Finger structure, robot and control method of finger structure

Abstract

The invention provides a finger structure, a robot and a control method of the finger structure. The finger structure comprises: a frame; the first knuckle is hinged to the rack through a first hinge part; the second knuckles are hinged to the first knuckles through second hinge parts; the third knuckles are hinged to the second knuckles through third hinge parts; the driving assembly is arranged on the rack and used for driving the first knuckles to rotate around the first direction or a second direction opposite to the first direction; the first end of the first tendon rope is connected with the rack, and the second end of the first tendon rope sequentially bypasses the first hinge part and the second hinge part in the first direction and the second direction and then is connected with the second knuckle; the first end of the second tendon rope is connected with the second knuckle, and the second end of the second tendon rope is connected with the third knuckle after bypassing the second hinge part and the third hinge part in the first direction and the second direction in sequence; when the driving assembly drives the first knuckles to rotate in the first direction, the first tendon ropes pull the second knuckles to rotate in the first direction, and the second tendon ropes pull the third knuckles to rotate in the first direction.

Description

Technical Field

[0001] This application relates to the field of robot technology, and more specifically, to a finger structure, a robot, and a control method for the finger structure. Background Art

[0002] A dexterous hand is the end effector of a humanoid robot. The finger structure therein has high flexibility and functionality. It can simulate the proximal, middle, and distal phalanges of the human hand and use a transmission mechanism to control the flexion and extension of each phalanx to achieve complex movements such as bending, stretching, and grasping of the human hand.

[0003] In the design of the finger transmission mechanism of a dexterous hand, tendon - rope transmission and link transmission are currently widely used transmission methods. The tendon - rope transmission simulates the tendon structure of the human hand and transmits the motion of the actuator through tendon - ropes; the link transmission transmits motion and torque through a series - parallel combination of multiple links.

[0004] In the above two methods, the tendon - rope transmission has problems such as insufficient control accuracy, poor durability, and insufficient stiffness, resulting in insufficient control accuracy and small grasping force of the dexterous hand; while the link transmission has a complex structure, which will lead to a large weight and volume of the dexterous hand, and poor adaptability when grasping irregular objects. Summary of the Invention

[0005] This application mainly provides a finger structure, a robot, and a control method for the finger structure. The technical solution of this application is realized as follows:

[0006] In a first aspect, a finger structure is provided, including: a frame; a first phalanx hinged to the frame through a first hinge portion; a second phalanx hinged to one end of the first phalanx away from the first hinge portion through a second hinge portion; a third phalanx hinged to one end of the second phalanx away from the second hinge portion through a third hinge portion; the axes of rotation of the first hinge portion, the second hinge portion, and the third hinge portion are parallel; a driving assembly disposed on the frame for driving the first phalanx to rotate around the first hinge portion in a first direction or a second direction opposite to the first direction; a first tendon - rope, with the first end connected to the frame and the second end sequentially bypassing the first hinge portion and the second hinge portion in the first direction and the second direction and then connected to the second phalanx; a second tendon - rope, with the first end connected to the second phalanx and the second end sequentially bypassing the second hinge portion and the third hinge portion in the first direction and the second direction and then connected to the third phalanx; when the driving assembly drives the first phalanx to rotate in the first direction, the first tendon - rope pulls the second phalanx to rotate in the first direction relative to the first phalanx, and the second tendon - rope pulls the third phalanx to rotate in the first direction relative to the second phalanx.

[0007] In the technical solution provided by the embodiments of the present application, a hybrid drive is adopted using a drive component and a tendon rope. By driving the first finger joint with the drive component, a large force output can be achieved, and it has high rigidity and fast response, enhancing the durability and bending resistance of the structure. The transmission of the second finger joint and the third finger joint uses tendon rope drive, which has high flexibility, high flexibility and high transmission efficiency, and reduces the end load and inertia, saves space, and is more in line with the bionic design concept of dexterous fingers.

[0008] In some embodiments, the finger structure further includes: a first elastic member disposed between the first finger joint and the second finger joint for providing a first restoring force in the second direction to the second finger joint; a second elastic member disposed between the second finger joint and the third finger joint for providing a second restoring force in the second direction to the third finger joint.

[0009] In some embodiments, the first elastic member includes a tension spring and a third tendon rope. The first end of the tension spring is fixedly connected to the first finger joint, the first end of the third tendon rope is connected to the second end of the tension spring, and the second end of the third tendon rope bypasses the second hinge portion along the first direction and then is connected to the second finger joint; the second elastic member includes a torsion spring sleeved on the third hinge portion, and both ends of the torsion spring are respectively clamped on the second finger joint and the third finger joint.

[0010] According to the above technical means, the first elastic member and the second elastic member are provided to apply a tension force to the entire finger in the direction of the back of the hand, ensuring that there is a tension force opposite to the driving direction at each finger joint in each movement posture, and ensuring a stable movement state without gaps. The first elastic member formed by connecting the spring and the tendon rope can provide a tension force for the first finger joint. At the same time, when the second finger joint and the third finger joint interact with the outside world and are collided, the spring connected by the tendon rope will be stretched, and the external collision will be transferred to the elastic potential energy of the spring, and the collision safety is high.

[0011] In some embodiments, the frame includes a fixed support and a swing bracket. The swing bracket is hinged to the fixed support through a fourth hinge portion. The axis of the fourth hinge portion is perpendicular to the axis of the first hinge portion. The first end of the first tendon rope is anchored on the swing bracket; the first hinge portion is formed between the swing bracket and the first finger joint; the drive component is configured to: drive the first finger joint to rotate around the first direction or the second direction, and / or drive the first finger joint to rotate around the fourth hinge portion along the third direction or the fourth direction opposite to the third direction.

[0012] According to the above technical means, by arranging a swing bracket in the rack and connecting the first phalanx to the swing bracket, the multiple finger joints can swing in addition to bending, enriching the functions of the finger structure and better conforming to the bionic design concept.

[0013] In some embodiments, the finger structure further includes: a first winch, arranged at one end of the swing bracket close to the first phalanx or one end of the first phalanx close to the swing bracket, and the first hinge portion includes the first winch; a second winch, arranged at one end of the second phalanx close to the first phalanx or one end of the first phalanx close to the second phalanx, and the second hinge portion includes the second winch; a third winch, arranged at one end of the first phalanx close to the second phalanx or one end of the second phalanx close to the first phalanx, and the second hinge portion includes the third winch; a fourth winch, arranged at one end of the third phalanx close to the second phalanx or one end of the second phalanx close to the third phalanx, and the third hinge portion includes the fourth winch; a fifth winch, arranged at one end of the second phalanx close to the first phalanx or one end of the first phalanx close to the second phalanx, and the second hinge portion includes the fifth winch; the first tendon cord is wound around the outside of the first winch along the first direction and around the outside of the second winch along the second direction; the rotation angle of the second phalanx relative to the first phalanx along the first direction is related to the rotation angle of the first phalanx along the first direction, the diameter of the first winch, and the diameter of the second winch; the second tendon cord is wound around the outside of the third winch along the first direction and around the outside of the fourth winch along the second direction; the rotation angle of the third phalanx relative to the second phalanx along the first direction is related to the rotation angle of the second phalanx relative to the first phalanx along the first direction, the diameter of the third winch, and the diameter of the fourth winch; the third tendon cord is wound around the outside of the fifth winch along the first direction, and the magnitude of the first restoring force is related to the diameter of the fifth winch.

[0014] According to the above technical means, by arranging multiple winches and winding each tendon cord around different winches respectively, and through reasonable setting of the diameters of each winch, the control of the rotation angles of each phalanx and the magnitude of the first restoring force is realized, enabling the rotation angle of the finger structure to be adjusted flexibly and meeting the requirements of a wider range of movement trajectories.

[0015] In some embodiments, the finger structure further includes: a guide wheel rotatably connected to the first phalanx, the guide wheel being located between the first end and the second end of the first phalanx; the first tendon cord is wound around the outer side of the guide wheel along the first direction, the second tendon cord is wound around the outer side of the guide wheel along the second direction, and the first end of the second tendon cord is located between the first end of the first phalanx and the guide wheel; the rotation angle of the second phalanx along the first direction and the rotation angle of the third phalanx relative to the second phalanx along the first direction are related to the diameter of the guide wheel.

