled, and the other to be tightened and straightened, the bending or extension of the grasping structure can be accurately controlled, thereby improving the regulation effect of the grasping structure, meeting the use requirements, and improving the practicality of the equipment.

[0030] In one embodiment, referring to Figure 1 and Figure 5 The base body 11 includes a main body 111 and a connecting protrusion 112 extending from one side of the main body 111 along the second direction, and two support arms 12 are extended from the two side edges of the main body 111 along the first direction; a first channel 113 and a second channel 114 are provided on the base body 11, the inlet of the first channel 113 is located on the first surface of the main body 111 close to the finger joint assembly 2, and the outlet of the first channel 113 is located on the second surface of the connecting protrusion 112 away from the finger joint assembly 2; the inlet of the second channel 114 is located on the first surface of the connecting protrusion 112 close to the finger joint assembly 2, and the outlet of the second channel 114 is located on the second surface of the connecting protrusion 112 away from the finger joint assembly 2; any one of the contraction tendon 4 and the extension tendon 5 is arranged in the first channel 113, and the other is arranged in the second channel 114. The first surface and the second surface of the main body 111 and the connecting protrusion 112 are two surfaces arranged opposite to each other along the first direction, the first surface is a surface close to the knuckle assembly 2, and the second surface is a surface away from the knuckle assembly 2.

[0031] As an example, the base body 11 includes a main body 111 and a connecting protrusion 112, and the connecting protrusion 112 extends from a side of the main body 111 along the second direction, that is, the base body includes the main body 111, two support arms 12 extending from the main body 111 along the first direction, and the connecting protrusion 112 extending from the main body 111 along the second direction. The base body 11 is provided with a first channel 113 and a second channel 114, the inlet of the first channel 113 is located on the first surface of the main body 111 close to the finger joint assembly 2, and the outlet of the first channel 113 is located on the second surface of the connecting protrusion 112 away from the finger joint assembly 2; the inlet of the second channel 114 is located on the first surface of the connecting protrusion 112 close to the finger joint assembly 2, and the outlet of the second channel 114 is located on the second surface of the connecting protrusion 112 away from the finger joint assembly 2. In this example, the contraction tendon rope 4 can be inserted into the first channel 113 and the extension tendon rope 5 can be inserted into the second channel 114, or the contraction tendon rope 4 can be inserted into the second channel 114 and the extension tendon rope 5 can be inserted into the first channel 113. This arrangement is convenient for guiding the contraction tendon rope 4 and the extension tendon rope 5 to the tangent positions of the same height at the center of different areas on the drive assembly 3. Among them, when the drive assembly 3 is installed on the back of the base 1, the entrance of the channel where the contraction tendon rope 4 is located is located on the abdomen of the base 1, the exit of the channel where the contraction tendon rope 4 is located is located on the back of the base 1, the entrance of the channel where the extension tendon rope 5 is located is located on the back of the base 1, and the exit of the channel where the extension tendon rope 5 is located is located on the back of the base 1, so that it is convenient to guide the two tendons to the tangent positions of the same height at the center of different areas on the drive assembly 3 at the same time, and it is convenient to control any one of the two tendons to be wound and rolled up, and the other to be tightened and straightened. When the driving assembly 3 is installed on the belly of the base 1, the inlet of the channel where the contraction tendon rope 4 is located is located on the belly of the base 1, the outlet of the channel where the contraction tendon rope 4 is located is located on the belly of the base 1, the inlet of the channel where the extension tendon rope 5 is located is located on the back of the base 1, and the outlet of the channel where the extension tendon rope 5 is located is located on the belly of the base 1, so that it is convenient to guide the two tendons to the tangent positions of the same height at the center of different areas on the driving assembly 3 at the same time, and it is convenient to control any one of the two tendons to be wound and rolled, and the other to be tightened and straightened. In addition, the inlet and outlet of the first channel 113 and the inlet and outlet of the second channel 114 are both set as arc-shaped openings, which can reduce the friction between the tendons and the first channel 113 and the second channel 114 during the movement of the tendons, and increase the service life of the tendons.

