Finger mechanism, manipulator and robot

Abstract

The invention discloses a finger mechanism, a manipulator and a robot, and the finger mechanism comprises a base used for being connected with a palm; the knuckle assembly is connected to the base, and the knuckle assembly comprises a first knuckle and a second knuckle which are rotationally connected in sequence; the first knuckle driving part is located in the first containing cavity, the first knuckle driving part is installed on the base, the output end of the first knuckle driving part is connected to the first knuckle, and the first knuckle driving part is used for driving the first knuckle to rotate; and the second knuckle driving part is located in the first containing cavity, the second knuckle driving part is installed on the first knuckle, the output end of the second knuckle driving part is connected to the second knuckle, and the second knuckle driving part is used for driving the second knuckle to rotate around the first knuckle. According to the mechanical arm, the space of the palm can be saved, so that the space in the palm can be used for arranging more elements (such as sensors), the effective utilization space in the palm can be improved, and the multi-mode sensing capacity of the mechanical arm is improved.

Description

Technical Field

[0001] The present application relates to the field of manipulators, and in particular to a finger mechanism, a manipulator, and a robot. Background Art

[0002] With the rapid development of technology, the technological growth points are also changing with each passing day. Intelligent robots that replace humans in performing complex and repetitive tasks have also come onto the stage. Most finger mechanisms draw on the anatomical structure of the human hand and adopt a bionic design with multiple joints and multiple degrees of freedom. Each phalanx realizes flexible grasping and operation through flexion and extension movements, rotation around the palm, etc.

[0003] In order to ensure the flexibility of each phalanx, the requirements for driving the finger mechanism are relatively high. In the related art, the driving device for driving the finger mechanism is arranged on the palm, but there is a problem of occupying the space of the palm, which is not conducive to improving the overall perception ability of the manipulator. Summary of the Invention

[0004] To solve the above technical problems, the present application provides a finger mechanism, a manipulator, and a robot. The finger mechanism of the present application can reduce the occupation of the space of the palm while satisfying the driving of the finger mechanism.

[0005] The present application is implemented through the following technical solutions.

[0006] A first aspect of the present application provides a finger mechanism for a manipulator. The manipulator includes a palm and the finger mechanism. The finger mechanism includes: a base for connecting the palm; a phalanx assembly connected to the base. The phalanx assembly includes a first phalanx and a second phalanx that are sequentially rotatably connected. A hollow first accommodation cavity is formed inside the first phalanx. The first phalanx is closer to the base than the second phalanx; a first phalanx driving member located in the first accommodation cavity. The first phalanx driving member is installed on the base, and an output end of the first phalanx driving member is connected to the first phalanx. The first phalanx driving member is used to drive the first phalanx to rotate around the base; and a second phalanx driving member located in the first accommodation cavity. The second phalanx driving member is installed on the first phalanx, and an output end of the second phalanx driving member is connected to the second phalanx. The second phalanx driving member is used to drive the second phalanx to rotate around the first phalanx.

[0007] In the present application, the first phalanx driving member and the second phalanx driving member are arranged in the accommodation cavity of the first phalanx of the finger mechanism. Compared with the solution of arranging the driving member of the finger mechanism on the palm, the present application can save the space of the palm. Thus, more components (such as sensors) can be arranged in the space inside the palm, thereby improving the effective utilization of the space inside the palm and increasing the multi-modal perception ability of the manipulator.

[0008] In addition, the first knuckle driving member in the present application drives the first knuckle to rotate, and the second knuckle driving member drives the second knuckle to rotate around the first knuckle, enabling the bending movement of the finger mechanism and improving the flexibility of the finger mechanism operation.

[0009] In some embodiments of the present application, the first knuckle includes a first knuckle bracket. The first end of the first knuckle bracket in the first direction is rotatably connected to the base, and the second end of the first knuckle bracket in the first direction is rotatably connected to the second knuckle. The finger mechanism extends in the first direction.

[0010] The first knuckle bracket realizes rotatability relative to the base and rotatability relative to the second knuckle through the connections with the base and the second knuckle, thereby realizing the bending movement and rotational movement of the finger mechanism.

[0011] In some embodiments of the present application, the first knuckle bracket forms the housing of the first knuckle; the first knuckle driving member extends in the first direction, and the second knuckle driving member extends in the first direction; and / or, the first knuckle driving member and the second knuckle driving member are stacked in sequence in the second direction. The finger mechanism includes an opposite finger belly and finger back, and the second direction is parallel to the direction from the finger back towards the finger belly.

[0012] The first knuckle bracket forms the housing of the first knuckle. The first knuckle bracket can not only play a role in transmission but also serve as a housing, thereby reducing the space occupied inside the first accommodation cavity. Thus, the first knuckle driving member and the second knuckle driving member can be arranged in the first accommodation cavity without increasing the volume of the first knuckle. In addition, the weight of the overall structure and the frictional loss during the transmission process can be reduced, thereby improving the transmission efficiency and the system response speed.

[0013] Using the housing as a transmission link not only significantly reduces the number of independent transmission components in the traditional design but also reduces the weight of the overall structure and the frictional loss during the transmission process, thereby improving the transmission efficiency and the system response speed. This design also realizes the dual optimization of mechanical performance and motion accuracy through the close integration of the housing and the internal link mechanism. While ensuring that the finger mechanism completes composite movements such as bending and side swing, it significantly improves the stability and load-bearing capacity of the system, fully demonstrating the superiority of the modular, compact, and integrated design of the structure.

[0014] The extending directions of both the first knuckle driving member and the second knuckle driving member are parallel to the extending direction of the finger mechanism, effectively utilizing the space inside the first knuckle, realizing the compactness of the overall structure, and being beneficial to the miniaturization of the finger mechanism.

[0015] During the bending motion of the finger mechanism, each phalanx bends towards the finger pulp. The first phalanx drive and the second phalanx drive are stacked in the direction from the finger pulp towards the finger back, which is beneficial for the phalanges to bend.

[0016] In some embodiments of the present application, the first phalanx drive is fixedly connected to the base, the output end of the first phalanx drive is rotatably connected to the first phalanx bracket, and the first phalanx drive is used to drive the first phalanx bracket to rotate around the base.

[0017] In some embodiments of the present application, the first phalanx includes a first shaft, and the second phalanx includes a second phalanx bracket and a second phalanx link; the first phalanx bracket is connected to the first shaft and is rotatable around the first shaft. The first end of the first phalanx bracket in the first direction is rotatably connected to the second phalanx drive, and the second end of the first phalanx bracket in the first direction is rotatably connected to the second phalanx link through a second shaft. The output end of the second phalanx drive is rotatably connected to the second phalanx bracket, and the second phalanx drive drives the second phalanx bracket to rotate around the second shaft. The axial direction of the first shaft is parallel to the axial direction of the second shaft.

[0018] Thus, the first phalanx rotates around the first shaft, and the second phalanx rotates around the second shaft. The axial directions of the first shaft and the second shaft are parallel, which is beneficial for realizing the bending motion of the finger mechanism.

