Knuckle structure and finger of robot

Abstract

The invention provides a knuckle structure and a finger of a robot, the knuckle structure comprises a knuckle body and an elastic body, the knuckle body is provided with a knuckle hinge point, and the knuckle hinge point is used for being connected with a near-end element so that the knuckle body can rotate around the knuckle hinge point; the elastic body is embedded in the knuckle body in the mode that the two ends of the elastic body in the length direction are a near-end hinge point and a far-end hinge point respectively. When the knuckle body is subjected to an external load, the elastic body adapts to deformation so as to achieve passive flexibility of the knuckle body, the rigidity of the elastic body changes along with changes of the external load, the output capacity of the load transmitted to the tail end of the finger by the driver is enhanced, and the good mechanical output capacity is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and particularly to a knuckle structure and a finger of a robot. Background Art

[0002] With the wide application of robot technology in many fields such as industrial manufacturing, service industry, medical rehabilitation, and operation in dangerous environments, the performance requirements for the end effector of robots are becoming increasingly stringent. As a key device for mimicking the functions of the human hand, the performance of the humanoid dexterous hand of a robot directly determines the performance of the robot in complex operation tasks. However, the multi-fingered dexterous hands in the current related technologies have significant defects in compliance performance and sensing ability, which severely restricts their further expansion in practical applications.

[0003] Most of the driving and transmission components of traditional multi-fingered dexterous hands adopt rigid body structures. Although such structures have high structural strength and motion accuracy, they lack the necessary compliance when facing complex and changeable actual working environments. When the finger accidentally collides with the operating object or is subjected to a large external force impact, the rigid body structure cannot effectively buffer the energy, and it is extremely easy to cause damage to the finger structure. The human hand has excellent compliance and adaptability, and can automatically adjust the grasping force and method according to the shape, texture, and weight of different objects. However, due to the limitation of the rigid body structure, the existing dexterous hands are difficult to adapt to various operating objects as flexibly as the human hand.

[0004] To improve the compliance performance, many improvement attempts have been made in the industry, but none of them have achieved ideal results. Taking a bionic dexterous finger disclosed in Chinese Patent Document CN119501982A as an example, although this solution has improved the compliance performance of the finger to a certain extent, it still has the following deficiencies:

[0005] This solution designs linear springs on both sides of the driving component to achieve a small range of compliance ability in the bending and side-swing directions of the finger root, but it still does not have an independent compliance function at the knuckle. This means that during the contact process between the finger and the operating object, the knuckle part cannot automatically adjust its posture according to the shape and force condition of the object, resulting in insufficient overall impact resistance of the finger and difficulty in adapting to complex and changeable operation scenarios. Summary of the Invention

[0006] The present invention provides a knuckle structure and a finger of a robot, which effectively solve the problems of easy damage due to insufficient compliance performance and poor adaptability to the operating object, improve the reliability of the dexterous finger and the multi-fingered dexterous hand, and provide strong support for the efficient and accurate operation of the robot in complex environments.

[0007] The embodiments of the present invention can be implemented as follows:

[0008] An embodiment of the present invention provides a knuckle structure of a robot, including:

[0009] A knuckle body, on which a knuckle hinge point is provided, and the knuckle hinge point is used to connect a proximal element so that the knuckle body rotates around the knuckle hinge point;

[0010] An elastomer, which is embedded in the knuckle body in such a way that the two ends of the length direction are respectively a proximal hinge point and a distal hinge point;

[0011] When the knuckle body is subjected to an external load, the elastomer deforms adaptively to achieve the passive compliance of the knuckle body, and the stiffness of the elastomer changes with the change of the external load.

[0012] Optionally, the elastomer extends from one end to the other end of the length direction of the elastomer in a wavy form;

[0013] Or, the elastomer extends from one end to the other end of the length direction of the elastomer in an arc form.

[0014] Optionally, when the knuckle structure is a lower knuckle, the proximal element is configured as a base assembly, and the distal element is configured as a middle knuckle.

[0015] Optionally, the base assembly includes a base bottom plate and two base side plates arranged on the base bottom plate, and the knuckle assembly is rotatably arranged between the two base side plates;

[0016] A driver is fixed on the base bottom plate, and the driver is in transmission connection with the knuckle assembly.