[0032] In one embodiment, referring to Figure 1-3The finger joint assembly 2 includes a proximal finger joint 21 and a distal finger joint 22; the first end of the proximal finger joint 21 is rotatably set on the base 1, and the first end of the distal finger joint 22 is rotatably set on the second end of the proximal finger joint 21; the contraction tendon rope 4 is passed through the abdomen of the distal finger joint 22, the abdomen of the proximal finger joint 21 and the abdomen of the base 1, and the first end of the contraction tendon rope 4 is connected to the abdomen of the second end of the distal finger joint 22, and the second end of the contraction tendon rope 4 is connected to the driving assembly 3; the extension tendon rope 5 is passed through the back of the distal finger joint 22, the back of the proximal finger joint 21 and the back of the base 1, and the first end of the extension tendon rope 5 is connected to the back of the second end of the distal finger joint 22, and the second end of the extension tendon rope 5 is connected to the driving assembly 3. As an example, the knuckle assembly 2 includes a proximal knuckle 21 and a distal knuckle 22; during installation, the base 1 is used as a support reference, the first end of the proximal knuckle 21 is rotatably set on the base 1, and the first end of the distal knuckle 22 is rotatably set on the second end of the proximal knuckle 21. The contraction tendon 4 is passed through the abdomen of the distal knuckle 22, the abdomen of the proximal knuckle 21 and the abdomen of the base 1, and the first end of the contraction tendon 4 is connected to the abdomen of the second end of the distal knuckle 22, and the second end of the contraction tendon 4 is connected to the drive assembly 3; the drive assembly 3 is controlled to retract the contraction tendon 4, thereby driving the distal knuckle 22 to rotate around the axis where the second end of the proximal knuckle 21 connects with the distal knuckle 22, and driving the proximal knuckle 21 to rotate around the axis where the first end of the proximal knuckle 21 connects with the base 1, so that the knuckle assembly 2 is bent; The stretch tendon rope 5 is passed through the back of the distal knuckle 22, the back of the proximal knuckle 21 and the back of the base 1, and the first end of the stretch tendon rope 5 is connected to the back of the second end of the distal knuckle 22, and the second end of the stretch tendon rope 5 is connected to the driving assembly 3; the driving assembly 3 is controlled to reel in the stretch tendon rope 5, thereby driving the distal knuckle 22 to rotate around the axis where the second end of the proximal knuckle 21 is connected to the distal knuckle 22, and driving the proximal knuckle 21 to rotate around the axis where the first end of the proximal knuckle 21 is connected to the base 1, so that the knuckle assembly 2 is extended. The contraction tendon rope 4 and the stretch tendon rope 5 are used in combination, and any one of the two tendons is controlled to be wound and reeled in two directions through one degree of freedom, and the other is tightened and straightened, which can accurately control the bending or extension of the grasping structure, improve the control effect of the grasping structure, meet the use requirements, and improve the practicality of the equipment. In one embodiment, referring to Figure 1 , Figure 2 and Figure 4 A first inclined surface is provided at one end of the base 1 close to the proximal knuckle 21, and a second inclined surface is provided at the first end of the proximal knuckle 21. The first inclined surface cooperates with the second inclined surface to limit the bending degree of the proximal knuckle 21; a third inclined surface is provided at the second end of the proximal knuckle 21, and a fourth inclined surface is provided at the first end of the distal knuckle 22. The third inclined surface cooperates with the fourth inclined surface to limit the bending degree of the distal knuckle 22. As an example, a first inclined plane may be provided on the base 1 near the belly of the proximal knuckle 21, a second inclined plane may be provided on the belly of the first end of the proximal knuckle 21, the first inclined plane cooperates with the second inclined plane to limit the bending degree of the proximal knuckle 21; a third inclined plane may be provided on the belly of the second end of the proximal knuckle 21, a fourth inclined plane may be provided on the belly of the first end of the distal knuckle 22, the third inclined plane cooperates with the fourth inclined plane to limit the bending degree of the distal knuckle 22; this arrangement enables inclined planes to be provided between the distal knuckle 22 and the proximal knuckle 21, and between the proximal knuckle 21 and the belly of the base 1, and corresponding planes to be provided on the back, when the finger is bent or extended to the set limit angle, the two corresponding inclined planes or planes will just contact to limit the position, thereby preventing excessive bending or extension from damaging other parts, so as to reduce the wear of the knuckle assembly 2 caused by multiple bending.

[0033] As an example, a first slope may be provided on the base 1 near the belly and back of the proximal knuckle 21, a second slope may be provided on the belly and back of the first end of the proximal knuckle 21, and the first slope cooperates with the second slope to limit the bending degree of the proximal knuckle 21; a third slope may be provided on the belly and back of the second end of the proximal knuckle 21, and a fourth slope may be provided on the belly and back of the first end of the distal knuckle 22, and the third slope cooperates with the fourth slope to limit the bending degree of the distal knuckle 22; this arrangement enables there to be slopes between the distal knuckle 22 and the proximal knuckle 21, and between the proximal knuckle 21 and the belly of the base 1, and corresponding slopes are also provided on the back, and when the finger is bent or stretched to the set limit angle, the two corresponding slopes will just contact to limit the position, thereby preventing excessive bending or stretching from damaging other parts, so as to reduce the wear of the knuckle assembly 2 caused by multiple bending.