[0019] In some embodiments of the present application, the first phalanx drive has a first drive part and a first push rod. The first push rod is connected to the first drive part, and the first drive part drives the first push rod to extend in the first direction to push the first phalanx to rotate around the base; and / or the second phalanx drive has a second drive part and a second push rod. The second push rod is connected to the second drive part, and the second drive part drives the second push rod to extend in the first direction to push the second phalanx to rotate around the first phalanx. The rotation direction of the second phalanx is the same as the rotation direction of the first phalanx.

[0020] The push rod is connected to the drive part, and the drive part drives the push rod to extend in the first direction, and the first direction is parallel to the extension direction of the finger mechanism. Thus, the space inside the phalanx is effectively utilized, the compactness of the overall structure is realized, and it is beneficial for the miniaturization of the finger mechanism.

[0021] Driven by a push rod, a pure link drive mechanical structure inside the finger mechanism can be realized. Such a structure is simple and compact, can accurately transmit motion and torque, realize the coordinated synchronization of the degrees of freedom of motion of each finger joint of the finger mechanism, and ensure the stability and repeatability of the motion trajectory. Moreover, its frictional loss and transmission clearance are small, which helps to improve the transmission efficiency and precision of the overall system, so that higher response speed and control precision can be provided when realizing finger bending, side swing and opposition actions.

[0022] In some embodiments of the present application, the first finger joint drive member is provided with a first position sensor; and / or the second finger joint drive member is provided with a second position sensor.

[0023] By setting the position sensor, the position of the finger joint drive member can be located, so that the grasping process of the finger joint is more accurate, so as to realize high-precision position control, thereby making the interaction between the finger mechanism and the real world more sensitive, and making the feedback of the product's interaction with the real world more and more intelligent.

[0024] In some embodiments of the present application, the second finger joint bracket is formed as the housing of the second finger joint.

[0025] The second finger joint bracket is formed as the housing of the second finger joint. The second finger joint bracket can not only play a role in transmission but also serve as a housing, thereby reducing the space occupied inside the second accommodation cavity.

[0026] Using the housing as a transmission link not only greatly reduces the number of independent transmission components in the traditional design, but also reduces the weight of the overall structure and the frictional loss during the transmission process, thereby improving the transmission efficiency and the system response speed. This design also realizes the dual optimization of mechanical performance and motion accuracy through the close integration of the housing and the internal link mechanism. While ensuring that the finger mechanism completes complex motions such as bending and side swing, it significantly improves the stability and load-bearing capacity of the system, fully demonstrating the superiority of the modular, compact and integrated design of the structure.

[0027] In some embodiments of the present application, the finger mechanism extends in the first direction. The finger mechanism includes an opposite finger pulp and finger back. The second direction is parallel to the direction from the finger back towards the finger pulp; the first finger joint bracket includes a pair, and the pair of first finger joint brackets are symmetrically arranged along the plane where the first direction and the second direction are located. The pair of first finger joint brackets enclose to form the first accommodation cavity; and / or, the second finger joint bracket includes a pair, and the pair of second finger joint brackets are symmetrically arranged along the plane where the first direction and the second direction are located. The pair of second finger joint brackets enclose to form a second accommodation cavity, and the second finger joint link is located in the second accommodation cavity.

[0028] A pair of first phalanx brackets are symmetrically arranged with respect to the plane where the first direction and the second direction are located. Such an arrangement facilitates connecting the first phalanx driving member and the second phalanx driving member to the pair of first phalanx brackets respectively to drive the pair of first phalanx brackets to move together.

[0029] A pair of second phalanx brackets are symmetrically arranged with respect to the plane where the first direction and the second direction are located, which facilitates connecting the second phalanx driving member to the pair of second phalanx brackets respectively to drive the pair of second phalanx brackets to move together.

[0030] In some embodiments of the present application, the phalanx assembly further includes a third phalanx, the third phalanx is rotatably connected to the second phalanx, and the third phalanx can rotate together with the rotation of the second phalanx.

[0031] By providing the third phalanx, the grasping ability of the finger mechanism can be improved when the finger mechanism is bent. In addition, since the third phalanx can rotate together with the second phalanx, there is no need to provide an additional driving structure for driving the third phalanx to rotate, which is beneficial to reducing the number of components, reducing the assembly cost, and also beneficial to saving the internal space of the finger mechanism and facilitating the miniaturization and lightweight of the finger mechanism.

[0032] In some embodiments of the present application, the first end of the second phalanx bracket in the first direction is rotatably connected to the second phalanx driving member at a first position, and the second end of the second phalanx bracket in the first direction is rotatably connected to the third phalanx at a second position; the first end of the second phalanx link in the first direction is rotatably connected to the first phalanx bracket through the second shaft, and the second end of the second phalanx link in the first direction is rotatably connected to the third phalanx at a third position. Among them, when the finger mechanism is in the extended state, compared with the position where the second shaft is located, the first position is closer to the pulp of the finger mechanism. When the finger is in the extended state, compared with the second position, the third position is closer to the pulp of the finger mechanism.

[0033] When the finger mechanism is in the extended state, compared with the position where the second shaft is located, the first position is closer to the pulp of the finger mechanism. When the finger is in the extended state, compared with the second position, the third position is closer to the pulp of the finger mechanism. Such an arrangement increases the length of the second phalanx link in the first direction without increasing the distance between the second phalanx and the third phalanx, thereby increasing the bending angle of the second phalanx without increasing the overall size of the finger mechanism.

[0034] In some embodiments of the present application, the base includes a base body, a finger driver, a yaw link assembly, and a third axis, and the third axis is fixed to the base body; both ends of the yaw link assembly are respectively connected to the finger driver and the first finger joint, and the finger driver drives the yaw link assembly to drive the first finger joint to rotate around the third axis, and the axial direction of the third axis is different from the axial direction of the first axis.

[0035] The axial direction of the third axis is different from the axial direction of the first axis. The first finger joint can rotate around the first axis or the third axis. Thus, the finger mechanism can move in two directions to realize the bending and rotation of the finger mechanism.

[0036] In some embodiments of the present application, the yaw link assembly includes a first yaw link and a second yaw link. The first yaw link and the second yaw link rotate coaxially. The output end of the finger driver is fixedly connected to one end of the first yaw link. The second yaw link is connected to the third axis and rotates around the third axis. The finger driver drives the first yaw link to rotate, and the first yaw link drives the second yaw link to rotate around the third axis.

[0037] In some embodiments of the present application, the second yaw link includes a body and a connecting portion protruding from the body. One end of the body is rotatably connected to the third axis. The body is fixedly connected to the first finger joint driver, and the body is rotatably connected to both the first axis and the third axis;

[0038] The base includes a fourth axis. Both the connecting portion and the other end of the first yaw link are rotatably connected to the fourth axis, and the axial direction of the fourth axis is parallel to the axial direction of the third axis.

