Reducing mechanism for mechanical finger, mechanical finger and manipulator

Abstract

The invention relates to the technical field of manipulators, and provides a speed reducing mechanism for a mechanical finger, the mechanical finger and a manipulator. The speed reducing mechanism comprises at least one set of transmission pair, each transmission pair comprises a front-end tooth-shaped component and a rear-end tooth-shaped component, the rear-end tooth-shaped component is at least partially in meshing transmission with the front-end tooth-shaped component, and the diameter of a meshing reference circle of the front-end tooth-shaped component is smaller than that of a meshing reference circle of the rear-end tooth-shaped component; the front-end tooth-shaped component, located at the foremost transmission end, in all the front-end tooth-shaped components is used for being matched with a driving mechanism or a transmission mechanism for controlling knuckles to act in the mechanical finger, and the rear-end tooth-shaped component, located at the rearmost transmission end, in all the rear-end tooth-shaped components is used for being matched with an executing mechanism in the mechanical finger. On the basis, the torque between the adjacent knuckles is increased by arranging the speed reducing mechanism, the force of the mechanical finger can be enhanced, and therefore operation actions such as grabbing, holding, pressing and clicking can be smoothly achieved.

Description

Technical Field

[0001] The present application relates to the field of robot design, and in particular to a speed reduction mechanism for a robot finger, a robot finger, and a robot. Background Art

[0002] Human hands can complete various tasks that require high flexibility, such as grasping, touching or clamping. Therefore, in many application scenarios where mechanical equipment replaces manual processing operations, there is still a need for bionic manipulators that can imitate human hands to perform corresponding flexible operations; the flexibility of manipulators is an important performance criterion for manipulators.

[0003] The currently existing bionic manipulator includes a palm plate structure and at least one bionic finger, and the bionic finger is formed by hinged connection of at least two knuckles. In the prior art, a control mechanism such as a motor-driven connecting rod structure or a telescopic rod structure is set between adjacent knuckles to force the adjacent knuckles to rotate, bend and stretch relative to each other. There is also a wire drive structure set between the knuckles and the palm plate structure to flexibly control the rotation of each knuckle.

[0004] However, these control mechanisms mainly consider the rotation control of the entire finger, and the torque between adjacent knuckles is limited. When the mechanical finger is required to use a large force to achieve operations such as grasping, holding, pressing, and clicking in the application, the effect of the corresponding operation is easily affected by the limited torque between adjacent knuckles. Summary of the invention

[0005] Based on this, the present application provides a deceleration mechanism for a robotic finger, a robotic finger and a robotic arm. By setting up a deceleration mechanism to increase the torque between adjacent knuckles, the effect of the robotic finger in performing operations such as grasping, holding, pressing, and clicking can be improved.

[0006] In the first aspect, the present application provides a deceleration mechanism for a mechanical finger adopting the following technical solution: A deceleration mechanism for a mechanical finger comprises at least one transmission pair, the transmission pair comprising a front end toothed component and a rear end toothed component, the rear end toothed component at least partially meshes with the front end toothed component for transmission, and the diameter of the meshing pitch circle of the front end toothed component is smaller than the diameter of the meshing pitch circle of the rear end toothed component; the front end toothed component located at the front end of the transmission among all the front end toothed components is used to cooperate with a driving mechanism or a transmission mechanism for controlling the movement of the finger joints in the mechanical finger, and the rear end toothed component located at the rear end of the transmission among all the rear end toothed components is used to cooperate with an actuator in the mechanical finger.

[0007] By adopting the above-mentioned technical solution, the actuator mentioned here is each knuckle of the manipulator. Since the front-end toothed member and the rear-end toothed member in each group of transmission pairs are at least partially meshed, the position of each knuckle can be maintained normally by using the tooth engagement between the two. When the knuckle is subjected to a reverse force, due to the existence of multiple groups of transmission pairs, and the diameter of the meshing pitch circle of the front-end toothed member is smaller than the diameter of the meshing pitch circle of the rear-end toothed member, the force required for the force to be reversed from the front-end toothed member to the rear-end toothed member is relatively large, which increases the torque of each knuckle and has a deceleration effect, which can facilitate the mechanical finger to more smoothly perform operations such as grasping, holding, pressing, and clicking. Of course, in some real applications, in order to form a transmission, not all transmission pairs will form a deceleration, and the comprehensive transmission ratio can be a deceleration.

[0008] Optionally, the rear end toothed component is a rear end gear, and the outer peripheral gear ring of the rear end gear and the outer peripheral gear ring of the front end toothed component are meshed with each other to achieve transmission and deceleration.

[0009] By adopting the above technical solution, the transmission between the front end toothed component and the rear end gear can be realized through the meshing of the teeth between the two, and the torque can be increased, which can prevent the robot from falling back when performing an operation.

[0010] Optionally, the rear end toothed component is a toothed plate, which is coaxially fixed at the knuckle hinge of the mechanical finger; the outer edge of the toothed plate is partially provided with an arc-shaped tooth portion, which extends in an arc, and the front end toothed component and the arc-shaped tooth portion are engaged with each other to achieve transmission and deceleration.

[0011] By adopting the above technical solution, by making the front end toothed component mesh with the arc-shaped tooth portion of the toothed plate, since the toothed plate is fixed to a certain finger joint, the front end toothed component can move around the arc extension direction of the arc-shaped tooth portion when rotating, so as to realize the smooth rotation of the finger joint of the mechanical finger. In addition, when the front end toothed component moves to the end of the arc-shaped tooth portion, the rotation of the front end toothed component will be restricted, and the finger joint can be in an extreme rotation state at this time, and the possibility of collision between the mechanical finger and the adjacent mechanical finger can also be reduced.

[0012] In the second aspect, another form of deceleration mechanism for a mechanical finger provided by the present application adopts the following technical solution: A speed reduction mechanism, comprising: A sun gear, which is fixedly matched with a driving mechanism or a transmission mechanism in the mechanical finger; A planet carrier, the output shaft of which is fixedly coupled with the actuator of the mechanical finger; and is fixedly coupled coaxially with the sun gear during multiple planetary deceleration; An internal gear ring is fixedly arranged inside the mechanical finger, and an internal gear ring is arranged on the inner circumference of the internal gear ring; At least one planetary gear; all the planetary gears are mounted on the planetary carrier; the planetary gears are meshed with the outer teeth of the sun gear and the inner gear ring for transmission.

[0013] By adopting the above-mentioned technical solution, the driving mechanism or transmission mechanism is operated to drive the sun gear to rotate, and each planetary gear can revolve relative to the sun gear, and at the same time drive the actuator, that is, the knuckle, to revolve relative to the sun gear to achieve smooth rotation of the corresponding knuckle; it can be known that due to the meshing transmission between each planetary gear and the sun gear and the inner gear ring on both sides, and transmitted to the actuator of the mechanical finger through the planetary carrier, the knuckle also has a larger torque, which can enable the mechanical finger to smoothly realize grasping, holding, pressing, clicking and other operational actions.

[0014] In the third aspect, another form of deceleration mechanism for a mechanical finger provided by the present application adopts the following technical solution: A speed reduction mechanism, comprising: A first rotating rope wheel, the first rotating rope wheel is fixedly matched with a driving mechanism or a transmission mechanism of the mechanical finger; A second rotating rope wheel, the second rotating rope wheel is fixedly matched with the actuator of the mechanical finger; A deceleration rope, one end of which is connected to the first rotating rope wheel, and the other end of which is sequentially wound around the first rotating rope wheel and the second rotating rope wheel and then connected to the second rotating rope wheel; the diameter of the circle corresponding to the abutment of the deceleration rope by the second rotating rope wheel is larger than the diameter of the circle corresponding to the abutment of the deceleration rope by the outer side of the first rotating rope wheel; The reset mechanism is used to force the mechanical finger to be in a normal straight state.

[0015] By adopting the above-mentioned technical solution, when the actuator of the mechanical finger is actuated to cause the first rotating pulley to rotate therewith, the second rotating pulley can be pulled to rotate together through the reduction rope, and since the outer diameter of the first rotating pulley is smaller than the outer diameter of the second rotating pulley, the rotation speed of the second rotating pulley will be lower than the rotation speed of the first reduction pulley, which can also achieve the effect of transmission and deceleration, and at the same time, the finger joints have a larger torque, so that the mechanical finger can smoothly realize operations such as grasping, holding, pressing, and clicking.

[0016] In addition, after the action of the mechanical finger is completed, the reset mechanism can be used to automatically reset the mechanical finger and keep it in a normal straight state. The reset mechanism mentioned here can be a reverse arrangement structure of the first rotating rope wheel, the second rotating rope wheel and the deceleration rope combination described in this scheme; the reset mechanism can also be a torsion spring, a rope or a tension spring.

[0017] The driving mechanism described in the deceleration mechanism for the mechanical finger in the above three aspects can be a driving source arranged outside the deceleration mechanism, and the driving force is provided by transmission or direct power source. The transmission mechanism can be arranged on the rear end toothed part of the upper level of the deceleration mechanism, and the driving force can be provided by gear transmission, rope drive, etc.

[0018] In a fourth aspect, the present application provides a mechanical finger adopting the following technical solution: A mechanical finger, comprising: Knuckles, there are at least two knuckles, all knuckles are arranged in sequence from the inside to the outside, and adjacent knuckles are hinged by a pin shaft; the above-mentioned speed reduction mechanism is arranged between each adjacent knuckle; A control unit is used to control the rotation of each finger joint.

