Manipulator

Abstract

The invention discloses a manipulator, which belongs to the technical field of bionic robots and is characterized in that a palm center is arranged on one side of a palm body along the thickness direction of the palm body; the fingers are arranged on the palm body, a first output shaft of the driving device is provided with knuckles to drive the knuckles to rotate, at least one knuckle is a buffering knuckle, and second matching parts and receding grooves of the buffering knuckles are arranged in the circumferential direction of the first output shaft. The first matching part of the first output shaft is at least partially located in the receding groove and moves relative to the corresponding buffering knuckle in the circumferential direction of the first output shaft so as to make contact with or be separated from the second matching part, and the torsional spring is connected with part of the structure of the driving device and the buffering knuckle. Torsion of the torsional spring enables the buffering knuckles or the driving device to have the tendency of rotating away from the palm center. The finger knuckles or the driving device can be bent close to the center of the palm under the action of external force, the first matching part and the second matching part are separated, the first matching part partially moves in the avoiding groove, and therefore buffering is achieved.

Description

Technical Field

[0001] The present application relates to the technical field of bionic robots, and in particular to a manipulator. Background Art

[0002] With the development of bionic robot technology, robotic arms are increasingly used in production and life. The structure of robotic arms is similar to that of human hands. The fingers of robotic arms can flex, extend and swing to achieve grasping and releasing actions; the fingers may be subjected to external impact or collision, and the action of external force may cause damage to the fingers. Summary of the Invention

[0003] In order to solve the above technical problems, an embodiment of the present application provides a robot arm to cushion the impact received by the fingers.

[0004] The embodiments of the present application are implemented through the following technical solutions.

[0005] The first aspect of an embodiment of the present application provides a robot arm, comprising: a palm body, having a palm center on one side along the thickness direction of the palm body; fingers, arranged on the palm body, the fingers including a torsion spring, a drive device and a knuckle, the drive device including a first output shaft, the first output shaft of the drive device is provided with a knuckle to drive the knuckle to rotate, the first output shaft has a first matching portion, at least one knuckle is a buffer knuckle, the buffer knuckle has a second matching portion and an avoidance groove, the second matching portion and the avoidance groove are arranged along the circumference of the first output shaft, the first matching portion is at least partially located in the avoidance groove and moves relative to the corresponding buffer knuckle along the circumference of the first output shaft to contact or disengage with the second matching portion, the torsion spring is respectively connected to part of the structure of the drive device and the buffer knuckle, and the torsion of the torsion spring causes the buffer knuckle or the drive device to have a tendency to rotate away from the palm center.

[0006] In some embodiments, the first mating portion contacts the groove wall of the avoidance groove along the axial direction of the first output shaft; or, the first mating portion is disengaged from the buffer knuckle along the axial direction of the first output shaft, and the end of the first output shaft facing the first mating portion has an annular end surface, and the buffer knuckle has an axial limit ring located at the end of the first output shaft facing the first mating portion, and the axial limit ring abuts against the annular end surface along the axial direction of the first output shaft.

[0007] In some embodiments, the number of second mating portions and avoidance grooves is N, the second mating portions and avoidance grooves are alternately arranged along the circumference of the first output shaft, the first mating portion is at least partially located in the corresponding avoidance groove, the first mating portion is in contact with or disengages from the corresponding second mating portion, and N is an integer greater than or equal to 2.

[0008] In some embodiments, when the force acting on the buffer knuckle or the driving device to separate the first matching portion from the second matching portion is released, the second matching portion contacts the first matching portion under the action of the torsion spring.

[0009] In some embodiments, the buffer knuckle also includes a baffle extending along the circumference of the first output shaft, the baffle is at least partially located on the side of the second matching portion along the circumference of the first output shaft toward the avoidance groove, and the baffle is located between the first matching portion and the torsion spring along the radial direction of the first output shaft.

[0010] In some embodiments, one end of the palm has a wrist that can be set on the arm. When the fingers are extended, the fingers located at the end of the palm away from the wrist are working fingers; a driving device that drives the knuckles of the working fingers closest to the palm to rotate is installed on the palm, and the knuckles of the working fingers closest to the palm are buffer knuckles.

[0011] In some embodiments, one end of the palm has a wrist that can be set on the arm. When the fingers are unfolded, the fingers located at the end of the palm away from the wrist are working fingers, and the fingers closest to the wrist among all the fingers are the thumb; the driving device installed on the palm in the thumb's driving device is a first driving device, and the first output shaft of the first driving device is located between the wrist and the working fingers along the axial direction of the first output shaft. At least one driving device in the thumb's driving device is a second driving device, and the first output shaft of the second driving device is arranged crosswise with the first output shaft of the first driving device. The knuckle that spans the first output shaft of the first driving device and the first output shaft of the second driving device is a buffer knuckle, and the first matching portion of the first output shaft of the first driving device is connected to the buffer knuckle. The first matching portion of the first output shaft of the second driving device is at least partially located in the avoidance groove of the buffer knuckle, and the corresponding torsion springs are respectively connected to part of the structure of the second driving device and the buffer knuckle.

[0012] In some embodiments, the driving device further comprises: a bracket rotatably connected to the first output shaft, a torsion spring connected to the buffer knuckle and the bracket respectively, the first mating portion being located on one side of the outside of the bracket along the axial direction of the first output shaft, the buffer knuckle being arranged on the driving device being located outside the bracket so that the buffer knuckle can be removed from the driving device without disassembling the driving device; a driver mounted on the bracket, the driver comprising a second output shaft, the first output shaft and the second output shaft being arranged crosswise;

[0013] The transmission assembly is arranged across the first output shaft and the second output shaft, and the transmission assembly is separated from the finger joint.

[0014] In some embodiments, the driving device further includes an encoder, and the encoder is located at an end of the first output shaft away from the first matching portion.

[0015] In some embodiments, the transmission assembly includes: a worm connected to the second output shaft to rotate along with the second output shaft; a worm wheel engaged with the worm, and the worm wheel is connected to the first output shaft to rotate along with the worm wheel.