[0034] In one embodiment, referring to Figure 2 , Figure 3 and Figure 4 The proximal knuckle 21 includes a first body 211, and the distal knuckle 22 includes a second body 221; the first end of the first body 211 is rotatably set on the base 1 through a first adapter component, and the first end of the second body 221 is rotatably set on the second end of the second body 221 through a second adapter component; the contraction tendon rope 4 is passed through the first body 211 and the second body 221, and the first end of the contraction tendon rope 4 is connected to the abdomen of the second end of the second body 221; the extension tendon rope 5 is passed through the first body 211 and the second body 221, and the first end of the extension tendon rope 5 is connected to the back of the second end of the second body 221.

[0035] As an example, the proximal finger joint 21 includes a first body 211, and the distal finger joint 22 includes a second body 221; when installed, the first end of the first body 211 can be rotatably set on the base 1 through a first adapter component, and the first end of the second body 221 can be rotatably set on the second end of the second body 221 through a second adapter component. Among them, the first adapter assembly includes a first adapter arm and a first adapter protrusion 13, and the second adapter assembly includes a second adapter arm and a second adapter protrusion. Therefore, between the proximal knuckle 21 and the base 1, the distal knuckle 22 and the proximal knuckle 21 have two arrangements respectively; the first arrangement: the first adapter arm is set on the first end of the first body 211, and the first adapter protrusion 13 is set on the base 1, and the first adapter arm is rotatably mounted on the first adapter protrusion 13 through the first adapter shaft 6, so that the proximal knuckle 21 can be bent around the base 1; the second adapter arm is set on the first end of the second body 221, and the second adapter protrusion is set on the second end of the first body 211, and the second adapter arm is rotatably mounted on the second adapter protrusion through the second adapter shaft 7, so that the distal knuckle 22 can be bent around the proximal knuckle 21.

[0036] The second arrangement method: the first transfer arm is set on the base 1, the first transfer protrusion 13 is set on the first end of the first body 211, and the first transfer arm is rotatably mounted on the first transfer protrusion 13 through the first transfer shaft 6, so that the proximal finger joint 21 can be bent around the base 1; the second transfer arm is set on the second end of the first body 211, the second transfer protrusion is set on the first end of the second body 221, and the second transfer arm is rotatably mounted on the second transfer protrusion through the second transfer shaft 7, so that the distal finger joint 22 can be bent around the proximal finger joint 21.

[0037] As an example, the contraction tendon rope 4 is inserted into the first body 211 and the second body 221, and the first end of the contraction tendon rope 4 is connected to the abdomen of the second end of the second body 221; the contraction tendon rope 4 is inserted into the abdomen of the second body 221 and the abdomen of the first body 211, and the first end of the contraction tendon rope 4 is connected to the abdomen of the second end of the second body 221, the contraction tendon rope 4 can drive the second body 221 to rotate around the axis where the second end of the first body 211 and the second body 221 are connected, so that the finger joint assembly 2 is bent; the extension tendon rope 5 is inserted into the first body 211 and the second body 221, and the first end of the extension tendon rope 5 is connected to the back of the second end of the second body 221; the extension tendon rope 5 is inserted into the back of the second body 221 and the back of the first body 211, and the first end of the extension tendon rope 5 is connected to the back of the second end of the second body 221, the extension tendon rope 5 drives the second body 221 to rotate around the axis where the second end of the first body 211 and the second body 221 are connected, so that the finger joint assembly 2 is extended.

[0038] In one embodiment, referring to Figure 2 , Figure 3 and Figure 4 The belly of the first body 211 is provided with a first through hole 212 which penetrates the first body 211 along the axial direction of the first body 211, and the back of the first body 211 is provided with a second through hole 213 which penetrates the first body 211 along the axial direction of the first body 211; the belly of the second body 221 is provided with a first mounting hole 222 which is arranged along the axial direction of the second body 221, and the back of the second body 221 is provided with a second mounting hole 223 which is arranged along the axial direction of the second body 221; the contraction tendon 4 is inserted in the first through hole 212 and the first mounting hole 222; the extension tendon 5 is inserted in the second through hole 213 and the second mounting hole 223.

