Mechanical arm

Abstract

The invention provides a manipulator. The manipulator comprises a hand part and a driving part, the hand part comprises a plurality of fingers, each finger comprises a plurality of knuckles, at least two adjacent knuckles in the plurality of knuckles are in rolling contact through first tooth-shaped structures which are meshed with each other, the at least two adjacent knuckles are connected through a first connecting piece, and each knuckle in the at least two adjacent knuckles can rotate relative to the first connecting piece. Wherein at least one of the fingers comprises a far knuckle, a middle knuckle and a near knuckle, the far knuckle is at least connected with a first cable, the middle knuckle is connected with a second cable, or the first cable penetrates through the middle knuckle and the near knuckle and is at least connected with a third cable. The driving part comprises a plurality of pneumatic muscles, and the first cable, the second cable and the third cable are connected with at least one of the pneumatic muscles respectively. By means of the arrangement, the whole mechanical arm is compact and simple in structure, small in occupied size, few in parts and low in manufacturing cost.

Description

TECHNICAL FIELD

[0001] The present specification relates to the technical field of mechanical hand, in particular to a mechanical hand. BACKGROUND

[0002] A mechanical dexterous hand is a kind of robot end effector that imitates the action and function of human hand, aiming to realize the functions of multi-degree of freedom, precise operation and flexible grasping. The dexterous hand has a wide range of applications in the fields of industry, medical treatment, service and the like, and performs outstandingly in precise assembly, surgical assistance, remote operation and the like.

[0003] The transmission mode of the dexterous hand generally adopts link transmission and gear transmission, and the structure is complex and the overall volume and weight are large. At the same time, the dexterous hand is limited by the rigidity and movement path of the link, and the degree of freedom and flexibility of the dexterous hand are poor. Moreover, the precise gear transmission system needs to be manufactured with high precision, which increases the manufacturing cost and maintenance difficulty of the dexterous hand. In addition, the dexterous hand usually includes multiple degrees of freedom of contact joints to perform grasping and fine operation similar to human hand. The contact joint is mainly a hinged joint, and the rotation center of the hinged joint is fixed, and the movement precision and fluency are low. In addition, the driving mode of the dexterous hand is usually motor driving, cylinder driving or shape memory alloy driving. Among them, the dexterous hand relying on a large number of motor driving can realize precise operation, but the structure is complex, the cost is high, and fragile objects are easy to be damaged; while the dexterous hand driven by cylinder or shape memory alloy has the characteristics of flexibility and safety, but the load capacity is weak and the response speed is slow.

[0004] Therefore, it is desirable to provide a mechanical hand to reduce the number of parts, reduce the overall volume and weight, reduce the manufacturing cost and realize the multi-degree of freedom control, and also reduce the friction and wear of the joint, improve the movement precision and fluency; at the same time, the driving mode can better simulate the contraction and extension of biological muscle, and has low cost, clean safety and simple installation. SUMMARY

[0005] One or more embodiments of the present specification provide a mechanical hand, comprising: a hand part comprising a plurality of fingers, each of the fingers comprising a plurality of knuckles, at least two adjacent knuckles of the plurality of knuckles being rollably contacted through first tooth-shaped structures that are engaged with each other, and the at least two adjacent knuckles being connected through a first connecting piece, each of the at least two adjacent knuckles being capable of rotating relative to the first connecting piece; wherein at least one finger of the plurality of fingers comprises a distal knuckle, a middle knuckle and a proximal knuckle, the distal knuckle being connected with at least a first cable, the middle knuckle being connected with a second cable or the first cable passing through the middle knuckle, and the proximal knuckle being connected with at least a third cable; a driving part comprising a plurality of pneumatic muscles, the first cable, the second cable and the third cable being connected with at least one of the plurality of pneumatic muscles respectively.

[0006] In some embodiments, the hand further comprises a palm, the at least one finger is rollably contacted with the palm through the second intermeshing toothed structure, and the at least one finger is connected with the palm through a second connecting member, the at least one finger and the palm are capable of rotating relative to the second connecting member respectively.

[0007] In some embodiments, a first elastic structure is arranged between the at least two adjacent knuckles, the first elastic structure is configured to realize automatic reset of the at least two adjacent knuckles.

[0008] In some embodiments, a palm of at least one knuckle of the plurality of knuckles is flexible; and / or, the palm of the at least one knuckle is provided with a sensor.

[0009] In some embodiments, the plurality of fingers comprises a thumb, the thumb comprises a distal knuckle and a proximal knuckle, the proximal knuckle is connected with the palm through a connecting portion and a mounting portion, the connecting portion is triangular, and the mounting portion is connected to the palm; the distal knuckle is connected with at least a fourth cable, the proximal knuckle is connected with a fifth cable or the fourth cable passes through the proximal knuckle, the connecting portion is connected with at least a sixth cable, and the fourth cable, the fifth cable and the sixth cable are connected with at least one of the plurality of pneumatic muscles respectively.

[0010] In some embodiments, the robot further comprises: a base; a wrist portion arranged between the base and the palm, the wrist portion is rotatably connected with the palm around a first axis, and the wrist portion is rotatably connected with the base around a second axis; wherein the first axis intersects the second axis.

[0011] In some embodiments, at least two seventh cables are arranged between the wrist portion and the palm, one end of the at least two seventh cables is connected with the palm through the wrist portion to control relative movement of the wrist portion and the palm; at least two eighth cables are arranged between the wrist portion and the base, one end of the at least two eighth cables is connected with the wrist portion through the base to control relative movement of the wrist portion and the base; and the at least two seventh cables and the at least two eighth cables are connected with at least one of the plurality of pneumatic muscles respectively.

[0012] In some embodiments, a second elastic structure is arranged between the wrist portion and the palm and between the wrist portion and the base, the second elastic structure is configured to realize automatic reset of the wrist portion and the palm.

[0013] In some embodiments, the pneumatic muscle includes a tubular member having a seal at each end, the seal including a first portion and a second portion, the first portion including a first threaded structure and a connector, the second portion including a second threaded structure mating with the first threaded structure and an inner side slope mating with a tapered outer side of the connector, the tubular member having each end between the connector and the inner side slope.

[0014] In some embodiments, the seal further includes a circular ring member, the circular ring member being sleeved outside the tubular member and mating with the tapered outer side of the connector.

[0015] The beneficial effects that some embodiments of the present specification can bring can include but are not limited to: 1) by setting the first tooth-shaped structure to form a rolling contact joint closer to the human joint, the friction and wear of the joint movement can be reduced, and the movement accuracy and fluency can be improved; by setting multiple cables and corresponding pneumatic muscles, the hand has multiple degrees of freedom, and can realize the grasping, operation and fine operation similar to the human hand; through the above settings, the overall mechanical hand is not only compact and simple in structure, small in occupied volume, and few in parts, but also low in manufacturing cost. 2) The pneumatic muscle is driven by compressed gas to simulate the contraction and extension of biological muscle, which is not only low in cost, clean and safe, easy to install, light in quality and small in size, but also similar in mechanical properties to biological muscle. In addition, by sealing the tubular part of the pneumatic muscle with a sealing element, and by setting a circular ring, the tubular part and the woven mesh will not twist to affect the function of the pneumatic muscle. 3) By setting the second tooth-shaped structure between the fingers and the palm to form a rolling contact joint between the fingers and the palm, and connecting the fingers and the palm through the second connecting element, the degree of freedom of the mechanical hand can be increased, the movement mode of the mechanical hand is closer to the movement mode of the human hand, and the movement accuracy and bionic performance are improved. 4) By setting the first elastic structure between at least two adjacent knuckles to realize the automatic reset of the knuckles, the setting of the cable can be reduced to avoid interference, and at the same time, it is also conducive to improving the fluency of joint movement. Moreover, the first elastic structure is rigidly coupled with the cable to realize the bending and stretching of the fingers, has strong impact resistance, and can respond quickly. 5) By making the knuckles flexible and the surface rough, and setting a sensor at the finger pad of the knuckle, not only the softness and friction of the finger pad can be increased to avoid damage to the mechanical hand and the grasped object, but also based on the state information of the grasped object and the stress condition of the fingers obtained by the sensor, the closed-loop control of the movement of the mechanical hand can be further realized. 6) By setting the connecting part and the mounting part to connect the thumb to the palm, and designing the connecting part as a triangular shape, the setting of the thumb is closer to the real human hand, and the installation is convenient; by setting multiple cables to bend the knuckles of the thumb, the hand has multiple degrees of freedom to realize the grasping, operation and fine operation similar to the human hand; through the above settings, the overall mechanical hand is not only compact and simple in structure, small in occupied volume, and few in parts, but also low in manufacturing cost. 7) By setting the base to support the entire hand, and reasonably configuring the setting position of the pneumatic muscle, the interference between the pneumatic muscles during work can be prevented, and the stability of the movement of the mechanical hand is increased. By setting the wrist, the wrist is rotatably connected with the palm and the base, so that the wrist can rotate with multiple degrees of freedom, which is conducive to improving the flexibility and bionic performance of the mechanical hand. BRIEF DESCRIPTION OF DRAWINGS