[0016] The robotic arm provided in the embodiments of the present application can both hold an object when needed and provide cushioning and collision protection after releasing the object. Under the action of an external force, the finger knuckles or drive mechanism bend toward the palm, disengaging the first and second mating portions. The first mating portion can partially move within the escape groove, thereby achieving cushioning. After the external force is removed, the knuckles or drive mechanism return to their original position under the action of a torsion spring. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present application. The same reference numerals are used throughout the drawings to denote the same components. In the drawings:

[0018] Figure 1 A schematic diagram of the structure of a manipulator provided in some embodiments of the present application;

[0019] Figure 2 Schematic diagram of a driving device provided for some embodiments of the present application;

[0020] Figure 3 Schematic diagram of a driving device for the thumb pad provided in some embodiments of the present application;

[0021] Figure 4 A schematic structural diagram of the buffer knuckle portion of the thumb provided in some embodiments of the present application;

[0022] Figure 5 A schematic diagram of the structure of working fingers provided in some embodiments of the present application;

[0023] Figure 6 for Figure 5 Cross-sectional view at AA in the middle;

[0024] Figure 7 A schematic diagram of the structure of working fingers provided in some embodiments of the present application;

[0025] Figure 8 A schematic exploded perspective view of a working finger provided in some embodiments of the present application;

[0026] Figure 9 It is a structural diagram of the knuckle shell;

[0027] Figure 10 yes Figure 5 Cross-sectional view at the middle BB;

[0028] Figure 11 is a schematic structural diagram of a thumb provided in some embodiments of the present application;

[0029] Figure 12 yes Figure 11 Cross-sectional view at CC.

[0030] Description of Reference Numerals

[0031] 1000, manipulator; 1100, palm; 1101, palm; 1102, wrist; 1200, finger; 1210, thumb; 1211, thumb pulp; 1212, thumb tip; 1220, working finger; 1221, working finger tip; 1230, torsion spring;

[0032] 200, buffer knuckle; 210, knuckle housing; 211, second mating portion; 212, avoidance groove; 213, baffle; 214, axial limiting ring; 215, radial limiting ring; 220, connecting rod;

[0033] 100. Drive device; 101. First drive device; 102. Second drive device; 103. Third drive device; 104. Fourth drive device; 110. First output shaft; 110A. Output spindle; 110B. Metering shaft; 110C. Locking member; 111. First mating portion; 112. Annular end face; 120. Driver; 121. Second output shaft; 130. Bracket; 140. Transmission assembly; 150. Encoder; 141. Worm; 142. Worm wheel. DETAILED DESCRIPTION

[0034] The following embodiments of the technical solution of the present application will be described in detail with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present application and are therefore only examples and are not intended to limit the scope of protection of the present application.

[0035] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the specification of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions.

[0036] In the description of the embodiments of the present application, technical terms such as "first", "second", "third", etc. are only used to distinguish different objects and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features.

[0037] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0038] In the description of the embodiments of this application, the term "and / or" is simply a description of the association relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent the following three situations: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this document generally indicates that the associated objects are in an "or" relationship.

[0039] In the description of the embodiments of the present application, the technical terms "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "circumferential", "radial", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed, operated or used in a specific orientation. Therefore, they should not be understood as limitations on the embodiments of the present application.

[0040] In the description of the embodiments of the present application, unless otherwise clearly specified or limited, technical terms such as "installed," "connected," "connected," "connected," and "fixed" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; internal connections between two components or interactions between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to specific circumstances.

[0041] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, the technical term "contact" refers to direct contact or indirect contact, which can be contact without interaction force between the two contacting parties, or contact with interaction force between the two contacting parties.

[0042] In some embodiments of the present application, for the convenience of explanation, Figures 5 to 8 As shown by the arrow in , the direction of arrow X is the axial direction of the first drive shaft.

[0043] Below, this application is described in detail.

[0044] In related technologies, the structure of a robotic arm is similar to that of a human hand. The fingers of the robotic arm can flex, extend, and swing to achieve grasping and releasing actions. The fingers may be subjected to external impact or collision, and the action of external forces may cause damage to the fingers.

[0045] After research, it is found that the knuckles of the fingers can be designed to have a buffering function. The buffering knuckles are provided with an avoidance groove so that the output end of the driving device can move in the avoidance groove and produce relative rotation with the buffering knuckles to prevent external forces from twisting or damaging the knuckles of the fingers, or preventing external forces from damaging the driving device that drives the knuckles to rotate.

[0046] Based on this design concept, the present application embodiment provides a manipulator 1000, such as Figure 1 、 Figure 2 As shown, the robot hand 1000 includes a palm 1100 and fingers 1200 .

[0047] The palm 1100 has a palm center 1101 on one side along the thickness direction of the palm 1100; the finger 1200 is arranged on the palm 1100, and the finger 1200 includes a torsion spring 1230, a driving device 100 and a knuckle, the driving device 100 includes a first output shaft 110, and the first output shaft 110 of the driving device 100 is provided with a knuckle to drive the knuckle to rotate, the first output shaft 110 has a first matching portion 111, at least one knuckle is a buffer knuckle 200, and the buffer knuckle 200 has a second matching portion 211 and a buffer knuckle The escape groove 212, the second matching portion 211 and the avoidance groove 212 are arranged along the circumference of the first output shaft 110. The first matching portion 111 is at least partially located in the avoidance groove 212 and moves relative to the corresponding buffer knuckle 200 along the circumference of the first output shaft 110 to contact or disengage with the second matching portion 211. The torsion spring 1230 is respectively connected to part of the structure of the driving device 100 and the buffer knuckle 200. The torsion force of the torsion spring 1230 causes the buffer knuckle 200 or the driving device 100 to have a tendency to rotate away from the palm 1101.

[0048] It should be noted that the palm 1101 mentioned above refers to the side of the palm 1100 facing the object being grasped.

[0049] It should be noted that the manipulator 1000 is similar to a human hand, i.e., a dexterous hand. The manipulator 1000 can be similar to a human left hand or a human right hand, and this embodiment of the application does not limit this.

[0050] It can be understood that the number of fingers 1200 is an integer not less than 1.

[0051] It can be understood that the number of knuckles in each finger 1200 is an integer not less than 1.

[0052] It is understandable that the buffer knuckle 200 can be rotated around the rotation axis of the first output shaft 110 by the driving device 100 .

[0053] Exemplarily, the driving device 100 may include a driver 120 , and the driver 120 may be any one of a motor drive source, a hydraulic drive source, and a pneumatic drive source.

[0054] For example, the first output shaft 110 of the driving device 100 may be the output shaft of the driver 120, or may be a rotating shaft drivingly connected to the output shaft of the driver 120. This embodiment of the present application does not limit this.

[0055] Exemplarily, the number of knuckles of each finger 1200 may be the same as the number of the driving devices 100 , that is, the knuckles correspond to the driving devices 100 one-to-one, and the manipulator 1000 is a full-drive type.

[0056] As another example, the number of knuckles of each finger 1200 may be different from the number of the driving devices 100 , that is, the number of knuckles is greater than the number of the driving devices 100 , and the manipulator 1000 is of an under-actuated type.

[0057] For example, when the robot arm 1000 has multiple fingers 1200 , the number of joints of each finger 1200 may be the same or different.

[0058] Exemplarily, the first matching portion 111 and the first output shaft 110 are an integral structure, and the first matching portion 111 may be formed on a surface of the first output shaft 110 and protrude.