[0019] By adopting the above-mentioned technical solution, a control unit is used to control the rotation of the knuckles, and the torque of the knuckles is increased through a deceleration mechanism, so that the knuckles can be driven to move smoothly, thereby enabling the mechanical finger to smoothly perform operations such as grasping, holding, pressing, and clicking.

[0020] Optionally, the control unit includes a pull-cord control module, and the pull-cord control module includes: There are two first adjusting rope wheels; the first adjusting rope wheels are rotatably arranged on the inner side of the finger joint, and the speed reduction mechanism is arranged between the first adjusting rope wheel and the finger joint adjacent to the outer side; There are two first wiring tubes; the first wiring tube is fixedly mounted on one of the finger joints; There are two first tension ropes; the two first tension ropes are correspondingly passed through the two first wiring tubes, and one end of each first tension rope is correspondingly fixedly connected to the first adjusting rope wheel; There are two rope-collecting mechanisms; each rope-collecting mechanism is correspondingly fixed to one end of the first tension rope away from the first adjusting rope wheel, and is used for reeling in the corresponding first tension rope.

[0021] By adopting the above technical solution, when the rope collection mechanism pulls the first tension rope, the first tension rope can drive the first adjustment rope wheel to rotate around its own central axis to a certain angle; because the first adjustment rope wheel and the adjacent finger joints on the outside are connected by a deceleration mechanism, the rotation of the first adjustment rope wheel can smoothly drive the outer finger joints to rotate around the hinge between itself and the adjacent finger joints, and has the effect of deceleration and transmission, which is conducive to accurately controlling the rotation angle of the finger joints and improving the movement accuracy of the mechanical fingers. The two first tension ropes have opposite routing directions and are connected to different first tension ropes, which can be used to control the finger joints to achieve rotation in two different directions, such as forward and reverse.

[0022] Optionally, the rope pulling control module also includes two groups of first rope pulling wheels, each group has two first rope pulling wheels; one first rope pulling wheel and one first adjustment rope wheel in each group of first rope pulling wheels are respectively arranged at two adjacent finger joints, and the other first rope pulling wheel is arranged on the pin shaft at the rotating connection of adjacent finger joints; the first tension rope is sequentially wound around each first rope pulling wheel in the same group.

[0023] By adopting the above technical solution, by setting the first wire-management rope wheel, the first tension rope is guided by the first wire-management rope wheel and then passes through the first wire-management tube and is connected to the rope-collecting mechanism; based on this, the first wire-management tube can be set at a position close to the palm plate structure, which can reduce the situation of multiple bending of the first wire-management tube, thereby improving the friction and loss of the first tension rope when it moves. In addition, by setting a first wire-management rope wheel on the pin shaft at the rotation connection of two adjacent finger joints, after the control finger joints are bent, the first tension rope is pulled backward to collect the rope, and the distance between the first adjustment rope wheel and the first wire-management rope wheel set at the two adjacent finger joints is shortened. The first tension rope is sequentially wound around two first wire-managing rope wheels in the same group, wherein one first wire-managing rope wheel and a first adjusting rope wheel are respectively arranged at two adjacent finger joints, and the other first wire-managing rope wheel is arranged on the pin shaft at the rotation connection of the adjacent finger joints; based on this, the two groups of first tension ropes are correspondingly wound around the first wire-managing rope wheels of each group from two opposite directions to be connected with the corresponding first adjusting rope wheels, thereby enabling the finger joints through which the wire drive passes to be rotated 90° forward and backward, and the wiring action is stable.

[0024] Optionally, the control unit includes a transmission control module, the transmission control module includes two sets of driving mechanisms, and the two sets of driving mechanisms are used to respectively control the mechanical knuckle to realize rotation in two different degrees of freedom; Among them, the driving mechanism includes a driving motor, an interlaced shaft gear pair and a linkage gear, and the driven component of the interlaced shaft gear pair and the linkage gear are meshed and transmitted in sequence; the driving motor drives the interlaced shaft gear pair to rotate through a set of reduction mechanisms, and the linkage gear is meshed and transmitted with the knuckles through a set of reduction mechanisms.

[0025] By adopting the above technical solution, by controlling the operation of the drive motor, the drive motor uses the reduction transmission of the reduction mechanism to drive the staggered shaft gear pair to operate, which can drive the linkage gear to rotate, and then use the reduction transmission of another set of reduction mechanisms to smoothly force the knuckles to rotate; each drive motor can control one degree of freedom, and then control the mechanical finger to achieve the corresponding degree of freedom. Based on this, the design of multiple sets of gear meshing transmission here can greatly enhance the torque of the end knuckles, so that the manipulator can be used in some special occasions with high requirements for clamping force. Of course, the linkage gear can also be combined with the reduction mechanism to form a multi-stage reduction mechanism.

[0026] Optionally, the control unit includes a transmission control module, the transmission control module includes a differential gear and two sets of drive mechanisms, the two sets of drive mechanisms are combined with the differential gear to control the mechanical finger joint to swing in two different degrees of freedom in different directions; wherein the differential gear is fixedly arranged, and the central axis of the differential gear coincides with the rotation axis of the mechanical finger; Each set of the driving mechanisms comprises: A second adjusting rope wheel is rotatably sleeved on a pin shaft at a rotation connection of adjacent finger joints; the second adjusting rope wheel is connected to a transmission gear through a reduction mechanism, and the two transmission gears are symmetrically arranged and meshed with the differential gears respectively for transmission; There are two second wiring tubes, and the second wiring tubes are fixedly mounted on one of the finger joints; There are two second wire-management rope wheels, and the two second wire-management rope wheels are coaxially fixedly arranged; There are two second tension ropes, one end of which is fixedly connected to the second adjustment rope wheel; the other ends of the second tension ropes are respectively passed around the second wire management rope wheels, passed through the corresponding second wire routing tubes and connected to the control member for retracting and releasing the rope; The two second tension ropes are wound around the second adjusting rope wheel and the second wire-arranging rope wheel in opposite directions, so that the second adjusting rope wheel can be pulled alone by a control member to realize forward rotation or reverse rotation.

[0027] By adopting the above technical solution, when the mechanical finger needs to swing, the second tension rope is wound up by the control component, and the second adjustment rope wheel is pulled to rotate, and the second adjustment rope wheel can drive the transmission gear to rotate through the reduction mechanism; because the two transmission gears are symmetrically arranged on both sides of the differential gear, the transmission gears of different groups of drive mechanisms can rotate at different speeds and move around the outer edge of the differential gear, which can form a differential transmission to ensure that the mechanical finger can swing smoothly. The two groups of drive mechanisms combined with the differential gear are used to control the mechanical knuckles to swing in two different degrees of freedom in different directions, and thus control the mechanical finger to swing in different directions.

[0028] In a fifth aspect, the present application provides a manipulator adopting the following technical solution: A robot arm comprises a palm plate structure, at least one robot finger as above is hinged to the peripheral side of the palm plate structure, and a swing mechanism for driving the robot finger to swing is arranged inside the palm plate structure.

[0029] By adopting the above-mentioned technical solution, the setting of the mechanical fingers and the palm plate structure can be combined together to form a bionic mechanical hand that simulates human fingers, and by setting a swinging mechanism to drive the mechanical fingers to swing, the flexibility of the mechanical hand can be further improved, making it convenient for the mechanical fingers to accurately perform operations such as grasping, holding, pressing, and clicking.

[0030] Optionally, the swing mechanism includes a power component and a speed reduction mechanism as described above, the power component is fixed inside the palm plate structure, and the output end of the power component cooperates with the finger joint closest to the palm plate structure in the mechanical finger through the speed reduction mechanism for transmission.

[0031] By adopting the above-mentioned technical solution, the power component cooperates with the mechanical finger by utilizing the reduction mechanism, and controlling the movement of the power component can cooperate with the reduction mechanism to swing the mechanical finger, thereby increasing the degree of freedom. At the same time, with the help of the transmission control module and the pull rope control module mentioned above, the multi-angle rotation of the mechanical hand can be realized, which has extremely high flexibility and can simulate various movements of the human hand.

[0032] Optionally, the swing mechanism includes a first rotating motor fixed to the palm plate structure, a driving gear coaxially connected to the output end of the first rotating motor, and a driven component that drives the mechanical finger to swing relative to the palm plate structure. The driven component is rotatably arranged on the palm plate structure, and the driven component is provided with an annular convex tooth that meshes with the driving gear for transmission.

[0033] By adopting the above-mentioned technical solution, the action of the first rotating motor is controlled to drive the driving gear to rotate, and the meshing transmission between the driving gear and the driven member can be used to force the driven member to rotate around its own central axis, thereby realizing the swinging action of the entire mechanical finger and increasing the degree of freedom. At the same time, with the help of the above-mentioned transmission control module and rope control module, the multi-angle rotation of the manipulator can be realized, which has extremely high flexibility and can simulate various movements of the human hand.

[0034] Optionally, the manipulator includes a bionic thumb; the structure of the bionic thumb located outside the palm plate structure includes an outer knuckle, an inner knuckle and a rotating mechanism; the rotating mechanism is located on the side of the inner knuckle away from the outer knuckle; and the rotating mechanism is fixedly connected to the driven member; the outer knuckle rotates relative to the inner knuckle around the rotation center R1, and the inner knuckle rotates around the rotation centers R2 and R3 and is arranged in the transmission control module as described above; the transmission control module is arranged on the side of the rotating mechanism close to the inner knuckle with R4 as the rotation center, and the rotating mechanism is arranged around the swing center R5 in the above-mentioned swing mechanism.