[0016] The present specification will be further explained in the way of example embodiments, which will be described in detail with reference to the accompanying drawings. These embodiments are not limitative, in which the same numbers refer to the same structures, and wherein: Figure 1 is a structural schematic diagram of adjacent knuckles employing different types of rolling contact joints according to some embodiments of the present specification; Figure 2 is a structural schematic diagram of a robot hand according to some embodiments of the present specification; Figure 3 is a structural schematic diagram of a hand according to some embodiments of the present specification; Figure 4 is a structural schematic diagram of a finger according to some embodiments of the present specification; Figure 5 is a cross-sectional view of a finger according to some embodiments of the present specification; Figure 6 is a structural schematic diagram of a pneumatic muscle cooperating with a base according to some embodiments of the present specification; Figure 7 is a cross-sectional view of a pneumatic muscle cooperating with a seal according to some embodiments of the present specification; Figure 8 is an exploded view of a seal according to some embodiments of the present specification; Figure 9 is a structural schematic diagram of a pneumatic muscle according to some embodiments of the present specification; Figure 10 is a structural schematic diagram of a palm according to some embodiments of the present specification; Figure 11 is a structural schematic diagram of an appearance nail piece according to some embodiments of the present specification; Figure 12 is a structural schematic diagram of a thumb according to some embodiments of the present specification; Figure 13 is a structural schematic diagram of a wrist according to some embodiments of the present specification.

[0017] Reference numerals: 1, hand; 11, finger; 11-1, thumb; 111, knuckle; 111-1, distal knuckle; middle knuckle 111-2; 111-3, proximal knuckle; 1111, knuckle body; 112, connecting part; 113, mounting part; 12, first toothed structure; 121, first gear; 122, second gear; 13, first connecting piece; 14, palm; 141, first mounting hole; 142, second mounting hole; 143, third mounting hole; 144, groove; 15, second toothed structure; 16, second connecting piece; 17, appearance nail piece; 171, nail piece cover; 1711, connecting column; 18, first elastic structure; 181, accommodating groove; 19, second elastic structure; 2, driving part; 21, pneumatic muscle; 211, tubular part; 212, woven mesh; 213, air hole; 221, first cable; 222, third cable; 23, sealing part; 231, first part; 2311, first threaded structure; 2312, connecting head; 23121, conical outer side surface; 232, second part; 2321, second threaded structure; 2322, inner side inclined surface; 233, circular ring part; 234, fixing hole; 24, pneumatic joint; 3, base; 31, mounting plate; 311, first through hole; 312, pulley; 313, pulley support; 32, support column; 33, wrist mounting seat; 331, lug structure; 332, countersunk hole; 34, protective shell; 4, wrist; 41, central through hole; 42, first pin shaft; 43, second pin shaft. DETAILED DESCRIPTION

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present specification, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are only some examples or embodiments of the present specification, and for those skilled in the art, without paying creative labor, the present specification can also be applied to other similar scenarios according to these drawings. Unless it is obvious from the language environment or otherwise stated, the same reference numbers in the drawings represent the same structure or operation.

[0019] It should be understood that the "system", "device", "unit" and / or "module" used herein is a method for distinguishing different components, elements, parts, portions or assemblies at different levels. However, if other words can achieve the same purpose, the words can be replaced by other expressions.

[0020] As used in this specification and claims, unless the context clearly indicates otherwise, the words "a," "an," "an," and / or "the" do not refer to the singular but also include the plural. Generally speaking, the terms "comprises" and "include" only indicate the inclusion of the steps and elements specifically identified, and these steps and elements do not constitute an exclusive list. A method or apparatus may also include other steps or elements.

[0021] A common transmission method used in dexterous hands is connecting rod transmission. This requires multiple connection points and connecting rods, resulting in a complex system structure and increasing the overall size and weight. Furthermore, the rigidity and motion paths of the connecting rods limit the freedom and flexibility of the dexterous hand.

[0022] Figure 1 This is a schematic diagram of the structure of adjacent knuckles using different types of rolling contact joints according to some embodiments of this specification. Figure 1 As shown, Figure 1 (a)-(c) are rolling contact joints of gear meshing, rolling contact joints constrained by elastic rods, and rolling contact joints constrained by flexible belts, respectively.

[0023] Rolling contact joints in meshing gears use a rigid rod to connect the two joint bodies. The contact surfaces of the two joint bodies are tooth surfaces, enabling precise transmission and improving transmission smoothness. However, a small gap must be left during meshing to prevent binding. This small gap can cause lost motion during reverse motion (where the input shaft rotates while the output shaft lags), affecting positioning accuracy. Therefore, it is not suitable for high-precision, repeatable positioning applications.

[0024] The rolling contact joint constrained by a flexible belt is constrained by a soft and inextensible rope, which not only constrains the rolling contact joint from relative sliding but also provides tension to keep the two joint bodies in contact. However, after long-term operation, the rope will creep, causing a gap between the two joints and reducing the transmission accuracy. At the same time, this structure requires additional limiters in the direction of the joint's rotation axis to avoid axial sliding of the joint.

[0025] Rolling contact joints constrained by elastic rods rely on the rods to prevent relative sliding. However, because the rods move relative to the joint body during rotation, they can't provide the tension needed to maintain rolling contact, making precise control difficult.

[0026] In addition, dexterous hands are usually driven by motors, cylinders or shape memory alloys. Among them, dexterous hands that rely on a large number of motors can achieve precise operations, but they have complex structures, high costs and are prone to damage to fragile objects; while dexterous hands driven by cylinders or shape memory alloys have flexible safety characteristics, but have weak load capacity and slow response speed.

[0027] The present specification proposes a mechanical hand, which can effectively reduce the overall volume and manufacturing cost by designing a compact and simple structure, and can relatively easily adapt to complex multi-degree-of-freedom control, enabling high-precision control in different directions and degrees of freedom; by mainly causing rolling rather than sliding between the two joints of the rolling contact joint, the friction and wear of the joint can be effectively reduced, and the motion precision and fluency can be improved; the pneumatic muscle is driven by compressed gas, simulating the contraction and extension of biological muscle, low cost, clean and safe, easy to install. In addition, the mechanical hand is rigid-flex coupled, has strong impact resistance, and can achieve fast response.

[0028] Figure 2 is a structural schematic diagram of a mechanical hand according to some embodiments of the present specification; Figure 3 is a structural schematic diagram of a hand according to some embodiments of the present specification; Figure 4 is a structural schematic diagram of a finger according to some embodiments of the present specification; Figure 5 is a sectional view of a finger according to some embodiments of the present specification; Figure 6 is a structural schematic diagram of a pneumatic muscle cooperating with a base according to some embodiments of the present specification.