[0059] As another example, the first matching portion 111 and the first output shaft 110 are separate structures, and the first matching portion 111 can be fixed to the first matching portion 111 by interference fit, key connection, bolt connection, etc.

[0060] Illustratively, the first matching portion 111 may protrude in the radial direction of the first output shaft 110 . The embodiment of the present application does not limit the shape of the first matching portion 111 protruding in the radial direction of the first output shaft 110 .

[0061] As another example, the first matching portion 111 may protrude along the axial direction of the first output shaft 110 . The embodiment of the present application does not limit the shape of the first matching portion 111 protruding along the axial direction of the first output shaft 110 .

[0062] As another example, the first mating portion 111 may protrude in the axial direction and radial direction of the first output shaft 110, that is, a portion of the first mating portion 111 protrudes in the axial direction of the first output shaft 110, and another portion protrudes in the radial direction of the first output shaft 110. The embodiment of the present application does not limit the shape of the first mating portion 111.

[0063] For example, Figure 8 、 Figure 9 As shown, the buffer knuckle 200 has a knuckle shell 210 , and a second matching portion 211 and an avoidance groove 212 are provided on the inner side of the knuckle shell 210 .

[0064] It should be noted that the shape of the knuckle housing 210 of the thumb 1210 and the shape of the knuckle housing 210 of the working finger 1220 may be the same or different, and this embodiment of the present application does not limit this.

[0065] For example, the knuckle housing 210 may be an integral structure or a split structure, that is, assembled from multiple parts, which is not limited in the embodiment of the present application.

[0066] It is understandable that the avoidance groove 212 has a certain depth and width, which can accommodate part of the first matching portion 111, and space is reserved in the groove for the first matching portion 111 to move.

[0067] Exemplarily, the first matching portion 111 can move along the circumferential direction of the first output shaft 110 , and at least a portion of the avoidance groove 212 is approximately annular, with an annular space reserved in the groove for the first matching portion 111 to move.

[0068] Exemplarily, the second matching portions 211 and the avoidance grooves 212 are arranged along the circumferential direction of the first output shaft 110 , and the number of the second matching portions 211 and the number of the avoidance grooves 212 are equal.

[0069] As another example, the second matching portions 211 and the avoidance grooves 212 are arranged along the circumference of the first output shaft 110 , and the numbers of the second matching portions 211 and the avoidance grooves 212 are not equal.

[0070] Exemplarily, there are N second matching portions 211 , where N is an integer greater than or equal to 2. Along the circumference of the first output shaft 110 , the avoidance grooves 212 may be provided between adjacent second matching portions 211 .

[0071] For example, when the driving device 100 drives the buffer knuckle 200 to rotate, the first matching portion 111 and the second matching portion 211 can be in at least one of point contact, line contact, and surface contact. The present embodiment does not limit the contact type and shape between the two.

[0072] It is understandable that when the first matching portion 111 contacts the second matching portion 211 , the first output shaft 110 can drive the buffer knuckle 200 to rotate through the first matching portion 111 and the second matching portion 211 , thereby achieving flexion, extension or swinging of the buffer knuckle 200 .

[0073] It can be understood that when external force acts on the buffer knuckle 200, the buffer knuckle 200 rotates relative to the driving device 100, the first matching portion 111 and the second matching portion 211 no longer contact each other, and the second matching portion 211 rotates with the buffer knuckle 200, and the first matching portion 111 can move in the avoidance groove 212.

[0074] For example, the buffer knuckle 200 may have only one buffering avoidance groove 212. For example, among the fingers 1200 of the manipulator 1000, one finger 1200 is the thumb 1210, and the remaining fingers 1200 except the thumb 1210 are working fingers 1220. There are four working fingers 1220, and the knuckle of the working finger 1220 closest to the palm 1100 is the buffer knuckle 200. When the finger 1200 is rotated by an external force, the buffer knuckle 200 can prevent the finger 1200 from being damaged by the forced rotation.

[0075] As another example, the buffer knuckle 200 may be provided with an escape groove 212 at one end, and the other end may be connected to the first mating portion 111 of the first output shaft 110 of another drive device 100 without the escape groove 212, such as by snap-fitting or interference fitting. The buffer knuckle 200 may be the knuckle of the thumb 1210 closest to the palm 1100.

[0076] It is understandable that the torsion spring 1230 can store and release energy through elastic deformation. When it is twisted by an external force, it will deform and store elastic potential energy. After the external force disappears, it will release energy by recovering the deformation, generating torque or rotational force. The torsion spring 1230 can reset the buffer knuckle 200 after it rotates. Specifically, the power for the finger 1200 to rotate toward the palm 1101 comes from the drive device 100. The direction of the first output shaft 110 is opposite to the direction of the torsion of the torsion spring 1230, and the two mating parts are always in contact. The finger 1200 is reset, the drive device 100 reverses and retreats, and the finger 1200 is reset under the torsion of the torsion spring 1230. During the reset process, the two mating parts are always in contact under the action of the torsion spring 1230, and the reset power comes from the torsion spring 1230.

[0077] In this embodiment, the buffer knuckle 200 is designed to bend when needed to coordinate with other fingers 1200 or the palm 1100 for gripping an object, while also providing cushioning and collision protection after releasing the object. Specifically, when an external force is applied, the buffer knuckle 200 or the actuator 100 bends toward the palm 1101, disengaging the first and second mating portions 111 and 211. The first mating portion 111 can move relative to each other within the escape groove 212, preventing it from being torn apart due to the tight fit, thereby achieving cushioning. After the external force is removed, the buffer knuckle 200 or the actuator 100 returns to its original position under the action of the torsion spring 1230.

[0078] In some embodiments, the first mating portion 111 contacts the groove wall of the avoidance groove 212 along the axial direction of the first output shaft 110; or, the first mating portion 111 disengages from the buffer knuckle 200 along the axial direction of the first output shaft 110, and the first output shaft 110 has an annular end face 112 at one end facing the first mating portion 111, and the buffer knuckle 200 has an axial limit ring 214 located at the end of the first output shaft 110 facing the first mating portion 111, and the axial limit ring 214 abuts against the annular end face 112 along the axial direction of the first output shaft 110.

[0079] For example, Figure 4 、 Figure 9 As shown, the avoidance groove 212 has a groove wall along the axial direction of the first output shaft 110. The first mating portion 111 and the groove wall of the avoidance groove 212 can be in at least one of point contact, line contact, or surface contact. This embodiment of the application does not limit the type of contact between the two. Thus, the groove wall of the avoidance groove 212 is used for axial positioning, simplifying the structure of the buffer knuckle 200.