[0016] In some embodiments, the driving assembly of the finger structure includes a first driving unit and a second driving unit, both the first driving unit and the second driving unit are connected to the first phalanx; the driving assembly is configured to: the first driving unit and the second driving unit move synchronously to drive the first phalanx to rotate around the first direction or the second direction; and / or, the first driving unit and the second driving unit move asynchronously to drive the first phalanx to rotate around the fourth hinge portion along the third direction or the fourth direction opposite to the third direction.

[0017] According to the above technical means, the driving assembly is set as two independently operable driving units, and by controlling the synchronism of the movements of the two driving units, the control and switching of the bending and swinging of the finger structure can be achieved.

[0018] In some embodiments, the first driving unit includes a first push rod module and a first link rod. The fixed end of the first push rod module is fixedly connected to the fixed support, the movable end of the first push rod module is connected to the first end of the first link rod through a first ball joint, and the second end of the first link rod is connected to the first phalanx through a second ball joint; the second driving unit includes a second push rod module and a second link rod. The fixed end of the second push rod module is fixedly connected to the fixed support, the movable end of the second push rod is connected to the first end of the second link rod through a third ball joint, and the second end of the second link rod is connected to the first phalanx through a fourth ball joint; the connection line of the centers of the second ball joint and the fourth ball joint is the same as the axis direction of the first hinge portion; the first driving unit and the second driving unit are configured to: the output ends of the first push rod module and the second push rod module move synchronously to drive the first phalanx to rotate around the first hinge portion along the first direction or the second direction; and / or, the output ends of the first push rod module and the second push rod module move asynchronously to drive the first phalanx to rotate around the fourth hinge portion along the third direction or the fourth direction opposite to the third direction; the first push rod module and the second push rod module are any one of an electric push rod, a pneumatic push rod or a hydraulic push rod.

[0019] According to the above technical means, by using two parallel push rod modules and controlling the synchronization of the movements of the two push rod modules, the finger structure realizes compound movements in different directions, increasing the application range of the finger structure.

[0020] In some embodiments, the first finger joint includes a first finger joint housing and a first finger pad sensor, and the first finger pad sensor is disposed on one side close to the frame along the first direction; the second finger joint includes a second finger joint housing and a second finger pad sensor, and the second finger pad sensor is disposed on one side close to the frame along the first direction; the third finger joint includes a third finger joint housing and a third finger pad sensor, and the third finger pad sensor is disposed on one side close to the frame along the first direction.

[0021] In a second aspect, a robot is provided, including the finger structure described in the first aspect.

[0022] In a third aspect, a control method for a finger structure is provided, where the finger structure is the finger structure described in the first aspect, and the method includes:

[0023] Controlling the driving component to drive the first finger joint to rotate around the first hinge portion in a first direction or a second direction opposite to the first direction;

[0024] When the driving component drives the first finger joint to rotate in the first direction, the first tendon rope pulls the second finger joint to rotate relative to the first finger joint in the first direction, and the second tendon rope pulls the third finger joint to rotate relative to the second finger joint in the first direction.

[0025] Fourthly, a control method for a finger structure is provided. The finger structure includes: a frame; a first finger joint hinged to the frame through a first hinge portion; a second finger joint hinged to an end of the first finger joint away from the first hinge portion through a second hinge portion; a third finger joint hinged to an end of the second finger joint away from the second hinge portion through a third hinge portion; the axes of rotation of the first hinge portion, the second hinge portion, and the third hinge portion are parallel; a drive assembly disposed on the frame; a first tendon rope, with a first end connected to the frame and a second end sequentially bypassing the first hinge portion and the second hinge portion along a first direction and a second direction and then connected to the second finger joint; a second tendon rope, with a first end connected to the second finger joint and a second end sequentially bypassing the second hinge portion and the third hinge portion along the first direction and the second direction and then connected to the third finger joint; the method includes: controlling the drive assembly to drive the first finger joint to rotate around the first hinge portion along a first direction or a second direction opposite to the first direction; when the drive assembly drives the first finger joint to rotate along the first direction, the first tendon rope pulls the second finger joint to rotate relative to the first finger joint along the first direction, and the second tendon rope pulls the third finger joint to rotate relative to the second finger joint along the first direction.

[0026] In some embodiments, the frame includes a fixed support and a swing bracket, the swing bracket is hinged to the fixed support through a fourth hinge portion, the axis of the fourth hinge portion is perpendicular to the axis of the first hinge portion, and the first end of the first tendon rope is anchored on the swing bracket; the first hinge portion is formed between the swing bracket and the first finger joint; the method further includes: controlling the drive assembly to drive the first finger joint to rotate around the first hinge portion along the first direction or the second direction, and / or driving the first finger joint to rotate around the fourth hinge portion along a third direction or a fourth direction opposite to the third direction.

[0027] In some embodiments, the drive assembly includes a first drive unit and a second drive unit, both the first drive unit and the second drive unit are connected to the first finger joint, the method further includes: controlling the first drive unit and the second drive unit to move synchronously to drive the first finger joint to rotate along the first direction or the second direction; and / or controlling the first drive unit and the second drive unit to move asynchronously to drive the first finger joint to rotate along the third direction or the fourth direction.

[0028] In some embodiments, the first driving unit includes a first push rod module and a first connecting rod. The fixed end of the first push rod module is fixedly connected to the fixed support, the movable end of the first push rod module is connected to the first end of the first connecting rod through a first ball joint, and the second end of the first connecting rod is connected to the first finger joint through a second ball joint; the second driving unit includes a second push rod module and a second connecting rod. The fixed end of the second push rod module is fixedly connected to the fixed support, the movable end of the second push rod is connected to the first end of the second connecting rod through a third ball joint, and the second end of the second connecting rod is connected to the first finger joint through a fourth ball joint; the line connecting the centers of the second ball joint and the fourth ball joint is in the same axial direction as the first hinge portion; the method further includes: controlling the output ends of the first push rod module and the second push rod module to move synchronously to drive the first finger joint to rotate in the first direction or the second direction; and / or, controlling the output ends of the first push rod module and the second push rod module to move asynchronously to drive the first finger joint to rotate in the third direction or the fourth direction.

[0029] In some embodiments, the first finger joint includes a first finger joint housing and a first finger pulp sensor, and the first finger pulp sensor is arranged on the side close to the frame along the first direction; the second finger joint includes a second finger joint housing and a second finger pulp sensor, and the second finger pulp sensor is arranged on the side close to the frame along the first direction; the third finger joint includes a third finger joint housing and a third finger pulp sensor, and the third finger pulp sensor is arranged on the side close to the frame along the first direction; the method further includes: when using the finger structure to grasp an object, collecting the pressure between the finger structure and the object through the first finger pulp sensor and / or the second finger pulp sensor and / or the third finger pulp sensor; and, according to the pressure between the finger structure and the object, controlling the driving assembly to adjust the rotation angle of the first finger joint in the first direction or the second direction. Description of the Drawings

[0030] Figure 1 A schematic structural diagram of the finger structure provided by an embodiment of the present application;

[0031] Figure 2 is Figure 1 View A of

[0032] Figure 3 A schematic structural diagram of the finger structure provided by an embodiment of the present application when in a bent state;

[0033] Figure 4 is Figure 1 View B of

[0034] Figure 5For Figure 1 C-direction view of;

[0035] Figure 6 Schematic structural diagram of a finger structure provided by another embodiment of the present application;

[0036] Figure 7 Schematic flow chart of a control method provided by an embodiment of the present application;

[0037] Figure 8 Schematic structural diagram of a control device provided by an embodiment of the present application;

[0038] The names and reference numerals in the figure are as follows:

[0039] Finger structure 10, frame 101, first phalanx 102, second phalanx 103, third phalanx 104, drive assembly 105, first drive unit 105A, second drive unit 105B, first tendon rope 106, second tendon rope 107, first hinge portion 108, second hinge portion 109, third hinge portion 110, first elastic member 111, second elastic member 112, fourth hinge portion 113, first pulley 114, second pulley 115, third pulley 116, fourth pulley 117, fifth pulley 118, guide pulley 119, fixed support 1011, swing bracket 1012, first phalanx housing 1021, first finger pulp sensor 1022, second phalanx housing 1031, second finger pulp sensor 1032, third phalanx housing 1041, third finger pulp sensor 1042, first push rod module 1051A, first connecting rod 1052A, first ball hinge 1053A, second ball hinge 1054A, second push rod module 1051B, second connecting rod 1052B, third ball hinge 1053B, fourth ball hinge 1054B, first slide rail 10551A, first slider 10552A, second slide rail 10551B, second slider 10552B. Detailed implementation manners

[0040] The technical solutions of the present application will be further specifically described below through embodiments in conjunction with the drawings. In the specification, the same or similar reference numerals indicate the same or similar components. The description of the embodiments of the present application with reference to the drawings is intended to explain the general concept of the present application and should not be construed as a limitation to the present application.