[0029] Some embodiments of the present specification provide a mechanical hand. As shown in Figures 2-6 , the mechanical hand includes a hand 1 and a driving part 2, the hand 1 includes a plurality of fingers 11, each finger 11 includes a plurality of knuckles 111 (for example, a distal knuckle 111-1, a middle knuckle 111-2, and a proximal knuckle 111-3), at least two adjacent knuckles 111 in the plurality of knuckles 111 are rollably contacted through a first tooth-shaped structure 12 that meshes with each other, and the at least two adjacent knuckles 111 are connected through a first connecting piece 13. Each of the at least two adjacent knuckles 111 can rotate relative to the first connecting piece 13, respectively. Wherein, at least one finger 11 in the plurality of fingers 11 includes the distal knuckle 111-1, the middle knuckle 111-2, and the proximal knuckle 111-3, the distal knuckle 111-1 is connected with at least a first cable 221, the middle knuckle 111-2 is connected with a second cable (not shown in the figure) or the first cable 221 passes through the middle knuckle 111-2, and the proximal knuckle 111-3 is connected with at least a third cable 222. The driving part 2 includes a plurality of pneumatic muscles 21, and the first cable 221, the second cable, and the third cable 222 are respectively connected with at least one of the plurality of pneumatic muscles 21.

[0030] The hand 1 is the core component of the mechanical hand for grasping objects. In some embodiments, the hand 1 includes a plurality of fingers 11 and a palm. For the description of the palm, see Figures 10-11 and the related description.

[0031] In some embodiments, the number of fingers 11 can be five, including one thumb and four other fingers (e.g., middle finger, ring finger, index finger, and little finger). In other embodiments, the number of fingers 11 can also be one or more, which can be set according to actual needs.

[0032] The knuckles 111 are segmented structures of the fingers 11 in the bionic robot. In some embodiments, the number of knuckles 111 is related to the type of the fingers 11. For example, for the thumb, the number of knuckles 111 is usually two. For example, for other fingers, the number of knuckles 111 is usually three. In other embodiments, the number of knuckles 111 can also be set according to actual needs.

[0033] In some embodiments, the knuckles 111 can include knuckle bodies 1111. Each knuckle 111 corresponds to a respective knuckle body 1111. The knuckle body 1111 is the main structure of the knuckle 111, and its shape and size are similar to those of a human finger. For example, the size of the knuckle body 1111 gradually decreases from the proximal knuckle 111-3 to the distal knuckle 111-1.

[0034] The distal knuckle 111-1 is a knuckle away from the palm. The middle knuckle 111-2 is a knuckle between the distal knuckle 111-1 and the proximal knuckle 111-3. The proximal knuckle 111-3 is a knuckle close to the palm.

[0035] In some embodiments, in the bionic structure of the robot, the thumb includes one distal knuckle 111-1 and one proximal knuckle 111-3, and the other fingers include one distal knuckle 111-1, one middle knuckle 111-2, and one proximal knuckle 111-3.

[0036] The first toothed structure 12 can be used to make two adjacent knuckles 111 rollably contact. In some embodiments, the first toothed structure 12 can include a first gear 121 and a second gear 122, which are correspondingly arranged on two adjacent knuckles 111 (e.g., knuckle bodies 1111), and the first gear 121 and the second gear 122 are engaged with each other. As shown, the first gear 121 and the second gear 122 can be half-toothed, that is, the first gear 121 and the second gear 122 are provided with toothed structures only at one end towards each other, and the other end is fixedly connected with the knuckle body 1111. The fixed connection includes but is not limited to welding, clamping, or one-piece forming, etc. It can be understood that the size of the first gear 121 and the second gear 122 is matched with the size of the knuckle 111 where they are located. Figure 5

[0037] ​Rollably contactable means that two structures can roll at a contact point (or contact area) and have the same instantaneous velocity. In some embodiments, two adjacent phalanges 111 are rollably contactable, i.e., form a rolling contact joint, due to the engagement of the first gear 121 and the second gear 122 disposed on the two adjacent phalanges 111, respectively.

[0038] In some embodiments, any two adjacent phalanges 111 are rollably contactable, i.e., form a rolling contact joint, through the engagement of the first gear structure 12. It should be noted that other structures can also be used between the adjacent phalanges 111 to form a rolling contact joint, such as an elastic rod constrained rolling contact joint, etc.

[0039] The first connecting member 13 can be used to connect two adjacent phalanges 111. The first connecting member 13 can be designed in various structural shapes, such as a rod shape, a sheet shape, etc. In some embodiments, the first connecting member 13 can be a short connecting rod, and the two ends of the short connecting rod are rotatably connected to the two adjacent phalanges 111, respectively, so that each of the two adjacent phalanges 111 can rotate relative to the short connecting rod. The rotatable connection can be achieved by, but not limited to, a pin shaft or a ball head structure, etc. For example, as shown in FIG. 1, the first connecting member 13 can be in the form of a short connecting rod, and two short connecting rods can be disposed between the two adjacent phalanges 111, and the two short connecting rods are located on the two sides of the two adjacent phalanges 111, respectively, wherein the two ends of each short connecting rod are rotatably connected to the side wall of the phalange body 1111 of the two adjacent phalanges 111 through a pin shaft. Figure 4

[0040] In some embodiments, any two adjacent phalanges 111 can be connected by the first connecting member 13, so that each phalange 111 can rotate relative to the first connecting member 13. It should be noted that other structures can also be used between the adjacent phalanges 111 to achieve the function that the phalange 111 can rotate relative to the first connecting member 13, which is not limited in the present specification.

[0041] The cable is used to control the bending or stretching of the finger 11. The cable can be made of high-strength, low-elastic modulus, and wear-resistant materials. For example, one or a combination of steel, alloy, high-molecular polyethylene, or composite materials, etc.

[0042] In some embodiments, the cable is at least partially wrapped with a flexible tube. For example, the outer surface of the cable between the connection point of the phalange 111 and the connection point of the pneumatic muscle 21 is wrapped with a flexible tube. The flexible tube can be a pipe with axial rigidity, radial flexibility, and easy bending but not easy to break, etc. For example, the flexible tube can include a tension spring tube.

[0043] ​Understandably, without flexible conduit wrapping around the cables, they could affect other cables during operation (such as tightening or loosening), potentially interfering with the robot's motion. Therefore, the use of flexible conduits ensures the independence of the cables and prevents interference. Furthermore, flexible conduits reduce friction during cable movement, allowing for smoother movement and enabling smooth transitions through bends while maintaining force transmission.

[0044] In some embodiments, one end of the cable can be connected to a knuckle 111 (e.g., the middle or inner portion of the knuckle 111), and the other end of the cable can be passed through the same or different knuckles 111 in multiple directions (e.g., the ventral side, the dorsal side, etc.), extending to connect to the pneumatic muscle 21. Connection methods include, but are not limited to, welding and bonding. The direction in which the other end of the cable passes through the knuckle 111 can be determined based on the structural design (e.g., cabling) and functional requirements.

[0045] In some embodiments, the number of cables is related to the degrees of freedom required for the finger 11. One degree of freedom corresponds to one cable, one end of the cable is connected to the fingertip 111, and is used to drive the corresponding joint of the finger 11 to bend, and the other end can pass through the fingertip 111 in multiple directions, extend and connect to at least one of the multiple pneumatic muscles 21. When the pneumatic muscle 21 contracts radially, it can pull the cable to pull the fingertip 111, thereby bending the finger 11. When the pneumatic muscle 21 returns to its initial state, the traction force on the cable disappears, and the fingertip 111 can automatically reset under the elastic action of the first elastic structure 18 as described later, thereby extending the finger 11. Just as an example, each finger 11 except the thumb has 3 degrees of freedom, and 3 cables can be set.

[0046] The first cable 221 is used to control the distal phalanx 111-1 and the middle phalanx 111-2 to bend together. Figure 5 As shown, one end of the first cable 221 passes through the proximal phalanx 111-3 and the middle phalanx 111-2, and then connects to the distal phalanx 111-1. The other end of the first cable 221 passes through the dorsal side of the proximal phalanx 111-3, extends, and connects to at least one of the multiple pneumatic muscles 21. When the pneumatic muscles 21 contract radially, the first cable 221 applies tension to the distal phalanx 111-1, thereby causing the distal phalanx 111-1 and the middle phalanx 111-2 to bend together.