[0080] For example, in Figure 4 In the illustrated embodiment, the first mating portion 111 is disengaged from the buffer knuckle 200 along the axial direction of the first output shaft 110. The end of the first output shaft 110 facing the first mating portion 111 includes an annular end surface 112. The buffer knuckle 200 includes an axial retaining ring 214 located at the end of the first output shaft 110 facing the first mating portion 111. The axial retaining ring 214 abuts against the annular end surface 112 along the axial direction of the first output shaft 110. Specifically, the axial retaining ring 214 can be a stepped surface of a stepped hole. Thus, the abutment between the axial retaining ring 214 and the annular end surface 112 can ensure that the axial force on the first output shaft 110 is more uniform, and the wear during rotation is more uniform. The uniformity of the wear is less affected by the number of first mating portions 111.

[0081] It should be noted that the first matching portion 111 may or may not be in contact with the buffer knuckle 200 along the circumferential direction of the first output shaft 110 , which is not limited in the present embodiment.

[0082] It should be noted that the embodiment of the present application does not limit the shape and size of the axial limit ring 214. One end of the axial limit ring 214 abuts against the annular end surface 112 of the first output shaft 110. The contact mode can be at least one of point contact, line contact, or surface contact.

[0083] For example, the buffer knuckle 200 includes a radial retaining ring 215 that is sleeved onto the first output shaft 110. The radial retaining ring 215 is located on the side of the first output shaft 110 that faces the first mating portion 111 along the axial direction of the first output shaft 110. This restricts radial movement of the first mating portion 111. Specifically, the radial retaining ring 215 may be a sidewall of a stepped hole.

[0084] For example, Figure 4 As shown, the radial limiting ring 215 and the axial limiting ring 214 can be provided in the buffer knuckle 200 at the same time.

[0085] In this embodiment, the axial limit ring 214 or the groove wall can constrain the position of the first matching portion 111 to prevent the first matching portion 111 from moving axially along the first output shaft 110 due to inertia or centrifugal force, thereby reducing the risk of axial movement of the first matching portion 111.

[0086] In some embodiments, the number of the second mating portions 211 and the avoidance grooves 212 is N, the second mating portions 211 and the avoidance grooves 212 are alternately arranged along the circumference of the first output shaft 110, the first mating portion 111 is at least partially located in the corresponding avoidance groove 212, the first mating portion 111 is in contact with or disengaged from the corresponding second mating portion 211, and N is an integer greater than or equal to 2.

[0087] It can be understood that the second matching parts 211 and the avoidance grooves 212 are alternately arranged along the circumference of the first output shaft 110, which means that along the circumference of the first output shaft 110, avoidance grooves 212 are arranged on both sides of any second matching part 211, and second matching parts 211 are arranged on both sides of any avoidance groove 212.

[0088] Exemplarily, the number of the second matching portions 211 and the avoidance grooves 212 are equal, namely 2, 3, 4, 5, etc., and other values are not listed here.

[0089] For example, Figure 4 、 Figure 9 As shown, the number of the second matching portions 211 and the number of the avoiding grooves 212 are equal, both being two.

[0090] Exemplarily, the N second matching portions 211 may be arranged centrally and symmetrically, which is beneficial for balancing centrifugal force and reducing vibration.

[0091] Exemplarily, the second matching portions 211 have the same size and shape, and the avoidance grooves 212 have the same length and depth.

[0092] As another example, the second matching portions 211 are of different sizes and shapes, and the avoidance grooves 212 are of different lengths and depths, which can be flexibly designed based on factors such as the limiting angle.

[0093] In this embodiment, the driving force of the first output shaft 110 applied to the buffer knuckle 200 is relatively uniform, which is beneficial to improving the rotation sensitivity and reducing local stress concentration.

[0094] In some embodiments, when the force acting on the buffer knuckle 200 or the driving device 100 to separate the first matching portion 111 from the second matching portion 211 is removed, the second matching portion 211 contacts the first matching portion 111 under the action of the torsion spring 1230 .

[0095] For example, Figure 10 、 Figure 11 、 Figure 12 As shown, in the thumb 1210 and the working finger 1220, one end of the torsion spring 1230 is connected to the knuckle housing 210 of the buffer knuckle 200. The two can be fixed by means of snap connection, bonding, interference fit, etc., and the inner side of the knuckle housing 210 can be provided with a groove to accommodate the torsion spring 1230. The other end of the torsion spring 1230 is connected to a part of the structure of the drive device 100. The two can be fixed by means of snap connection, bonding, interference fit, etc. For example, one end of the torsion spring 1230 can be inserted into the hole of the bracket 130. The interference fit can be achieved by having a matching hole in the buffer knuckle 200 or the drive device 100, and the end of the torsion spring 1230 is connected to the matching hole through the interference fit. Figure 11 Part of the structure of the driving device 100 is omitted.

[0096] Illustratively, the driving device 100 may include a bracket 130 , the torsion spring 1230 may be connected to the bracket 130 , and the bracket 130 may be fixed or relatively stationary to the palm 1100 .

[0097] For example, Figure 1 、 Figure 2 As shown, among the fingers 1200 of the manipulator 1000, one finger 1200 is a thumb 1210, and the remaining fingers 1200 are working fingers 1220. There are four working fingers 1220, namely the index finger, middle finger, ring finger, and pinky finger. The knuckles of the working fingers 1220 closest to the palm 1100 are the cushioning knuckles 200. The cushioning knuckles 200 are provided with knuckles on the end facing away from the palm 1100, although this is not limited in this embodiment of the present application.

[0098] For example, in the working finger 1220 , the knuckle disposed at the end of the buffer knuckle 200 facing away from the palm 1100 may be fixedly connected to the buffer knuckle 200 .

[0099] For example, in each finger 1200, the fingertip and the buffer knuckle 200 may be connected by transmission, for example, by coupling the buffer knuckle 200 and the fingertip through a connecting rod 220, or by connecting the buffer knuckle 200 and the fingertip through a tendon.

[0100] It is understood that torsion spring 1230 can store and release energy through elastic deformation. When subjected to external twisting force, it deforms and stores elastic potential energy. After the external force disappears, it releases energy by recovering its deformation, generating torque or rotational force. After the buffer knuckle 200 rotates, torsion spring 1230 can reset the buffer knuckle 200 to the state where the second mating portion 211 contacts the first mating portion 111, that is, the position of the buffer knuckle 200 before the external force was applied. When the drive device 100 is subsequently activated, the buffer knuckle 200 can be driven to flex and extend again, preventing the drive device 100, such as the drive motor, from idling, damaging components, or causing loss of control.

[0101] In this embodiment, by providing a torsion spring 1230, when an external force is applied, the buffer knuckle 200 or the drive mechanism 100 bends toward the palm 1101. This disengages the first and second mating portions 111, allowing the first mating portion 111 to move relative to each other within the escape groove 212 without being torn apart due to the tight fit, thereby achieving cushioning. After the external force is removed, the buffer knuckle 200 or the drive mechanism 100 returns to its original position under the action of the torsion spring 1230, thus preventing the motor from idling.