[0041] 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 stepped onto the stage.

[0042] Most of the existing robot finger technologies draw on the anatomical structure of the human hand, adopt a bionic design with multiple joints and multiple degrees of freedom, simulate the proximal, middle, and distal phalanges of the human hand, and achieve flexible grasping and operation through the flexion and extension movements of each phalanx.

[0043] In related technologies, some dexterous hands adopt fully driven or under-driven schemes, and achieve independent control of each joint through complex transmission mechanisms. Although they can complete fine operations, they generally have problems such as complex mechanical structures, high manufacturing costs, high control difficulties, and inconvenient maintenance. At the same time, in terms of force feedback and adaptive grasping, existing designs often have difficulty fully perceiving the geometric shape and physical properties of objects, thus limiting their application effects in complex grasping tasks.

[0044] In the design of the finger transmission mechanism of dexterous hands, common transmission methods include tendon-cable drive, link drive, pneumatic, hydraulic, direct drive by motors, etc. Among them, tendon-cable drive and link drive are currently the more widely used transmission methods.

[0045] The tendon-cable drive simulates the tendon structure of the hand and transmits the motion of the driver through tendon-cables. It can move the driver away from the actuator, reduce the end load and inertia, and improve the grasping speed. It is suitable for occasions with narrow spaces and the need for multiple degrees of freedom. The link drive transmits motion and torque through the form of series and parallel connection of multiple links, and has high rigidity and low hysteresis, and is suitable for applications that require high bearing capacity.

[0046] Both of the above two transmission methods can meet the motion requirements of the finger mechanism of dexterous hands, but there are still some problems.

[0047] For the fully tendon-cable driven method, first of all, the tendon-cable drive has the problem of insufficient control accuracy, which affects the fine operation of the dexterous hand; secondly, the durability of the fully tendon-cable transmission mechanism is poor, and the frequent friction between the tendon-cables and other components affects the life of the tendon-cables; thirdly, the consistency of multiple tendon-cables in the same dexterous hand is poor, and the tendon-cables need to be tensioned frequently during use to avoid affecting the accuracy and flexibility; finally, the stiffness of the fully tendon-cable drive method is not enough, resulting in a small grasping force of the dexterous hand.

[0048] For the pure link mechanism, because its structure is complex and has high requirements for manufacturing accuracy, it increases the difficulty of design and manufacturing; secondly, the pure link structure will cause the dexterous hand to be heavier and larger in volume, affecting its flexibility and adaptability; thirdly, the adaptive ability of the link structure when grasping irregular objects is poor, and because of its high stiffness, it is easy to cause collision damage when interacting with the outside world, and it is easy to cause collision damage to both the dexterous hand and the outside world.

[0049] In some related technologies, the finger joints of dexterous hands can also adopt the transmission method of direct drive by rotary joint motors, but this method will cause a large joint inertia, thus slowing down the response speed and affecting the overall performance. And, such motors are usually large in size, and the limited volume leads to a small grasping force, and it is also difficult to meet the requirements of the slender appearance design of dexterous fingers.

[0050] Therefore, how to improve the adaptive ability and flexibility of dexterous fingers while maintaining high rigidity has become an urgent problem to be solved.

[0051] To solve the above technical problems, this application proposes a two-degree-of-freedom finger mechanism driven by a hybrid tendon-cable and linkage. Based on simulating the basic movements of human finger joints, this solution adopts a reasonable joint drive and transmission layout, which not only ensures the compactness and lightweight of the finger structure, but also achieves high flexibility and precise motion control, while reducing the manufacturing and maintenance costs. The design concept and implementation method of this application can effectively make up for the deficiencies of the existing technology in terms of structural simplification, control accuracy, and adaptive grasping ability.

[0052] Next, the technical solution of this application will be described in detail with reference to the accompanying drawings.

[0053] Figure 1 is a schematic structural diagram of the finger structure provided by an embodiment of this application. Figure 2 is Figure 1 the view in the direction A of Figure 1 and Figure 2 As shown in

[0054] Among them, the frame 101 is the basic support component of the finger structure 10, which can provide an installation and fixing platform for other components, playing a role of stability and load-bearing.

[0055] The first finger joint 102 is hinged to the frame 101 through the first hinge portion 108. The second finger joint 103 is hinged to the side of the first finger joint 102 away from the first hinge portion 108 through the second hinge portion 109. The third finger joint 104 is connected to the end of the second finger joint 103 away from the second hinge portion 109 through the third hinge portion 110.

[0056] In the embodiment of this application, the axes of rotation of the above-mentioned first hinge portion 108, second hinge portion 109, and third hinge portion 110 are parallel; that is to say, the rotation directions of the above-mentioned multiple finger joints are in the same plane.

[0057] It should also be noted that in the embodiment of this application, the aforementioned first hinge portion 108, second hinge portion 109, and third hinge portion 110 may refer to the physical hinges connecting two adjacent components, or may refer to the connection state between two adjacent components. Under the action of the hinge, the kinematic pair between two adjacent components is a revolute pair.

[0058] The above-mentioned first phalanx 102, second phalanx 103 and third phalanx 104 may be respectively referred to as the proximal phalanx, middle phalanx and distal phalanx; the first hinge portion 108, second hinge portion 109 and third hinge portion 110 may be respectively referred to as the metacarpophalangeal joint (MCP), proximal interphalangeal joint (PIP) and distal interphalangeal joint (DIP).

[0059] The driving assembly 105 is arranged on the frame 101 and is used to drive the first phalanx 102 to rotate around the first hinge portion 108 in the first direction or the second direction opposite to the first direction.

[0060] Figure 2 The foregoing first direction is shown. In Figure 2 the perspective shown, the first direction is the clockwise direction and the second direction is the counterclockwise direction. That is to say, the above-mentioned driving assembly 105 can drive the first phalanx 102 to rotate clockwise or counterclockwise around the first hinge portion 108.

[0061] In some embodiments, the rotation angle of the first phalanx 102 is 0-90°, which is similar to the bending angle of a human finger.

[0062] The first end of the first tendon cord 106 is connected to the frame 101, and the second end sequentially bypasses the first hinge portion 108 and the second hinge portion 109 in the first direction and the second direction and then is connected to the second phalanx 103.

[0063] Combined with the previous example, as Figure 2 shown, along the direction from the first end 1061 to the second end 1062 of the first tendon cord 106, the first tendon cord 106 first bypasses the first hinge portion 108 in the clockwise direction, and then bypasses the second hinge portion 109 in the counterclockwise direction; after bypassing the second hinge portion 109, the second end of the first tendon cord 106 is fixed on the second phalanx 103.

[0064] The first end of the second tendon cord 107 is connected to the second phalanx 103, and the second end sequentially bypasses the second hinge portion 109 and the third hinge portion 110 in the first direction and the second direction and then is connected to the third phalanx 104.

[0065] Combined with the previous example, as Figure 2 shown, along the direction from the first end to the second end of the second tendon cord 107, the second tendon cord 107 first bypasses the second hinge portion 109 in the clockwise direction, and then bypasses the third hinge portion 110 in the counterclockwise direction. After bypassing the third hinge portion 110, the second end of the second tendon cord 107 is fixed on the third phalanx 104.

[0066] According to the foregoing description, the driving assembly 105 can drive the first phalanx 102 to rotate around the first hinge portion 108 in the first direction or the second direction. When the first phalanx 102 rotates in the first direction, the first tendon cord 106 pulls the second phalanx 103 to rotate relative to the first phalanx 102 in the first direction, and the second tendon cord 107 pulls the third phalanx 104 to rotate relative to the second phalanx 103 in the first direction. In this way, the linkage of multiple phalanges in the finger structure can be realized, and the three-joint bending linkage movement of the human hand can be simulated.