[0035] By adopting the above-mentioned technical solution, the structure of the bionic thumb located outside the palm plate structure has three knuckles, namely the outer knuckle, the inner knuckle and the rotating mechanism. Through the transmission control module, the rotating mechanism and the swinging mechanism, it can have the rotation and adjustment freedom around the five axes of R1, R2, R3, R4 and R5, and can smoothly simulate various joint movements of the human thumb.

[0036] Optionally, the swing mechanism is also provided with an in-palm rotating motor, which is coaxially connected to the first rotating motor to generate a rotation center R6 controlled by the in-palm rotating motor; a rotating structure for relative rotation is provided between the swing mechanism and the palm plate structure to realize the rotation of the bionic thumb and the swing mechanism relative to the palm plate structure around the rotation center R6.

[0037] By adopting the above technical solution, a relatively rotatable structure is set between the palm plate structure and the swing mechanism, and a palm rotating motor is set at the end of the swing mechanism, which can increase the new degree of freedom R6 of the bionic thumb, with six axes of rotation freedom R1, R2, R3, R4, R5, and R6. In this way, the flexibility of the bionic thumb is further improved, and more actions of the human thumb can be simulated.

[0038] Optionally, the manipulator also includes a flipping mechanism for driving the bionic thumb to flip, the flipping mechanism includes a fixedly arranged second rotating motor and an eccentric plate fixedly connected to the output end of the second rotating motor, the first rotating motor is fixedly connected to the eccentric plate, and the first rotating motor and the second rotating motor are staggered, so as to make the bionic thumb rotate around the central axis R6 of the output end of the second rotating motor.

[0039] By adopting the above technical solution and adding a flipping mechanism to drive the movement of the bionic thumb, the bionic thumb can have the freedom of rotation and adjustment around six axes of R1, R2, R3, R4, R5 and R6, which can further simulate various joint movements of the human thumb and be more flexible.

[0040] In summary, the present application includes at least one of the following beneficial technical effects: 1. By setting up various forms of deceleration mechanisms, the deceleration mechanisms can increase the power torque between the knuckles, and also make the knuckles require great force to reverse the force, so that the manipulator can smoothly realize the operation actions such as grasping, holding, pressing, and clicking; 2. By setting up various mechanical structures to realize the movement of each joint of the human finger, each joint has multiple degrees of freedom of rotation and adjustment in different directions, which can replace the irregular movement of human fingers to simulate human fingers to smoothly realize grasping, holding, pressing, clicking and other operations.

[0041] 3. The setting of the mechanical fingers and the palm plate structure can be combined together to form a bionic mechanical hand that simulates human fingers. According to the needs, each mechanical finger is set to be able to rotate in both directions, so that the joints of the entire mechanical hand can achieve 180° rotation, thereby achieving that the same mechanical hand can be used as both the left hand and the right hand. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is a schematic diagram of the overall structure of the manipulator in this application; Figure 2 It is a schematic diagram of the structure of a single three-section bionic finger in this application; Figure 3 It is a structural schematic diagram of the three-section bionic finger upper rope control module in this application; Figure 4 It is a schematic diagram of the connection structure between the first tension rope and the first adjustment rope wheel in the present application; Figure 5 It is a schematic diagram of the inner end knuckle and the middle end knuckle in the present application when they are in the extreme rotation state; Figure 6 It is a partial cross-sectional view of the inner and middle knuckles of the three-section bionic finger in the present application, mainly showing the specific structure of the transmission control module and the deceleration mechanism; Figure 7 It is a structural schematic diagram of the position of the transmission control module on the three-section bionic finger in this application; Figure 8 It is a structural schematic diagram of the location of the driving mechanism on the three-section bionic finger in this application; Fig. 9 It is a schematic diagram of the positional relationship and structure of the two end face gears and the two transition gears in this application; Fig.10 It is a schematic diagram of the structure of the swing mechanism on the three-section bionic finger in this application; Fig.11 is a schematic diagram of the structure of the bionic thumb in this application; Fig.12 It is a partial cross-sectional view of the planet carrier and the outer end knuckle in the present application, which mainly reflects the specific structure of another form of speed reduction mechanism on the bionic thumb; Fig.13 It is a schematic diagram of the cross-sectional structure between the planet carrier and the inner end finger joint and the outer end finger joint in the present application; Fig.14 It is a structural schematic diagram of another lasso-type speed reduction mechanism in the present application; Fig.15 It is a structural schematic diagram of the transmission control module on the bionic thumb in this application; Fig.16 It is a schematic diagram of the overall structure of the bionic thumb and the swing mechanism and rotation mechanism connected thereto in the present application; Fig.17 It is a schematic diagram of the structure of the bionic thumb with six axes of rotation and adjustment freedom; Fig.18 It is a schematic diagram of the overall structure of a bionic thumb and a swing mechanism, a rotation mechanism and a flip mechanism connected thereto in another embodiment of the present application.

[0043] Explanation of the reference numerals: 1. deceleration mechanism; 11. transmission pair; 12. front end toothed member; 121. first front end toothed member; 122. second front end toothed member; 123. third front end toothed member; 124. fourth front end toothed member; 125. fifth front end toothed member; 13. rear end gear; 131. first rear end gear; 132. second rear end gear; 133. third rear end gear; 134. fifth rear end gear; 14. toothed plate; 141. arc-shaped tooth portion; 15. first sun gear; 151. second sun gear; 16. first planet carrier; 161. second planet carrier; 17. first planetary gear; 170. second planetary gear; 171. inner gear ring; 18. first rotating rope pulley; 19. second rotating rope pulley; 20. deceleration rope; 2. Mechanical finger; 21. Outer finger joint; 22. Middle finger joint; 221. First free axis; 222. Second free axis; 23. Inner finger joint; 24. Pin shaft; 25. Vertical plate frame; 26. Swing frame; 3. Rope control module; 31. First adjusting rope wheel; 311. First rotating shaft; 312. Wire slot; 313. Connecting slot; 32. First wiring tube; 33. First tension rope; 331. Connecting block; 34. Rope collecting mechanism; 35. First wire management rope wheel; 4. Driving mechanism; 41. Driving motor; 411. Driving gear; 42. End gear; 43. Transition gear; 44. Linkage gear; 45. Second adjusting rope pulley; 46. Second cable guide tube; 47. Second tension rope; 48. Second cable management rope pulley; 5. Differential gear; 51. Transmission gear; 6. Swing mechanism; 61. Power component; 62. First rotating motor; 63. Driving gear; 64. Driven member; 641. Annular convex tooth; 642. Second rotating shaft; 65. Palm rotating motor; 7. Rotating mechanism; 71. Third rotating motor; 8. Palm plate structure; 81. Extension plate; 9. Flipping mechanism; 91. Second rotating motor; 92. Eccentric plate. DETAILED DESCRIPTION

[0044] The following is combined with Figure 1-Figure 18 This application is described in further detail.

[0045] The present application discloses a manipulator having at least one manipulator finger. The directional terms such as "inside", "outside", "front", "back", "upper", "lower" and so on involved in this article should refer to the corresponding directions of a human hand, such as a finger located outside the palm, such as the outer knuckle, middle knuckle and inner knuckle of a finger.

[0046] Reference Figure 1A robot arm includes a palm plate structure 8, an extension plate 81 extending outward from the circumference of the palm plate structure 8, and a robot finger 2 is hinged to the extension plate 81; the number of extension plates 81 can be multiple. In this embodiment, in order to simulate the human palm, the specific number of extension plates 81 is set to five, and each extension plate 81 is correspondingly hinged to a robot finger 2 through a pin 24, that is, the number of robot fingers 2 is five in total. One of the robot fingers 2 is located on the inner side of the palm plate structure 8, which is equivalent to the human thumb, and therefore can be called a bionic thumb; the remaining four robot fingers 2 are arranged in parallel on the circumference of the palm plate structure 8 and avoid the bionic thumb, which are equivalent to the index finger, middle finger, ring finger and little finger of the human finger.

[0047] The mechanical finger 2 includes at least two knuckles. It is understood that the bionic thumb used to replace the human thumb located outside the palm plate structure 8 can be defined as a three-knuckle bionic thumb, including an outer knuckle 21, an inner knuckle 23 and a rotating mechanism 7, wherein the inner knuckle 23 is located between the outer knuckle 21 and the rotating mechanism 7; in addition, the knuckle located inside the palm plate structure 8 is defined as a swing mechanism 6 in this application, and the swing mechanism 6 is connected to the side of the rotating mechanism 7 away from the inner knuckle 23. The part of the mechanical finger 2 used to replace the remaining four fingers located outside the palm plate structure 8 can be defined as a three-knuckle bionic finger, including an outer knuckle 21, a middle knuckle 22 and an inner knuckle 23 arranged in sequence.

[0048] It should be noted here that all the knuckles of each mechanical finger 2 are arranged in sequence from the inside to the outside, and the adjacent knuckles are also connected by a pin 24 so that the knuckles can rotate relative to each other. The mechanical finger 2 also includes a control unit for controlling the rotation of each knuckle. The control unit can be a pull-wire control module 3 of a separate wire drive mode. For details, please refer to the scheme shown in the authorized Chinese patent 3N220783951U; or it can be a separate transmission control module, in which each group of transmission pairs is driven by a motor to realize the movement of each joint; of course, it can also be a combination of the pull-wire control module 3 and the transmission control module as used in this embodiment, which can be selectively set according to actual needs.