[0102] In some embodiments, the buffer knuckle 200 also includes a baffle 213 extending along the circumference of the first output shaft 110, and the baffle 213 is at least partially located on the side of the second matching portion 211 along the circumference of the first output shaft 110 toward the avoidance groove 212, and the baffle 213 is located between the first matching portion 111 and the torsion spring 1230 along the radial direction of the first output shaft 110.

[0103] For example, the baffle 213 extending along the circumference of the first output shaft 110 may be continuous or discontinuous, which is not limited in the present embodiment.

[0104] For example, the baffle 213 may be provided only at the avoidance groove 212 and may not extend along the circumference of the first output shaft 110 to the location of the second mating portion 211. Alternatively, the baffle 213 may extend along the circumference of the first output shaft 110 from the avoidance groove 212 to the second mating portion 211. This embodiment of the present application is not limited to this.

[0105] It can be understood that the baffle 213 is located between the first matching portion 111 and the torsion spring 1230 along the radial direction of the first output shaft 110 .

[0106] Exemplarily, along the axial direction of the first output shaft 110 , the baffle 213 may be flush with the first matching portion 111 .

[0107] For example, the baffle 213 may protrude from the first matching portion 111 along the axial direction of the first output shaft 110 , further reducing the risk of interference between the torsion spring 1230 and the first matching portion 111 .

[0108] In this embodiment, the provision of the baffle 213 can reduce the interference between the torsion spring 1230 and the first matching portion 111 , thereby avoiding contact between the two.

[0109] In some embodiments, one end of the palm 1100 has a wrist 1102 that can be set on the arm. When the fingers 1200 are unfolded, the fingers 1200 located at the end of the palm 1100 away from the wrist 1102 are working fingers 1220; the driving device 100 that drives the knuckles of the working fingers 1220 closest to the palm 1100 to rotate is installed on the palm 1100, and the knuckles of the working fingers 1220 closest to the palm 1100 are buffer knuckles 200.

[0110] It should be noted that, in this embodiment, the four working fingers 1220 are the index finger, the middle finger, the ring finger and the little finger.

[0111] For example, the length and shape of the four working fingers 1220 may be similar to those of four human fingers, or they may all be the same fingers.

[0112] For example, the wrist portion 1102 is similar to a human wrist, and the wrist portion 1102 may be provided with a circuit board and plug-in terminals for connecting to an external controller, which is not limited in this embodiment of the present application.

[0113] As another example, the wrist 1102 can be physically and electrically connected to an external robotic arm to facilitate adjustment of the position of the robotic arm 1000.

[0114] Exemplarily, the working finger 1220 has a knuckle, namely, a buffer knuckle 200 . The buffer knuckle 200 is provided on the driving device 100 and is mounted and fixed to the palm 1100 through the driving device 100 .

[0115] For example, the working finger 1220 may have two knuckles, three knuckles, or another number of knuckles. The knuckles are connected in sequence, wherein the knuckle closest to the palm 1100 is the buffer knuckle 200.

[0116] For example, Figure 5 、 Figure 6 、 Figure 7 As shown, the working finger 1220 has two knuckles. The knuckle close to the palm 1100 is the active buffer knuckle 200 , and the knuckle away from the palm 1100 is the working finger tip 1221 . The working finger tip 1221 is driven, ie, under-driven.

[0117] For example, Figure 2 As shown, the driving device 100 that drives the buffer knuckle 200 of the working finger 1220 to rotate is the fourth driving device 104. Among the knuckles of the working finger 1220, the knuckle located at the end of the buffer knuckle 200 away from the palm 1100 is the working finger tip 1221. The buffer knuckle 200 and the working finger tip 1221 are connected by a four-link mechanism 220. Specifically, Figure 5 、 Figure 6 As shown, the buffer knuckle 200 includes a knuckle housing 210, one end of which is connected to the first drive shaft and the other end is hinged to the working fingertip 1221. A connecting rod 220 is disposed within the knuckle housing 210. One end of the connecting rod 220 is hinged to the bracket 130 of the fourth drive device 104, and the other end is hinged to the working fingertip 1221. The connecting rod 220 is disposed on the side closer to the palm 1101, and the hinged locations of the two ends of the connecting rod 220 are closer to the palm 1101 than the hinged locations of the two ends of the buffer knuckle 200. Therefore, when the buffer knuckle 200 rotates, the connecting rod 220 also rotates, driving the working fingertip 1221 to bend toward the palm 1101, with its hinged location with the buffer knuckle 200 serving as the axis of rotation. The buffer knuckle 200 and the working fingertip 1221 bend sequentially, achieving a coupled linkage. Through the above-mentioned four-link mechanism 220 , one active degree of freedom (the fourth driving device 104 ) and one driven degree of freedom (the coupling linkage of the link 220 ) of each working finger 1220 can be realized.

[0118] For example, Figure 2 As shown, the drive device 100 that drives the cushioning knuckle 200 of the working finger 1220 is a fourth drive device 104, which is mounted on the palm 1100. For example, the motor in the fourth drive device 104 is mounted on the palm 1100. Through the fourth drive device 104, the working finger 1220 can achieve flexion and extension, that is, by rotating toward or away from the palm 1101.

[0119] In this embodiment, the buffer knuckle 200 is positioned closest to the palm 1100, thereby reducing the possibility of damage to all drive devices 100 in the working finger 1220. Because the knuckle closest to the palm 1100 has a certain degree of buffering capacity, loads on other knuckles can be transferred to the knuckle closest to the palm 1100 and buffered.

[0120] In some embodiments, one end of the palm 1100 has a wrist portion 1102 that can be set on the arm. When the fingers 1200 are unfolded, the finger 1200 located at the end of the palm 1100 away from the wrist portion 1102 is a working finger 1220, and the finger 1200 closest to the wrist portion 1102 among all the fingers 1200 is the thumb 1210; the driving device 100 of the thumb 1210 installed on the palm 1100 is a first driving device 101, and the first output shaft 110 of the first driving device 101 is located between the wrist portion 1102 and the working finger 1220 along the axial direction of the first output shaft 110, and at least one driving device 100 of the driving device 100 of the thumb 1210 is a first driving device 101. The device 100 is a second drive device 102, and the first output shaft 110 of the second drive device 102 is arranged crosswise with the first output shaft 110 of the first drive device 101. The knuckle spanning the first output shaft 110 of the first drive device 101 and the first output shaft 110 of the second drive device 102 is a buffer knuckle 200. The first matching portion 111 of the first output shaft 110 of the first drive device 101 is connected to the buffer knuckle 200, and the first matching portion 111 of the first output shaft 110 of the second drive device 102 is at least partially located in the avoidance groove 212 of the buffer knuckle 200, and the corresponding torsion spring 1230 is respectively connected to part of the structure of the second drive device 102 and the buffer knuckle 200.