[0067] Figure 3 The state of the finger structure 10 after the first phalanx 102 bends 90 degrees in the first direction is shown. The following will be combined with Figures 1 - 3 to further illustrate the movement of each phalanx described above.

[0068] The first end of the first tendon cord 106 is fixed to the frame 101. As the first phalanx 102 bends in the clockwise direction, the part of the first tendon cord 106 close to its first section winds around the first hinge portion 108 in the clockwise direction; since the length of the first tendon cord 106 remains unchanged and the second end is fixedly connected to the second phalanx 103, a tensile force is generated on the first tendon cord 106, causing the second phalanx 103 to also perform a clockwise rotational movement. The first end of the second tendon cord 107 is fixed to the first phalanx 102. When the second phalanx 103 bends, a part of the second tendon cord 107 close to the first end winds around the second hinge portion 109 in the clockwise direction; since the length of the second tendon cord 107 remains unchanged and the second end is fixed to the third phalanx 104, a tensile force is generated on the second tendon cord 107, causing the third phalanx 104 to also perform a clockwise rotational movement.

[0069] While the first phalanx 102 continues to move in the clockwise direction, the first tendon cord 106 and the second tendon cord 107 continuously generate tensile forces, thereby driving the second phalanx 103 and the third phalanx 104 to move synchronously with the first phalanx 102; when the first phalanx 102 stops moving, the rotation of the second phalanx 103 and the third phalanx 104 stops synchronously.

[0070] In the technical solution provided in the embodiment of the present application, a hybrid drive using a driving assembly and tendon cords is adopted. By driving the first phalanx with the driving assembly, a large force output can be achieved, and it has high rigidity and fast response, enhancing the durability and bending resistance of the structure. The transmission of the second phalanx and the third phalanx uses tendon cord drive, which has high flexibility, high flexibility, high transmission efficiency, and reduces the end load and inertia, saves space, and is more in line with the bionic design concept of dexterous fingers.

[0071] In some embodiments, continue to refer to Figures 1 - 3 , the finger structure 10 further includes a first elastic member 111 and a second elastic member 112.

[0072] Among them, the first elastic member 111 is disposed between the first finger joint 102 and the second finger joint 103, and is used to provide a first restoring force in the second direction for the second finger joint 103; the second elastic assembly 112 is disposed between the second finger joint 103 and the third finger joint 104, and is used to provide a restoring force in the second direction for the third finger joint 104.

[0073] In the embodiment of the present application, the foregoing first tendon rope 106 and second tendon rope 107 may be ropes with strong tensile strength such as steel wire ropes or nylon ropes, which have the characteristic of unidirectional force. When the first finger joint 102 moves in the first direction, the first tendon rope 106 and the second tendon rope 107 pull the second finger joint 103 and the third finger joint 104 to rotate in the first direction; and when the finger structure 10 needs to Figure 3 restore from the bent state shown to Figure 1 or Figure 2 the initial state shown, the first tendon rope 106 and the second tendon rope 107 cannot provide a restoring force; in this case, the above-mentioned first elastic member 111 and second elastic member 112 can play their roles. More specifically, when the first finger joint 102 rotates in the second direction, the tensile forces of the first tendon rope 106 and the second tendon rope 107 decrease, and the second finger joint 103 rotates in the second direction relative to the first finger joint 102 under the action of the first restoring force; similarly, the third finger joint 104 rotates in the second direction relative to the second finger joint 103 under the action of the second restoring force; while each finger joint returns to the initial state, the first tendon rope 106 and the second tendon rope 107 return to the initial state in a manner opposite to the motion law described above.

[0074] That is to say, through the first elastic member 111 and the second elastic member 112, a tensile force in the second direction is applied to the entire finger mechanism, so that there is a tensile force in the direction opposite to the driving direction between adjacent components in the mobile phone structure in each motion posture, ensuring a stable motion state and no gap.

[0075] At the same time, due to the existence of the above-mentioned elastic members, when the second finger joint and the third finger joint interact with the outside world and receive a collision, the first elastic member and the second elastic member can absorb the elastic potential energy generated by the outside collision, ensuring collision safety.

[0076] According to the above technical means, the first elastic member and the second elastic member are provided to apply a tensile force in the direction of the back of the hand to the entire finger, ensuring that there is a tensile force in the direction opposite to the driving direction for each finger joint in each motion posture, and ensuring a stable motion state without gaps.

[0077] In some embodiments, the first elastic member 111 includes a tension spring 1111 and a third tendon cord 1112. Wherein, the first end of the tension spring 1111 is fixedly connected to the first phalanx 102, and the second end of the third tendon cord 1112 is connected to the second phalanx 103 after bypassing the second hinge portion 109 along the first direction.

[0078] See Figures 1 - 3 , during the process of the second phalanx 103 rotating relative to the first phalanx 102 along the first direction, the third tendon cord 1112 winds around the second hinge portion 109, and the third tendon cord 1112 generates a pulling force, causing the tension spring 1111 to elongate; during the process of Figure 3 the bent state is converted to Figure 1 the straight state shown, the pulling force of the first tendon cord 106 decreases, and the elastic potential energy stored in the elongated tension spring 1111 is released, pulling the second phalanx 103 to rotate relative to the first phalanx 102 along the second direction through the third tendon cord 1112.

[0079] In the embodiment of the present application, the second elastic member 112 is a torsion spring 1121 sleeved on the third hinge portion 110, and both ends of the torsion spring 1121 are respectively clamped on the second phalanx 103 and the third phalanx 104; when the third phalanx 104 rotates relative to the second phalanx 103 along the first direction, the torsion spring 1121 undergoes torsional deformation; during the process of converting from the bent state to the straight state, the pulling force of the second tendon cord 107 decreases, and the elastic potential energy stored in the torsion spring 1121 is released, causing the third phalanx 104 to rotate relative to the second phalanx 103 along the second direction.

[0080] According to the above technical means, the first elastic member formed by connecting the spring and the tendon cord can provide a tension force for the first phalanx. At the same time, when the second phalanx and the third phalanx interact with the outside and are collided, the spring connected by the tendon cord will be stretched, and the external collision will be transferred to the elastic potential energy of the spring, and the collision safety is high.

[0081] In some embodiments, as Figure 1 shown, the frame 101 includes a fixed support 1011 and a swing bracket 1012. Wherein, the swing bracket 1012 is hinged to the fixed support 1011 through a fourth hinge portion 113, the axis of the fourth hinge portion 113 is perpendicular to the axis of the first hinge portion 108, and the first hinge portion 108 is formed between the swing bracket 1012 and the first phalanx 102.

[0082] That is to say, in the embodiment of the present application, the connection between the first phalanx 102 and the frame 101 is that the first phalanx 102 is connected to the fixed support 1011 through the swing bracket 1012. The first phalanx 102 can rotate relative to the swing bracket 1012 along the first direction or the second direction through the first hinge portion 108. At the same time, due to the presence of the fourth hinge portion 113, the swing bracket 1012 can rotate relative to the fixed support 1011, and the rotation direction is perpendicular to the first direction or the second direction mentioned above.

[0083] The driving assembly 105 is used for: driving the first phalanx 102 to rotate around the first direction or the second direction, and / or driving the first phalanx 102 to rotate around the fourth hinge portion 113 along the third direction or the fourth direction opposite to the third direction.

[0084] According to the above technical means, by arranging a swing bracket in the frame and connecting the first phalanx to the swing bracket, the plurality of finger joints can not only bend but also swing, enriching the functions of the finger structure and better conforming to the bionic design concept.

[0085] In some embodiments, continue to refer to Figure 1 and Figure 2 , the finger structure 10 further includes a first winch 114.

[0086] The first winch 114 can be arranged at one end of the swing bracket 1012 close to the first phalanx 102 as shown in Figure 1 and Figure 2 . At this time, the first winch 114 can be formed on the swing bracket 1012 to become a part of the swing bracket 1012; or, as an implementation manner, the first winch 114 can also be a structure connected to the swing bracket 1012. For example, the first winch 114 can be fixedly connected to the swing bracket 1012 by welding or threaded connection, etc., or can be rotatably connected to the swing bracket 1012 through a bearing connection.