[0047] In some embodiments, the first cable 221 can be used only to control the bending of the distal phalanx 111-1. At this time, one end of the first cable 221 is connected to the distal phalanx 111-1 after passing through the middle phalanx 111-2, and the other end of the first cable 221 is extended and connected to at least one of the plurality of pneumatic muscles 21 from the dorsal side of the middle phalanx 111-2. When the pneumatic muscle 21 is radially contracted, the first cable 221 exerts a pulling force on the palmar side of the distal phalanx 111-1, thereby causing the distal phalanx 111-1 to bend.

[0048] When the first cable 221 is used only to control the bending of the distal phalanx 111-1, a second cable (not shown in the figure) can be added to control the bending of the middle phalanx 111-2. In some embodiments, one end of the second cable can be connected to the palmar side of the middle phalanx 111-2 after passing through the proximal phalanx 111-3, and the other end of the second cable can be extended and connected to at least one of the plurality of pneumatic muscles 21 from the dorsal side of the proximal phalanx 111-3. When the pneumatic muscle 21 is radially contracted, the second cable exerts a pulling force on the palmar side of the middle phalanx 111-2, thereby causing the middle phalanx 111-2 to bend.

[0049] The third cable 222 is used to control the bending of the proximal phalanx 111-3. In some embodiments, as shown in FIG. 3, one end of the third cable 222 is connected to the palmar side of the proximal phalanx 111-3, and the other end of the third cable 222 is extended and connected to at least one of the plurality of pneumatic muscles 21 from the dorsal side of the palm 14. The principle of the third cable 222 controlling the bending of the proximal phalanx 111-3 is similar to that of the first cable 221 controlling the bending of the distal phalanx 111-1, which will not be described here. Figure 5

[0050] It is worth noting that, Figure 5 The structures and directions of the first cable 221, the second cable, and the third cable 222 shown in FIG. 3 are only examples, and are considered in terms of structural design (such as cable arrangement) and functional design. In fact, the cables can also be extended from other structures or in other directions, and this specification does not limit them.

[0051] The driving part 2 is used to drive the hand 1 to move in cooperation with the plurality of cables (such as the first cable 221, the second cable, and the third cable 222). For example, the driving part 2 can drive the fingers 11 to bend or stretch, etc.

[0052] The pneumatic muscle 21 is a flexible execution device that achieves push-pull action by external compression of gas. In some embodiments, the pneumatic muscle 21 has an inner cavity, and one end of the pneumatic muscle 21 is provided with a gas pipeline, and the other end is connected with a cable.

[0053] ​When compressed gas is introduced into the lumen of pneumatic muscle 21 through the gas pipeline, pneumatic muscle 21 expands radially as the internal pressure rises. When the radial expansion reaches a preset volume, it contracts axially (pneumatic muscle 21 is now in a contracted state), driving the cable toward the centroid of pneumatic muscle 21, causing the knuckle 111 to which the cable is connected to bend. For example, if the cable is connected to the web of a knuckle 111, tightening the cable exerts tension on the web of knuckle 111, causing the knuckle 111 to bend. The preset volume is determined based on the size and material of pneumatic muscle 21.

[0054] When the compressed gas in the inner cavity of the pneumatic muscle 21 is discharged, the pneumatic muscle 21 will correspondingly undergo radial contraction and axial expansion, returning to its initial length and volume (the pneumatic muscle 21 is in its initial state at this time), thereby driving the cable to move away from the centroid of the pneumatic muscle 21, causing the cable to relax, and the force exerted by the cable on the knuckle 111 disappears.

[0055] The contracted state means that the air pressure in the inner cavity of the pneumatic muscle 21 is greater than the atmospheric pressure, and the pneumatic muscle 21 is in a state of radial expansion and axial contraction. The initial state means that the air pressure in the inner cavity of the pneumatic muscle 21 is equal to or less than the atmospheric pressure.

[0056] It should be noted that the number of pneumatic muscles 21 can be set based on actual needs.

[0057] For more information about the robot, see Figures 7-13 and its related descriptions.

[0058] In some embodiments of the present specification, a first tooth-shaped structure is provided to form a rolling contact joint that is closer to a human joint, thereby reducing friction and wear between joint activities and improving movement accuracy and smoothness; by providing multiple cables and corresponding pneumatic muscles, the hand has multiple degrees of freedom, which can achieve grasping, manipulation and fine manipulation similar to that of a human hand; through the above-mentioned settings, the overall structure of the manipulator is not only compact and simple, but also occupies a small volume, and has few parts and a low manufacturing cost.

[0059] Figure 7 is a cross-sectional view of the pneumatic muscle and the seal according to some embodiments of this specification; Figure 8 is an exploded view of a seal according to some embodiments of the present specification.

[0060] In some embodiments, as Figures 7-8As shown, the pneumatic muscle 21 comprises a tubular member 211, both ends of the tubular member 211 are provided with a seal 23, the seal 23 comprises a first part 231 and a second part 232, the first part 231 comprises a first threaded structure 2311 and a connecting head 2312, the second part 232 comprises a second threaded structure 2321 matched with the first threaded structure 2311 and an inner side slope 2322 matched with a tapered outer side surface 23121 of the connecting head 2312, both ends of the tubular member 211 are located between the connecting head 2312 and the inner side slope 2322.

[0061] The tubular member 211 can expand or contract under the action of air pressure. In some embodiments, the tubular member 211 is a flexible pipe made of flexible materials (such as rubber, latex, polymer materials, etc.). In some embodiments, the tubular member 211 comprises an inner cavity, the inner cavity is through with the gas pipe, for containing compressed gas.

[0062] The seal 23 is used to block both ends of the tubular member 211 to avoid gas leakage. In some embodiments, the tubular member 211 is connected with one seal 23 at each end, the seal 23 at one end is provided with a fixing hole 234 for fixing the cable, and the seal 23 at the other end is provided with a gas vent hole 213 and a fastener (such as a stud and a nut) for mounting the fixed gas pipe. Wherein, the gas vent hole 213 is through with the gas pipe, for venting and exhausting compressed gas.

[0063] In some embodiments, the seal 23 is in the shape of a shuttle, the shuttle-shaped seal 23 can prevent multiple pneumatic muscles 21 from interfering with each other or being stuck during operation. In other embodiments, the seal 23 can also be in any other feasible shape, as long as it can seal the tubular member 211.

[0064] The first part 231 is used to connect the tubular member 211. In some embodiments, the main body of the first part 231 is a cylinder, the side surface of the cylinder is provided with a thread (i.e. the first threaded structure 2311), and the end surface of the cylinder close to the second part 232 is provided with a connecting head 2312.

[0065] The connecting head 2312 is used to cooperate with the second part 232. In some embodiments, the connecting head 2312 can be in the shape of a circular truncated cone, and the side surface of the circular truncated cone is the tapered outer side surface 23121. The inclination angle of the tapered outer side surface 23121 relative to the axis of the circular truncated cone is set based on experience.

[0066] The second part 232 is used to seal the end face of the tubular member 211. The end face refers to the opening at both ends of the tubular member 211. In some embodiments, the second part 232 is a cylinder, and the inner surface of the cylinder is provided with a thread (i.e., the second thread structure 2321), the inner diameter of the cylinder matches the diameter of the main body (i.e., the above-mentioned cylinder) of the first part 231, and the inner surface of the cylinder is provided with an inner inclined surface 2322 away from the first part 231.

[0067] It is worth noting that the axis of the above-mentioned cylinder, frustum and cylinder all coincide with the axis of the tubular member 211.

[0068] The inner inclined surface 2322 is used to cooperate with the conical outer side surface 23121 of the connector 2312. In some embodiments, the inclination angle of the inner inclined surface 2322 is adapted to the inclination angle of the conical outer side surface 23121.

[0069] In some embodiments, the first thread structure 2311, the second thread structure 2321 and the connector 2312 cooperate with each other to connect the first part 231 and the second part 232 and achieve sealing.

[0070] It is worth noting that the first part 231 and the second part 232 can also be designed as any other shape that can cooperate with each other to achieve sealing.

[0071] Figure 9 is a structural schematic diagram of a pneumatic muscle according to some embodiments of the present specification. Figure 9 (a) in is a cross-sectional structural schematic diagram of a pneumatic muscle in an initial state according to some embodiments of the present specification; Figure 9 (b) in is a structural schematic diagram of a pneumatic muscle in an initial state according to some embodiments of the present specification; Figure 9 (c) in is a structural schematic diagram of a pneumatic muscle in a contracted state according to some embodiments of the present specification.