[0039] Through the connection relationship between the yaw link assembly and the finger driver, the finger mechanism can be rotated around the base. Specifically, the finger mechanism can rotate around the third axis fixed to the base body to realize the yaw movement (or swing) of the finger mechanism.

[0040] The second aspect of the present application provides a manipulator, including: a palm; and the finger mechanism as described in any one of the first aspect, and the base of the finger mechanism is connected to the palm.

[0041] By arranging the first finger joint driver and the second finger joint driver in the accommodation cavity of the first finger joint of the finger mechanism, compared with the solution of arranging the driver of the finger mechanism in the palm, the present application can save the space of the palm. Thus, the space inside the palm can be used to arrange more components (such as sensors), thereby improving the effective utilization of the space inside the palm and increasing the multi-modal perception ability of the manipulator.

[0042] The third aspect of the present application provides a robot, including: a robot body; and a manipulator as described in the second aspect, where the manipulator is connected to the robot body.

[0043] In the present application, the first finger joint driving member and the second finger joint driving member are arranged in the accommodation cavity of the first finger joint of the finger mechanism. Compared with the solution of arranging the driving member of the finger mechanism in the palm, the present application can save the space of the palm. Thus, the space inside the palm can be used to arrange more components (such as sensors), thereby improving the effective utilization of the space inside the palm and increasing the multi-modal perception ability of the manipulator of the robot. Description of the Drawings

[0044] By reading the detailed description of the preferred embodiments below, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of showing the preferred embodiments and are not considered to be a limitation of the present application. Moreover, in all the drawings, the same reference numerals are used to represent the same components. In the drawings:

[0045] Figure 1 is a schematic side view structure of the finger mechanism provided by some embodiments of the present application;

[0046] Figure 2 is a schematic three-dimensional structure of the finger mechanism provided by some embodiments of the present application;

[0047] Figure 3 is a schematic structure of the finger mechanism provided by some embodiments of the present application in the extended state;

[0048] Figure 4 is a schematic three-dimensional structure of the finger mechanism provided by some embodiments of the present application in the bent state;

[0049] Figure 5 is a schematic side view structure of the finger mechanism provided by some embodiments of the present application in the bent state;

[0050] Figure 6 is a schematic structure of the finger mechanism provided by some embodiments of the present application in the bent state from another perspective;

[0051] Figure 7 is a schematic structure of the finger mechanism provided by some embodiments of the present application in the bent state from yet another perspective;

[0052] Figure 8 is a schematic perspective structure of the finger mechanism provided by some embodiments of the present application in the extended state;

[0053] Figure 9Perspective structural schematic diagram of the finger mechanism in a bent state provided by some embodiments of the present application.

[0054] Description of the reference numerals in the drawings

[0055] 1. Finger mechanism; 10. Phalanx assembly; 101. Finger pulp; 102. Finger back; 11. First phalanx; 12. Second phalanx; 13. Third phalanx; 110. First phalanx driver; 111. First phalanx bracket; 112. Output end of the first phalanx driver; 120. Second phalanx driver; 121. Second phalanx bracket; 122. Output end of the second phalanx driver; 123. Second phalanx link; 130. Finger pulp sensor; 20. Base; 200. Finger driver; 201. Base body; 31. First axis; 32. Second axis; 33. Third axis; 34. Fourth axis; 35. Fifth axis; 41. First yaw link; 42. Second yaw link; 421. Connection part; 4201. First connection part; 4202. Second connection part; 4203. Third connection part; 43. Third yaw link; X. First direction; Y. Second direction; Z. Third direction; A. First position; B. Second position; C. Third position. Detailed implementation manners

[0056] The embodiments of the technical solution of the present application will be described in detail below with reference to the accompanying drawings. The following embodiments are only used to illustrate the technical solution of the present application more clearly, so they are only examples and cannot be used to limit the protection scope of the present application.

[0057] With the rapid development of technology, the technological growth points are also changing with each passing day. Embodied intelligent robots that replace humans to perform complex and repetitive tasks have also come onto the stage. Most finger mechanisms draw on the anatomical structure of the human hand and adopt a bionic design with multiple joints and multiple degrees of freedom. Each phalanx realizes flexible grasping and operation through flexion and extension movements, rotation around the palm, etc.

[0058] In order to ensure the flexibility of each phalanx, the requirements for driving the finger mechanism are relatively high. In the related art, the drive for driving the finger mechanism is arranged on the palm, but there is a problem of occupying the space of the palm.

[0059] The present application provides a finger mechanism. The finger mechanism of the present application can reduce the occupation of the space of the palm while satisfying the drive of the finger mechanism. Based on the same or similar conceptions, the present application also provides a manipulator and a robot.

[0060] The finger mechanism provided in this application can be used in a robotic hand (dexterous hand). The robotic hand includes a palm and a finger mechanism. The finger mechanism includes: a base for connecting to the palm; a knuckle assembly connected to the base. The knuckle assembly includes a first knuckle and a second knuckle that are sequentially rotatably connected. A hollow first accommodation cavity is formed inside the first knuckle. Compared with the second knuckle, the first knuckle is closer to the base; a first knuckle driving member located in the first accommodation cavity, the first knuckle driving member is installed on the base, and the output end of the first knuckle driving member is connected to the first knuckle. The first knuckle driving member is used to drive the first knuckle to rotate; and a second knuckle driving member located in the first accommodation cavity, the second knuckle driving member is installed on the first knuckle, and the output end of the second knuckle driving member is connected to the second knuckle. The second knuckle driving member is used to drive the second knuckle to rotate around the first knuckle.

[0061] In this application, by arranging the first knuckle driving member and the second knuckle driving member in the accommodation cavity of the first knuckle of the finger mechanism, compared with the solution of arranging the driving members of the finger mechanism in the palm, this application can save the space of the palm. Thus, the space inside the palm can be used to arrange more components (such as sensors), thereby improving the effective utilization of the space inside the palm and increasing the multi-modal perception ability of the robotic hand.

[0062] In addition, in this application, the first knuckle driving member drives the first knuckle to rotate around the base, and the second knuckle driving member drives the second knuckle to rotate around the first knuckle, which can achieve the bending motion and rotational motion of the finger mechanism and improve the flexibility of the finger mechanism operation.

[0063] As Figures 1 to 7 shown, in this application, the finger mechanism 1 can include a knuckle assembly 10, a base 20, a first knuckle driving member 110, and a second knuckle driving member 120. The knuckle assembly 10 can include multiple knuckles. In some embodiments, the knuckle assembly 10 can include a first knuckle 11 and a second knuckle 12, and the first knuckle 11 and the second knuckle 12 are rotatably connected, and the second knuckle 12 can rotate around the first knuckle 11. However, the present disclosure is not limited thereto. In some embodiments, the knuckle assembly 10 can include more knuckles. For example, it can further include a third knuckle 13, and the third knuckle 13 is rotatably connected to the second knuckle 12, and the third knuckle 13 can rotate around the second knuckle 12.