[0017] Optionally, when the knuckle structure is a middle knuckle, the proximal element is configured as a lower knuckle, and the distal element is configured as an upper knuckle.

[0018] Optionally, the proximal hinge point of the elastomer is connected to the proximal element, and the distal hinge point of the elastomer is connected to the distal element.

[0019] Optionally, when the knuckle structure is an upper knuckle, the proximal element is configured as a middle knuckle.

[0020] Optionally, the proximal hinge point and the distal hinge point of the elastomer are respectively connected to the knuckle body.

[0021] Optionally, the knuckle body includes two knuckle side plates, and the elastomer is located between the two knuckle side plates.

[0022] Optionally, the knuckle side plate includes:

[0023] A straight part;

[0024] An inclined portion, one end of the inclined portion is correspondingly connected to a distal hinge point, the other end of the inclined portion is connected to a straight portion, and a knuckle hinge point is correspondingly connected to the connection portion between the inclined portion and the straight portion.

[0025] Optionally, a sensing device is provided on the elastic body.

[0026] An embodiment of the present invention provides a finger, including a knuckle structure of a robot.

[0027] Compared with the prior art, the present technical solution has the following advantages:

[0028] The elastic body can deform to adapt to an external force load, enabling the knuckle structure to adapt to the external force load in a passive compliance manner. At the same time, the stiffness of the elastic body increases with the external force load, enhancing the load output ability transmitted by the actuator to the finger tip and achieving better mechanical output ability.

[0029] Integrating the deformation sensing device into the elastic structure realizes the integrated sensing of deformation and force perception, eliminating the need for additional independent sensing components, reducing the system complexity and design space requirements, and effectively reducing the production cost.

[0030] Utilizing the design of embedding the elastic body in the knuckle body, and at the same time the elastic body integrates deformation and force perception. Compared with the traditional complex structure with multiple joints and multiple actuators, the number of components and mechanical connection points are reduced. There is no need to separately set an actuator for each knuckle, reducing the system complexity and manufacturing cost, and at the same time greatly improving the use reliability. Description of the Drawings

[0031] [[ID=**********]] Figure 1 It is a schematic structural diagram of the robot finger of the present invention;

[0032] Figure 2 It is a rear view of the robot finger of the present invention;

[0033] Figure 3 It is a cross-sectional view of the robot finger of the present invention;

[0034] Figure 4 It is a schematic diagram of the elastic body of the robot finger of the present invention after being compressed;

[0035] Figure 5 It is a schematic structural diagram of another embodiment of the robot finger of the present invention. Detailed Embodiments

[0036] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of them. The components of the embodiments of the present invention usually described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations.

[0037] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0038] It should be noted that: similar reference numerals and letters indicate similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0039] In the description of the present invention, it should be noted that if terms such as "upper", "lower", "inner", "outer", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the invention is usually placed during use, it is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be construed as a limitation of the present invention.

[0040] In addition, terms such as "first", "second", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0041] It should be noted that, without conflict, the features in the embodiments of the present invention can be combined with each other.

[0042] As mentioned in the background art, to improve the compliance performance, some researchers have proposed a design solution using flexible joints. However, this solution faces a difficult-to-reconcile contradiction in practical applications: it is difficult to precisely adjust the stiffness of the flexible joints. When the joint flexibility design is relatively high, although the finger has good compliance characteristics and can adapt to a certain degree of external load changes, the grasping force will be significantly limited and cannot meet the grasping requirements for high-load objects; conversely, if a higher grasping force is to be achieved, the stiffness of the flexible joints must be increased, which in turn will lead to a significant reduction in the compliance characteristics of the finger and make it difficult to adapt to complex and changing operating environments. This problem of being unable to balance the output force and compliance characteristics has become a key factor restricting the performance improvement of flexible joint dexterous hands.

[0043] In view of this, please refer toFigure 1 , in the embodiments of the present invention, the knuckle structure 100 of the robot can solve this problem, and the following will describe it in detail.