[0072] In some embodiments, as shown in Figure 9 The outer surface of the tubular member 211 is sleeved with a woven mesh 212, which can be made of a non-elastic or low-elastic material such as nylon, metal, etc. It can be understood that due to the non-elasticity or low-elasticity of the woven mesh, the woven mesh can limit the radial expansion of the tubular member 211, so that the tubular member 211 changes from radial expansion to axial contraction.

[0073] In some embodiments, the sealing member 23 is internally provided with a vent hole 213, which is in communication with the gas pipeline and the inner cavity of the tubular member 211, and is used to introduce and release compressed gas.

[0074] In some embodiments, the pneumatic muscle 21 is in Figure 9When the pneumatic muscle 21 is in the initial state as shown in (b) of FIG. 6, compressed gas is continuously introduced into the inner cavity of the tubular member 211 through the vent hole 213, and the tubular member 211 expands radially as the gas pressure in the inner cavity increases; when the tubular member 211 expands radially to the full extent of the braided mesh 212, the braided mesh 212 limits the radial expansion of the tubular member 211; the gas pressure in the inner cavity of the tubular member 211 continuously increases, and the tubular member 211 axially contracts, and the pneumatic muscle 21 is in the contracted state as shown in (c) of FIG. 6. Figure 9 When the pneumatic muscle 21 is in the contracted state as shown in (c) of FIG. 6, the vent hole 213 discharges the compressed gas in the inner cavity of the tubular member 211, and the tubular member 211 radially contracts and axially expands, gradually returning to the initial length and volume, and the pneumatic muscle 21 returns to the initial state as shown in (b) of FIG. 6. Figure 9 When the pneumatic muscle 21 is in the contracted state as shown in (c) of FIG. 6, the vent hole 213 discharges the compressed gas in the inner cavity of the tubular member 211, and the tubular member 211 radially contracts and axially expands, gradually returning to the initial length and volume, and the pneumatic muscle 21 returns to the initial state as shown in (b) of FIG. 6. Figure 9 When the pneumatic muscle 21 is in the contracted state as shown in (c) of FIG. 6, the vent hole 213 discharges the compressed gas in the inner cavity of the tubular member 211, and the tubular member 211 radially contracts and axially expands, gradually returning to the initial length and volume, and the pneumatic muscle 21 returns to the initial state as shown in (b) of FIG. 6.

[0075] In some embodiments, when the inner cavity of the tubular member 211 is continuously introduced with compressed gas, the pneumatic muscle 21 gradually changes from the initial state to the contracted state, and the seal 23 connected to the cable moves towards the centroid of the tubular member 211 as the tubular member 211 axially contracts, thereby tightening the cable and bending the knuckle 111 connected to the cable. For example, if the cable is connected to the palm of the knuckle 111 (e.g., the first cable 221, the third cable 222, etc.), the cable tightens and exerts a pulling force on the palm side of the knuckle 111, thereby bending the knuckle 111.

[0076] In some embodiments, when the inner cavity of the tubular member 211 is continuously discharged with compressed gas, the pneumatic muscle 21 gradually returns to the initial state from the contracted state, and the seal 23 connected to the cable moves away from the centroid of the tubular member 211 as the tubular member 211 axially expands, thereby loosening the cable and eliminating the force of the cable on the knuckle 111.

[0077] It can be understood that during the movement of the mechanical hand, the conical side slope 2322 can rotate relative to the connecting head 2312, thereby causing the flexible tubular member 211 and the braided mesh 212 sleeved on the outer surface of the tubular member 211 to twist. Therefore, a component (such as a ring 233) can be provided to prevent the tubular member 211 and the braided mesh 212 from rotating synchronously during rotation.

[0078] In some embodiments, as shown in (a) of FIG. 8, the seal 23 further includes a ring 233 sleeved on the outer surface of the tubular member 211 and matched with the conical outer side surface 23121 of the connecting head 2312. Figure 8

[0079] ​The circular ring 233 is used to prevent the tubular member 211 and the woven mesh 212 from being twisted. In some embodiments, the curvature of the circular ring 233 is adapted to the curvature of the tapered outer side surface 23121. It can be understood that, by sleeving the circular ring 233 on the tubular member 211, i.e. on the woven mesh 212, the tubular member 211 and the woven mesh 212 can be prevented from rotating synchronously, the sealing performance of the sealing member 23 is improved, and the function of the pneumatic muscle is also prevented from being affected.

[0080] In the sealing process, the technician or the automatic equipment first places the first part 231 away from one side of the connecting head 2312 into the tubular member 211, and then covers the woven mesh 212 on the tubular member 211 and the first part 231. Then, the end of the tubular member 211 and the woven mesh 212 is tightened on the tapered outer side surface 23121 of the connecting head 2312, the circular ring 233 is screwed in to press the tubular member 211 and the woven mesh 212, so that the tubular member 211 and the woven mesh 212 are fixed on the tapered outer side surface 23121. Finally, the second part 232 is screwed into the first part 231. In this process, the first threaded structure 2311 and the second threaded structure 2321 rotate relatively to generate an axial pressing force, the tapered outer side surface 23121 and the inner inclined surface 2322 gradually approach each other, and the connecting head 2312 and the circular ring 233 press the tubular member 211 and the woven mesh 212, so as to realize sealing.

[0081] It should be noted that the above structure and sealing process are only examples and do not limit the present description.

[0082] In some embodiments of the present description, the pneumatic muscle is driven by compressed gas, simulates the contraction and expansion of biological muscle, and has low cost, cleanliness, safety, simple installation, light weight, small volume, and similar mechanical properties to biological muscle. In addition, by providing a sealing member to seal the tubular member of the pneumatic muscle, and by providing a circular ring, the tubular member and the woven mesh will not be twisted to affect the function of the pneumatic muscle.

[0083] Figure 10 is a structural schematic diagram of a palm according to some embodiments of the present description.

[0084] In some embodiments, as shown in Figures 4-5 , Figure 10 The hand 1 further includes a palm 14, the at least one finger 11 and the palm 14 are rollably contacted through the second tooth-shaped structures 15 engaged with each other, and the at least one finger 11 and the palm 14 are connected through the second connecting member 16, and the at least one finger 11 and the palm 14 can rotate relative to the second connecting member 16 respectively.

[0085] The palm 14 is the central part of the hand 1. In some embodiments, the shape and overall size of the palm 14 is similar to the shape and size of the human hand bones. In some embodiments, the side of the palm 14 is provided with a plurality of first mounting holes 141, and the plurality of fingers 11 (e.g., the little finger, the ring finger, the middle finger, and the index finger) can be connected to the corresponding first mounting holes 141 by mounting members (e.g., screws, etc.). The side of the palm 14 is provided with a second mounting hole 142 for the thumb 11-1, and the thumb 11-1 is connected to the second mounting hole 142 by a mounting member (e.g., a screw, etc.). The inside of the palm 14 is hollow, which is used to arrange cables, tubes, or other structures.

[0086] The second tooth-shaped structure 15 is used to make the fingers 11 and the palm 14 rollably contact. The structure shape of the second tooth-shaped structure 15 can be the same as or different from that of the first tooth-shaped structure 12. In some embodiments, the size of the second tooth-shaped structure 15 can be greater than that of the first tooth-shaped structure 12. The principle of the second tooth-shaped structure 15 making the fingers 11 and the palm 14 rollably contact is similar to that of the first tooth-shaped structure 12 making the two adjacent knuckles 111 rollably contact, which will not be described here.

[0087] The second connecting member 16 is used to connect the fingers 11 and the palm 14. The structure shape of the second connecting member 16 can be the same as or different from that of the first connecting member 13. The principle of the fingers 11 and the palm 14 rotating relative to the second connecting member 16 is similar to that of the two adjacent knuckles 111 rotating relative to the first connecting member 13, which will not be described here.