[0064] In this application, the first knuckle driving member 110 and the second knuckle driving member 120 can be arranged in the first knuckle 11. Specifically, the first knuckle 11 can have a housing, and a hollow first accommodation cavity is formed inside the housing. The first knuckle driving member 110 and the second knuckle driving member 120 can be arranged inside the first accommodation cavity.

[0065] In the present application, the first phalanx driving member and the second phalanx driving member are disposed in the accommodation cavity of the first phalanx of the finger mechanism. Compared with the solution of disposing the driving member of the finger mechanism in the palm, the present application can save the space of the palm. Thus, the space inside the palm can be used to arrange more components (such as sensors), thereby improving the effective utilization of the space inside the palm and increasing the multi-modal perception ability of the manipulator.

[0066] In the present application, the base 20 can be disposed on the palm of the manipulator. The phalanx assembly can be connected to the base. The first phalanx driving member 110 can be mounted on the base 20, and the output end 112 of the first phalanx driving member can be connected to the first phalanx 11. The first phalanx driving member 110 is used to drive the first phalanx 11 to rotate around the base 20.

[0067] In the present application, the finger mechanism 1 extends in the first direction X. Specifically, when the finger mechanism 1 is in the Figures 1 to 3 extended state as shown, the extension direction is defined as the extension direction of the finger mechanism 1. The so-called extended state is intended to illustrate the state where the finger mechanism 1 does not perform grasping. Each phalanx of the finger mechanism 1 also extends in the first direction X.

[0068] In some embodiments of the present application, as Figure 3 shown, the first phalanx 11 can include a first phalanx bracket 111. The first end of the first phalanx bracket 111 in the first direction X is rotatably connected to the base 20, and the second end of the first phalanx bracket 111 in the first direction X is rotatably connected to the second phalanx 12.

[0069] In some embodiments, as Figures 5 to 7 shown, the first phalanx 11 can include a first shaft 31. The second end of the first phalanx bracket 111 in the first direction X and the output end 112 of the first phalanx driving member are rotatably connected through the first shaft 31. The first phalanx driving member 110 can drive the first phalanx 11 to rotate around the first shaft 31.

[0070] In some embodiments, as Figures 5 to 7 shown, the base 20 can include a base body 201, a finger driving member 200, a yaw link assembly, and a third shaft 33. The third shaft 33 is fixed to the base body 201. The two ends of the yaw link assembly are respectively connected to the finger driving member 200 and the first phalanx 11. The finger driving member 200 drives the yaw link assembly to drive the first phalanx 11 to rotate around the third shaft 33. The axial direction of the third shaft 33 is different from the axial direction of the first shaft 31.

[0071] Since the axial direction of the third shaft is different from the axial direction of the first shaft, the first phalanx can rotate around the first shaft or the third shaft. Thus, the finger mechanism can move in two directions to achieve the bending and rotation of the finger mechanism.

[0072] The yaw link assembly may include a first yaw link 41 and a second yaw link 42. The first yaw link 41 and the second yaw link 42 may be arranged to rotate coaxially. For example, both the first yaw link 41 and the second yaw link 42 may be rotatably connected to the fourth shaft 34.

[0073] One end of the first yaw link 41 is fixedly connected to the output end of the finger driver 200, and the other end of the first yaw link 41 is rotatably connected to the fourth shaft 34.

[0074] The second yaw link 42 includes a body and a connecting portion 421 protruding from the body. The connecting portion 421 is rotatably connected to the fourth shaft 34. The body is fixedly connected to the first knuckle driver 110, and the body is rotatably connected to both the first shaft 31 and the third shaft 33. As Figure 3 and Figure 6 shown, the first connecting portion 4201 of the body is rotatably connected to the third shaft 33, the second connecting portion 4202 of the body is fixedly connected to the first knuckle driver 110, and the third connecting portion 4203 of the body is rotatably connected to the first shaft 31.

[0075] As Figure 6 shown, the output end of the finger driver 200 is fixedly connected to one end of the first yaw link 41, and the other end of the first yaw link 41 is rotatably connected to the fourth shaft 34.

[0076] As Figures 1 to 7 shown, the finger driver 200 may be fixed in the middle of the base 20. The finger driver 200 may be rotatably connected to the base by a set screw. The output end of the finger driver 200 may be fixedly connected to one end of the first yaw link 41 by a screw. The other end of the first yaw link 41 may be rotatably connected to the second yaw link 42 by a bearing and a screw. At the same time, the second yaw link may be rotatably connected to the third shaft 33 by a bearing and a screw. Through the connection of the second yaw link 42, the other end of the first yaw link 41 can rotate around the third shaft 33. By the telescopic movement of the push rod at the output end of the finger driver 200, the first yaw link 41 is pushed to move in the first direction X away from the base 20, so that the third shaft 33 rotates counterclockwise, and finally the rotation of each knuckle of the finger mechanism 1 around the third shaft 33 in both clockwise and counterclockwise directions is realized.

[0077] Through the connection relationship between the yaw link assembly and the finger driver, the finger mechanism can be rotated around the base. Specifically, the finger mechanism can be rotated around the third axis fixed to the base body to achieve the yaw movement (or swing) of the finger mechanism. It should be noted that the specific form of yaw or swing is not limited in this application, which is mainly used to distinguish from the bending movement of the finger mechanism. The bending movement of the finger mechanism mainly refers to the state presented by the finger mechanism during the grasping process, and the bending movement is mainly relative to the extended state. It should be noted that in this application, the bending movement of the finger mechanism is mainly that the finger bends towards the palm of the hand, but it is not limited thereto. In some possible embodiments, the finger mechanism can also bend towards the back of the hand.

[0078] As Figure 2 and Figure 3 shown, the first finger joint bracket 111 can be rotatably connected to the second yaw link 42 through the first axis 31. Specifically, the first finger joint bracket 111 can be rotatably connected to the third connecting portion 4203 through the first axis 31.

[0079] The second connecting portion 4202 of the second yaw link 42 is fixedly connected to the first finger driver 110 through a bolt. The third connecting portion 4203 of the second yaw link 42 can be rotatably connected to the first finger joint bracket 111 through a bearing and a bolt. The push rod at the output end 112 of the first finger driver is rotatably connected to the first finger joint bracket 111 through a bearing and a pin shaft. Through the connection of the three anchor points, the first finger joint bracket 111 and the first finger driver 110 of the finger mechanism form a triangular link structure. When the push rod at the output end of the first finger driver 110 expands and contracts, it controls the finger mechanism 1 to rotate clockwise and counterclockwise around the first axis 31.

[0080] Taking the human anatomical structure as an analogy, the first axis is equivalent to the metacarpophalangeal joint (MCP) of the human palm, which is located between the palm and the finger, connects the metacarpal bone and the phalanx, and allows the finger to perform movements such as bending, extension, adduction, and abduction.