[0044] Embodiments of the present invention provide a knuckle structure 100 of a robot, including:

[0045] Knuckle bodies 110a, 110b, 110c, on which knuckle hinge points 101a, 101b, 101c are provided, and the knuckle hinge points 101a, 101b, 101c are used to connect a proximal element so that the knuckle bodies 110a, 110b, 110c rotate around the knuckle hinge points 101a, 101b, 101c;

[0046] Elastomers 120a, 120b, 120c, which are embedded in the knuckle bodies 110a, 110b, 110c in such a way that the two ends of the length direction are the proximal hinge points 102a, 102b, 102c and the distal hinge points 103a, 103b, 103c respectively;

[0047] When the knuckle bodies 110a, 110b, 110c are subjected to an external load, the elastomers 120a, 120b, 120c adapt to deformation to achieve the passive compliance of the knuckle bodies 110a, 110b, 110c, and the stiffness of the elastomers 120a, 120b, 120c changes with the change of the external load.

[0048] The phalange bodies 110a, 110b, and 110c rotate relative to the proximal element to achieve the bending of the phalange bodies 110a, 110b, and 110c. Through the rotation of multiple phalange bodies, actions such as grasping can be achieved. When the phalange structure 100 is subjected to a low load, the elastomers 120a, 120b, and 120c have a small stiffness and can deform. This enables the phalange bodies 110a, 110b, and 110c to automatically adjust their postures according to the shape and force of an external object like a biological finger, achieving good passive compliance characteristics. For example, when grasping a soft, fragile, or irregularly shaped object, the phalange structure 100 can naturally conform to the object surface, avoiding damaging the object or being unable to effectively grasp due to excessive stiffness, greatly improving the stability and adaptability of grasping. As the external load changes, the stiffness of the elastomers 120a, 120b, and 120c also changes, such as increasing, decreasing, or remaining unchanged. Preferably, the stiffness of the elastomers 120a, 120b, and 120c increases as the external load increases, which means that the phalange structure 100 can have sufficient structural stiffness to ensure that the load generated by the actuator is effectively transmitted to the finger tip, achieving good mechanical output ability. For example, when grasping a heavy metal part, tool, or other object, the phalange structure 100 can stably apply sufficient grasping force to ensure that the object does not slip.

[0049] It can be seen from this that by embedding the elastomers 120a, 120b, and 120c in the phalange bodies 110a, 110b, and 110c, the entire phalange structure 100 becomes more compact. Additionally, by setting the proximal hinge points 102a, 102b, 102c, the distal hinge points 103a, 103b, 103c, and the phalange hinge points 101a, 101b, 101c, the rotation of the phalange bodies 110a, 110b, and 110c can drive the elastomers 120a, 120b, and 120c to deform in the same direction. When subjected to an external load, the elastomers 120a, 120b, and 120c buffer and absorb energy through their own deformation to achieve the passive compliance of the phalange bodies 110a, 110b, and 110c. After the external load increases, the deformation amount of the elastomers 120a, 120b, and 120c increases, and the stiffness of the elastomers 120a, 120b, and 120c also increases, ensuring that the load generated by the actuator is effectively transmitted to the finger tip, achieving good mechanical output ability.

[0050] Such as Figure 1As shown, the phalanx bodies 110a, 110b, 110c include two phalanx side plates 111a, 111b, 111c. The two phalanx side plates 111a, 111b, 111c are parallel to each other and spaced apart by a certain distance, forming a stable structural foundation. The elastic bodies 120a, 120b, 120c are located between the two phalanx side plates 111a, 111b, 111c. Through this embedded design, not only is the tight combination of the elastic bodies 120a, 120b, 120c and the phalanx bodies 110a, 110b, 110c realized, but also the space between the phalanx side plates 111a, 111b, 111c is fully utilized, making the overall structural layout more reasonable and compact, and improving the integration of the structure.

[0051] As Figures 1 to 4 shown, the elastic bodies 120a, 120b, 120c extend from one end to the other end in the length direction of the elastic bodies 120a, 120b, 120c in a wavy form. The wavy structure endows the elastic bodies 120a, 120b, 120c with a certain flexibility and deformation ability. When the elastic bodies 120a, 120b, 120c are not compressed, the undulation degree of the waves is small, and at this time, the stiffness of the elastic bodies 120a, 120b, 120c is small. As the phalanx bodies 111a, 111b, 111c rotate, the gap between the wave layers of the elastic bodies 120a, 120b, 120c gradually decreases, and the stiffness of the elastic bodies 120a, 120b, 120c will gradually increase.