[0088] In some embodiments of the present specification, by providing a second tooth-shaped structure between the fingers and the palm to form a rolling contact joint between the fingers and the palm, and connecting the fingers and the palm by a second connecting member, the degree of freedom of the mechanical hand can be increased, the movement mode of the mechanical hand is closer to the movement mode of the human hand, and the movement precision and the bionic performance are improved.

[0089] It can be understood that after the fingers 11 are mounted on the palm 14, the appearance is relatively rough due to the arrangement of a plurality of mounting members, wire bodies, etc. on the back surface. Therefore, an appearance nail piece 17 can be arranged on the back surface to beautify the appearance of the palm 14.

[0090] Figure 11 is a structural schematic view of the appearance nail piece according to some embodiments of the present specification.

[0091] In some embodiments, as Figure 11As shown, the hand 1 further comprises an appearance nail sheet 17. The appearance nail sheet 17 is shaped similar to the shape of a human hand. In some embodiments, the appearance nail sheet 17 can comprise a plurality of nail sheet groups adapted to the shape of the palm 14, each of the nail sheet groups comprising two nail sheet covers 171 adapted to the shape of the palm side and the back side of the corresponding position of the palm 14 respectively.

[0092] In some embodiments, the palm side and the back side of the palm 14 are correspondingly provided with a plurality of third mounting hole positions 143 for mounting the appearance nail sheet 17, and each of the nail sheet covers 171 is correspondingly provided with at least one (e.g. two) connecting posts 1711, which are mounted and fixed to the third mounting hole positions 143 by interference fit, so as to realize the mounting and fixing of the appearance nail sheet 17.

[0093] It is worth noting that there is a gap between the palm 14 and the appearance nail sheet 17, which is used to arrange cables, tubes or other structures.

[0094] In some embodiments of the present specification, the appearance nail sheet is arranged on the hand to wrap the palm, so as to make the palm more beautiful.

[0095] In some embodiments, as shown in Figures 4-5 At least two adjacent knuckles 111 are provided with a first elastic structure 18, which is configured to realize the automatic reset of the at least two adjacent knuckles 111.

[0096] The first elastic structure 18 can realize the automatic reset of the two adjacent knuckles 111 by using its own elastic performance. For example, the first elastic structure 18 can comprise a tension spring reset structure, an elastic telescopic piece reset structure, etc.

[0097] In some embodiments, the first elastic structure 18 can be arranged on the side of the two adjacent knuckles 111 away from the cable, and the two ends of the first elastic structure 18 are fixedly connected with the two adjacent knuckles 111 respectively. As shown in Figure 5 The cable is arranged on the palm side of the finger 11, the first elastic structure 18 is arranged on the back side of the finger 11, and the back side of the two adjacent knuckles 111 (e.g. the knuckle body 1111) is provided with a receiving groove 181 along the length direction of the finger 11, and the first elastic structure 18 can be arranged in the receiving groove 181 along the length direction of the finger 11, and the two ends thereof are fixedly connected with the end walls at both ends of the receiving groove 181.

[0098] When the cable is subjected to traction (or tension), the first gear 121 and the second gear 122 between the two adjacent knuckles 111 engage with each other and roll, and at least one of the two adjacent knuckles 111 rotates relative to the first connector 13, causing one of the two adjacent knuckles 111 to bend (e.g., the distal knuckle 111-1 bends between the distal knuckle 111-1 and the middle knuckle 111-2). At this point, the first elastic structure 18 deforms under the action of the tension and is stretched to bend, switching from its initial state to a stretched state. When the traction on the cable disappears, the first elastic structure 18, under its own elastic action, returns from the stretched state to its initial state, and one of the two adjacent knuckles 111 is restored to its original position under the elastic action of the first elastic structure 18.

[0099] In some embodiments of this specification, a first elastic structure is provided between at least two adjacent knuckles to achieve automatic repositioning of the knuckles. This reduces the number of cables required, avoids interference, and improves the smoothness of joint movement. Furthermore, the rigid-flexible coupling between the first elastic structure and the cables enables flexible bending and extension of the fingers, providing strong impact resistance and rapid response.

[0100] In some embodiments, the first elastic structure 18 is a tension spring. A tension spring is provided between the distal phalanx 111-1 and the middle phalanx 111-2, and between the middle phalanx 111-2 and the proximal phalanx 111-3.

[0101] A tension spring (also known as a stretch spring or tension spring) is a coil spring that is subjected to axial tension. In some embodiments, Figure 4 As shown, a tension spring can be disposed within the receiving groove 181 along the length of the finger 11, with both ends fixedly connected to the end walls of the receiving groove 181. It is understood that tension springs can be disposed between the distal phalanx 111-1 and the middle phalanx 111-2, and between the middle phalanx 111-2 and the proximal phalanx 111-3, to achieve automatic resetting.

[0102] In some embodiments of this specification, tension springs are provided between the knuckles to achieve automatic resetting of the knuckles, which has a simple structure, low manufacturing cost and is easy to implement.

[0103] In some embodiments, the elastic coefficient of the tension spring disposed between the distal phalanx 111 - 1 and the middle phalanx 111 - 2 is less than or equal to the elastic coefficient of the tension spring disposed between the middle phalanx 111 - 2 and the proximal phalanx 111 - 3 .

[0104] The higher the elastic coefficient, the greater the rigidity of the material, and the smaller the degree of deformation, which means that the material is not easy to deform and is more rigid. Conversely, the smaller the elastic coefficient, the easier the material is to deform and the better the flexibility. Therefore, the spring with a larger elastic coefficient is arranged between the middle phalanx 111-2 and the proximal phalanx 111-3, the spring is more rigid, has a higher resistance to deformation, and has a higher elastic force after deformation, and is more easily restored to the initial state after the pulling force driving the bending is removed.

[0105] It can be understood that, since the middle phalanx is connected with the distal phalanx at the end away from the palm, the pulling force required for the automatic reset of the middle phalanx is relatively greater than that required for the automatic reset of the distal phalanx. Some embodiments of the present specification can effectively solve this problem by arranging a spring with a relatively large elastic coefficient between the middle phalanx and the proximal phalanx, so that the middle phalanx is more easily reset.

[0106] In some embodiments, as shown in FIG. 1, the first elastic structure 18 is arranged between at least one finger 11 and the palm 14. Figure 4 It can be understood that, since the human finger 11 and the palm 14 can naturally bend or stretch, arranging the first elastic structure 18 between the at least one finger 11 and the palm 14 enables the finger 11 to automatically reset and also improves the smoothness of the joint movement of the finger 11 and the palm 14.

[0107] It is worth noting that, in order to more easily achieve the automatic reset of the finger 11, the elastic coefficient of the first elastic structure 18 (such as a spring) arranged between the finger 11 and the palm 14 should be greater than or equal to the elastic coefficient of the first elastic structure 18 arranged between two adjacent phalanges 111.

[0108] In some embodiments, the finger pad of at least one phalanx 111 is flexible; and / or, the finger pad of at least one phalanx 111 is provided with a sensor 117.

[0109] In some embodiments, the material of the finger pad can be the same as or different from that of other parts of the finger 11. For example, the finger pad part can be flexible and rough on the surface, while the remaining parts can have stronger rigidity. It can be understood that the flexible and rough surface of the finger pad not only prevents the mechanical hand from damaging the object, but also increases the friction of the finger 11 to prevent the object from falling.

[0110] In some embodiments, the technician or automated equipment can make the surface of the finger pad of the phalanx 111 flexible and rough in various ways. For example, the technician or automated equipment can process the surface of the finger pad (such as polishing, etching, or adding a plurality of protrusions, etc.). For another example, the technician or automated equipment can also install a flexible part (such as a flexible pad) on the surface of the finger pad.

[0111] In some embodiments, the finger pads of the distal phalange 111-1, the middle phalange 111-2 and the proximal phalange 111-3 are provided with flexible pads (not shown in the figures).

[0112] In some embodiments, the flexible pads can be made of materials with flexibility and frictional resistance. For example, rubber, silicone, etc. It should be noted that the materials and thicknesses of the flexible pads provided on the finger pad sides of the phalanges 111 can be the same or different, and can be determined based on the types, weights, shapes, etc. of the grasped objects.