[0081] In some embodiments of the present application, the first finger joint bracket 111 can be formed as the housing of the first finger joint 11.

[0082] The first finger joint bracket is formed as the housing of the first finger joint. The first finger joint bracket can not only play a transmission role but also serve as a housing, thereby reducing the space occupied inside the first accommodation cavity. Thus, the first finger driver and the second finger driver can be arranged in the first accommodation cavity without increasing the volume of the first finger joint. In addition, it can also reduce the weight of the overall structure and the friction loss during the transmission process, thereby improving the transmission efficiency and the system response speed.

[0083] In some embodiments of the present application, the finger mechanism 1 extends in the first direction X. The finger mechanism 1 includes an opposite finger pulp 101 and finger back 102. The second direction Y is parallel to the direction from the finger pulp 101 towards the finger back 102.

[0084] As Figure 3 shown, the first phalanx bracket 111 may include a pair. The pair of first phalanx brackets 111 are symmetrically arranged along the plane where the first direction X and the second direction Y are located. The pair of first phalanx brackets 111 enclose to form a first accommodation cavity.

[0085] The pair of first phalanx brackets 111 are symmetrically arranged along the plane where the first direction X and the second direction Y are located. Such an arrangement facilitates the connection of the first phalanx drive member 110 and the second phalanx drive member 120 to the pair of first phalanx brackets 111 respectively to drive the pair of first phalanx brackets 111 to move together.

[0086] In the present application, the first phalanx drive member 110 may extend in the first direction X, the second phalanx drive member 120 may extend in the first direction X, and the finger mechanism 1 may extend in the first direction X.

[0087] The extending directions of the first phalanx drive member and the second phalanx drive member are both parallel to the extending direction of the finger mechanism, effectively utilizing the space inside the first phalanx and realizing the compactness of the overall structure, which is beneficial to the miniaturization of the finger mechanism.

[0088] The first phalanx drive member 110 and the second phalanx drive member 120 are stacked in sequence in the second direction Y. The finger mechanism 1 includes an opposite finger pulp 101 and finger back 102. The second direction Y is parallel to the direction from the finger pulp 101 towards the finger back 102.

[0089] Using the housing as a transmission connecting rod not only significantly reduces the number of independent transmission components in the traditional design, but also reduces the weight of the overall structure and the frictional loss during the transmission process, thereby improving the transmission efficiency and the system response speed. This design also realizes the dual optimization of mechanical properties and motion accuracy through the close integration of the housing and the internal connecting rod mechanism. While ensuring that the finger mechanism completes compound motions such as bending and side swing, it significantly improves the stability and load-bearing capacity of the system, fully demonstrating the superiority of the modular, compact and integrated design of the structure.

[0090] In the bending motion of the finger mechanism, each phalanx bends towards the finger pulp. The first phalanx drive member 110 and the second phalanx drive member 120 are stacked in the direction from the finger pulp 101 towards the finger back 102, which is beneficial for the phalanx to bend.

[0091] In some embodiments of the present application, the first knuckle drive member 110 may be an electric push rod. For example, the first knuckle drive member 110 may have a first drive portion and a first push rod. The first drive portion is connected to the first push rod, and the first drive portion drives the push rod to extend in the first direction X to push the first knuckle 11 to rotate around the base 20. In other words, the first push rod is the output end 112 of the first knuckle drive member.

[0092] When the first push rod extends in the first direction for driving, the first direction is parallel to the extending direction of the finger mechanism. Thus, the space inside the knuckle is effectively utilized, achieving the compactness of the overall structure and facilitating the miniaturization of the finger mechanism.

[0093] By using the first push rod for driving, a pure link drive mechanical structure inside the finger mechanism can be achieved. Such a structure is simple and compact, can accurately transmit motion and torque, realizes the coordinated synchronization of the degrees of freedom of movement of each knuckle of the finger mechanism, and ensures the stability and repeatability of the motion trajectory. Moreover, its frictional loss and transmission clearance are small, which helps to improve the transmission efficiency and precision of the overall system, so as to provide a higher response speed and control precision when realizing the bending, side swing and opposition actions of the thumb.

[0094] In some embodiments of the present application, the first knuckle drive member 110 may be fixedly connected to the base 20, the output end 112 of the first knuckle drive member is rotatably connected to the first knuckle bracket 111, and the first knuckle drive member 110 is used to drive the first knuckle bracket 111 to rotate around the base 20.

[0095] In some embodiments of the present application, the first knuckle 11 may include a first shaft 31, as Figure 6 and Figure 7 shown, the second knuckle 12 may include a second knuckle bracket 121 and a second knuckle link 123.

[0096] As Figure 4 shown, the first knuckle bracket 111 may be connected to the first shaft 31 and be rotatable around the first shaft 31. The first end of the first knuckle bracket 111 in the first direction X may be rotatably connected to the second knuckle drive member 120, and the second end of the first knuckle bracket 111 in the first direction X is rotatably connected to the second knuckle link 123 through a second shaft 32. The output end 122 of the second knuckle drive member is rotatably connected to the second knuckle bracket 121. The second knuckle drive member 120 drives the second knuckle bracket 121 to rotate around the second shaft 32. The axial direction of the first shaft 31 is parallel to the axial direction of the second shaft 32. The axial direction of the first shaft 31 and the axial direction of the second shaft 32 are parallel to the third direction Z.

[0097] Thus, the first phalanx rotates about the first axis, and the second phalanx rotates about the second axis. The axial directions of the first axis and the second axis are arranged in parallel, which is conducive to realizing the bending movement of the finger mechanism.

[0098] The first end of the first phalanx bracket 111 in the first direction X is rotatably connected to the second phalanx driving member 120 through a bearing and a tail support seat. The push rod at the output end of the second phalanx driving member 120 is rotatably connected to the first end of the second phalanx bracket 121. The second end of the first phalanx bracket 111 in the first direction X is rotatably connected to the first end of the second phalanx link 123 through a bearing and a pin shaft, and this connection point is the second axis 32. Thus, a triangular link connection with three anchor points is formed between the first phalanx and the second phalanx. When the push rod at the output end of the second phalanx driving member 120 expands and contracts, it controls the second phalanx 12 to rotate and bend around the joint PIP.

[0099] Analogized by the human anatomical structure, the second axis 32 is equivalent to the proximal interphalangeal joint (PIP) of the human palm. It is located in the middle of the finger, connecting the proximal phalanx and the middle phalanx, and mainly allows the finger to bend and extend.

[0100] In the present application, the second phalanx link 123 may have one or more bent portions. The setting of the bent portions is conducive to avoiding interference between the second phalanx and the first phalanx or the third phalanx during the bending process, so that a larger bending angle can be achieved.

[0101] In some embodiments of the present application, the second phalanx bracket 121 may be formed as the housing of the second phalanx 12.

[0102] The second phalanx bracket 121 is formed as the housing of the second phalanx 12. The second phalanx bracket 121 can not only play a role in transmission but also serve as a housing, thereby reducing the space occupied inside the second accommodation cavity.