[0052] As Figure 5 shown, the elastic bodies 120a, 120b, 120c extend from one end to the other end in the length direction of the elastic bodies 120a, 120b, 120c in an arc form. When the elastic bodies 120a, 120b, 120c with an arc structure are subjected to external load, the stress can be distributed more evenly along the arc surface and maintain good stability.

[0053] The finger includes a lower phalanx, a middle phalanx and an upper phalanx. Therefore, the phalanx structure 100 can correspond to the lower phalanx, the middle phalanx and the upper phalanx respectively. The following will be introduced in detail through three embodiments:

[0054] First Embodiment

[0055] As Figures 1 to 3 shown, the phalanx structure 100 is the lower phalanx. At this time, the proximal element is configured as the base assembly 130, and the distal element is configured as the middle phalanx.

[0056] One end of the phalanx body 110a in the length direction is provided with a phalanx hinge point 101a, and the phalanx hinge point 101a is connected to the proximal element. The phalanx body 110a is relative to the proximal element and rotates around the phalanx hinge point 101a. The other end of the phalanx body 110a in the length direction is connected to the distal element, specifically connected to the phalanx hinge point 101b of the distal element serving as the middle phalanx, and the distal element can rotate around the phalanx hinge point 101b of the distal element.

[0057] In terms of the connection relationship, the two ends of the elastic body 120a in the length direction are respectively a proximal hinge point 102a and a distal hinge point 103a. Among them, the proximal hinge point 102a of the elastic body 120a is connected to the proximal element, and this connection method allows the elastic body 120a to be relative to the proximal element and rotate freely within a certain angle range around the proximal hinge point 102a, providing a basis for the subsequent elastic deformation of the elastic body 120a. The distal hinge point 103a of the elastic body 120a is connected to the distal element, which also ensures the flexibility of the relative rotation between the distal element and the elastic body 120a.

[0058] As Figure 1 shown, a joint axis is provided on the proximal element, the phalanx body 110a is rotatably arranged on the joint axis, and the axial direction of the joint axis is defined as the direction of the phalanx hinge point 101a. Similarly, a proximal axis is provided on the proximal element, a distal axis is provided on the distal element, and the two ends of the elastic body 120a in the length direction are respectively sleeved on the proximal axis and the distal axis. The axial direction of the proximal axis is defined as the direction of the proximal hinge point 102a, and the axial direction of the distal axis is defined as the direction of the distal hinge point 103a.

[0059] Furthermore, the phalanx body 110a rotates around the joint axis, and the elastic body 120a can rotate around the proximal axis and the distal axis respectively. Among them, the joint axis, the proximal axis, and the distal axis are parallel, but the two ends of the phalanx body 110a and the elastic body 120a can rotate in the clockwise or counterclockwise direction around their respective corresponding axes, and the rotation directions of the three can be the same or different. For example, the phalanx body 110a rotates counterclockwise around the joint axis, and the elastic body 120 rotates counterclockwise or clockwise around the proximal axis.

[0060] In addition, since the elastomer 120a is made of an elastic material and has the ability of elastic deformation, both ends of the elastomer 120a can be fixedly connected to the proximal element and the distal element respectively. Specifically, the proximal hinge point 102a of the elastomer 120a is fixedly connected to the proximal element, and the elastomer 120a adaptively rotates relative to the proximal hinge point 102a. Similarly, the distal hinge point 103a of the elastomer 120a is fixedly connected to the distal element, and the elastomer 120a adaptively rotates relative to the distal hinge point 103a.

[0061] Reference Figure 3 , on the proximal element, the proximal hinge point 102a is located inside the phalangeal hinge point 101a. On the distal element, the distal hinge point 103a is located outside the phalangeal hinge point 101b. Here, the inside refers to the side of the phalangeal structure 100 facing the palm, and the outside refers to the side of the phalangeal structure 100 facing the back of the hand.

[0062] This design method makes full use of the limited internal space of the phalangeal body 110a and realizes the reasonable distribution of the proximal hinge point 102a and the distal hinge point 103a. The phalangeal hinge point 101a is mainly responsible for the rotation of the phalangeal body 110a to realize basic finger bending and other actions. The proximal hinge point 102a and the distal hinge point 103a cooperate with the elastomer 120a to realize the passive compliance and stiffness functions of the finger.