[0113] In some embodiments, the flexible pads can be connected to the finger pads by adhesion, clamping, bolt connection, etc. In some embodiments, the flexible pads can be curved flexible pads that fit the surfaces of the phalanges 111. The flexible pads can make the finger pads higher than the surfaces of the phalanges 111, so as to increase the thickness of the fingers 11 and increase the friction of the finger pads, thereby facilitating the gripping of objects by the robot hand.

[0114] In some embodiments of the present specification, the flexible pads provided at the finger pads of the phalanges can increase the thickness, surface roughness and flexibility of the fingers, thereby facilitating the gripping of objects by the robot hand.

[0115] In some embodiments, the roughness of the surfaces of the finger pads of the distal phalange 111-1, the middle phalange 111-2 and the proximal phalange 111-3 is different. It can be understood that the stress conditions of the phalanges 111 are different when the robot hand grips objects, and in order to improve the friction of the surfaces of the finger pads of the phalanges 111, and thus improve the stability of the gripping of objects by the fingers 11, the surfaces of the finger pads of the phalanges 111 can be treated or designed respectively so that the roughness of the surfaces of the finger pads of the phalanges 111 is different. For example, the distal phalange 111-1 and the proximal phalange 111-3 are more likely to contact the objects when gripping the objects, and the corresponding contact force will also be larger, which has a significant impact on the stability of gripping. Therefore, the roughness of the surfaces of the finger pads of the distal phalange 111-1 and the proximal phalange 111-3 can be greater than the roughness of the surface of the finger pad of the middle phalange 111-2. For example only, more protrusions can be provided on the surfaces of the finger pads of the distal phalange 111-1 and the proximal phalange 111-3 than on the surface of the finger pad of the middle phalange 111-2.

[0116] In some embodiments of the present specification, the flexible rough surfaces corresponding to different phalanges are provided, which can adapt to the actual working conditions of different grasped objects, and can increase the thickness of the fingers, so as to facilitate the gripping and increase the friction, and achieve precise grasping and control of the robot hand.

[0117] It can be understood that in order to avoid damage or dropping of the grasped objects, sensors can be added to the fingers 11 to determine the stress conditions of the phalanges 111 and the state information of the grasped objects, and then adjust the motion control of the robot fingers.

[0118] In some embodiments, the fingerpads of the distal phalange 111-1, the middle phalange 111-2 and the proximal phalange 111-3 are provided with different sensors (not shown in the figures).

[0119] In some embodiments, the sensors can be provided on the fingerpads of the phalanges 111. For example, the sensors can be provided on the flexible pads of the phalanges 111. In some embodiments, the sensors can be flexible sensors. It can be understood that, compared with ordinary sensors, flexible sensors can deform with the bending and stretching of the fingers and will not damage the grasped objects.

[0120] In some embodiments, the sensors can include one or more combinations of pressure sensors, temperature sensors, position sensors, etc.

[0121] The pressure sensors are used to capture the pressure of the phalanges 111 during the operation of the robot hand. The robot hand can adjust the bending state of the phalanges 111 based on the pressure, thereby forming a closed-loop control.

[0122] The temperature sensors are used to capture the temperature of the grasped objects during the operation of the robot hand. The robot hand can obtain the state of the grasped objects based on the temperature and adjust the grasping state. For example, if the temperature is lower than a preset temperature, the operation is stopped and heating is continued; if the temperature is higher than the preset temperature, the fingers are opened, and the grasping is performed after cooling to prevent damage to the robot hand and the grasped objects.

[0123] The position sensors are used to capture the real-time position information of the grasped objects during the operation of the robot hand. The robot hand can determine whether the grasping is stable based on the real-time position information.

[0124] In some embodiments of the present specification, by providing flexible sensors at the fingerpads, the state information of the grasped objects and the force conditions of the fingers can be obtained without damaging the grasped objects, so as to realize the closed-loop control of the movement of the robot hand, thereby facilitating the improvement of the control accuracy of the robot hand.

[0125] In some embodiments of the present specification, by making the phalanges flexible and rough and providing sensors at the fingerpads of the phalanges, not only the softness and friction of the fingerpads can be increased to avoid damage to the robot hand and the grasped objects, but also the closed-loop control of the movement of the robot hand can be further realized based on the state information of the grasped objects and the force conditions of the fingers obtained by the sensors.

[0126] Figure 12 is a structural schematic view of a thumb according to some embodiments of the present specification.

[0127] In some embodiments, as Figures 1-2 , Figure 12As shown, the plurality of fingers 11 includes a thumb 11-1, the thumb 11-1 includes a distal phalanx 111-1 and a proximal phalanx 111-3, the proximal phalanx 111-3 is connected with the palm 14 through a connecting portion 112 and a mounting portion 113, the connecting portion 112 is triangular, and the mounting portion 113 is connected to the palm 14. The distal phalanx 111-1 is connected with at least a fourth cable (not shown in the figure), the proximal phalanx 111-3 is connected with a fifth cable (not shown in the figure) or the fourth cable passes through the proximal phalanx 111-3, the connecting portion 112 is connected with at least a sixth cable (not shown in the figure), and the fourth cable, the fifth cable and the sixth cable are respectively connected with at least one of the plurality of pneumatic muscles 21.

[0128] In some embodiments, as shown, the thumb 11-1 can include the distal phalanx 111-1 and the proximal phalanx 111-3. The distal phalanx 111-1 and the proximal phalanx 111-3 form a rolling contact joint through the first toothed structure 12. Figure 12 The connecting portion 112 is used to connect the proximal phalanx 111-3 and the mounting portion 113. In some embodiments, one end of the connecting portion 112 can be connected to the mounting portion 113 through the first connecting piece 13, and the other end of the connecting portion 112 forms a rolling contact joint with the proximal phalanx 111-3 through the first toothed structure 12 and is connected through the first connecting piece 13. It should be noted that the connecting portion 112 can also be designed into any other feasible shape, which is not limited in the present specification.

[0129] The mounting portion 113 is used to connect the connecting portion 112 and the palm 14. In some embodiments, one end of the mounting portion 113 can be connected to the second mounting hole 142 opened on the side of the palm 14 through a mounting piece (such as a screw, etc.), and the other end of the mounting portion 113 forms a rolling contact joint with the connecting portion 112 through the second toothed structure 15 and is connected through the second connecting piece 16.

[0130] The fourth cable can be used to control the bending of the distal phalanx 111-1 and the proximal phalanx 111-3 together. In some embodiments, the fourth cable can also be used to control only the bending of the distal phalanx 111-1, and at this time, the fifth cable can be set to control the proximal phalanx 111-3. It should be noted that the control principle of the fourth cable is similar to that of the first cable 221, and details can be referred to

[0131] and related descriptions, which will not be repeated here. Figures 2-5 The fifth cable is used to control the bending of the proximal phalanx 111-3. Similarly, the control principle of the fifth cable is similar to that of the second cable, and details can be referred to

[0132] and related descriptions, which will not be repeated here. Figures 2-5

[0133] ​The sixth cable is used to control the bending of the connecting part 112. In some embodiments, one end of the sixth cable can be connected to the palmar side of the connecting part 112 through the mounting part 113, and the other end of the sixth cable can be extended out from the dorsal side of the mounting part 113 and connected to at least one of the plurality of pneumatic muscles 21. Similarly, the control principle of the sixth cable is similar to that of the third cable, and specific reference can be made to Figures 2-5 and the related description thereof, which will not be repeated here.

[0134] In some embodiments, a first elastic structure 18 is further arranged between the connecting part 112 and the mounting part 113, and the automatic reset of the connecting part 112 is realized through the first elastic structure 18.

[0135] In some embodiments of the present specification, the connecting part and the mounting part are arranged to connect the thumb to the palm, and the connecting part is designed in a triangular shape, so that the thumb is arranged closer to the real human hand, and the installation is facilitated; a plurality of cables are arranged to bend the knuckles of the thumb, so that the hand has multiple degrees of freedom, to realize the grasping, operation and fine operation similar to the human hand; through the above arrangement, the overall mechanical hand not only has a compact and simple structure, occupies a small volume, and has few parts, and the manufacturing cost is low.