[0103] Using the housing as a transmission link not only significantly reduces the number of independent transmission components in the traditional design but also reduces the overall structure weight and frictional losses during the transmission process, thereby improving the transmission efficiency and system response speed. This design also realizes the dual optimization of mechanical properties and motion accuracy through the close integration of the housing and the internal link mechanism. While ensuring that the finger mechanism completes compound motions such as bending and side swing, it significantly improves the system stability and load-bearing capacity, fully demonstrating the superiority of the modular, compact, and integrated design of the structure.

[0104] In the present application, the second phalanx drive member 120 can be an electric push rod. The second phalanx drive member 120 can have a second drive portion and a second push rod. The second drive portion and the second push rod are connected. The drive portion drives the push rod to extend in the first direction X to push the second phalanx 12 to rotate around the first phalanx 11 (second axis 32). The rotation direction of the second phalanx 12 is the same as the rotation direction of the first phalanx 11. In other words, the second push rod is the output end 122 of the second phalanx drive member.

[0105] When the second push rod extends in the first direction for driving, the first direction is parallel to the extension direction of the finger mechanism. Thus, the space inside the phalanx is effectively utilized, the overall structure is made compact, and it is beneficial to the miniaturization of the finger mechanism.

[0106] By using the second push rod for driving, a pure link drive mechanical structure inside the finger mechanism can be realized. Such a structure is simple and compact, can accurately transmit motion and torque, realizes the coordinated synchronization of the degrees of freedom of motion of each phalanx of the finger mechanism, and ensures the stability and repeatability of the motion trajectory. And its frictional loss and transmission clearance are small, which helps to improve the transmission efficiency and precision of the overall system, so as to provide a higher response speed and control precision when realizing the bending, side swing and opposition actions of the thumb.

[0107] In some embodiments of the present application, the first phalanx drive member 110 can be provided with a first position sensor.

[0108] In some embodiments of the present application, the second phalanx drive member 120 can be provided with a second position sensor.

[0109] By setting the position sensor, the position of the phalanx drive member can be located, so that the grasping process of the phalanx is more accurate, so as to realize high-precision position control. Thus, the interaction between the finger mechanism and the real world is more sensitive, and the feedback of the product's interaction with the real world is more and more intelligent.

[0110] In the present application, the second phalanx bracket 121 includes a pair. The pair of second phalanx brackets 121 are symmetrically arranged along the plane where the first direction X and the second direction Y are located. The pair of second phalanx brackets 121 enclose to form a second accommodation cavity, and the second phalanx link 123 is located in the second accommodation cavity.

[0111] The pair of second phalanx brackets 121 are symmetrically arranged along the plane where the first direction X and the second direction Y are located, which is convenient for the second phalanx drive member 120 to be respectively connected to the pair of second phalanx brackets 121 to drive the pair of second phalanx brackets 121 to move together.

[0112] In some embodiments of the present application, the phalangeal joint assembly 10 further includes a third phalange 13, which is rotatably connected to the second phalange 12, and the third phalange 13 can rotate together with the rotation of the second phalange 12.

[0113] By providing the third phalange 13, the grasping ability of the finger mechanism can be improved when the finger mechanism bends. In addition, since the third phalange 13 can rotate together with the second phalange 12, there is no need to provide an additional driving structure for driving the rotation of the third phalange 13, which is beneficial to reducing the number of components, reducing the assembly cost, and also beneficial to saving the internal space of the finger mechanism and facilitating the miniaturization and light weight of the finger mechanism.

[0114] In the present application, a finger pulp sensor 130 can be provided at the finger pulp 101 of the third phalange 13. The finger pulp sensor 130 can accurately sense the grasping force, touch and object shape, enabling the finger mechanism to operate the object carefully and avoiding excessive force or damage to the item. The provision of the finger pulp sensor 130 makes the grasping process of the finger mechanism accurate and the interaction more sensitive, resulting in more and smarter feedback for the product's interaction with the real world.

[0115] In some embodiments of the present application, as Figure 1 and Figures 6 to 7 shown, the first end of the second phalange bracket 121 in the first direction X is rotatably connected to the second phalange driving member 120 at the first position A, and the second end of the second phalange bracket 121 in the first direction X is rotatably connected to the third phalange 13 at the second position B. The first end of the second phalange link 123 in the first direction X is rotatably connected to the first phalange bracket 111 through the second shaft, and the second end of the second phalange link 123 in the first direction X is rotatably connected to the third phalange 13 at the third position C. Among them, in the extended state of the finger mechanism, compared with the position of the second shaft 32, the first position A is closer to the finger pulp of the finger mechanism. In the extended state of the finger, compared with the second position B, the third position C is closer to the finger pulp of the finger mechanism.

[0116] A fifth shaft 35 can be provided at the third position C. The second end of the second phalange link 123 in the first direction X and the third phalange 13 are respectively rotatably connected to the fifth shaft 35. By analogy with the human anatomical structure, the fifth shaft 35 is equivalent to the Distal Interphalangeal Joint (DIP) of the human palm, located at the end of the finger, connecting the middle phalanx and the distal phalanx, and mainly allowing the bending and extension of the finger.

[0117] When the finger mechanism is in the extended state, compared with the position of the second axis 32, the first position A is closer to the fingertip of the finger mechanism. When the finger is in the extended state, compared with the second position B, the third position C is closer to the fingertip of the finger mechanism. With such a setting, without increasing the distance between the second phalanx 12 and the third phalanx 13, the length of the second phalanx link 123 in the first direction is increased. Thus, the bending angle of the second phalanx 12 can be increased without increasing the overall size of the finger mechanism.

[0118] The first end of the second phalanx bracket 121 in the first direction X can be rotatably connected to the first end of the third phalanx 13 in the first direction X at the first position through a bearing and a pin shaft. The second end of the second phalanx link 123 in the first direction X can be rotatably connected to the first end of the third phalanx 13 in the first direction X at the second position through a screw and a pin shaft. When the second phalanx 12 rotates clockwise around the PIP joint, the connecting third phalanx 13 pushes the second phalanx link 123 to also rotate clockwise around the PIP joint, driving the third phalanx 13 to bend clockwise relative to the second phalanx 12.

[0119] In summary, when the push rod at the output end of the second phalanx drive 120 extends and moves, the second phalanx 12 bends clockwise around the first phalanx 11, and the third phalanx 13 bends clockwise around the second phalanx 12, presenting an overall effect similar to the bending of a human finger.

[0120] Based on the same or similar concept, the present application also provides a manipulator, including: a palm; and a finger mechanism as described in any one of the first aspects, wherein the base of the finger mechanism is connected to the palm.

[0121] By arranging the first phalanx drive and the second phalanx drive in the accommodation cavity of the first phalanx of the finger mechanism, compared with the solution of arranging the drive of the finger mechanism in the palm, the present application can save the space of the palm. Thus, the space inside the palm can be used to arrange more components (such as sensors), thereby improving the effective utilization of the space inside the palm and increasing the multi-modal perception ability of the manipulator.