[0063] Currently, the perception schemes of most dexterous hands rely on installing independent force and tactile sensors on the fingers or palms to realize the perception function. These external perception devices not only increase the complexity of the system, but also occupy a large amount of design space, making the finger structure more bulky and not conducive to achieving the design goals of compactness and light weight. For this reason, reference Figure 1 , in this embodiment, a perception device 150 is arranged on the elastomer 120a, so that there is no need to install an additional independent sensor on the finger or palm, greatly reducing the occupation of design space by external perception devices and helping to realize the light-weight design of the dexterous hand.

[0064] The number of the perception devices 150 can be adjusted accordingly according to the length of the elastomer 120a. The perception device 150 can be a strain gauge, which has the advantages of high sensitivity and fast response speed. When the elastomer 120a is subjected to an external load, it will deform, and the strain gauge will generate a resistance change accordingly. By detecting the resistance change of the strain gauge, the deformation amount of the elastomer 120a can be calculated. For example, a Wheatstone bridge circuit can be used to measure the resistance change of the strain gauge to improve the measurement accuracy and stability.

[0065] Such as Figure 1As shown, the base assembly 130, as the proximal component, includes a base bottom plate 131 and two base side plates 132 disposed on the base bottom plate 131. The knuckle assembly 110a is rotatably disposed between the two base side plates 132.

[0066] A driver 140 is fixed on the base bottom plate 131, and the driver 140 is in transmission connection with the knuckle assembly 110a.

[0067] A joint shaft and a proximal shaft are connected between the two base side plates 132. Two knuckle side plates 111a of the knuckle body 110a are respectively rotatably disposed on the joint shaft, and the elastic body 120a is rotatably disposed on the proximal shaft. The two knuckle side plates 111a can be sleeved on the joint shaft as a whole. For example, a sleeve is connected between the two knuckle side plates 111a, and the joint shaft passes through the sleeve so that the two knuckle bodies 110a rotate around the knuckle hinge point 101a.

[0068] The driver 140 is installed on the lower surface of the base bottom plate 131, while the knuckle body 110a and the base side plates 132 are disposed on the upper surface of the base bottom plate 131, making rational use of the space layout. The driver 140 can be a motor, which is in transmission connection with the knuckle body 110a through a gear rack, a worm and worm gear, etc. For example, the output end of the driver 140 is connected to a worm, and a worm gear is disposed on a sleeve connected between the two knuckle side plates 111a, and the worm gear meshes with the worm, so that the driver 140 can drive the knuckle body 110a to rotate around the knuckle hinge point 101a.

[0069] As Figure 1 shown, the knuckle side plate 111a is generally linear, and the connection end of the knuckle side plate 111a with the proximal component is circular to ensure that it has enough area to be connected to the joint shaft. A joint shaft corresponding to the distal component is connected between the connection ends of the two knuckle side plates 111a with the distal component, so that the two knuckle side plates 111a are connected as a whole through the sleeve and the joint shaft.

[0070] Second Embodiment

[0071] As Figures 1 to 3 shown, the knuckle structure 100 is a middle knuckle. At this time, the proximal component is configured as a lower knuckle, and the distal component is configured as an upper knuckle. The difference between the knuckle structure 100 as the middle knuckle and the first embodiment lies in the shape and length of the knuckle body 110b.

[0072] The knuckle side plates 111b of the knuckle body 110b include:

[0073] A straight portion 1111;

[0074] The inclined portion 1112, one end of the inclined portion 1112 is correspondingly connected to the distal hinge point 103a, the other end of the inclined portion 1112 is connected to the straight portion 1111, and the connection portion of the inclined portion 1112 and the straight portion 1111 is correspondingly connected to the phalange hinge point 101b.

[0075] The inclined portion 1112 is located outside the straight portion 1111, and the inclined portion 1112 is inclined relative to the straight portion 1111 to form a distal hinge point 103a at one end of the inclined portion 1112 for rotatably connecting the elastic body 120a of the upper phalange, that is, the distal hinge point 103a is located outside the phalange hinge point 101b.

[0076] The length of the inclined portion 1112 is much smaller than the length of the straight portion 1111, and the lengths of the two and the inclination angle of the inclined portion 1112 can be adjusted according to design requirements.