[0039] As an example, the belly of the first body 211 is provided with a first through hole 212 that penetrates the first body 211 along the axial direction of the first body 211, and the belly of the second body 221 is provided with a first mounting hole 222 arranged along the axial direction of the second body 221. The contraction tendon 4 is inserted into the first through hole 212 and the first mounting hole 222, and is used to drive the proximal knuckle 21 to rotate clockwise around the base 1, and the distal knuckle 22 to rotate clockwise around the proximal knuckle 21, so as to realize the bending of the knuckle assembly 2; the back of the first body 211 is provided with a second through hole 213 that penetrates the first body 211 along the axial direction of the first body 211, and the back of the second body 221 is provided with a second mounting hole 223 arranged along the axial direction of the second body 221, and the extension tendon 5 is inserted into the second through hole 213 and the second mounting hole 223, and is used to drive the proximal knuckle 21 to rotate counterclockwise around the base 1, and the distal knuckle 22 to rotate counterclockwise around the proximal knuckle 21, so as to realize the extension of the knuckle assembly 2. The contraction tendon rope 4 and the extension tendon rope 5 are used together, and one of the two tendons is controlled to be wound and rolled up in two directions through one degree of freedom, and the other is tightened and straightened, which can accurately control the bending or extension of the grasping structure, improve the control effect of the grasping structure, meet the use requirements, and improve the practicality of the equipment. In addition, when the finger joint assembly 2 reaches the extreme position, the through holes between the distal finger joint 22 and the proximal finger joint 21, and the proximal finger joint 21 and the base 1 will overlap with each other, ensuring that the tendon rope will not affect the passage between the through holes due to the overlap of the two finger joints.

[0040] In one embodiment, referring to Figure 1 , Figure 2 , Figure 3 and Figure 4The abdomen of the second end of the second main body 221 is also provided with a first accommodating groove 224 connected to the first mounting hole 222; the back of the second end of the second main body 221 is also provided with a second accommodating groove 225 connected to the second mounting hole 223; the grabbing structure also includes a first pre-tensioning component 8 and a second pre-tensioning component 9; the first pre-tensioning component 8 is arranged in the first accommodating groove 224, and the first end of the contraction tendon rope 4 passes through the first mounting hole 222 and is connected to the first pre-tensioning component 8, and the first pre-tensioning component 8 is used to pre-tighten the contraction tendon rope 4; the second pre-tensioning component 9 is arranged in the second accommodating groove 225, and the first end of the extension tendon rope 5 passes through the second mounting hole 223 and is connected to the second pre-tensioning component 9, and the second pre-tensioning component 9 is used to pre-tighten the extension tendon rope 5. As an example, during the long-term movement of the finger joint assembly 2, the contraction tendon 4 and the extension tendon 5 will be loosened under the action of tension, causing them to deviate from the predetermined track and affect the movement effect. In order to avoid this problem, a first pre-tensioning assembly 8 and a second pre-tensioning assembly 9 are required to be arranged on the grasping structure; the abdomen of the second end of the second main body 221 is also provided with a first receiving groove 224 connected to the first mounting hole 222, the first pre-tensioning assembly 8 is arranged in the first receiving groove 224, the first end of the contraction tendon 4 passes through the first mounting hole 222 and is connected to the first pre-tensioning assembly 8, and the first pre-tensioning assembly 8 is used to pre-tighten the contraction tendon 4; the back of the second end of the second main body 221 is also provided with a second receiving groove 225 connected to the second mounting hole 223, the second pre-tensioning assembly 9 is arranged in the second receiving groove 225, the first end of the extension tendon 5 passes through the second mounting hole 223 and is connected to the second pre-tensioning assembly 9, and the second pre-tensioning assembly 9 is used to pre-tighten the extension tendon 5. The two pre-tightening components can be used together to keep the contraction tendon rope 4 and the extension tendon rope 5 in a tensioned state at all times, preventing them from being separated from the corresponding track and entangled with other structures, and ensuring the reliable operation of the grabbing structure. Among them, the contraction tendon rope 4 and the extension tendon rope 5 can be effectively pre-tightened. When the two are initially pre-tightened and installed, pre-tightening space is left. When the tendon rope is loosened during later use, it is adjusted by the pre-tightening component. There is no need to disassemble the grabbing structure to pre-tighten the tendon rope again, avoiding large motion transmission errors due to the loose tendon rope, and solving the problem of the tendon rope loosening during long-term use of the tendon rope transmission type grabbing structure.