[0049] In this embodiment, a pull cord control module 3 is provided between the outer knuckle 21 and the palm plate structure 8, and a transmission control module is provided between adjacent knuckles. The pull cord control module 3 and the transmission control module can be used to make each outer knuckle 21 move closer to or away from the palm of the palm plate structure 8, so as to simulate the extension or bending of human fingers, thereby achieving operations such as grabbing, holding, clicking or pressing. Other transmission mechanisms are added between the outer knuckle 21 and the middle knuckle 22, the middle knuckle 22 and the inner knuckle 23, and the inner knuckle 23 and the palm plate structure 8, or control modules are provided for the inner knuckle 23 and the middle knuckle 22, so that the rotation angle of each knuckle can be controlled to reach the required angle, even 180°.

[0050] Specific reference Figure 1 and Figure 2 The rope control module 3 includes two first adjustment rope wheels 31, two first wire routing tubes 32, two first tension ropes 33, two sets of rope collection mechanisms 34 and four first wire management rope wheels 35; each set of rope collection mechanisms 34 corresponds to a first adjustment rope wheel 31, a first wire routing tube 32, a first tension rope 33, and two first wire management rope wheels 35. The two sets of rope collection mechanisms 34 control the traction in different directions to realize the control of the corresponding knuckles to realize the forward or reverse rotation. The four first wire management rope wheels 35 are coaxially arranged in pairs, and the two first wire management rope wheels 35 matching the same rope collection mechanism 34 and the first tension rope 33 are staggered; the two first adjustment rope wheels 31 are coaxially fixedly arranged as one. Here, a three-section bionic finger is taken as an example to introduce that the first adjusting rope wheel 31 is coaxially fixed with a first rotating shaft 311, and the first rotating shaft 311 can make the first adjusting rope wheel 31 rotatably connected to the inner side of the middle finger joint 22; a reduction mechanism 1 is arranged between the first adjusting rope wheel 31 and the outer finger joint 21, and the rotation of the first adjusting rope wheel 31 can drive the outer finger joint 21 to flip through the reduction mechanism 1, so as to realize the operation actions of resisting, holding, grabbing, and taking objects.

[0051] Reference Figure 3 , one end of the first tension rope 33 is fixedly connected to the first adjustment rope wheel 31. Specifically, the outer peripheral surface of the first adjustment rope wheel 31 has a wire clamping groove 312, and the inner peripheral wall of the wire clamping groove 312 is partially provided with a connecting clamping groove 313; the end of the first tension rope 33 is welded with a connecting clamping block 331, the shape of the connecting clamping block 331 is the same as the shape of the connecting clamping groove 313, and the width of the connecting clamping block 331 away from the first tension rope 33 is greater than the width of the connecting clamping block 331 close to the first tension rope 33, so that the whole is T-shaped. By matching the connecting clamping block 331 and clamping it in the connecting clamping groove 313, the first tension rope 33 can be firmly connected to the first adjustment rope wheel 31.

[0052] Reference Figure 2 and Figure 4 The first wiring tube 32 is fixedly mounted on the inner side of the inner finger joint 23 and is located between the first adjusting rope wheel 31 and the palm plate structure 8; the end of the first tension rope 33 away from the first adjusting rope wheel 31 is passed through the corresponding first wiring tube 32, and the end of the first tension rope 33 away from the first adjusting rope wheel 31 is connected to the rope collection mechanism 34. The rope collection mechanism 34 is used to reel in the first tension rope 33, and then can be combined with the deceleration mechanism 1 connected to the first adjusting rope wheel 31 to control the outer finger joint 21 to complete the flipping action, so that the outer finger joint 21 can smoothly complete the operation actions such as varicose grasping, holding, pressing, and clicking.

[0053] Two different rope-collecting mechanisms 34 are used to drive the corresponding first tension rope 33 to drive the first adjustment rope wheel 31 to perform a forward flipping structure or a reverse flipping structure. They are arranged adjacent to each other and are located on the inner side of each finger joint. The overall structure is compact, which effectively improves the space utilization of the mechanical finger.

[0054] The rope collection mechanism 34 may have multiple independent control components for realizing the telescopic operation, or may have only one independent control component for controlling the telescopic operation; the control component may be a cylinder, a motor, or a worm gear mechanism; different first tension ropes 33 are preferably connected to independent control components, thereby improving the accuracy of each operation of the manipulator 2. The rope collection mechanism 34 may be arranged inside the palm plate structure 8, or as shown in the figure of this embodiment, all the rope collection mechanisms 34 may be integrated into an integral module unit, independently arranged outside the manipulator, and placed together with the master control of the equipment used by the entire manipulator.

[0055] Reference Figure 4 , two first wire-management pulleys 35 for collaboratively controlling the same flipping direction are located between the first adjustment pulley 31 and the first wire-guiding tube 32; one of the first wire-management pulleys 35 is rotatably sleeved on the pin 24 at the rotational connection between the middle finger joint 22 and the inner finger joint 23, and the other first wire-management pulley 35 is rotatably connected to the inner side of the inner finger joint 23; at the same time, refer to Figure 3 The end of the first tension rope 33 away from the first adjustment rope wheel 31 is wound around two first wire management rope wheels 35 in sequence. In this embodiment, the first wire management rope wheel 35 located at the inner end finger joint 23 is arranged close to the first wiring tube 32, which can avoid excessive bending of the first tension rope 33 and the first wiring tube 32 at each finger joint, thereby facilitating wire management.

[0056] In addition, since the first tension rope 33 is arranged in a wave shape after being wound around the two first wire-managing pulleys 35 in sequence, after the middle finger joint 22 is driven to rotate, the middle finger joint 22 gradually flips toward the direction close to the inner finger joint 23. At this time, the first tension rope 33 is forced to be reeled in through the rope retracting mechanism 34.

[0057] like Figure 5 As shown, the first tension rope 33 for positive flip control and the first tension rope 33 for reverse flip control can be realized: when the middle finger joint 22 and the inner finger joint 23 form a relative position of 90°, the first tension rope 33 and the adjacent finger joint (such as Figure 5 At this time, the first tension rope 33 and the first tension rope wheel 35 still maintain a stable contact relationship, so that the algorithm control relationship of the pulling length of the first tension rope 33 is maintained, which is convenient for converting the first tension rope 33 to drive the first adjustment rope wheel 31 and the middle end finger joint 22 to rotate relative to the inner end finger joint 23 according to the pulling length of the first tension rope 33.

[0058] It should be noted that in this embodiment, the maximum rotation angle of the middle finger joint 22 can be 180°. Within this range, the first tension rope 33 and the first wire management pulley 35 located in the middle of the inner finger joint 23 still remain tangent. By setting two sets of pull rope control modules 3 for coordinated control, the two first tension ropes 33 of the two sets of pull rope control modules 3 are wound around the first adjustment pulley 31 in opposite directions, which can make the outer finger joint 21 flip in two opposite directions.

[0059] Based on this, the outer end knuckle 21 can be reset after flipping, and the left and right hand movements of humans can be simulated, making the function and use effect of the manipulator more perfect. Even, the knuckles of the manipulator with the pull cord control module 3 can be rotated forward and flipped, and then the manipulator can be operated by the left hand or the right hand.

[0060] Reference Figure 6 The reduction mechanism 1 includes at least one transmission pair 11, the transmission pair 11 includes a front end toothed component 12 and a rear end toothed component, the rear end toothed component at least meshes with the front end toothed component 12 for transmission; the front end toothed component 12 located at the front end of the transmission among all the front end toothed components 12 is used to cooperate with the driving mechanism for controlling the movement of the finger joints in the mechanical finger 2, and the rear end toothed component located at the rear end of the transmission among all the rear end toothed components is used to cooperate with the actuator in the mechanical finger 2.

[0061] Taking the three-section bionic finger as an example, the front toothed component of the above-mentioned speed reduction mechanism 1 is set as a front gear, but in other feasible embodiments, the front toothed component can also be a toothed component such as a toothed plate, a rack, etc. In addition, the rear toothed component of the speed reduction mechanism 1 is set as a rear gear 13, the diameter of the meshing pitch circle of the rear gear 13 is larger than the diameter of the meshing pitch circle of the front toothed component 12, and the front toothed component 12 in each transmission pair 11 is meshed with the rear gear 13 for transmission. The speed reduction mechanism 1 in this embodiment is a two-stage speed reduction mechanism 1, and the number of its transmission pairs 11 is specifically 2 groups, one of which is a front toothed component 12 fixedly sleeved on the first rotating shaft 311, so that the front toothed component 12 can rotate together with the first adjusting rope wheel 31; the rear gear 13 of the other group of transmission pairs 11 is fixedly sleeved on the pin 24 at the rotational connection position of the outer finger joint 21 and the inner finger joint 23, so that the outer finger joint 21 can rotate with the rear gear 13.

[0062] The remaining front toothed components 12 are coaxially fixed with the rear gear 13, and the front toothed components 12 in the same transmission pair 11 can mesh with the rear gear 13. In this way, when the rope collection mechanism 34 drives the first adjustment rope wheel 31 to rotate, the torque between the outer finger joint 21 and the middle finger joint 22 can be increased by using the transmission and deceleration of the front toothed components 12 and the rear gear 13 in each group of transmission pairs 11, and the rotation position of the outer finger joint 21 can be maintained, which is conducive to enhancing the gripping force of each finger joint of the three-section bionic finger.