[0077] Third Embodiment

[0078] As Figures 1 to 3 shown, the phalange structure 100 is the upper phalange. At this time, the proximal element is configured as the middle phalange, and there is no corresponding distal element. The difference between the phalange structure 100 as the upper phalange and the second embodiment lies in the shape, length of the phalange body 110c, and the connection relationship of the elastic body 120c.

[0079] Referring to Figure 1 , in addition to including two phalange side plates 111c, the phalange body 110c further includes a phalange top plate 112c, the phalange top plate 112c is connected between the two phalange side plates 111c, and the phalange top plate 112c is located on the side of the straight portion 1111 away from the inclined portion 1112.

[0080] Continuing to refer to Figure 1 , the proximal hinge point 102c and the distal hinge point 103c of the elastic body 120c are respectively connected to the phalange body 110c.

[0081] In summary, the elastic bodies 120a, 120b, and 120c can deform to adapt to external loads, enabling the knuckle structure 100 to adapt to external loads in a passive and compliant manner. At the same time, the stiffness of the elastic bodies 120a, 120b, and 120c increases with the external load, enhancing the load output capacity of the driver transmitted to the end of the finger, and achieving better mechanical output capacity. It can be seen that the design of the elastic bodies 120a, 120b, and 120c embedded in the knuckle bodies 110a, 110b, and 110c takes into account both rigid transmission capacity and passive compliance, so that the fingers have better impact resistance and improve their adaptability to the operation object. The elastic bodies 120a, 120b, and 120c can be applied to each knuckle of the finger, and each knuckle can achieve independent variable stiffness and passive compliance functions. The deformation sensing device is integrated into the elastic structure to realize the integrated perception of deformation and force. No additional independent sensing components are required, which reduces the system complexity and design space requirements and effectively reduces the production cost. It can be seen that the elastic bodies 120a, 120b, and 120c can integrate deformation and force perception.

[0082] like Figures 1 to 5 As shown, an embodiment of the present invention further provides a finger, comprising the knuckle structure 100 of any one of the first to third embodiments. That is, the finger comprises a base assembly 130, a driver 140, a lower knuckle, a middle knuckle and an upper knuckle.

[0083] Since the finger includes the knuckle structure 100 , the beneficial effects of the finger may refer to the knuckle structure 100 .

[0084] After the driver 140 drives the lower phalanx to rotate, the linkage of the phalanx structure 100, elastic bodies 120a, 120b, 120c, etc. can sequentially drive the middle phalanx and the upper phalanx to rotate, thereby completing actions such as finger bending.

[0085] It should be noted that the lower, middle and upper phalanges may use elastic bodies 120a, 120b and 120c of different shapes, and the elastic body 120c corresponding to the upper phalanges may not be provided with the sensing device 150.

[0086] The working steps of the finger are as follows:

[0087] 1. The driver 140 acts as a power engine for finger movement. Driven by the driver 140 , the lower knuckle, middle knuckle and upper knuckle rotate to achieve movements such as finger bending.

[0088] 2. When the finger is subjected to an external load, the elastomers 120a, 120b, and 120c deform to conform to the external environment. At the same time, the sensing devices 150 on the elastomers 120a, 120b, and 120c can sense the deformation of the elastomers 120a, 120b, and 120c in real time and feed this information back to the control system. This real-time feedback mechanism enables the control system to timely understand the interaction state between the finger and the external environment, providing a basis for subsequent calculations and decisions.

[0089] 3. Combining the stiffness and deformation information of the elastomers 120a, 120b, and 120c, the current force characteristics of the elastomers 120a, 120b, and 120c can be calculated.

[0090] 4. Based on the kinematic and static models of the finger, and combining the deformation and force characteristics of the elastomers 120a, 120b, and 120c, the control system can solve for the global motion and force conditions of the finger. Through this comprehensive analysis method, high-precision position feedback and force / tactile perception are achieved. Position feedback enables the control system to accurately control the motion trajectory and position of the finger, while force / tactile perception allows the finger to sense information such as the hardness and roughness of external objects like a human finger, providing the possibility for fine operations.

[0091] 5. When the external load disappears, the elastomers 120a, 120b, and 120c gradually return to the state in Step 1 by virtue of their own elastic properties. Taking the elastomer 120b of the middle phalanx as an example, the undulation degree of the waves of the elastomer 120b in Step 1 is smaller. Refer to Figure 3 .