[0121] Exemplarily, among the fingers 1200 of the manipulator 1000 , one of the fingers 1200 is a thumb 1210 , and the remaining fingers 1200 except the thumb 1210 are working fingers 1220 , and the four working fingers 1220 are the index finger, the middle finger, the ring finger, and the little finger.

[0122] For example, a sensor may be further provided on the finger 1200 , which is not limited in the embodiment of the present application.

[0123] It is understood that the human thumb 1210 has N degrees of freedom, and the thumb 1210 of the manipulator 1000 may also be provided with M drive devices 100 to drive the knuckles. N is an integer greater than or equal to 2, and M is an integer greater than or equal to 2. M and N may be equal or different.

[0124] For example, the thumb 1210 may be provided with a first drive device 101 and a second drive device 102. The first drive device 101 is closer to the palm 1100 than the second drive device 102. The first drive device 101 being installed in the palm 1100 means that the structure of the first drive device 101, such as the motor, is installed in the palm 1100.

[0125] For example, the first drive shaft of the second drive device 102 is disposed at the end of the cushioning knuckle 200 close to the palm 1100, and can drive the thumb 1210 to swing closer to or further away from the working finger 1220, thereby achieving active lateral freedom of the thumb 1210. The second drive device 102 can be disposed in other knuckles.

[0126] Illustratively, the thumb 1210 includes a thumb tip 1212, a thumb web 1211, and a cushioning knuckle 200, which are connected in sequence. The cushioning knuckle 200 is closest to the palm 1100. The second drive device 102 can be disposed within the thumb web 1211, i.e., the drive device 102 is internal. Alternatively, the thumb web 1211 can be provided with a torsion spring 1230, which is sleeved around the outside of the first output shaft 110 of the second drive device 102. The torsion spring 1230 provides a tendency for the second drive device 102 to rotate away from the palm 1101.

[0127] Exemplarily, the first output shaft 110 of the second driving device 102 is arranged perpendicular to the first output shaft 110 of the first driving device 101 .

[0128] For example, the first output shaft 110 of the second drive device 102 may be perpendicular to the plane of the palm 1101, and the first output shaft 110 of the first drive device 101 may be parallel to the plane of the palm 1101. The thumb 1210 can achieve adduction and abduction movements through the first drive device 101, achieving one active degree of freedom.

[0129] For example, the first mating portion 111 of the first output shaft 110 of the first drive device 101 is connected to the buffer knuckle 200, that is, the first mating portion 111 of the first output shaft 110 of the first drive device 101 can contact the second mating portion 211 of the buffer knuckle 200, and the buffer knuckle 200 is not provided with an escape groove 212 on the first output shaft 110 of the first drive device 101. The buffer knuckle 200 is correspondingly provided with an escape groove 212 on the first output shaft 110 of the second drive device 102, and the first mating portion 111 of the first output shaft 110 of the second drive device 102 is at least partially located within the escape groove 212 of the buffer knuckle 200. The corresponding torsion spring 1230 is respectively connected to a portion of the structure of the second drive device 102 and the buffer knuckle 200.

[0130] For example, Figure 3As shown, the thumb 1210 also includes a third drive mechanism 103 disposed within the thumb pad 1211. The first output shaft 110 of the third drive mechanism 103 is located at the end of the second drive mechanism 102 facing away from the corresponding cushioning knuckle 200. The thumb tip 1212 is disposed on the first output shaft 110 of the third drive mechanism 103. The thumb tip 1212 is connected to the first mating portion 111 of the first output shaft 110 of the third drive mechanism 103. The third drive mechanism 103 can achieve one active degree of freedom: flexion and extension of the thumb tip 1212.

[0131] Therefore, the thumb 1210 is provided with the first driving device 101 , the second driving device 102 and the third driving device 103 , which can realize three active degrees of freedom.

[0132] Exemplarily, the second drive device 102 and the third drive device 103 are both arranged in the thumb pad 1211, and the two can be integrated together through the bracket 130. The second drive device 102 can be arranged on the radial side of the thumb pad 1211 (the side where the thumb 1210 is located), and the third drive device 103 can be arranged on the ulnar side of the thumb pad 1211 (the side where the little finger is located).

[0133] Exemplarily, the first driving device 101 , the second driving device 102 , the third driving device 103 and the fourth driving device 104 have the same structure.

[0134] Exemplarily, the first output shaft 110 of the third driving device 103 is arranged in parallel with the first output shaft 110 of the second driving device 102 .

[0135] Exemplarily, the thumb tip 1212 may not have the avoidance groove 212 , and can only rotate through the contact between the first matching portion 111 and the second matching portion 211 , and the thumb tip 1212 has no buffering arrangement.

[0136] In this embodiment, the buffer knuckle 200 in the thumb 1210 can reduce the possibility of damage to all the drive devices 100 in the thumb 1210. The second drive device 102 is buffered relative to the buffer knuckle 200, and the load on other knuckles can also be transferred to the second drive device 102 for buffering.

[0137] In some embodiments, as Figure 7 、 Figure 8As shown, the drive device 100 further includes a bracket 130, a driver 120, and a transmission assembly 140. The bracket 130 is rotatably connected to the first output shaft 110, and the torsion spring 1230 is respectively connected to the buffer knuckle 200 and the bracket 130. The first mating portion 111 is located on one side of the outside of the bracket 130 along the axial direction of the first output shaft 110. The buffer knuckle 200 is arranged outside the bracket 130 to enable the buffer knuckle 200 to be removed from the drive device 100 without disassembling the drive device 100. The driver 120 is mounted on the bracket 130 and includes a second output shaft 121. The first output shaft 110 and the second output shaft 121 are arranged crosswise. The transmission assembly 140 is arranged across the first output shaft 110 and the second output shaft 121, and the transmission assembly 140 is separated from the knuckle.

[0138] For example, Figure 8 As shown, the second output shaft 121 is arranged perpendicular to the first output shaft 110. Since the driver 120 has a certain size and its arrangement is limited by the internal space of the palm 1100 and finger 1200, the arrangement of the driver 120 can be facilitated by changing the direction of the output shaft, thereby reducing interference with other components.

[0139] Illustratively, the first output shaft 110 is inserted into a first shaft hole of the bracket 130 . The first shaft hole extends along the axial direction of the first output shaft 110 . The first output shaft 110 is rotatable relative to the bracket 130 .

[0140] Illustratively, the second output shaft 121 is inserted into the second shaft hole of the bracket 130 . The second shaft hole extends along the axial direction of the first output shaft 110 . The first output shaft 110 is transmission-connected to the second output shaft 121 .

[0141] Exemplarily, the transmission assembly 140 is located in the bracket 130, and the transmission assembly 140 includes but is not limited to a worm gear 142 and a worm 141 mechanism, a staggered axis helical gear mechanism, a bevel gear mechanism, etc. The first output shaft 110 and the second output shaft 121 are connected through the transmission assembly 140 to realize staggered axis power transmission.