[0063] Of course, in other feasible implementations, the number of transmission pairs 11 can also be 1 group, 3 groups or 4 groups. According to the specific application scenario of the manipulator, the corresponding number of transmission pairs 11 can be set to control the gripping force of the manipulator finger 2 within a suitable range; and the front toothed member 12 and the rear gear 13 are not limited to the form of parallel axis gear transmission, but can also be in the form of staggered axis gear transmission. It should be noted that in most cases, the transmission pairs 11 mentioned here and later all follow a rule that the front toothed member 12 in each group of transmission pairs 11 is located at the front end of the transmission path relative to the rear gear 13 to achieve the transmission effect; based on this, according to the reduction ratio of the front toothed member 12 and the rear gear 13, the reduction effect and the reduction force increase effect can also be achieved; of course, in some cases, the meshing relationship between the front toothed member 12 and the rear gear 13 is only used for transmission, and it is not mandatory to reduce speed or even to form a speed increase in order to form a transmission, and it is sufficient to ensure that the comprehensive transmission ratio is reduction.

[0064] Reference Figure 6 The transmission control module includes two sets of driving mechanisms 4 and multiple sets of deceleration mechanisms 1 as mentioned above. Here, the driving mechanism 4 is used to control the three-section bionic finger to move closer to or away from the palm of the palm plate structure 8; the deceleration mechanism 1 not only plays the role of transmission deceleration and torque increase, but also plays the role of connection drive, which can drive the three-section bionic finger to rotate smoothly.

[0065] In this embodiment, if Figure 6 and Figure 7 As shown, two free shafts are connected to the inner side of the inner end knuckle 23, and the two free shafts are spaced apart, and each free shaft is located between the two pin shafts 24 of the inner end knuckle 23; the two free shafts are defined as the first free shaft 221 and the second free shaft 222. The reduction mechanism 1 between the inner end knuckle 23 and the middle end knuckle 22 is a multi-stage reduction mechanism, and the number of transmission pairs 11 is multiple groups, and each front end toothed member 12 and each rear end gear 13 are respectively configured as the first front end toothed member 121, the first rear end gear 131, the second front end toothed member 122, the second rear end gear 132, the third front end toothed member 123 and the third rear end gear 133.

[0066] Specifically, the meshing transmission structure of each transmission pair is explained along the direction from the outer end to the inner end of the robot finger. The first rear end gear 131 is fixedly connected to the middle end knuckle 22; of course, in other embodiments, the first rear end gear 131 can also be combined with the middle end knuckle 22 to form a toothed plate. Here, the first rear end gear 131 is hinged to the inner end knuckle 23 through a pin 24, that is, the middle end knuckle 22 also has a pin 24 in a rotating connection position, the first front end toothed component 121 is fixedly mounted on the first free shaft 221, and the first front end toothed component 121 and the first rear end gear 131 are meshed with each other for transmission, forming a transmission pair. The second rear end gear 132 is fixedly mounted on the first free shaft 221. Also refer to Figure 7 The second front end toothed member 122 is rotatably sleeved on the second free shaft 222 , and the second front end toothed member 122 and the second rear end gear 132 are meshed with each other for transmission, forming another transmission pair.

[0067] It should be noted here that the first transmission pair 11 formed by the first front end toothed component 121 and the first rear end gear 131, and the second transmission pair 11 formed by the second front end toothed component 122 and the second rear end gear 132, are respectively located on both sides of the first wiring tube 32, which can improve the space utilization of the robot finger 2 and is conducive to the smooth installation of the deceleration mechanism 1 in the narrow space of the robot finger 2.

[0068] The third rear end gear 133 and the fifth rear end gear 134 are respectively located on both sides of the first wiring tube 32; wherein the fifth rear end gear 134 is fixed to the second front end toothed member 122, and the two can rotate together; the third rear end gear 133 is fixedly connected to the fourth front end toothed member 124. The inner end knuckle 23 is hinged to the extension plate 81 through a swing frame 26. The swing frame 26 is fixedly provided with a toothed plate 14, and the outer edge of the toothed plate 14 is provided with an integrally formed arc-shaped tooth portion 141, and the arc-shaped tooth portion 141 is extended in an arc; in this embodiment, the extended arc of the arc-shaped tooth portion 141 is 1 / 2 circle, of course, in other feasible embodiments, it can also be 1 / 3 circle or 1 / 4 circle, etc., and is not limited to the method shown in this embodiment. The arc-shaped tooth portion 141 with different extended arc lines limits the meshing of the toothed plate 14 and the front end toothed member to achieve the swing or rotation range.

[0069] The fourth front toothed member 124 meshes with the arc-shaped toothed portion 141, and the pin 24 at the rotational connection position between the inner end finger joint 23 and the swing frame 26 can be coaxial with the arc-shaped toothed portion 141; based on this, when the third rear end gear 133 rotates and drives the fourth front toothed member 124 to rotate together, the cooperation between the fourth front toothed member 124 and the arc-shaped toothed portion 141 can realize the flipping of the entire three-section bionic finger toward the palm plate structure 8, approaching or moving away. Here, the fourth front toothed member 124 and the toothed plate 14 can be combined to form a fourth transmission pair 11.

[0070] Reference Figure 7 , the third front toothed member 123 and the fifth front toothed member 125 are respectively located on both sides of the first wiring tube 32, and the third front toothed member 123 and the fifth front toothed member 125 are rotatably sleeved on the pin 24 at the rotational connection position of the inner end finger joint 23 and the swing frame 26. The third front toothed member 123 and the fifth front toothed member 125 are correspondingly fixed to the linkage gear 44, and are further controlled by a set of driving mechanisms 4. Based on this, when the driving mechanism 4 drives the third front toothed member 123 to rotate, it drives the third rear end gear 133 meshing with the third front toothed member 123, and then the cooperation of the fourth front toothed member 124 and the arc-shaped tooth portion 141 can make the inner end finger joint 23 with the deceleration and force-increasing performance flip close to or away from the palm plate structure 8, and at the same time, by using the transmission of each set of transmission pairs 11, it can also correspondingly drive the inner end finger joint 23 to flip toward the palm plate structure 8, thereby realizing the positive flipping and reverse flipping of the inner end finger joint 23 relative to the palm plate structure 8.

[0071] When the driving mechanism 4 drives the fifth front toothed member 125 to rotate, the fifth rear gear 134 meshing with the fifth front toothed member 125 is driven to transmit, and the transmission is transmitted to the control middle finger joint 22 through the second rear gear 132, the second front toothed member 122, the first front toothed member 121, and the first rear gear 131 to realize the flipping action. Then, the mechanical finger finally simulates the grasping and releasing actions of the mechanical finger 2.

[0072] Thus, the reduction mechanism 1 formed between the swing frame 26 and the inner end knuckle 23 and between the inner end knuckle 23 and the middle end knuckle 22 is a multi-stage reduction mechanism.

[0073] Reference Figure 8 and Fig. 9In this embodiment, each set of driving mechanisms 4 includes a driving motor 41, a staggered axis gear pair and a linkage gear 44. Specifically, the staggered axis gear pair includes an end face gear 42 and a transition gear 43. The axial direction of the end face gear 42 is perpendicular to the axial direction of the transition gear 43, and the two are meshed and driven with each other. In this embodiment, the end face gear 42 is equivalent to the active part of the staggered axis gear pair, and the transition gear 43 is the driven part of the staggered axis gear pair. It can be understood that the form of the staggered axis gear pair is not limited to face gear transmission. In other feasible embodiments, the staggered axis gear pair can also be a bevel gear transmission or a worm gear transmission.

[0074] Reference Figure 7 and Figure 8 The two linkage gears 44 are respectively rotatably sleeved on the pin shaft 24 at the rotational connection position between the inner end finger joint 23 and the swing frame 26, and the two linkage gears 44 are respectively fixed to the third front end toothed component 123 and the fifth front end toothed component 125; the transition gear 43 is rotatably connected to the inner side of the swing frame 26, and each transition gear 43 is meshed with the corresponding linkage gear 44 for transmission.

[0075] Reference Figure 8 and Fig. 9 , two end face gears 42 are rotatably arranged on the inner side of the swing frame 26, and the two end face gears 42 are respectively located on the upper and lower sides of the swing frame 26; each end face gear 42 is meshed with the transition gear 43 in the group of driving mechanisms 4, and the central axis of the end face gear 42 is perpendicular to the central axis of the transition gear 43, and the two are in the form of staggered shaft transmission. It should be noted here that by making the diameter of the meshing pitch circle of the end face gear 42 smaller than the diameter of the meshing pitch circle of the transition gear 43, and making the diameter of the meshing pitch circle of the transition gear 43 smaller than the diameter of the meshing pitch circle of the linkage gear 44, at this time, the end face gear 42, the transition gear 43 and the linkage gear 44 also form a deceleration structure together, which is used to achieve the effect of transmission deceleration, increasing torque and gripping force. Of course, the end gear 42 and the transition gear 43 can also use gears with different modules to make the gear outer diameters different, thereby accommodating more staggered gear sets or staggered gear sets of different combinations in a limited accommodating space or at different positions, thereby achieving the adjustment and control requirements of different reduction ratios.

[0076] refer to Figure 8 and Fig. 9 , the side of the face gear 42 away from the transition gear 43 may be provided with another linkage transmission pair, and the diameter of the meshing pitch circle of the toothed part of the linkage transmission pair meshing with the face gear 42 may be selected to be the same as or different from that of the face gear 42; thereby forming a reduction structure of the linkage transmission pair and the face gear 42. In this embodiment, the diameters of the meshing pitch circles of the gears of the linkage transmission pair meshing with the face gear 42 are different, and the two are coaxially fixedly arranged.