[0087] Alternatively, the first winch 114 can also be arranged at one end of the first phalanx 102 close to the swing bracket 1012. Similarly, the first winch 114 can be formed on the first phalanx 102 to become a part of the first phalanx 102, or be a structure connected to the first phalanx 102. The connection method in this case can refer to the previous description and will not be elaborated here.

[0088] In the embodiment of the application, the first hinge portion 108 includes the first winch 114.

[0089] Exemplarily, taking the case where the first winch 114 is formed at one end of the swing bracket 1012 close to the first knuckle 102 as an example, a first through hole can be provided along the axial direction of the first winch 114, and a first pin shaft is arranged in the first through hole, and both ends of the first pin shaft are fixedly connected to the first knuckle 102, thus realizing the connection between the first knuckle 102 and the swing bracket 1012. In the case where the first winch 114 is formed at one end of the first knuckle 102 close to the swing bracket 1012, both ends of the aforementioned first pin shaft can be connected to the swing bracket 1012, and the rotatable connection between the first knuckle 102 and the swing bracket 1012 can also be realized.

[0090] In some embodiments, the first hinge portion 108 further includes a first bearing, and the first bearing can be arranged between the first winch 114 and the first pin shaft for reducing the friction when the first knuckle rotates.

[0091] Referring to Figure 1 、 Figure 2 and Figure 5 , the finger structure 10 further includes a second winch 115, and the second winch 115 can be arranged at one end of the second knuckle 103 close to the first knuckle 102 as shown in the figure. Similar to the aforementioned first winch 114, the second winch 115 can be formed on the second knuckle 103 to become a part of the second knuckle 103; alternatively, the second winch 115 can be a structure connected to the second knuckle 103.

[0092] Alternatively, the second winch 115 can also be arranged at one end of the first knuckle 102 close to the second knuckle 103. Similarly, the second winch 115 can be formed on the first knuckle 102 as a part of the first knuckle 102, or be a structure interconnected with the first knuckle 102. The specific structure will not be elaborated here and can refer to the previous description.

[0093] In the embodiment of the present application, the second hinge portion 109 includes the second winch 115.

[0094] Exemplarily, taking the case where the second winch 115 is arranged at one end of the second knuckle 103 close to the first knuckle 102 as an example, a second through hole can be provided along the axial direction of the second winch 115, and a second pin shaft is arranged in the second through hole, and both ends of the second pin shaft are fixedly connected to the second knuckle 103, thus realizing the connection between the first knuckle 102 and the second knuckle 103.

[0095] In some embodiments, the second hinge portion 109 further includes a second bearing, and the second bearing can be arranged between the second winch 115 and the second pin shaft for reducing the friction when the second knuckle 103 rotates.

[0096] Based on the above first winch wheel 114 and second winch wheel 115, the aforementioned first tendon rope 106 is wound around the outer side of the first winch wheel 114 in the first direction and around the outer side of the second winch wheel 115 in the second direction.

[0097] The rotation angle of the second phalanx 103 relative to the first phalanx 102 in the first direction is related to the rotation angle of the first phalanx 102 in the first direction, the diameter of the first winch wheel 114, and the diameter of the second winch wheel 115.

[0098] More specifically, the larger the rotation angle of the first phalanx 102, the longer the distance that the first tendon rope 106 winds around the first winch wheel 114, which will make the rotation angle of the second phalanx 103 larger. When the rotation angle of the first phalanx 102 remains unchanged, the larger the diameter of the first winch wheel 114, the longer the distance that the first tendon rope 106 winds around the first winch wheel 114 when the first phalanx 102 rotates by the same angle, making the rotation angle of the second phalanx 103 larger; when the diameter of the first winch wheel 114 and the rotation angle of the first phalanx 102 remain unchanged, with the same change in the length of the first tendon rope 106, the smaller the diameter of the second winch wheel 115, the larger the wrap angle of the same length of tendon rope around the second winch wheel 115, and the correspondingly larger the rotation angle of the second phalanx 103.

[0099] That is to say, the rotation angle of the second phalanx 103 relative to the first phalanx 102 in the first direction is proportional to the rotation angle of the first phalanx 102 in the first direction and the diameter of the first winch wheel 114, and inversely proportional to the diameter of the second winch wheel 115. Or rather, it is proportional to the ratio of the diameter of the first winch wheel 114 to the diameter of the second winch wheel 115.

[0100] Therefore, the diameters of the first winch wheel 114 and the second winch wheel 115 can be reasonably set according to the required rotation angle of the second phalanx 103.

[0101] According to the above technical means, by setting the first winch wheel 114 and the second winch wheel 115 and reasonably setting the diameters of the first winch wheel 114 and the second winch wheel 115, flexible adjustment of the rotation angle of the second phalanx 103 is achieved, enabling it to meet the requirements of a wider range of phalanx movement trajectories.

[0102] In some embodiments, as Figure 1 、 Figure 2 and Figure 5 shown, the finger structure 10 further includes a third winch wheel 116 and a fourth winch wheel 117.

[0103] Among them, the third pulley 116 is disposed at one end of the first phalanx 102 close to the second phalanx 103 or at one end of the second phalanx 103 close to the first phalanx 102, and the fourth pulley 117 is disposed at one end of the third phalanx 104 close to the second phalanx 103 or at one end of the second phalanx 103 close to the third phalanx 104.

[0104] Regarding the possible setting manners of the third pulley 116 and the fourth pulley 117, they will not be elaborated herein, and reference may be made to the description of the first pulley 114 and the second pulley 115 in the foregoing text.

[0105] In the embodiment of the present application, the second hinge portion 109 further includes a third pulley 116, and the third hinge portion 110 includes a fourth pulley 117.

[0106] In some embodiments, a third bearing may be disposed between the third pulley 116 and the second pin shaft to reduce friction.

[0107] In some embodiments, a fourth through hole is provided on the fourth pulley 117, and the fourth hinge portion 113 further has a fourth pin shaft, which is inserted into the fourth through hole, and a fourth bearing is disposed between the fourth pulley 117 and the fourth pin shaft to reduce the friction of the third hinge portion 110.

[0108] Based on the above structure, the second tendon 107 is wound around the outside of the third pulley 116 along a first direction and around the outside of the fourth pulley 117 along a second direction.

[0109] The rotation angle of the third phalanx 104 relative to the second phalanx 103 in the first direction is related to the rotation angle of the second phalanx 103 relative to the first phalanx 102 in the first direction, the diameter of the third pulley 116, and the diameter of the fourth pulley 117.

[0110] The greater the rotation angle of the second phalanx 103, the longer the winding distance of the second tendon 107 on the third pulley 116, which will make the rotation angle of the third phalanx 104 greater. When the rotation angle of the second phalanx 103 remains unchanged, the greater the diameter of the third pulley 116, the longer the winding distance of the second tendon 107 on the third pulley 116 when the second phalanx 103 rotates by the same angle, making the rotation angle of the third phalanx 104 greater; when the diameter of the third pulley 116 and the rotation angle of the second phalanx 103 remain unchanged, with the same change in the length of the second tendon 107, the smaller the diameter of the fourth pulley 117, the greater the wrap angle of the same length of tendon on the fourth pulley 117, and the correspondingly greater the rotation angle of the third phalanx 104.

[0111] That is to say, the rotation angle of the third phalanx 104 relative to the second phalanx 103 in the first direction is proportional to the rotation angle of the second phalanx 103 relative to the first phalanx 102 in the first direction and the diameter of the third pulley 116, and inversely proportional to the diameter of the fourth pulley 117; or rather, it is proportional to the ratio of the diameter of the third pulley 116 to the diameter of the fourth pulley 117.

[0112] Therefore, the diameters of the third pulley 116 and the fourth pulley 117 can be reasonably set according to the required rotation angle of the third phalanx 104.

[0113] According to the above technical means, by setting the third pulley and the fourth pulley and reasonably setting their diameters, flexible adjustment of the rotation angle of the third phalanx is achieved, enabling it to meet the requirements of a wider range of phalanx movement trajectories.

[0114] According to the foregoing description, in some embodiments, the second hinge portion 109 includes the aforementioned second pulley 115 and third pulley 116, and the second pulley 115 and the third pulley 116 are concentrically arranged.