[0122] In the present application, the finger mechanism 1 can be a thumb mechanism or a metacarpophalangeal mechanism, and the present application does not make specific limitations.

[0123] In the present application, the sizes of the first phalanx bracket, the second phalanx bracket, the second phalanx link, the third phalanx, etc. and the connection angles between them can be adjusted. For example, for finger mechanisms with different uses, by optimizing the link length and connection angle, the natural kinematic characteristics of the human thumb can be simulated, and accurate reproduction of complex grasping actions can be achieved, with good load-bearing capacity and durability.

[0124] Regarding how to adjust the link length and connection angle, such as Figure 8 andFigure 9 As shown, it is described according to the design principle of the finger mechanism. The change in the link length will cause the change in the rotation angle of the phalanx.

[0125] For the second phalanx, referring to Figure 8 and Figure 9 , there is the following relationship: Point T in the figure belongs to the second phalanx, and point T rotates around point O, that is, the second phalanx rotates around point O.

[0126] The lengths are defined as follows: ||OS|| = L0, ||OT|| = L1, ||ST|| = X0 + X3, where X0 is the initial length of the module and X3 is the length pushed out by the push rod.

[0127] Since the α angle and the rotation angle q2 of the second phalanx are linearly related, then α = α0 - q2. Where α0 is the initial angle shown in the figure and is also the angle of the mechanism design; α is the angle after movement.

[0128] According to the cosine theorem, we can get:

[0129] (X0 + X3) 2 = L0 2 + L1 2 - 2L0 2 L1 2 cosα

[0130] Obviously, taking the arccosine of it, we can get:

[0131] α = arccos(L0 2 + L1 2 - (X0 + X3) 2 / 2L0 2 L1 2 )

[0132] So the rotation angle of the second phalanx:

[0133] q2 = α0 - α = α0 - arccos(L0 2 + L1 2 - (X0 + X3) 2 / 2L0 2 L1 2 )

[0134] Through the above function expression between the link length and the rotation angle q2, it will be easier to see that the rotation angle (joint angle) q2 changes with the change of the variables (L0, L1, X0 + X3, α). Therefore, under the condition that the lengths of ||OS|| and ||OT|| are fixed, by actively expanding and contracting the electric push rod to change the length of ||ST||, different rotation angles (joint angles) q2 can be obtained, and thus the change of different positions of the phalanx can be realized.

[0135] For the third phalanx (thumb tip), referring to Figure 8 and Figure 9 , the following relationships hold: The first phalanx where points S, O, and D are located in the figure can be considered as the frame on which the second and third phalanx mechanisms are located, that is, it is relatively stationary. T and F rotate around O, and E rotates around D.

[0136] It can be obtained that β = β0 + q2, γ = γ0 - q3, where β0 is the initial angle shown in the figure and also the angle designed for the mechanism; β is the angle after movement; γ0 is the initial angle shown in the figure and also the angle designed for the mechanism; q3 is the rotation angle of the thumb tip.

[0137] The lengths are defined as follows:

[0138] ||OF|| = L2, ||OD|| = L3, ||DE|| = L4, ||EF|| = L5.

[0139] Establish the coordinate system shown in the figure, and it is easy to obtain the coordinates of the following points: D(L3cosβ, -L3sinβ), E(L2, 0), F(L2 - L5cosγ, L5sinγ),

[0140] Then the vector DE = [L2 - L5cosγ - L3cosβ, L5sinγ + L3sinβ].

[0141] Since the modulus of the vector ||DE|| = L4, it is easy to obtain:

[0142] L4 2 = (L2 - L5cosγ - L3cosβ) 2 + (L5sinγ + L3sinβ) 2

[0143] Since β is known, after simplification, it can be obtained that: Acosγ + Bsinγ = C

[0144] where A = -2(L2 - L3cosβ)L5

[0145] B = 2L3L5sinβ

[0146] C = L4 2 - L5 2 - (L2 - L3cosβ) 2 - (L3sinβ) 2

[0147] From the above conditions, γ can be solved, and then the rotation angle of the thumb tip q3 = γ0 - γ can be obtained.

[0148] Through the above function expression between the connecting rod length and the rotation angle q3, it will be easier to see that the rotation angle (joint angle) q3 of the thumb fingertip changes with the changes of the variables (L2, L3, L4, L5, β, γ). By changing the length values of the above 4 connecting rods, different β angles will be obtained, thereby enabling the thumb fingertip to be in different motion angle ranges and positions.

[0149] The thumb mechanism (finger mechanism) of the dexterous hand provided by this application, where the outer shell not only plays a protective role but also directly participates in the transmission as an intermediate connecting rod, achieving efficient power transmission and precise control during thumb movement. This mechanism utilizes a precisely designed inverse parallelogram connecting rod, which not only ensures the motion stability and repeatability of the thumb during actions such as bending, lateral swing, and opposition, but also reduces friction losses and manufacturing costs by simplifying the transmission components, and has the advantages of a compact structure, easy modular assembly, and maintenance. In terms of application scenarios, the single thumb mechanism of this application can be used as an independent module, and by combining with other units, it can form a multi-fingered dexterous hand, thus being widely used in fields such as industrial robots, service robots, and scientific research platforms, and becoming an indispensable important component in the general tool grasping and precision operation of robots. With its high degree of freedom and flexible motion characteristics, this mechanism can achieve efficient and stable grasping and assembly in complex operating environments, greatly improving the operation efficiency and application range of robots, and bringing significant technical advantages and economic value to robots in aspects such as fine assembly, precise handling, and complex task execution.

[0150] Based on the same or similar concept, this application also provides a robot, including: a robot body; and the manipulator as described above, where the manipulator is connected to the robot body. In this context, the robot body can be a robotic arm or other machines used to operate the manipulator for grasping.

[0151] In this application, the first finger joint drive and the second finger joint drive are arranged in the accommodation cavity of the first finger joint of the finger mechanism. Compared with the solution of arranging the drive of the finger mechanism in the palm, this application can save the space of the palm. Thus, the space inside the palm can be used to arrange more components (such as sensors), thereby improving the effective utilization of the space inside the palm and increasing the multi-modal perception ability of the manipulator of the robot.

[0152] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the specification and claims of this application and the above accompanying drawings are intended to cover non-exclusive inclusion.

[0153] In the description of the embodiments of the present application, the technical terms "first", "second", "third", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present application, the meaning of "multiple" is more than two, unless otherwise clearly and specifically defined.

[0154] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0155] In the description of the embodiments of the present application, the term "and / or" is only a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0156] In the description of the embodiments of the present application, the orientation or position relationship indicated by technical terms such as "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", and "circumferential" are based on the orientation or position relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed, operated or used in a specific orientation. Therefore, they should not be understood as limitations on the embodiments of the present application.