[0077] Back to Figure 8 The driving motor 41 is fixed to the inner side of the extension plate 81, and the output shaft of the driving motor 41 is fixed with a driving gear 411. The driving gear 411 can directly mesh with the end face gear 42 for transmission, or it can be used as shown in the figure of this embodiment, after the multiple transmission pairs 11 of the reduction mechanism 1 are used for deceleration, the end face gear 42 is subjected to torque transmission; through the deceleration and transmission of the multiple transmission pairs 11, the rotational torque of the inner end finger joint 23 at the end can be greatly improved, which is conducive to improving the stability of the three-section bionic finger grasping the object, so that it can be used in more occasions. The two driving motors 41 are set to drive the three bionic fingers to realize the rotation in two different degrees of freedom respectively, and can also smoothly simulate the movements of the left and right hands of humans, improving practicality.

[0078] See also Fig.10 In this embodiment, a swing mechanism 6 for driving the three-section bionic finger to swing left and right is provided inside the extension plate 81; the swing mechanism 6 includes a power component 61 and a reduction mechanism 1, and the reduction mechanism 1 includes three sets of transmission pairs 11, of which two sets of transmission pairs 11 are in the form of meshing transmission between the front toothed member 12 and the rear gear 13, and the remaining set of transmission pairs 11 is in the form of meshing transmission between the front toothed member 12 and the arc-shaped tooth portion 141 of the toothed plate 14, and the toothed plate 14 is fixed to the swing frame 26, and the toothed plate 14 can also be integrally formed with the swing frame 26. And the pin 24 at the swing connection between the swing frame 26 and the extension plate 81 is coaxial with the toothed plate 14.

[0079] The power component 61 here can be a servo, a linear drive or a reduction motor, etc. The power component 61 is fixed to the extension plate 81, and the output end of the power component 61 is coaxially connected to the front end toothed component 12 located at the front end of the transmission; when the power component 61 is operating, the toothed plate 14 can be rotated around its own central axis through each group of transmission pairs 11 to realize the left and right swing of the three-section bionic finger, thereby further expanding the activity control range of the three-section bionic finger, with higher flexibility, even reaching the flexibility of human fingers.

[0080] In summary, in this embodiment, the three bionic fingers corresponding to the four bionic fingers other than the bionic thumb are controlled by the swing mechanism 6 to swing left and right, and the two sets of driving mechanisms 4 are controlled to realize the rotation of different degrees of automation, and the outer end finger joint 21 is controlled by the rope collection mechanism 34 to turn up and down, which has the function of rotating around Figure 2 The rotation and adjustment freedom of the four axes RS1, RS2, RS3 and RS4 shown in the figure.

[0081] Next, we will take the three-section bionic thumb as an example to introduce it. Fig.11Since the overall length of the bionic thumb's knuckles is relatively short, based on the need to improve space utilization, in this embodiment, the bionic thumb uses another planetary gear type speed reduction mechanism 1.

[0082] like Fig.12 and Fig.13 As shown, the reduction mechanism 1 includes at least one set of planetary reduction structures; each set of planetary reduction structures includes a sun gear, a planet carrier, at least one planetary gear and an inner gear ring 171. When the reduction mechanism is applied to the mechanical finger of the present application, the input end of the reduction mechanism is fixedly connected and controlled with the pull rope control module 3, and the output end of the reduction mechanism is fixedly connected with the outer end knuckle 21 of the bionic thumb, which is used to transmit the torque adjusted by at least one set of planetary reduction structures to the outer end knuckle 21, so as to increase the torque in a limited and narrow space to enhance the grip of the mechanical finger 2.

[0083] The reduction mechanism can have one set of planetary reduction structures, that is, a single-stage planetary reduction mode; the reduction mechanism can also have two or more sets of planetary reduction structures, forming a multi-stage planetary reduction mode; in the case of having multiple sets of planetary reduction structures, the components of the planetary reduction structures can be combined into one, such as a reduction mechanism with two sets of planetary reduction structures can have only one internal gear ring 171.

[0084] In this embodiment, the reduction mechanism has two sets of planetary reduction structures as an example for explanation, and the two sets of planetary reduction structures are defined as a first planetary reduction structure and a second planetary reduction structure, and the two sets of planetary reduction structures share an internal gear ring 171. The first planetary reduction structure is composed of a first sun gear 15, a first planet carrier 16, at least one first planetary gear 17 and an internal gear ring 171. The second planetary reduction structure is composed of a second sun gear 151, a second planet carrier 161, at least one second planetary gear 170 and an internal gear ring 171.

[0085] The first sun gear 15 in the first planetary reduction structure is coaxially fixed with the first adjusting rope wheel 31 of the rope pulley control module 3, and the axis of the first rotating shaft 311 of the first adjusting rope wheel 31 coincides with the axis of the first rotating shaft 311 of the outer end finger joint 21; the inner gear ring 171 is fixedly mounted on the inner side of the inner end finger joint 23 of the bionic thumb, and the inner circumference of the inner gear ring 171 is provided with an inner gear ring meshing with each first planetary gear 17 and the second planetary gear 170; the outer side of the inner gear ring 171 is fixedly connected with the middle part of the inner end finger joint 23 by a pin shaft; the inner gear ring 171 is movably sleeved on the outer end finger joint 21.

[0086] There are multiple first planetary gears 17, each of which is fixedly connected to the first planet carrier 16 via a pin. All first planetary gears 17 are equidistantly arranged around the central axis of the first sun gear 15; the first planetary gears 17 are meshed with the outer teeth of the first sun gear 15 and the inner gear ring 171 at the same time.

[0087] The second sun gear 151 in the second planetary reduction structure is coaxially fixed to the first planet carrier 16 for receiving the torque transmitted by the first planetary reduction structure.

[0088] There are multiple second planetary gears 170, each of which is fixedly connected to the second planetary frame 161 through a pin; the second planetary frame 161 is fixedly connected to the outer end finger joint 21. Of course, in order to save more space, the second planetary frame 161 and the outer end finger joint 21 can be made into one piece in this embodiment; or Fig.12 As shown, a part of the outer end knuckle 21 is directly used as the second planet carrier 161. At this time, the outer end knuckle 21 connected to the second planetary gear 170 is equivalent to the output of the entire planetary gear type reduction mechanism. And all the second planetary gears 170 are arranged equidistantly around the central axis of the second sun gear 151; the second planetary gears 170 are meshed with the outer teeth of the second sun gear 151 and the inner gear ring 171 at the same time.

[0089] When the rope collecting mechanism 34 of the rope pulling control module 3 drives the first adjusting rope wheel 31 to rotate, the first sun gear 15 also rotates along with the first adjusting rope wheel 31, so that each first planetary gear 17 revolves around the central axis of the first sun gear 15, thereby transmitting the first planetary carrier 16 to rotate, and then the second sun gear 151 rotates along with the first planetary carrier 16, and at this point the first planetary reduction structure completes the transmission to the second planetary reduction structure.

[0090] Then, each second planetary gear 170 revolves around the central axis of the second sun gear 151, thereby driving the outer knuckle 21 to rotate, so that the outer knuckle 21 rotates relative to the inner knuckle 23; thereby achieving the overall bending and stretching action of the bionic thumb. It can be known that the first planetary reduction structure and the second planetary reduction structure can be driven to rotate successively through the pull rope control module 3; the planetary reduction is then used to drive the outer knuckle 21 to rotate, and the deceleration and transmission effect is achieved according to the gear ratio of the planetary gear structure, which is also conducive to increasing the torque to enhance the grip of the mechanical finger 2.

[0091] The planetary gear type speed reduction mechanism can also be applied to the structure of a three-section bionic finger, but is not limited thereto.

[0092] In addition, in another feasible implementation, the deceleration mechanism 1 of the bionic thumb can also be in the form of a lasso. Fig.14The deceleration mechanism 1 includes a first rotating rope wheel 18, a second rotating rope wheel 19, a deceleration pull rope 20 and a reset mechanism (not shown in the figure), wherein the outer diameter of the first rotating rope wheel 18 is smaller than the outer diameter of the second rotating rope wheel 19; the first rotating rope wheel 18 can be fixed to the inner end finger joint 23 of the bionic thumb, and the second rotating rope wheel 19 can be coaxially fixed to the pin 24 of the outer end finger joint 21 of the bionic thumb. The reset mechanism can be a reverse arrangement structure of the first rotating rope wheel, the second rotating rope wheel and the deceleration pull rope combination described in this scheme; the reset mechanism can also be a torsion spring, a pull rope or a tension spring.

[0093] One end of the deceleration rope 20 is fixedly connected to the first rotating rope wheel 18, and the other end of the deceleration rope 20 is connected and fixed to the second rotating rope wheel 19 after passing through the first rotating rope wheel 18 and the second rotating rope wheel 19 in sequence. When driven by the deceleration rope 20, the first rotating rope wheel 18 can drive the second rotating rope wheel 19 to transmit and decelerate, which is also beneficial to increase the torque to enhance the gripping force of the robot finger 2.

[0094] If the reset mechanism is a torsion spring, it can be set at the rotation connection between the outer finger joint 21 and the inner finger joint 23, which can always generate torque acting on the outer finger joint 21, and the direction of the torque is opposite to the pulling direction of the deceleration rope 20; after the inner finger joint 23 is driven to bend, the external force is removed, and the outer finger joint 21 can reset and rotate under the action of the torque, so that the mechanical finger 2 returns to the extended state, which is beneficial to the next normal movement of the mechanical hand.

[0095] Of course, although in this embodiment a planetary gear-type reduction mechanism 1 is provided on the bionic thumb to achieve reduction and transmission, in other feasible implementations, the reduction mechanism 1 on the bionic thumb may also be in the same form as the reduction mechanism 1 on the three-section bionic finger, and is not limited thereto.