[0115] In some embodiments, to simplify the structure, the second pulley 115 can be reused in the transmission structure of the second tendon 107, that is, the portion of the second tendon 107 bypassing the second hinge portion 109 in the first direction is arranged to be wound around the second pulley 115 in the first direction. In this case, the rotation angle of the third phalanx 104 relative to the second phalanx 103 in the first direction is also related to the diameter of the second pulley 115. More specifically, it is proportional to the diameter of the second pulley 115.

[0116] According to the above technical means, the first tendon and the second tendon share the second pulley, which can reduce the structural complexity and production cost of the finger structure.

[0117] In some embodiments, the finger structure 10 further includes a fifth pulley 118, which is arranged at one end of the second phalanx 103 close to the first phalanx 102 or one end of the first phalanx 102 close to the second phalanx 103, and the second hinge portion 109 includes the fifth pulley 118.

[0118] The third tendon 1112 is wound around the outside of the fifth pulley 118 in the first direction, and the magnitude of the first restoring force is related to the diameter of the fifth pulley 118. Specifically, when the first phalanx 102 rotates the same distance, the circumferential angle of the third tendon 1112 wrapped around the fifth pulley 118 remains unchanged. The larger the diameter of the fifth pulley 118, the longer the length of the third tendon 1112 wound, the longer the stretching length of the tension spring 1111, and the greater the corresponding elastic potential energy that can be stored, and the greater the first restoring force.

[0119] According to the above technical means, the third tendon rope is arranged to wind around the fifth pulley, and by controlling the diameter of the fifth pulley, the control of the first restoring force is achieved.

[0120] Since the fifth pulley 118 is also included in the second hinge portion 109, in some embodiments, the fifth pulley 118 can reuse the second pulley 115 or the third pulley 116 in the foregoing text.

[0121] In some embodiments, the finger structure 10 further includes a guide pulley 119, and the guide pulley 119 is located between the first end and the second end of the first finger joint 102.

[0122] The first tendon rope 106 is wound around the outside of the guide pulley 119 along the first direction, the second tendon rope 107 is wound around the outside of the guide pulley 119 along the second direction, and the first end of the second tendon rope 107 is located between the first end of the first finger joint 102 and the guide pulley 119.

[0123] The rotation angle of the second finger joint 103 relative to the first finger joint 102 along the first direction and the rotation angle of the third finger joint 104 relative to the second finger joint 103 along the first direction are both related to the diameter of the guide pulley 119. When the first finger joint 102 rotates, the lengths of the first tendon rope 106 and the second tendon rope 107 wound around the guide pulley 119 will both change. When the diameter of the guide pulley 119 is different, the change amounts of the lengths of the first tendon rope 106 and the second tendon rope 107 are different, so that the rotation angles of each finger joint are different.

[0124] In some embodiments, the drive assembly 105 includes a first drive unit 105A and a second drive unit 105B, and both the first drive unit 105A and the second drive unit 105B are connected to the first finger joint 102.

[0125] The drive assembly 105 is configured to: the first drive unit 105A and the second drive unit 105B move synchronously to drive the first finger joint 102 to rotate around the first direction or the second direction; and / or, the first drive unit 105A and the second drive unit 105B move asynchronously to drive the first finger joint 102 to rotate around the fourth hinge portion 113 along the third direction or the fourth direction opposite to the third direction.

[0126] The first drive unit 105A and the second drive unit 105B can be any one or a combination of a rotary motor, a hydraulic motor, a drive motor, an electric push rod, a hydraulic push rod, and a pneumatic push rod, and the embodiments of the present application do not make specific limitations thereto.

[0127] According to the above technical means, the drive assembly is set as two independently operable drive units, and by controlling the synchronism of the movements of the two drive units, the control and switching of the bending and swinging of the finger structure can be achieved.

[0128] In some embodiments, such as Figure 2 and Figure 4 shown, the first driving unit 105A includes a first push rod module 1051A and a first connecting rod 1052A. The fixed end of the first push rod module 1051A is connected to the fixed support 1011. The movable end 10511A of the first push rod module 1051A is connected to the first end of the first connecting rod 1052A through a first ball joint 1053A. The second end of the first connecting rod 1052A is connected to the first finger joint 102 through a second ball joint 1054A.

[0129] The second driving unit 105B includes a second push rod module 1051B and a second connecting rod 1052B. The fixed end of the second push rod module 1051B is connected to the fixed support 1011. The movable end 10521B of the second push rod module 1051B is connected to the second end of the second connecting rod 1052B through a third ball joint 1053B. The second end of the second connecting rod 1052B is connected to the second finger joint 103 through a fourth ball joint 1054B.

[0130] The connecting line of the centers of the second ball joint 1054A and the fourth ball joint 1054B is in the same direction as the axial direction of the first hinge portion 108.

[0131] In the technical solution of the present application, taking the first driving unit 105A as an example, the movable end of the first push rod module 1051A, the first connecting rod 1052A, and the first finger joint 102 form a slider-crank mechanism. By controlling the stroke of the movable end of the first push rod module 1051A, the rotation angle of the first finger joint 102 can be controlled.

[0132] The above-mentioned first driving unit 105A and second driving unit 105B are configured such that the output ends of the first push rod module 1051A and the second push rod module 1051B move synchronously, driving the first finger joint 102 to rotate around the first hinge portion 108 in the first direction or the second direction. As Figure 2 shown, when the output ends of the two push rod modules both move synchronously in the fifth direction shown in the figure, the first finger joint 102 will bend in the first direction.

[0133] The above-mentioned first driving unit 105A and second driving unit 105B are further configured such that the output ends of the first push rod module 1051A and the second push rod module 1051B move asynchronously, driving the first finger joint 102 to rotate around the fourth hinge portion 113 in the third direction or the fourth direction opposite to the third direction.

[0134] When the output end of the first push rod module 1051A moves along the fifth direction shown in the figure, and the output end of the second push rod module 1051B moves along the sixth direction departing from the fifth direction, the first finger joint 102 and the second finger joint 103 and the third finger joint 104 connected to the first finger joint 102 swing around the fourth hinge portion 113 along the third direction to Figure 5 At position 10A shown by the dotted line, when the output ends of the first push rod module 1051A and the second push rod module 1051B move along the sixth direction and the fifth direction respectively, each knuckle can swing along the fourth direction to position 10B shown by the dotted line in the figure.

[0135] As an implementation method, the asynchronous motion mentioned above may also refer to the different moving speeds of the output ends of the two push rod modules. For example, when the output ends of the two push rod modules move along the fifth direction and the moving speed of the output end of the first push rod module 1051A is greater than that of the output end of the second push rod module 1051B, the finger structure 10 can bend along the first direction and swing along the fourth direction at the same time.

[0136] According to the above technical means, by utilizing two parallel push rod modules and controlling the synchronization of the movements of the two overturning modules, the finger structure can achieve compound movements in different directions, thereby increasing the application range of the finger structure.

[0137] In some embodiments, the first push rod module 1051A and the second push rod module 1051B are any one of electric push rods, pneumatic push rods or hydraulic push rods.

[0138] The first push rod module 1051A and the second push rod module 1051B are preferably electric push rods, which can provide position feedback and can provide real-time feedback on the position of the output end relative to the zero point of the electric push rod only during operation, thereby achieving precise position control.

[0139] In some embodiments, continue to refer to Figures 1 - 4 The first driving unit 105A further includes a first guide mechanism 1055A, which may include a first slide rail 10551A and a first slider 10552A. The first slide rail 10551A is connected to the fixed support 1011, and the first slider 10552A can slide on the first slide rail 10551A along the extension direction of the first slide rail 10551A. The moving end of the first push rod module 1051A is connected to the first slider 10552A, and the moving direction of the output end of the first push rod module 1051A is consistent with the extension direction of the first slide rail 10551A.

[0140] The second driving unit 105B further includes a second guiding mechanism 1055B, which may include a second slide rail 10551B and a second slider 10552B. Among them, the second slide rail 10551B is connected to the fixed support 1011, and the second slider 10552B can slide on the second slide rail 10551B along the extending direction of the second slide rail 10551B. The moving end of the second push rod module 1051B is connected to the second slider 10552B, and the moving direction of the output end of the second push rod module 1051B is consistent with the extending direction of the second slide rail 10551B.