[0041] In one embodiment, referring to Figure 1 and Figure 3The abdomen of the second end of the second main body 221 is also provided with a first fastening hole 226 connected to the first accommodating groove 224; the first pre-tensioning assembly 8 includes a first fastener 81 and a first column 82; the first column 82 is placed in the first accommodating groove 224, for connecting the first end of the contraction tendon 4; the first fastener 81 is passed through the first fastening hole 226, for adjusting the position of the first column 82 in the first accommodating groove 224; the back of the second end of the second main body 221 is also provided with a second fastening hole 227 connected to the second accommodating groove 225; the second pre-tensioning assembly 9 includes a second fastener 91 and a second column 92; the second column 92 is placed in the second accommodating groove 225, for connecting the second end of the extension tendon 5; the second fastener 91 is passed through the second fastening hole 227, for adjusting the position of the second column 92 in the second accommodating groove 225. As an example, the abdomen of the second end of the second main body 221 is also provided with a first fastening hole 226 connected to the first accommodating groove 224, and the first pre-tightening assembly 8 includes a first fastener 81 and a first column 82; the first column 82 is placed in the first accommodating groove 224, and is used to connect the first end of the contraction tendon 4; the first fastener 81 is inserted into the first fastening hole 226, and by twisting the first fastener 81, the spiral motion can adjust the position of the first column 82 in the first accommodating groove 224, so that the first column 82 drives the contraction tendon 4 fixed thereon to move up and down, and adjusts the tightness of the contraction tendon 4 to ensure that the contraction tendon 4 is always kept in a tensioned state, thereby preventing it from detaching from the corresponding winding groove and entangled with other structures, thereby ensuring that the grabbing structure can operate reliably.

[0042] The back of the second end of the second main body 221 is also provided with a second fastening hole 227 connected to the second accommodating groove 225; the second pre-tightening assembly 9 includes a second fastener 91 and a second column 92; the second column 92 is placed in the second accommodating groove 225, and is used to connect the second end of the stretch tendon rope 5; the second fastener 91 is inserted into the second fastening hole 227, and by twisting the second fastener 91, the spiral motion can adjust the position of the second column 92 in the second accommodating groove 225, so that the second column 92 drives the stretch tendon rope 5 fixed thereon to move up and down, and adjusts the tightness of the stretch tendon rope 5 to ensure that the stretch tendon rope 5 is always kept in a tensioned state, avoids it from escaping from the corresponding winding groove and entangled with other structures, and ensures that the grabbing structure can operate reliably.

[0043] In this example, the first end of the contraction tendon 4 is fixed to the small hole of the first column 82 in the first receiving groove 224 on the belly of the distal knuckle 22 by tying a knot. After passing through the first receiving groove 224 on the belly of the distal knuckle 22, the first mounting hole 222, the first through hole 212 on the belly of the proximal knuckle 21 and the first channel 113 on the base 1 in sequence, the other end is fixed to the small hole of the winding wheel 32 in the drive assembly 3 by tying a knot, and ensures that the tendon moves in the corresponding winding groove of the winding wheel 32. The first end of the stretch tendon 5 is fixed to the small hole of the second column 92 in the second receiving groove 225 on the back of the distal knuckle 22 by tying a knot, and after passing through the second receiving groove 225 on the back of the distal knuckle 22, the second mounting hole 223, the second through hole 213 on the back of the proximal knuckle 21, and the second channel 114 on the base 1 in sequence, the other end is fixed to the small hole of the winding wheel 32 in the drive assembly 3 by tying a knot, and ensure that the tendon moves in the corresponding winding groove of the winding wheel 32. The pre-tightening assembly integrated in the distal knuckle 22 can realize multiple pre-tightening of the tendon by adjusting the fastener, and there is a pre-tightening assembly on the back and abdomen of the knuckle, so that the contraction tendon 4 and the stretch tendon 5 can be effectively pre-tightened. During the initial pre-tightening installation, there is a pre-tightening space. When the tendon is loosened during the later use, the column is adjusted by the fastener, and there is no need to disassemble the knuckle assembly 2 to make the tendon pre-tightened again, avoiding large motion transmission errors due to the loosening of the tendon, and solving the problem of the loosening of the tendon during the long-term use of the tendon transmission type dexterous hand.

[0044] In one embodiment, referring to Figure 1 , the first column 82 and the second column 92 are both polygonal prisms. As an example, the first column 82 and the second column 92 are both polygonal prisms to prevent the columns from rotating when the fastener is rotated, thereby affecting the pre-tightening effect.

[0045] In one embodiment, referring to Figure 1 and Figure 2 The distal knuckle 22 further includes a shielding cover 228 , and a shielding cover 228 is respectively installed on the belly of the second body 221 and the back of the second body 221 , and the two shielding covers 228 are used to shield the first accommodating groove 224 and the second accommodating groove 225 , respectively. As an example, the distal finger joint 22 also includes a shielding cover 228, and a shielding cover 228 is installed on the abdomen of the second main body 221 and the back of the second main body 221. The two shielding covers 228 are respectively used to cover the first receiving groove 224 and the second receiving groove 225, providing convenience for people to disassemble the contraction tendon rope 4 and the extension tendon rope 5, and preventing dust from entering the first receiving groove 224 and the second receiving groove 225.