[0096] In addition, by Fig.12 It can be seen that based on the need to improve space utilization, the number of the first wire rope pulleys 35 of the wire pulling control module 3 provided on the bionic thumb is 1 group, with a total of 2, and the two first wire rope pulleys 35 are coaxially fixed (such as Fig.12The two first wire-management wheels 35 are a whole) and are connected to the outside of the inner end finger joint 23; the two first wire-management wheels 35 are correspondingly wound with two first tension ropes 33 for controlling different directions, and the two first tension ropes 33 are wound one by one on the two first wire-management wheels 35 and the first adjustment rope wheel 31 in opposite directions; thereby, the first adjustment rope wheel 31, the first rotating shaft 311 and the outer end finger joint 21 and the first sun gear 15 fixed thereto are controlled by the rope control module 3 to rotate forward or reverse accordingly. A vertical plate frame 25 is also fixedly mounted on the outside of the inner end finger joint 23, and the first wiring tube 32 on the bionic thumb is fixedly mounted on the vertical plate frame 25, which can also organize and guide the threading of different first tension ropes 33.

[0097] Back to Fig.11 In this embodiment, a bionic thumb is used as an example to illustrate another form of transmission control module, and the transmission control module is also applicable to realizing the bending and holding action of three bionic fingers, and can be equivalently substituted. The transmission control module includes a differential gear 5, two sets of drive mechanisms 4 and two sets of reduction mechanisms 1, where each set of drive mechanisms 4 specifically includes a second adjustment pulley 45, two second wiring tubes 46, and two second wire management pulleys 48 (such as Fig.11 The two second wire management pulleys 48 are a whole) and the two second tension ropes 47, and the second adjustment rope pulley 45 is rotatably sleeved on the pin shaft 24 at the rotation connection between the outer end finger joint 21 and the inner end finger joint 23; the two second wire management rope pulleys 48 are coaxially fixed and mounted on the outside of the inner end finger joint; the second wiring tube 46 is located on the side of the second wire management rope pulley 48 away from the second adjustment rope pulley 45, and is fixedly mounted on the outside of the inner end finger joint 23. One end of the second tension rope 47 is correspondingly fixedly connected to the second adjustment rope pulley 45, and the other end of the second tension rope 47 passes around the second wire management rope pulley 48, passes through the second wiring tube 46, and is fixedly connected to a separate control component. The two second tension ropes 47 are wound around the second adjustment rope pulley 45 and the second wire management rope pulley 48 in opposite directions, so that the second adjustment rope pulley 45 can be pulled forward or reversely by the control component alone. Refer to Fig.11 , Fig.15, the differential gear 5 is fixedly arranged on one side of the rotating mechanism 7 close to the inner end finger joint 23, and each group of the reduction mechanism 1 is correspondingly arranged between the second adjusting rope wheel 45 and the differential gear 5; specifically, the reduction mechanism 1 includes a plurality of transmission pairs 11, and the number of the transmission pairs 11 in this embodiment is specifically two groups, wherein a front end toothed member 12 close to the outer end finger joint 21 is fixed to the second adjusting rope wheel 45, and a rear end gear 13 matched and meshed with the front end toothed member 12 is fixed to the inner end finger joint 23. The rear end gear 13 of the other group of transmission pairs 11 is rotatably mounted on the inner end finger joint 23, and the front end toothed member 12 matched and meshed with the rear end gear 13 is fixed to the inner end finger joint 23. The rear end gear 13 in the transmission pair 11 close to the outer end finger joint 21 and the front end toothed member 12 in the other transmission pair 11 can also be arranged to be coaxially rotatably connected. A transmission gear 51 is coaxially fixed to the rear end gear 13 in the transmission pair 11 away from the outer end finger joint 21. The two transmission gears 51 are arranged on both sides of the inner end finger joint 23, and the two transmission gears 51 are meshed with the differential gear 5 for transmission; the central axis of the transmission gear 51 is perpendicular to the central axis of the differential gear 5.

[0098] refer to Fig.15 and Fig.16 Based on this, the second adjustment rope wheel 45 is driven to rotate by the control member, and the transmission of each transmission pair 11 can be used to rotate the transmission gear 51, and then the meshing transmission between the transmission gear 51 and the differential gear 5 can be used to rotate the inner end finger joint 23 around the central axis R3 of the differential gear 5 relative to the rotating mechanism 7 when the transmission gear 51 rotates, thereby achieving the effect of the transmission gear 51 moving along the teeth of the differential gear 5. The two driving mechanisms 4 control the two transmission gears 51 to rotate at different speeds and directions to simulate the two degrees of freedom of the human thumb rotating around the central axis R3 of the differential gear 5 and around the central axis R2 of the transmission gear 51. And in the case of the same speed and direction, based on the rotation of the two transmission pairs 11 arranged relatively to the differential gear 5, the corresponding transmission gear 51 is driven to rotate, so as to achieve the effect of the bionic thumb rotating around the central axis of the transmission gear 51 in the degree of freedom R2.

[0099] Reference Fig.16 The palm plate structure 8 is also provided with a swing mechanism 6 for swinging. The swing mechanism 6 is equivalent to the fourth finger joint of the bionic thumb except the inner finger joint 23 and the outer finger joint 21, and the rotating mechanism 7. The rotating mechanism 7 includes a third rotating motor 71 and a reduction mechanism 1. The third rotating motor 71 is fixedly arranged on the swing mechanism 6. The reduction mechanism 1 is arranged between the output end of the third rotating motor 71 and the inner finger joint 23 of the bionic thumb. The reduction mechanism 1 adopts the form of planetary gear reduction. When the third rotating motor 71 is in motion, the reduction and transmission of the reduction mechanism 1 can make the inner finger joint 23 rotate around its own axis, and the rotation range can reach 360°.

[0100] refer to Figure 1 and Fig.16 The swing mechanism 6 of the bionic thumb includes a first rotary motor 62, a driving gear 63 and a driven member 64. The first rotary motor 62 can be fixed to the extension plate 81, and the driving gear 63 is coaxially fixed to the output end of the first rotary motor 62; the driven member 64 is hinged to the extension plate 81 through the second rotating shaft 642, and the driven member 64 is fixed to the third rotary motor 71; the driven member 64 is partially provided with an annular convex tooth 641, and the annular convex tooth 641 and the driving gear 63 are meshed and transmitted with each other, and then when the first rotary motor 62 is running, the meshing transmission of the annular convex tooth 641 and the driving gear 63 can make the driven member 64 drive the rotating mechanism 7 and the structure connected thereto to rotate circumferentially around the central axis of the second rotating shaft 642.

[0101] Reference Fig.16 Based on this, the bionic thumb is controlled by the rotating mechanism 7 for circumferential rotation, by the swinging mechanism 6 for left and right swinging, by the two sets of driving mechanisms 4 for up and down rotation respectively, and the outer end knuckle 21 is controlled by the rope collection mechanism 34 to flip up and down, and has the freedom of rotation and adjustment around five axes R1, R2, R3, R4, and R5 shown in the figure.

[0102] In other feasible implementations, a bearing structure or other rotating structure may be provided between the swing mechanism 6 and the palm plate structure 8 to avoid interference between the swing mechanism 6 and the palm plate structure 8. The rotating structure may be a circular arc or cylindrical structure provided outside the swing mechanism 6, and the palm plate structure 8 may be provided with a circular groove matching the circular arc or cylindrical structure, so as to solve the structural interference between the swing mechanism 6 and the palm plate structure 8.

[0103] refer to Fig.17 Based on the relatively rotatable rotating structure between the swing mechanism 6 and the palm plate structure 8, the swing mechanism 6 is provided with a palm rotation motor 65 on the side away from the rotation mechanism 7, and the rotation axis output by the palm rotation motor 65 is R6. The palm rotation motor 65 can control the bionic thumb and the swing mechanism 6 to rotate relative to the palm plate structure 8 around the rotation axis R6. Therefore, the bionic thumb has six rotation and adjustment degrees of freedom, namely, R1, R2, R3, R4, R5, and R6.

[0104] See also Fig.18In another practicable embodiment, the manipulator further includes a flip mechanism 9 for driving the bionic thumb to rotate, and the flip mechanism 9 includes a second rotary motor 91 and an eccentric plate 92. The second rotary motor 91 is fixedly arranged and can be fixed to the inner side of the palm plate structure 8 or to the side of the palm plate structure 8, but is not limited thereto. The eccentric plate 92 is fixed to the output end of the second rotary motor 91, and the first rotary motor 62 is fixedly connected to the eccentric plate 92. The output end of the first rotary motor 62 and the output end of the second rotary motor 91 face the same direction and are staggered, so that when the second rotary motor 91 is in operation, the bionic thumb can rotate circumferentially around the output shaft of the second rotary motor 91 and around R6, which is conducive to the bionic thumb approaching the palm plate structure 8 with a larger flipping amplitude. At this time, the bionic thumb has the freedom of rotation and adjustment around six axes, namely R1, R2, R3, R4, R5, and R6 shown in the figure.

[0105] The above are preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A deceleration mechanism for a mechanical finger, characterized in that: The invention comprises at least one transmission pair (11), wherein the transmission pair (11) comprises a front toothed component (12) and a rear toothed component, wherein the rear toothed component at least partially meshes with the front toothed component (12) for transmission, and the diameter of the meshing pitch circle of the front toothed component (12) is smaller than the diameter of the meshing pitch circle of the rear toothed component; the front toothed component (12) located at the front end of the transmission among all the front toothed components (12) is used to cooperate with a driving mechanism or a transmission mechanism for controlling the movement of a finger joint in a mechanical finger (2), and the rear toothed component located at the rear end of the transmission among all the rear toothed components is used to cooperate with an actuator in the mechanical finger (2).