[0142] Exemplarily, the driver 120 may be a motor drive source, such as a servo motor or a torque motor.

[0143] As another example, the servo motor may be a coreless motor, which has the advantages of high precision, long life, small size, and high speed.

[0144] Exemplarily, the driver 120 may be transmission-connected to a reducer, which is not limited in the embodiments of the present application.

[0145] For example, the second output shaft 121 of the driver 120 may be in driving connection with a reducer, which may include a planetary gear reducer. The embodiment of the present application does not limit the transmission ratio of the planetary gear reducer.

[0146] For example, the second output shaft 121 of the driver 120 is the output shaft of the motor. The driver 120 is installed in the bracket 130 and is fastened to the bracket 130 by screws or the like and integrated into one body. After integration, the driver 120 can be assembled and disassembled together with the bracket 130.

[0147] As another example, the driver 120 and the bracket 130 are separable, and the driver 120 and the bracket 130 can be separated during disassembly.

[0148] In this embodiment, since the driver 120, the transmission assembly 140 and the first output shaft 110 are all integrated on the bracket 130 to form a whole, and the position of the finger joint provided on the driving device 100 is located outside the bracket 130, the impact on the driving device 100 during the disassembly of the finger joint is relatively small, and there is almost no need to disassemble the driving device 100. The driving device 100 can be disassembled and assembled between the finger joint as a whole, which is conducive to modular disassembly and assembly of the driving device 100, thereby reducing the difficulty of repairing the finger 1200 and reducing the maintenance time.

[0149] In some embodiments, as Figure 8 As shown, the driving device 100 further includes an encoder 150 . The encoder 150 is located at an end of the first output shaft 110 away from the first matching portion 111 .

[0150] For example, the encoder 150 can read the rotation angle and rotation speed of the first output shaft 110, and the encoder 150 transmits the read data such as the rotation angle and rotation speed of the first output shaft 110 to the drive device 100. The drive device 100 adjusts the output power according to the data transmitted by the encoder 150, thereby adjusting the rotation speed of the first output shaft 110, and then controlling the rotation angle of the knuckle.

[0151] Exemplarily, the encoder 150 may be a commercially available encoder 150 used in a robot hand. For example, the encoder 150 may be a magnetic encoder 150 .

[0152] In this embodiment, the encoder 150 is provided on the first output shaft 110 of the direct drive buffer knuckle 200, and can directly feed back the rotation amount, thereby reducing the influence of transmission error on measurement accuracy and making the measurement more accurate.

[0153] Exemplarily, the encoder 150 includes a code disk and a signal rotator. The code disk is connected to the first output shaft 110 , and the signal rotator is mounted on the bracket 130 .

[0154] Exemplarily, the code wheel and the signal rotator are connected at intervals along the axial direction of the first output shaft 110 .

[0155] In some embodiments, the transmission assembly 140 includes a worm 141 and a worm wheel 142. The worm 141 is connected to the second output shaft 121 to rotate along with the second output shaft 121. The worm wheel 142 is engaged with the worm 141. The worm wheel 142 is connected to the first output shaft 110 so that the first output shaft 110 rotates along with the worm wheel 142.

[0156] Exemplarily, the worm 141 may be a common cylindrical worm 141 or an arc cylindrical worm 141 .

[0157] For example, the worm wheel 142 has a through hole at its center, and the first output shaft 110 is passed through the through hole and can rotate along with the worm wheel 142. The embodiment of the present application does not limit the shape of the through hole at the wheel center.

[0158] For example, the worm gear 142 and the first output shaft 110 may be connected to each other through an interference fit, a key connection, or the like, which is not limited in this embodiment of the present application.

[0159] In this embodiment, the worm wheel 142 and the worm 141 can have a larger transmission ratio within a limited space, which is beneficial to increasing the output torque.

[0160] In some embodiments, the first output shaft 110 includes an output spindle 110A, a metering shaft 110B, and a locking member 110C. The output spindle 110A includes a first mounting shaft segment and a first limiting shaft segment connected to each other, the first limiting shaft segment having a larger diameter than the first mounting shaft segment; the metering shaft 110B includes a second mounting shaft segment and a second limiting shaft segment connected to each other, the second limiting shaft segment having a larger diameter than the second mounting shaft segment; the worm gear 142 is axially disposed across the first mounting shaft segment and the second mounting shaft segment, the worm gear 142 abutting the first limiting shaft segment and the second limiting shaft segment along the worm gear 142 axis; the encoder 150 is at least partially disposed on the metering shaft 110B; and the locking member 110C is respectively connected to the output spindle 110A and the metering shaft 110B. The output spindle 110A and the metering shaft 110B are spaced apart.

[0161] For example, the output spindle 110A, the metering shaft 110B, and the locking member 110C may be an integrated structure or a separate structure, which is not limited in the present embodiment.

[0162] The specific embodiments are described below with reference to the accompanying drawings.

[0163] In a specific embodiment, the manipulator 1000 includes a palm 1100 and a finger 1200, wherein the palm 1100 has a palm center 1101 on one side along the thickness direction of the palm 1100; the finger 1200 is arranged on the palm 1100, and the finger 1200 includes a torsion spring 1230, a drive device 100 and a finger joint, the drive device 100 includes a first output shaft 110, and the first output shaft 110 of the drive device 100 is provided with a finger joint to drive the finger joint to rotate, the first output shaft 110 has a first matching portion 111 protruding along the radial direction of the first output shaft 110, and at least one finger joint is a buffer finger joint 2 00, the buffer knuckle 200 has a second matching portion 211 and an avoidance groove 212, the second matching portion 211 and the avoidance groove 212 are arranged along the circumference of the first output shaft 110, the first matching portion 111 is at least partially located in the avoidance groove 212 and moves relative to the corresponding buffer knuckle 200 along the circumference of the first output shaft 110 to contact or disengage with the second matching portion 211, the torsion spring 1230 is respectively connected to part of the structure of the drive device 100 and the buffer knuckle 200, and the torsion force of the torsion spring 1230 makes the buffer knuckle 200 or the drive device 100 have a tendency to rotate away from the palm 1101.

[0164] The driving device 100 also includes a bracket 130, a driver 120 and a transmission assembly 140. The bracket 130 is rotatably connected to the first output shaft 110. The torsion spring 1230 is respectively connected to the buffer knuckle 200 and the bracket 130. The first matching portion 111 is located on one side of the outside of the bracket 130 along the axial direction of the first output shaft 110. The first knuckle buffer knuckle 200 is arranged on the driving device 100 outside the bracket 130 so that the first knuckle buffer knuckle 200 can be removed from the driving device 100 without disassembling the driving device 100; the driver 120 is installed on the bracket 130, and the driver 120 includes a second output shaft 121. The first output shaft 110 and the second output shaft 121 are arranged crosswise; the transmission assembly 140 is arranged across the first output shaft 110 and the second output shaft 121, and the transmission assembly 140 is separated from the knuckle.