[0157] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, technical terms such as "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0158] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, the technical term "contact" should be understood in a broad sense, and may be direct contact or contact through an intermediate medium layer. It may be contact with essentially no interaction force between the two contacting parties, or it may be contact with interaction force between the two contacting parties.

[0159] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the various embodiments of the present application, and they should all be covered within the scope of the claims and the description of the present application. In particular, as long as there is no structural conflict, the various technical features mentioned in each embodiment can be combined in any way. The present application is not limited to the specific embodiments disclosed in the text, but includes all technical solutions falling within the scope of the claims.

Claims

1. A finger mechanism, characterized in that, For a robotic arm, the robotic arm includes a palm and the finger mechanism, and the finger mechanism includes: A base for connecting to the palm; A knuckle assembly connected to the base. The knuckle assembly includes a first knuckle and a second knuckle that are sequentially rotatably connected. A hollow first accommodation cavity is formed inside the first knuckle. Compared with the second knuckle, the first knuckle is closer to the base; A first knuckle drive member located in the first accommodation cavity. The first knuckle drive member is mounted on the base, and the output end of the first knuckle drive member is connected to the first knuckle. The first knuckle drive member is used to drive the first knuckle to rotate around the base; and A second knuckle drive member located in the first accommodation cavity. The second knuckle drive member is mounted on the first knuckle, and the output end of the second knuckle drive member is connected to the second knuckle. The second knuckle drive member is used to drive the second knuckle to rotate around the first knuckle.

2. The finger mechanism according to claim 1, wherein The first knuckle includes a first knuckle bracket. The first end of the first knuckle bracket is rotatably connected to the base, and the second end of the first knuckle bracket in the first direction is rotatably connected to the second knuckle. The finger mechanism extends in the first direction; and / or The first knuckle includes a first knuckle bracket, and the first knuckle bracket forms the housing of the first knuckle; the first knuckle drive member extends in the first direction, and the second knuckle drive member extends in the first direction; and / or The first knuckle drive member and the second knuckle drive member are sequentially stacked in a second direction. The finger mechanism includes an opposite finger pad and a finger back, and the second direction is parallel to the direction from the finger back towards the finger pad.

3. The finger mechanism according to claim 2, wherein The first knuckle drive member is fixedly connected to the base, and the output end of the first knuckle drive member is rotatably connected to the first knuckle bracket. The first knuckle drive member is used to drive the first knuckle bracket to rotate around the base; and / or, The first knuckle includes a first shaft, and the second knuckle includes a second knuckle bracket and a second knuckle link; The first knuckle bracket is connected to the first shaft and is rotatable around the first shaft. The first end of the first knuckle bracket in the first direction is rotatably connected to the second knuckle drive member, and the second end of the first knuckle bracket in the first direction is rotatably connected to the second knuckle link through a second shaft. The output end of the second knuckle drive member is rotatably connected to the second knuckle bracket. The second knuckle drive member drives the second knuckle bracket to rotate around the second shaft, and the axial direction of the first shaft is parallel to the axial direction of the second shaft.

4. The finger mechanism according to any one of claims 1 to 3, wherein The first knuckle drive member has a first drive portion and a first push rod. The first push rod is connected to the first drive portion. The first drive portion drives the first push rod to extend in the first direction to push the first knuckle to rotate around the base; and / or The second finger joint driving member has a second driving portion and a second push rod. The push rod is connected to the driving portion. The second driving portion drives the second push rod to extend in a first direction to push the second finger joint to rotate around the first finger joint. The rotation direction of the second finger joint is the same as that of the first finger joint; and / or The first finger joint driving member is provided with a first position sensor; and / or The second finger joint driving member is provided with a second position sensor.

5. The finger mechanism according to any one of claims 1 to 3, wherein The second finger joint bracket is formed as the housing of the second finger joint; and / or The finger mechanism extends in the first direction. The finger mechanism includes an opposite finger pulp and finger back. The second direction is parallel to the direction from the finger back to the finger pulp. The first finger joint brackets include a pair. The pair of first finger joint brackets are symmetrically arranged along the plane where the first direction and the second direction are located. The pair of first finger joint brackets enclose to form the first accommodation cavity; and / or, the second finger joint brackets include a pair. The pair of second finger joint brackets are symmetrically arranged along the plane where the first direction and the second direction are located. The pair of second finger joint brackets enclose to form a second accommodation cavity. The second finger joint link is located in the second accommodation cavity.

6. The finger mechanism according to claim 3, wherein The finger joint assembly further includes a third finger joint. The third finger joint is rotatably connected to the second finger joint, and the third finger joint can rotate together with the rotation of the second finger joint; or The finger joint assembly further includes a third finger joint. The third finger joint is rotatably connected to the second finger joint, and the third finger joint can rotate together with the rotation of the second finger joint. The first end of the second finger joint bracket in the first direction is rotatably connected to the second finger joint driving member at a first position. The second end of the second finger joint bracket in the first direction is rotatably connected to the third finger joint at a second position. The first end of the second finger joint link in the first direction is rotatably connected to the first finger joint bracket through the second shaft. The second end of the second finger joint link in the first direction is rotatably connected to the third finger joint at a third position. Wherein, when the finger mechanism is in the extended state, compared with the position where the second shaft is located, the first position is closer to the finger pulp of the finger mechanism. When the finger is in the extended state, compared with the second position, the third position is closer to the finger pulp of the finger mechanism.

7. The finger mechanism according to claim 3, wherein The base includes a base body, a finger driving member, a yaw link assembly and a third shaft. The third shaft is fixed to the base body; Both ends of the yaw link assembly are respectively connected to the finger driving member and the first finger joint. The finger driving member drives the yaw link assembly to drive the first finger joint to rotate around the third shaft. The axial direction of the third shaft is different from the axial direction of the first shaft.

8. The finger mechanism according to claim 7, wherein The yaw link assembly includes a first yaw link and a second yaw link that are coaxially and rotatably connected. The finger driver is fixedly connected to one end of the first yaw link. The second yaw link is connected to the third shaft and rotates about the third shaft. The finger driver drives the first yaw link to rotate, and the first yaw link drives the second yaw link to rotate about the third shaft; and / or The yaw link assembly includes a first yaw link and a second yaw link that are coaxially and rotatably connected. The second yaw link includes a body and a connecting portion protruding from the body. One end of the body is rotatably connected to the third shaft. The body is fixedly connected to the first finger joint driver, and the body is rotatably connected to both the first shaft and the third shaft; The base includes a fourth shaft. The connecting portion and the other end of the first yaw link are both rotatably connected to the fourth shaft. The axial direction of the fourth shaft is parallel to the axial direction of the third shaft.

9. A manipulator, characterized in that, Comprising: A palm; And One or more finger mechanisms according to any one of claims 1 to 8, wherein the base of the finger mechanism is connected to the palm.

10. A robot, characterized in that, Comprising: A robot body; And The manipulator according to claim 9, wherein the manipulator is connected to the robot body.

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