[0092] In summary, when the finger is subjected to an external load, the deformation of the elastomers 120a, 120b, and 120c can absorb and buffer part of the impact energy, reduce damage to the finger and the actuator, etc., and achieve the passive compliance of the finger. The sensing devices 150 provide real-time feedback on the deformation of the elastomers 120a, 120b, and 120c, and combined with the stiffness information and model analysis, high-precision perception of the motion and force states of the finger is achieved. This real-time and precise perception ability enables the finger to adjust its actions in a timely manner during operation, ensuring the accuracy and stability of the operation.

[0093] The above is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present invention should be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A knuckle structure (100) of a robot, characterized in that, Comprising: Knuckle bodies (110a, 110b, 110c) provided with knuckle hinge points (101a, 101b, 101c) thereon, the knuckle hinge points (101a, 101b, 101c) being used to connect to a proximal element so that the knuckle bodies (110a, 110b, 110c) rotate about the knuckle hinge points (101a, 101b, 101c); Elastomers (120a, 120b, 120c) embedded in the knuckle bodies (110a, 110b, 110c) in such a way that the two ends in the length direction are respectively a proximal hinge point (102a, 102b, 102c) and a distal hinge point (103a, 103b, 103c); When an external load acts on the knuckle bodies (110a, 110b, 110c), the elastomers (120a, 120b, 120c) adapt to deformation to achieve passive compliance of the knuckle bodies (110a, 110b, 110c), and the stiffness of the elastomers (120a, 120b, 120c) changes with the change of the external load.

2. The knuckle structure (100) of the robot according to claim 1, characterized in that, The elastomers (120a, 120b, 120c) extend from one end in the length direction of the elastomers (120a, 120b, 120c) to the other end in a wavy form; Or, the elastomers (120a, 120b, 120c) extend from one end in the length direction of the elastomers (120a, 120b, 120c) to the other end in an arc form.

3. The knuckle structure (100) of the robot according to claim 1, characterized in that, The knuckle bodies (110a, 110b, 110c) include two knuckle side plates (111a, 111b, 111c), and the elastomers (120a, 120b, 120c) are located between the two knuckle side plates (111a, 111b, 111c).

4. The knuckle structure (100) of the robot according to claim 3, characterized in that, When the knuckle structure (100) is a lower knuckle, the proximal element is configured as a base assembly (130), and the distal element is configured as a middle knuckle; The base assembly (130) includes a base bottom plate (131) and two base side plates (132) provided on the base bottom plate (131), and the knuckle assembly (110a) is rotatably provided between the two base side plates (132); A driver (140) is fixed on the base bottom plate (131), and the driver (140) is in transmission connection with the knuckle assembly (110a).

5. The knuckle structure (100) of the robot according to claim 3, characterized in that, When the knuckle structure (100) is a middle knuckle, the proximal element is configured as a lower knuckle, and the distal element is configured as an upper knuckle.

6. The knuckle structure (100) of the robot according to claim 4 or 5, characterized in that, The proximal hinge points (102a, 102b) of the elastomers (120a, 120b) are connected to the proximal element, and the distal hinge points (103a, 103b) of the elastomers (120a, 120b) are connected to the distal element.

7. The knuckle structure (100) of the robot according to claim 3, characterized in that, When the knuckle structure (100) is an upper knuckle, the proximal element is configured as a middle knuckle; The proximal hinge point (102c) and the distal hinge point (103c) of the elastomer (120c) are respectively connected to the phalanx body (110c).

8. The knuckle structure (100) of the robot according to claim 5 or 7, characterized in that, The phalanx side plates (111b, 111c) include: A straight portion (1111); An inclined portion (1112), one end of the inclined portion (1112) is correspondingly connected to the distal hinge point (103a, 103b), the other end of the inclined portion (1112) is connected to the straight portion (1111), and the connection portion between the inclined portion (1112) and the straight portion (1111) is correspondingly connected to the phalanx hinge point (101b, 101c).

9. The knuckle structure (100) of the robot according to claim 1, characterized in that, Sensing devices (150) are provided on the elastomers (120a, 120b).

10. A finger, characterized in that, It includes the phalanx structure (100) according to any one of claims 1 to 9.

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