[0165] The transmission assembly 140 includes a worm wheel 142 and a worm 141 . The worm 141 is connected to the second output shaft 121 to rotate along with the second output shaft 121 . The worm wheel 142 meshes with the worm 141 . The worm wheel 142 is connected to the first output shaft 110 to rotate along with the worm wheel 142 .

[0166] In this embodiment, a worm gear 142 and worm 141 are used for transmission, with the output directly used to rotationally drive finger 1200, improving energy efficiency. Thumb 1210 incorporates a first drive mechanism 101, a second drive mechanism 102, and a third drive mechanism 103, integrating three active degrees of freedom. Compared to an underactuated solution with two active degrees of freedom, overall output force is increased by at least 30% to 40%. The integration of the second and third drive mechanisms 102 and 103 in thumb 1210 results in a more compact structure, fewer parts, and improved reliability and maintainability compared to an underactuated solution.

[0167] Each working finger 1220 is provided with a fourth driving device 104, which drives the working finger 1220 to flex and extend by direct drive and coupling linkage, thereby realizing one active degree of freedom and one driven degree of freedom.

[0168] In this embodiment, the robot 1000 is as follows Figure 1 As shown, it is a bionic dexterous hand, similar to a human left hand, with a thumb 1210 and four working fingers 1220, with a total of 11 degrees of freedom. The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it; although the present application has been described in detail with reference to the aforementioned embodiments, a person of ordinary skill in the art should understand that it is still possible to modify the technical solutions described in the aforementioned embodiments, or to replace some or all of the technical features therein by equivalents; and these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application, and they should all be included in the scope of the present application. In particular, as long as there is no structural conflict, the various technical features mentioned in each embodiment can be combined in any way. The present application is not limited to the specific embodiments disclosed herein, but includes all technical solutions that fall within the scope of the present application.

Claims

1. A robot, characterized in that: include: A palm body, wherein the palm body has a palm center on one side along the thickness direction of the palm body; A finger is arranged on the palm, and the finger includes a torsion spring, a drive device and a knuckle. The drive device includes a first output shaft, and the first output shaft of the drive device is provided with the knuckle to drive the knuckle to rotate. The first output shaft has a first matching portion, and at least one of the knuckles is a buffer knuckle. The buffer knuckle has a second matching portion and an avoidance groove. The second matching portion and the avoidance groove are arranged along the circumference of the first output shaft. The first matching portion is at least partially located in the avoidance groove and moves relative to the corresponding buffer knuckle along the circumference of the first output shaft to contact or disengage with the second matching portion. The torsion spring is respectively connected to a part of the structure of the drive device and the buffer knuckle. The torsion force of the torsion spring causes the buffer knuckle or the drive device to have a tendency to rotate away from the center of the palm.

2. The manipulator according to claim 1, characterized in that: The first matching portion contacts the groove wall of the avoidance groove along the axial direction of the first output shaft; or, the first matching portion is disengaged from the buffer knuckle along the axial direction of the first output shaft, and the first output shaft has an annular end surface at one end facing the first matching portion, and the buffer knuckle has an axial limiting ring located at the end of the first output shaft facing the first matching portion, and the axial limiting ring abuts against the annular end surface along the axial direction of the first output shaft.

3. The manipulator according to claim 1, characterized in that: The number of the second mating portions and the avoidance grooves is N. The second mating portions and the avoidance grooves are alternately arranged along the circumference of the first output shaft. The first mating portion is at least partially located in the corresponding avoidance groove. The first mating portion is in contact with or disengaged from the corresponding second mating portion. N is an integer greater than or equal to 2.

4. The manipulator according to claim 1, characterized in that: When the force acting on the buffer knuckle or the driving device to separate the first matching portion from the second matching portion is cancelled, the second matching portion contacts the first matching portion under the action of the torsion spring.

5. The robot according to claim 1, characterized in that: The buffer knuckle also includes a baffle extending along the circumference of the first output shaft, the baffle is at least partially located on the side of the second matching portion along the circumference of the first output shaft toward the avoidance groove, and the baffle is located between the first matching portion and the torsion spring along the radial direction of the first output shaft.

6. The robot according to any one of claims 1 to 5, characterized in that: One end of the palm body has a wrist that can be set on the arm. When the fingers are unfolded, the fingers located at the end of the palm body away from the wrist are working fingers; a driving device for driving the knuckles of the working fingers closest to the palm body to rotate is installed on the palm body, and the knuckles of the working fingers closest to the palm body are buffer knuckles.

7. The robot according to any one of claims 1 to 5, characterized in that: One end of the palm body has a wrist that can be set on the arm. When the fingers are unfolded, the fingers located at the end of the palm body away from the wrist are working fingers, and the finger closest to the wrist among all the fingers is the thumb; the driving device installed on the palm body in the driving device of the thumb is a first driving device, and the first output shaft of the first driving device is located between the wrist and the working fingers along the axial direction of the first output shaft. At least one driving device in the driving device of the thumb is a second driving device, and the first output shaft of the second driving device is arranged crosswise with the first output shaft of the first driving device. The knuckle spanning the first output shaft of the first driving device and the first output shaft of the second driving device is a buffer knuckle, and the first matching portion of the first output shaft of the first driving device is connected to the buffer knuckle, and the first matching portion of the first output shaft of the second driving device is at least partially located in the avoidance groove of the buffer knuckle, and the corresponding torsion spring is respectively connected to the partial structure of the second driving device and the buffer knuckle.

8. The robot according to any one of claims 1 to 5, characterized in that: The driving device further comprises: a bracket rotatably connected to the first output shaft, the torsion spring being connected to the buffer knuckle and the bracket respectively, the first mating portion being located on one side of an exterior of the bracket along the axial direction of the first output shaft, the buffer knuckle being disposed on the driving device being located outside the bracket so that the buffer knuckle can be removed from the driving device without disassembling the driving device; A driver is mounted on the bracket, the driver comprising a second output shaft, the first output shaft and the second output shaft being arranged crosswise; A transmission assembly is arranged across the first output shaft and the second output shaft, and the transmission assembly is separated from the finger joint.

9. The robot according to claim 8, characterized in that: The driving device further includes an encoder, which is located at an end of the first output shaft away from the first matching portion.

10. The robot according to claim 8, characterized in that: The transmission assembly comprises: a worm connected to the second output shaft to rotate along with the second output shaft; A worm wheel is engaged with the worm, and the worm wheel is connected to the first output shaft so that the first output shaft rotates following the worm wheel.

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