[0046] In one embodiment, referring to Figure 1 and Figure 2The driving assembly 3 includes a motor 31 and a winding wheel 32; the motor 31 is installed on the base 1, and the output shaft of the motor 31 is arranged along the second direction and is connected to the winding wheel 32; the second end of the contraction tendon rope 4 passes through the belly of the base 1 and is connected to the winding wheel 32; the second end of the extension tendon rope 5 passes through the back of the base 1 and is connected to the winding wheel 32. As an example, the driving assembly 3 includes a motor 31 and a winding wheel 32; the motor 31 is installed on the base 1, and the output shaft of the motor 31 is arranged along the second direction and connected to the winding wheel 32, that is, the winding wheel 32 can be arranged on the belly of the base 1 or on the back of the base 1. The second end of the contraction tendon rope 4 passes through the belly of the base 1 and is connected to the winding wheel 32; the second end of the extension tendon rope 5 passes through the back of the base 1 and is connected to the winding wheel 32. By controlling the motor 31 to rotate forward or reverse, the winding wheel 32 can be driven to rotate, thereby controlling either the contraction tendon rope 4 or the extension tendon rope 5 to be in a reeled state and the other to be in a released state; when the contraction tendon rope 4 is in a reeled state and the extension tendon rope 5 is in a released state, the knuckle assembly 2 is driven to rotate clockwise around the axis where the first end of the knuckle assembly 2 is connected to the base 1, causing the fingers to bend and grasp, ensuring the smooth completion of the bending action; when the contraction tendon rope 4 is in a released state and the extension tendon rope 5 is in a reeled state, the knuckle assembly 2 is driven to rotate counterclockwise around the axis where the first end of the knuckle assembly 2 is connected to the base 1, causing the fingers to stretch. The contraction tendon rope 4 and the extension tendon rope 5 are used in combination. By controlling either one of the two tendon ropes to wind up and the other to tighten and straighten, the bending or extension of the grasping structure can be accurately controlled, thereby improving the control effect of the grasping structure, meeting usage requirements, and improving the practicality of the equipment.

[0047] In one embodiment, referring to Figure 1 The winding wheel 32 is a double-groove winding wheel; the double-groove winding wheel includes a first wire groove and a second wire groove spaced apart along the second direction; any one of the contraction tendon rope 4 and the extension tendon rope 5 is wound in the first wire groove, and the other is wound in the second wire groove; the winding direction of the contraction tendon rope 4 is opposite to the winding direction of the extension tendon rope 5. As an example, the reel 32 is a double-groove reel, which includes a first groove and a second groove spaced apart along the second direction; any one of the contraction tendon rope 4 and the extension tendon rope 5 is wound in the first groove, and the other is wound in the second groove; the winding direction of the contraction tendon rope 4 is opposite to that of the extension tendon rope 5. The contraction tendon rope 4 is rolled up counterclockwise in the first groove, and the extension tendon rope 5 is rolled up clockwise in the second groove, or the contraction tendon rope 4 is rolled up counterclockwise in the second groove, and the extension tendon rope 5 is rolled up clockwise in the first groove; both tendons are passed through the corresponding through holes of the base 1 in a tangential direction, then when the reel 32 rotates, one of the winding grooves rolls up the tendon rope, and the other winding groove must be for releasing the tendon rope, that is, when the reel 32 rotates one circle, one of the winding grooves rolls up the tendon rope, so that the finger joint assembly 2 is subjected to the tension of the tendon rope and bends to this side. The other winding groove releases a corresponding proportion of the tendon length to compensate for the change in the length of the tendon on that side caused by the bending of the knuckle assembly 2. The diameter ratio of the two winding grooves can be determined according to the change ratio between the tendons of the bent and stretched fingers to ensure that the lengths of the released and tightened tendons of the two tendons are in a suitable ratio during the selection process of the winding wheel 32. The diameter ratio of the two winding grooves can be calculated by dividing the maximum length of the contracted tendon 4 and the stretched tendon 5 in the three states of the knuckle assembly 2 being straight, the distal knuckle 22 being bent, and the knuckle assembly 2 being fully bent. The ratio of the two diameters is 1:2.2.