[0141] According to the above technical means, by arranging a guiding mechanism in the driving unit, sufficient stiffness can be provided for the push rod module, durability can be increased, the bending resistance performance can be improved, the movement process can be made smoother, and the displacement accuracy can be higher.

[0142] In some embodiments, as Figure 6 shown, the first finger joint 102 includes a first finger joint housing 1021 and a first finger pulp sensor 1022, and the first finger pulp sensor 1022 is arranged on one side close to the frame 101 along the first direction.

[0143] The second finger joint 103 includes a second finger joint housing 1031 and a second finger pulp sensor 1032, and the second finger pulp sensor 1032 is arranged on one side close to the frame 101 along the first direction.

[0144] The third finger joint 104 includes a third finger joint housing 1041 and a third finger pulp sensor 1042, and the third finger pulp sensor 1042 is arranged on one side close to the frame 101 along the first direction.

[0145] The first finger joint housing 1021 and the first finger pulp sensor 1022 enclose a first accommodating space, the second finger joint housing 1031 and the second finger pulp sensor 1032 enclose a second accommodating space, and the third finger joint housing 1041 and the third finger pulp sensor 1042 enclose a third accommodating space. The above-mentioned multiple accommodating spaces can be used to accommodate the multiple tendon ropes, pulley wheels, guiding wheels, etc.

[0146] The above-mentioned first finger pulp sensor 1022, second finger pulp sensor 1032 and third finger pulp sensor 1042 are used to detect the acting force between each finger joint and the grasped item when grasping an item through the finger structure 10, and the control unit can control the motion state of the finger structure according to the acting force.

[0147] In some embodiments, the above-mentioned multiple sensors are further used to detect the rotation angles of each finger joint, so that the control unit of the finger structure or the robot can control the driving unit according to the motion states of each finger joint.

[0148] The method for controlling the motion state of the finger structure based on sensors will be described in detail later and will not be elaborated here.

[0149] The embodiment of the present application also provides a robot, which includes the finger structure 10 described in any of the previous embodiments.

[0150] In some embodiments, the robot may include multiple finger structures. For example, five such finger structures may be provided to achieve a bionic structure similar to that of a human hand.

[0151] As described above in conjunction with Figures 1 - 6 , the device embodiments of the present application have been described in detail. Next, in conjunction with Figure 7 , the method embodiments of the present application will be described in detail. It should be understood that the description of the method embodiments corresponds to that of the device embodiments. Therefore, for the parts not described in detail, reference may be made to the previous device embodiments.

[0152] Figure 7 FIG. is a schematic flowchart of the control method provided by the embodiment of the present application. This method is applied to the finger structure, which may be the finger structure described in any of the previous embodiments.

[0153] The finger structure includes: a frame; a first finger joint hinged to the frame through a first hinge portion; a second finger joint hinged to one end of the first finger joint away from the first hinge portion through a second hinge portion; a third finger joint hinged to one end of the second finger joint away from the second hinge portion through a third hinge portion; the rotation axes of the first hinge portion, the second hinge portion, and the third hinge portion are parallel; a driving assembly disposed on the frame; a first tendon cord, with the first end connected to the frame and the second end sequentially bypassing the first hinge portion and the second hinge portion along a first direction and a second direction and then connected to the second finger joint; a second tendon cord, with the first end connected to the second finger joint and the second end sequentially bypassing the second hinge portion and the third hinge portion along the first direction and the second direction and then connected to the third finger joint. This finger structure may be, for example, Figures 1 - 6 the finger structure 10 in

[0154] Figure 7 The method in

[0155] includes step S71 of controlling the driving assembly to drive the first finger joint to rotate around the first hinge portion along the first direction or the second direction opposite to the first direction.

[0156] In some embodiments, the frame includes a fixed support and a swing bracket. The swing bracket is hinged to the fixed support through a fourth hinge portion. The axis of the fourth hinge portion is perpendicular to the axis of the first hinge portion. The first end of the first tendon rope is anchored on the swing bracket; the first hinge portion is formed between the swing bracket and the first finger joint.

[0157] The control method further includes: controlling the driving assembly to drive the first finger joint to rotate in the first direction or the second direction, and / or driving the first finger joint to rotate around the fourth hinge portion in the third direction or the fourth direction opposite to the third direction.

[0158] In some embodiments, the driving assembly includes a first driving unit and a second driving unit. Both the first driving unit and the second driving unit are connected to the first finger joint.

[0159] The foregoing control method further includes: controlling the first driving unit and the second driving unit to move synchronously to drive the first finger joint to rotate in the first direction or the second direction; and / or controlling the first driving unit and the second driving unit to move asynchronously to drive the first finger joint to rotate in the third direction or the fourth direction.

[0160] In some embodiments, the first driving unit includes a first push rod module and a first connecting rod. The fixed end of the first push rod module is fixedly connected to the fixed support. The movable end of the first push rod module is connected to the first end of the first connecting rod through a first ball joint. The second end of the first connecting rod is connected to the first finger joint through a second ball joint; the second driving unit includes a second push rod module and a second connecting rod. The fixed end of the second push rod module is fixedly connected to the fixed support. The movable end of the second push rod is connected to the first end of the second connecting rod through a third ball joint. The second end of the second connecting rod is connected to the first finger joint through a fourth ball joint; the connection line of the centers of the second ball joint and the fourth ball joint is in the same direction as the axis direction of the first hinge portion.

[0161] The foregoing control method further includes: controlling the output ends of the first push rod module and the second push rod module to move synchronously to drive the first finger joint to rotate in the first direction or the second direction; and / or controlling the output ends of the first push rod module and the second push rod module to move asynchronously to drive the first finger joint to rotate in the third direction or the fourth direction opposite to the third direction.

[0162] In some embodiments, the first finger joint includes a first finger joint housing and a first finger pulp sensor. The first finger pulp sensor is arranged on the side close to the frame along the first direction; the second finger joint includes a second finger joint housing and a second finger pulp sensor. The second finger pulp sensor is arranged on the side close to the frame along the first direction; the third finger joint includes a third finger joint housing and a third finger pulp sensor. The third finger pulp sensor is arranged on the side close to the frame along the first direction.

[0163] The foregoing control method further includes: when grasping an object by using the finger structure, collecting the pressure between the finger structure and the object through the first finger pulp sensor and / or the second finger pulp sensor and / or the third finger pulp sensor; and controlling the driving component to adjust the rotation angle of the first finger joint along the first direction or the second direction according to the pressure between the finger structure and the object.

[0164] As Figure 8 shown, an embodiment of the present application further provides a control device for a finger structure. The finger structure may be the finger structure described in any of the foregoing embodiments. The finger structure includes: a frame; a first finger joint hinged to the frame through a first hinge portion; a second finger joint hinged to one end of the first finger joint away from the first hinge portion through a second hinge portion; a third finger joint hinged to one end of the second finger joint away from the second hinge portion through a third hinge portion; the rotation axes of the first hinge portion, the second hinge portion, and the third hinge portion are parallel; a driving component disposed on the frame; a first tendon rope, with the first end connected to the frame and the second end sequentially bypassing the first hinge portion and the second hinge portion along the first direction and the second direction and then connected to the second finger joint; a second tendon rope, with the first end connected to the second finger joint and the second end sequentially bypassing the second hinge portion and the third hinge portion along the first direction and the second direction and then connected to the third finger joint. The finger structure may be, for example, Figures 1 - 6 the finger structure 10 in

[0165] Figure 8 The control device 80 in

[0166] includes one or more processors 81. The processor 81 can support the control device 80 to implement the method described in the foregoing method embodiments.

[0167] The control device 80 may further include one or more memories 82. A computer program is stored on the memory 82, and the computer program can be executed by the processor 81, so that the processor 81 executes the method described in the foregoing method embodiments. The memory 82 may be independent of the processor 81 or integrated in the processor 81.

[0168] An embodiment of the present application further provides a computer-readable storage medium. The storage medium stores executable code, and when the executable code is executed, the method described in any of the foregoing embodiments is implemented.

[0169] An embodiment of the present application further provides a computer program product. The computer program product includes a program. The computer program product can be applied to the control device provided in the embodiment of the present application, and the program enables the computer to execute the methods in various embodiments of the present application.