2. The deceleration mechanism for a mechanical finger according to claim 1, characterized in that: The rear end toothed component is a rear end gear (13), and the outer peripheral gear ring of the rear end gear (13) meshes with the outer peripheral gear ring of the front end toothed component (12) to achieve transmission and deceleration.

3. The deceleration mechanism for a mechanical finger according to claim 1, characterized in that: The rear end toothed component is a toothed plate (14), and the toothed plate (14) is coaxially fixed to a knuckle hinge of the mechanical finger (2); an arc-shaped tooth portion (141) is partially provided on an outer edge of the toothed plate (14), and the arc-shaped tooth portion (141) extends in an arc, and the front end toothed component (12) and the arc-shaped tooth portion (141) are meshed with each other to achieve transmission and deceleration.

4. A deceleration mechanism for a mechanical finger, characterized in that: include: A sun wheel, the sun wheel being fixedly matched with a driving mechanism or a transmission mechanism in the mechanical finger (2); A planet carrier, the output shaft of which is fixedly coupled with the actuator of the mechanical finger (2); and is fixedly coupled coaxially with the sun gear during multiple planetary deceleration; An internal gear ring, fixedly arranged inside the mechanical finger (2), the inner circumferential surface of the internal gear ring being provided with an internal gear ring; At least one planetary gear; all the planetary gears are mounted on the planetary carrier; the planetary gears are meshed with the outer teeth of the sun gear and the inner gear ring for transmission.

5. A deceleration mechanism for a mechanical finger, characterized in that: include A first rotating rope wheel (18), the first rotating rope wheel (18) being fixedly coupled with a driving mechanism or a transmission mechanism of the mechanical finger; A second rotating rope wheel (19), the second rotating rope wheel (19) being fixedly coupled with an actuator of the mechanical finger; A deceleration rope (20), one end of the deceleration rope (20) being connected to the first rotating rope wheel (18), and the other end of the deceleration rope (20) being connected to the second rotating rope wheel (19) after being wound around the first rotating rope wheel (18) and the second rotating rope wheel (19) in sequence; the diameter of the circle corresponding to the abutment of the second rotating rope wheel (19) against the deceleration rope (20) is greater than the diameter of the circle corresponding to the abutment of the first rotating rope wheel (18) against the deceleration rope (20); The reset mechanism is used to force the mechanical finger to be in a normal straight state.

6. A mechanical finger, characterized in that: include: Knuckles, there are at least two knuckles, all knuckles are arranged in sequence from the inside to the outside, and adjacent knuckles are hinged by a pin (24); a speed reduction mechanism (1) as claimed in any one of claims 1 to 5 is arranged between each adjacent knuckle; A control unit is used to control the rotation of each finger joint.

7. The mechanical finger according to claim 6, characterized in that: The control unit comprises a pull-cord control module (3), and the pull-cord control module (3) comprises: There are two first adjusting rope wheels (31); the first adjusting rope wheels (31) are rotatably arranged on the inner side of the finger joint, and the speed reduction mechanism (1) is arranged between the first adjusting rope wheel (31) and the finger joint adjacent to the outer side; There are two first wiring tubes (32), wherein the first wiring tubes (32) are fixedly mounted on one of the finger joints; There are two first tension ropes (33), the two first tension ropes (33) are arranged in a one-to-one correspondence through the two first wiring tubes (32), and one end of each first tension rope (33) is fixedly connected to a first adjusting rope wheel (31); There are two rope-collecting mechanisms (34), each of which is fixed to one end of the first tension rope (33) away from the first adjustment rope wheel (31) and is used to reel in the corresponding first tension rope (33).

8. The mechanical finger according to claim 7, characterized in that: The rope pulling control module (3) further comprises two groups of first rope pulling wheels (35), each group of first rope pulling wheels having two first rope pulling wheels; one of the first rope pulling wheels (35) and a first adjustment rope wheel (31) in each group of first rope pulling wheels is arranged at two adjacent finger joints, and the other first rope pulling wheel (35) is arranged on a pin shaft (24) at a rotation connection point of adjacent finger joints; the first tension rope (33) is sequentially wound around each of the first rope pulling wheels (35).

9. The mechanical finger according to claim 6, characterized in that: The control unit comprises a transmission control module, the transmission control module comprises two sets of drive mechanisms (4), and the two sets of drive mechanisms (4) are used to respectively control the mechanical knuckles to realize rotation in two different degrees of freedom; The drive mechanism (4) comprises a drive motor (41), a staggered axis gear pair and a linkage gear (44), wherein the driven member of the staggered axis gear pair and the linkage gear (44) are meshed and transmitted in sequence; the drive motor (41) drives the staggered axis gear pair to rotate via a set of reduction mechanisms (1), and the linkage gear (44) is meshed and transmitted with the knuckle via a set of reduction mechanisms (1).

10. The mechanical finger according to claim 6, characterized in that: The control unit comprises a transmission control module, the transmission control module comprises a differential gear (5) and two sets of drive mechanisms (4), the two sets of drive mechanisms (4) being combined with the differential gear (5) to control the mechanical finger joint to swing in two different degrees of freedom in different directions; wherein the differential gear (5) is fixedly arranged, and the central axis of the differential gear (5) coincides with the rotation axis of the mechanical finger (2); Each set of the driving mechanism (4) comprises: a second adjusting rope wheel (45), the second adjusting rope wheel (45) being rotatably sleeved on a pin shaft (24) at a rotational connection point between adjacent finger joints; the second adjusting rope wheel (45) being transmission-connected to a transmission gear (51) via a speed reduction mechanism (1), the two transmission gears (51) being symmetrically arranged and respectively meshing with a differential gear (5) for transmission; There are two second wiring tubes (46), wherein the second wiring tubes (46) are fixedly mounted on one of the finger joints; There are two second wire-arranging rope wheels (48), and the two second wire-arranging rope wheels (48) are coaxially fixedly arranged; There are two second tension ropes (47); one end of the second tension rope (47) is fixedly connected to the second adjustment rope wheel (45); the other ends of the second tension ropes (47) are passed around the second wire management rope wheels (48) in a one-to-one correspondence, passed through the one-to-one corresponding second wire routing tubes (46) and connected to a control member for retracting and releasing the rope; The two second tension ropes (47) are wound around the second adjustment rope wheel (45) and the second wire arrangement rope wheel (48) in opposite directions, so that the second adjustment rope wheel (45) can be pulled alone by a control member to achieve forward rotation or reverse rotation.

11. A robot, characterized in that: It comprises a palm plate structure (8), at least one mechanical finger (2) as claimed in any one of claims 6 to 10 is hingedly connected to the circumferential side of the palm plate structure (8), and a swing mechanism (6) for driving the mechanical finger (2) to swing is arranged inside the palm plate structure (8).

12. The robot according to claim 11, characterized in that: The swing mechanism (6) comprises a power component (61) and a reduction mechanism (1) as claimed in claim 3, wherein the power component (61) is fixed inside the palm plate structure (8), and the output end of the power component (61) cooperates with the finger joint closest to the palm plate structure (8) in the mechanical finger (2) through the reduction mechanism (1) for transmission.

13. The robot according to claim 11, characterized in that: The swing mechanism (6) comprises a first rotating motor (62) fixed to the palm plate structure (8), a driving gear (63) coaxially connected to the output end of the first rotating motor (62), and a driven component (64) for driving the mechanical finger (2) to swing relative to the palm plate structure (8); the driven component (64) is rotatably arranged on the palm plate structure (8); and the driven component (64) is provided with an annular convex tooth (641) that meshes with the driving gear (63) for transmission.

14. The robot according to claim 13, characterized in that: The manipulator includes a bionic thumb; The structure of the bionic thumb located outside the palm plate structure (8) comprises an outer finger joint (21), an inner finger joint (23) and a rotating mechanism (7); the rotating mechanism (7) is located on a side of the inner finger joint (23) away from the outer finger joint (21); and the rotating mechanism (7) is fixedly connected to the driven member (64); the outer finger joint (21) rotates relative to the inner finger joint (23) around a rotation center R1, and the inner finger joint (23) rotates around rotation centers R2 and R3 and is arranged on the transmission control module as claimed in claim 10; the transmission control module is arranged on a side of the rotating mechanism (7) with R4 as a rotation center close to the inner finger joint (23); the rotating mechanism (7) is arranged on the swing mechanism (6) as claimed in claim 11 around a swing center R5.

15. The robot according to claim 14, characterized in that: The swing mechanism (6) is further provided with an in-palm rotating motor (65), which is coaxially connected to the first rotating motor (62) to generate a rotation center R6 controlled by the in-palm rotating motor (65); a rotating structure for relative rotation is provided between the swing mechanism (6) and the palm plate structure (8) to achieve rotation of the bionic thumb and the swing mechanism (6) relative to the palm plate structure (8) around the rotation center R6.

16. The robot according to claim 14, characterized in that: The manipulator further comprises a flipping mechanism (9) for driving the bionic thumb to flip, the flipping mechanism (9) comprising a fixedly arranged second rotating motor (91) and an eccentric plate (92) fixedly connected to an output end of the second rotating motor (91), the first rotating motor (62) being eccentrically connected to the eccentric plate (92) for causing the bionic thumb to rotate around a central axis R6 of the output end of the second rotating motor (91).

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