[0048] An embodiment of the present invention provides a grasping device, comprising a palm structure and a grasping structure; the grasping structure is arranged on the palm structure. As an example, the grasping device includes a palm structure and a grasping structure; the grasping structure is arranged on the palm structure, and the length and width of the two knuckles of the grasping structure in this example are modified accordingly to obtain the corresponding fingers. The grasping structure is the finger in the grasping device, which can be any one of the index finger, middle finger, ring finger, little finger and thumb. In the above grasping structure, the contraction tendon rope 4 is passed through the belly of the knuckle assembly 2 and the belly of the base 1, and the first end of the contraction tendon rope 4 is connected to the belly of the second end of the knuckle assembly 2, and the second end of the contraction tendon rope 4 is connected to the driving assembly 3; the extension tendon rope 5 is passed through the back of the knuckle assembly 2 and the back of the base 1, and the first end of the extension tendon rope 5 is connected to the back of the second end of the knuckle assembly 2, and the second end of the extension tendon rope 5 is connected to the driving assembly 3. Under the drive of the driving assembly 3, any one of the contraction tendon rope 4 and the extension tendon rope 5 is controlled to be in a retracted state, and the other is in a released state. When the contraction tendon rope 4 is in a reeled state and the extension tendon rope 5 is in a released state, the knuckle assembly 2 is driven to rotate clockwise around the axis where the first end of the knuckle assembly 2 is connected to the base 1, so that the finger generates a bending and grasping action, ensuring the smooth completion of the bending action; when the contraction tendon rope 4 is in a released state and the extension tendon rope 5 is in a reeled state, the knuckle assembly 2 is driven to rotate counterclockwise around the axis where the first end of the knuckle assembly 2 is connected to the base 1, so that the finger generates a stretching action. The contraction tendon rope 4 and the extension tendon rope 5 are used in conjunction with each other. By controlling any one of the two tendons to wind and reel, and the other to tighten and straighten, the bending or stretching of the grasping structure can be accurately controlled, thereby improving the control effect of the grasping structure, meeting the use requirements, and improving the practicality of the equipment. The grasping structure in this example is driven by an underactuated method, with a simple structure, light weight, easy assembly, and small size, which further saves the internal space of the finger.

[0049] An embodiment of the present invention provides an intelligent terminal, including a mechanical arm and the grasping device in the above embodiment, and the grasping device is arranged on the mechanical arm. The grasping device includes a palm structure and a grasping structure arranged on the palm structure, and the grasping structure includes a contraction tendon rope 4 and an extension tendon rope 5 that are inserted into the finger joint assembly 2 and the base 1. By controlling any one of the two tendons to be wound and rolled up, and the other to be tightened and straightened, the grasping structure can be accurately controlled to bend or stretch, thereby improving the control effect of the grasping structure, meeting the use requirements, and improving the practicality of the equipment. The grasping structure in this example is driven by under-actuation, and has a simple structure, light weight, easy assembly, and small size, which further saves the internal space of the finger.

[0050] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. A gripping structure, characterized in that: It includes a base, a finger joint assembly, a driving assembly, a contraction tendon rope and an extension tendon rope; The first end of the finger joint assembly is rotatably disposed on the base, and the drive assembly is mounted on the base; The contraction tendon rope is passed through the belly of the finger joint assembly and the belly of the base, and the first end of the contraction tendon rope is connected to the belly of the second end of the finger joint assembly, and the second end of the contraction tendon rope is connected to the driving assembly; The stretch tendon rope is passed through the back of the finger joint assembly and the back of the base, and the first end of the stretch tendon rope is connected to the back of the second end of the finger joint assembly, and the second end of the stretch tendon rope is connected to the driving assembly; The driving assembly is used to control either one of the contraction tendon rope and the extension tendon rope to be in a retracted state and the other to be in a released state.

2. The gripping structure according to claim 1, characterized in that: The base comprises a base body and two support arms extending from two side edges of the base body along a first direction; The first end of the finger joint assembly is rotatably mounted on the base body; The driving assembly is installed between the two support arms; The second end of the contraction tendon rope passes through the belly of the base body and is connected to the driving assembly; The second end of the extension cord passes through the back of the base body and is connected to the drive assembly.

3. The gripping structure according to claim 2, characterized in that: The base body comprises a main body and a connecting protrusion extending from a side surface of the main body along the second direction; two support arms extend from both side edges of the main body along the first direction; The base body is provided with a first channel and a second channel; The inlet of the first channel is located on the first surface of the main body close to the finger joint assembly, and the outlet of the first channel is located on the second surface of the connecting protrusion away from the finger joint assembly; The inlet of the second channel is located on the first surface of the connecting protrusion close to the finger joint assembly, and the outlet of the second channel is located on the second surface of the connecting protrusion away from the finger joint assembly; Either one of the contraction tendon cord and the extension tendon cord is inserted into the first channel, and the other one is inserted into the second channel.

4. The gripping structure according to claim 1, characterized in that: The knuckle assembly includes a proximal knuckle and a distal knuckle; The first end of the proximal finger joint is rotatably disposed on the base, and the first end of the distal finger joint is rotatably disposed on the second end of the proximal finger joint; The contraction tendon rope is passed through the belly of the distal knuckle, the belly of the proximal knuckle and the belly of the base, and the first end of the contraction tendon rope is connected to the belly of the second end of the distal knuckle, and the second end of the contraction tendon rope is connected to the driving assembly; The stretch tendon rope is passed through the back of the distal knuckle, the back of the proximal knuckle and the back of the base, and the first end of the stretch tendon rope is connected to the back of the second end of the distal knuckle, and the second end of the stretch tendon rope is connected to the drive assembly.