[0170] In several embodiments provided by the present application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection to each other can be through some interfaces. The indirect coupling or communication connection of the devices or units can be in an electrical, mechanical, or other form.

[0171] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on the computer, the processes or functions described in the embodiments of the present application are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wire (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wirelessly (such as infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be read by the computer or a data storage device such as a server or data center that includes one or more integrated available media. The available medium can be a magnetic medium (for example, a floppy disk, a hard disk, a magnetic tape), an optical medium (for example, a digital video disc (DVD)), or a semiconductor medium (for example, a solid state disk (SSD)), etc.

[0172] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present application.

[0173] In the present application, unless otherwise clearly specified and defined, the terms "mounted", "connected", "coupled", "fixed", etc. shall be construed in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral body; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements or the interaction relationship between two elements, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0174] In the present application, unless otherwise clearly specified and defined, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0175] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0176] The above are only the preferred embodiments of the present application and are not intended to limit the protection scope of the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall be included within the protection scope of the present application.

Claims

1. A finger structure, characterized in that, Comprising: A frame; A first phalanx, hinged to the frame through a first hinge portion; A second phalanx, hinged to one end of the first phalanx away from the first hinge portion through a second hinge portion; A third phalanx, hinged to one end of the second phalanx away from the second hinge portion through a third hinge portion; The axes of rotation of the first hinge portion, the second hinge portion and the third hinge portion are parallel; A drive assembly, disposed on the frame, for driving the first phalanx to rotate around the first hinge portion in a first direction or a second direction opposite to the first direction; A first tendon cord, with the first end connected to the frame and the second end sequentially bypassing the first hinge portion and the second hinge portion in the first direction and the second direction and then connected to the second phalanx; A second tendon cord, with the first end connected to the second phalanx and the second end sequentially bypassing the second hinge portion and the third hinge portion in the first direction and the second direction and then connected to the third phalanx; When the drive assembly drives the first phalanx to rotate in the first direction, the first tendon cord pulls the second phalanx to rotate in the first direction relative to the first phalanx, and the second tendon cord pulls the third phalanx to rotate in the first direction relative to the second phalanx.

2. The finger structure according to claim 1, characterized in that, Further comprising: A first elastic member, disposed between the first phalanx and the second phalanx, for providing a first restoring force in the second direction for the second phalanx; A second elastic member, disposed between the second phalanx and the third phalanx, for providing a second restoring force in the second direction for the third phalanx; The first elastic member includes a tension spring and a third tendon cord. The first end of the tension spring is fixedly connected to the first phalanx, the first end of the third tendon cord is connected to the second end of the tension spring, and the second end of the third tendon cord bypasses the second hinge portion in the first direction and then is connected to the second phalanx; The second elastic member includes a torsion spring sleeved on the third hinge portion, and two ends of the torsion spring are respectively clamped on the second phalanx and the third phalanx.

3. The finger structure according to claim 2, wherein The frame includes a fixed support and a swing bracket. The swing bracket is hinged to the fixed support through a fourth hinge portion. The axis of the fourth hinge portion is perpendicular to the axis of the first hinge portion. The first end of the first tendon cord is anchored on the swing bracket; The first hinge portion is formed between the swing bracket and the first phalanx; The drive assembly is used for: driving the first phalanx to rotate around in the first direction or the second direction, and / or driving the first phalanx to rotate around the fourth hinge portion in a third direction or a fourth direction opposite to the third direction.

4. The finger structure according to claim 3, characterized in that, Further comprising: A first pulley, disposed at one end of the swing bracket close to the first phalanx or at one end of the first phalanx close to the swing bracket. The first hinge portion includes the first pulley; A second pulley, disposed at one end of the second phalanx close to the first phalanx or at one end of the first phalanx close to the second phalanx. The second hinge portion includes the second pulley; The third pulley is arranged at one end of the first phalanx close to the second phalanx or one end of the second phalanx close to the first phalanx, and the second hinge part includes the third pulley; The fourth pulley is arranged at one end of the third phalanx close to the second phalanx or one end of the second phalanx close to the third phalanx, and the third hinge part includes the fourth pulley; The fifth pulley is arranged at one end of the second phalanx close to the first phalanx or one end of the first phalanx close to the second phalanx, and the second hinge part includes the fifth pulley; The first tendon rope is wound around the outside of the first pulley along the first direction and around the outside of the second pulley along the second direction; The rotation angle of the second phalanx relative to the first phalanx along the first direction is related to the rotation angle of the first phalanx along the first direction, the diameter of the first pulley, and the diameter of the second pulley; The second tendon rope is wound around the outside of the third pulley along the first direction and around the outside of the fourth pulley along the second direction; The rotation angle of the third phalanx relative to the second phalanx along the first direction is related to the rotation angle of the second phalanx relative to the first phalanx along the first direction, the diameter of the third pulley, and the diameter of the fourth pulley; The third tendon rope is wound around the outside of the fifth pulley along the first direction, and the magnitude of the first restoring force is related to the diameter of the fifth pulley.

5. The finger structure according to claim 4, characterized in that The finger structure further includes: A guide pulley rotatably connected to the first phalanx, and the guide pulley is located between the first end and the second end of the first phalanx; The first tendon rope is wound around the outside of the guide pulley along the first direction, the second tendon rope is wound around the outside of the guide pulley along the second direction, and the first end of the second tendon rope is located between the first end of the first phalanx and the guide pulley; The rotation angle of the second phalanx along the first direction and the rotation angle of the third phalanx relative to the second phalanx along the first direction are related to the diameter of the guide pulley.

6. The finger structure according to any one of claims 3-5, wherein The driving assembly includes a first driving unit and a second driving unit, and both the first driving unit and the second driving unit are connected to the first phalanx; The driving assembly is configured to: The first driving unit and the second driving unit move synchronously to drive the first phalanx to rotate around the first direction or the second direction; and / or, The first driving unit and the second driving unit move asynchronously to drive the first phalanx to rotate around the fourth hinge part along the third direction or the fourth direction opposite to the third direction.

7. The finger structure according to claim 6, wherein The first driving unit includes a first push rod module and a first connecting rod. The fixed end of the first push rod module is fixedly connected to the fixed support, the movable end of the first push rod module is connected to the first end of the first connecting rod through a first ball joint, and the second end of the first connecting rod is connected to the first phalanx through a second ball joint; The second driving unit includes a second push rod module and a second connecting rod. The fixed end of the second push rod module is fixedly connected to the fixed support. The movable end of the second push rod is connected to the first end of the second connecting rod through a third ball hinge. The second end of the second connecting rod is connected to the first phalanx through a fourth ball hinge; The line connecting the centers of the second ball hinge and the fourth ball hinge is in the same axial direction as the axis of the first hinge portion; The first driving unit and the second driving unit are configured as follows: The output ends of the first push rod module and the second push rod module move synchronously to drive the first phalanx to rotate around the first hinge portion in the first direction or the second direction; and / or, The output ends of the first push rod module and the second push rod module move asynchronously to drive the first phalanx to rotate around the fourth hinge portion in the third direction or the fourth direction opposite to the third direction; Wherein, the first push rod module and the second push rod module are any one of an electric push rod, a pneumatic push rod or a hydraulic push rod.

8. The finger structure according to any one of claims 1-5 and 7, wherein The first phalanx includes a first phalanx housing and a first finger pulp sensor. The first finger pulp sensor is arranged on one side close to the frame along the first direction; The second phalanx includes a second phalanx housing and a second finger pulp sensor. The second finger pulp sensor is arranged on one side close to the frame along the first direction; The third phalanx includes a third phalanx housing and a third finger pulp sensor. The third finger pulp sensor is arranged on one side close to the frame along the first direction.

9. A robot, characterized in that, Including the finger structure according to any one of claims 1-8.

10. A control method for a finger structure, characterized in that, Applied to the finger structure according to any one of claims 1-8, the method includes: Controlling the driving assembly to drive the first phalanx to rotate around the first hinge portion in the first direction or the second direction opposite to the first direction; When the driving assembly drives the first phalanx to rotate in the first direction, the first tendon rope pulls the second phalanx to rotate relative to the first phalanx in the first direction, and the second tendon rope pulls the third phalanx to rotate relative to the second phalanx in the first direction.

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