5. The gripping structure according to claim 4, characterized in that: A first inclined surface is provided at one end of the base close to the proximal phalanx, and a second inclined surface is provided at the first end of the proximal phalanx, and the first inclined surface cooperates with the second inclined surface to limit the bending degree of the proximal phalanx; The second end of the proximal phalanx is provided with a third inclined surface, and the first end of the distal phalanx is provided with a fourth inclined surface. The third inclined surface cooperates with the fourth inclined surface to limit the bending degree of the distal phalanx.

6. The gripping structure according to claim 4, characterized in that: The proximal knuckle includes a first body, and the distal knuckle includes a second body; The first end of the first body is rotatably disposed on the base through a first adapter assembly, and the first end of the second body is rotatably disposed on the second end of the second body through a second adapter assembly; The contraction tendon rope is inserted into the first body and the second body, and the first end of the contraction tendon rope is connected to the belly of the second end of the second body; The stretch tendon rope is inserted into the first main body and the second main body, and the first end of the stretch tendon rope is connected to the back of the second end of the second main body.

7. The gripping structure according to claim 6, characterized in that: The belly of the first body is provided with a first through hole penetrating the first body along the axial direction of the first body, and the back of the first body is provided with a second through hole penetrating the first body along the axial direction of the first body; The belly of the second body is provided with a first mounting hole arranged along the axial direction of the second body, and the back of the second body is provided with a second mounting hole arranged along the axial direction of the second body; The contractile tendon rope is inserted into the first through hole and the first mounting hole; The stretch tendon rope is inserted into the second through hole and the second mounting hole.

8. The gripping structure according to claim 7, characterized in that: The second end of the second main body is also provided with a first accommodating groove communicating with the first mounting hole; The back of the second end of the second body is also provided with a second accommodating groove communicating with the second mounting hole; The gripping structure further includes a first pre-tightening assembly and a second pre-tightening assembly; The first pre-tightening component is arranged in the first containing groove, the first end of the contraction tendon rope passes through the first mounting hole and is connected to the first pre-tightening component, and the first pre-tightening component is used to pre-tighten the contraction tendon rope; The second pre-tightening assembly is arranged in the second accommodating groove, and the first end of the stretch tendon rope passes through the second mounting hole and is connected to the second pre-tightening assembly, and the second pre-tightening assembly is used to pre-tighten the stretch tendon rope.

9. The gripping structure according to claim 8, characterized in that: The second end of the second body is also provided with a first fastening hole in communication with the first containing groove; The first pre-tightening assembly includes a first fastener and a first column; the first column is placed in the first receiving groove and is used to connect the first end of the contraction tendon rope; the first fastener is inserted into the first fastening hole and is used to adjust the position of the first column in the first receiving groove; The back of the second end of the second body is also provided with a second fastening hole communicating with the second containing groove; The second pre-tensioning assembly includes a second fastener and a second column; the second column is placed in the second receiving groove and is used to connect the second end of the stretch tendon rope; the second fastener is passed through the second fastening hole and is used to adjust the position of the second column in the second receiving groove.

10. The gripping structure according to claim 9, characterized in that: The first column and the second column are both polygonal prisms.

11. The gripping structure according to claim 8, characterized in that: The distal finger joint also includes a shielding cover, and a shielding cover is respectively installed on the belly of the second body and the back of the second body, and the two shielding covers are used to shield the first accommodating groove and the second accommodating groove respectively.

12. The gripping structure according to claim 1, characterized in that: The driving assembly includes a motor and a winding wheel; The motor is mounted on the base, and the output shaft of the motor is arranged along the second direction and connected to the winding wheel; The second end of the contractile tendon rope passes through the belly of the base and is connected to the winding wheel; The second end of the extension cord passes through the back of the base and is connected to the winding wheel.

13. The gripping structure according to claim 12, characterized in that: The winding wheel is a double-groove winding wheel, and the double-groove winding wheel includes a first wire groove and a second wire groove spaced apart along the second direction; Any one of the contraction tendon cord and the extension tendon cord is wound in the first wire groove, and the other is wound in the second wire groove; The winding direction of the contraction tendon cord is opposite to the winding direction of the extension tendon cord.

14. A gripping device, characterized in that: It comprises a palm structure and the grasping structure according to any one of claims 1 to 13; the grasping structure is arranged on the palm structure.

15. An intelligent terminal, characterized in that: It comprises a mechanical arm and the grasping device according to claim 14, wherein the grasping device is arranged on the mechanical arm.

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