[0136] Figure 13 is a structural schematic view of a wrist according to some embodiments of the present specification.

[0137] In some embodiments, as shown in Figures 2-3 , Figure 6 , Figure 13 , the mechanical hand further comprises a base 3 and a wrist 4. The wrist 4 is arranged between the base 3 and the palm 14, and the wrist 4 is rotatably connected to the palm 14 about a first axis, and the wrist 4 is rotatably connected to the base 3 about a second axis. Among them, the first axis intersects the second axis.

[0138] The base 3 is used to support other components (such as the hand 1, the driving part 2 and the wrist 4) of the mechanical hand. In some embodiments, the base 3 comprises a mounting plate 31 and a support column 32.

[0139] The mounting plate 31 is used to mount the support column 32, the pneumatic muscle 21 and the wrist 4. The support column 32 is used to support the mounting plate 31 to prevent the structure from collapsing.

[0140] In some embodiments, as shown in Figure 6 , the number of mounting plates 31 is two, and a plurality of mounting holes are correspondingly arranged on the two mounting plates 31, the plurality of mounting holes are circumferentially and equally spaced, and the two ends of the support column 32 and the pneumatic muscle 21 can be connected to the mounting holes of the two mounting plates 31 by welding, bolt connection, clamping or the like.

[0141] In some embodiments, the mounting holes can be through holes. Among them, the through hole (which can be referred to as a first through hole 311) on the mounting plate 31 (which can be referred to as a first mounting plate) close to the wrist 4 can be used for the cable to pass through and be fixedly connected with the seal 23 (such as the fixed hole 234) at one end of the pneumatic muscle 21; and the through hole (which can be referred to as a second through hole) on the mounting plate 31 (which can be referred to as a second mounting plate) away from the wrist 4 can be threadedly connected with the seal 23 at the other end of the pneumatic muscle 21, the seal 23 is fixed in the through hole, and the air hole 213 on the seal 23 is in communication with the pneumatic connector 24, so as to pass in or discharge compressed gas. Among them, the first through hole and the second through hole can be of the same size or different sizes.

[0142] In some embodiments, the mounting plate 31 can be of various shapes. For example, circular, square, etc. It can be understood that the plurality of circular mounting plates 31 connect the support column 32 and the pneumatic muscle 21, so that the base 3 forms a shape close to the human forearm, increasing the bionic performance of the robot hand.

[0143] It can be understood that the base 3 can include a plurality of mounting plates 31 to divide the plurality of pneumatic muscles 21 into multiple layers to solve the problem of excessive radial size caused by arranging a plurality of pneumatic muscles 21 in a single layer. At the same time, the multiple layers of pneumatic muscles 21 can form a state similar to the human forearm, further increasing the bionic performance of the robot hand.

[0144] The wrist 4 is used to connect the palm 14 and the base 3. The wrist 4 is similar to the wrist joint of the human hand. In some embodiments, the wrist 4 can be rotatably connected with the palm 14, and can also be rotatably connected with the base 3, so as to realize multi-degree-of-freedom rotation.

[0145] In some embodiments, as shown in Figure 3 , Figure 13 The central through hole 41 is provided in the center of the wrist 4 for the cables and their flexible tubes to pass through.

[0146] It should be noted that the structural shape of the wrist 4 includes but is not limited to square and the like, and can realize multi-degree-of-freedom rotation.

[0147] The first axis and the second axis are respectively two rotation axes of the wrist 4. Among them, the first axis can realize the rotatable connection between the wrist 4 and the palm 14, and the second axis can realize the rotatable connection between the wrist 4 and the base 3.

[0148] In some embodiments, the first axis and the second axis have an included angle, and the angle of the included angle can be set according to actual needs. For example, 90°, etc.

[0149] In some embodiments, as shown in Figure 3 , Figure 13As shown, the wrist 4 is rotatably connected with the palm 14 through a first pin shaft 42, and the wrist 4 is rotatably connected with the base 3 through a second pin shaft 43. The first pin shaft 42 and the second pin shaft 43 are arranged perpendicularly.

[0150] In some embodiments, as shown in Figure 10 As shown, the palm 14 is provided with a recess 144 for accommodating the wrist 4, and the wrist 4 is at least partially located in the recess 144. The first pin shaft 42 can pass through the wrist 4 and be rotatably connected with the palm 14 on both sides of the recess 144, so as to realize the rotatable connection between the wrist 4 and the palm 14.

[0151] In some embodiments, as shown in Figure 3 , Figure 13 As shown, the base 3 further comprises a wrist mounting seat 33, and two lug structures 331 are symmetrically arranged on the wrist mounting seat 33. The wrist 4 is at least partially located between the two lug structures 331. The second pin shaft 43 can pass through the wrist 4 and be rotatably connected with the two lug structures 331, so as to realize the rotatable connection between the wrist 4 and the base 3.

[0152] It can be understood that by arranging the first pin shaft 42 and the second pin shaft 43, the rotatable connection between the wrist 4 and the palm 14 and the base 3 is realized, which is simple in structure, low in manufacturing cost and easy to realize.

[0153] In some embodiments, as shown in Figure 13 As shown, the wrist mounting seat 33 is uniformly distributed with countersunk holes 332 around the position corresponding to the central through hole 41. The number of the countersunk holes 332 corresponds to the number of the cables (including the first cable to the eighth cable). The ends of the flexible tubes wrapped outside the cables abut around the countersunk holes 332, and the cables pass through the corresponding countersunk holes 332 and are connected with the pneumatic muscles 21.

[0154] In some embodiments, as shown in Figure 13 As shown, a plurality of pulleys 312 are arranged on the mounting plate 31 close to the wrist 4. The pulleys 312 are arranged on the first through hole 311 through a pulley support 313 and can rotate in the pulley support 313. After the cable passes through the countersunk hole 332, it contacts the pulley 312 and then passes through the first through hole 311 below the pulley 312, and finally is connected with the pneumatic muscle 21.

[0155] It can be understood that by arranging the pulley 312, the direction of the cable is changed and the frictional resistance is reduced, which not only makes the driving process more smooth and is conducive to improving the motion accuracy and fluency of the mechanical hand, but also is conducive to improving the service life of the cable and reducing the use cost.

[0156] In some embodiments, the wrist mounting seat 33 can be connected with the mounting plate 31 close to the wrist 4 by welding, clamping or other ways. It should be noted that the structure and shape of the wrist mounting seat 33 are not limited and can be set according to actual needs.

[0157] In some embodiments, as shown in FIG. 4, the wrist mounting seat 33 and the mounting plate 31 close to the wrist 4 (i.e. the first mounting plate) are further provided with a protective shell 34. The protective shell 34 can include two sub-shells matched with each other, which can be covered between the wrist mounting seat 33 and the first mounting plate to protect the cables passing through the wrist mounting seat 33 and the first mounting plate. Figure 2

[0158] The structure and shape of the protective shell 34 are not limited and can be stably covered between the wrist mounting seat 33 and the first mounting plate. It can be understood that by setting the protective shell 34, the cables passing through the wrist mounting seat 33 and the first mounting plate can be protected, and the appearance can also be improved.

[0159] In some embodiments of the present specification, the base supports the entire hand, and the setting position of the pneumatic muscle is reasonably configured, which can prevent the pneumatic muscles from interfering with each other during work and increase the stability of the mechanical hand movement. By setting the wrist, the wrist is rotatably connected with the palm and the base, so that the wrist can rotate with multiple degrees of freedom, which is beneficial to improve the flexibility and bionic performance of the mechanical hand.

[0160] In some embodiments, at least two seventh cables are arranged between the wrist 4 and the palm 14. One end of the at least two seventh cables is connected with the palm 14 through the wrist 4 to control the relative movement of the wrist 4 and the palm 14. At least two eighth cables are arranged between the wrist 4 and the base 3. One end of the at least two eighth cables is connected with the wrist 4 through the base 3 to control the relative movement of the wrist 4 and the base 3. The at least two seventh cables and the at least two eighth cables are respectively connected with at least one of the plurality of pneumatic muscles 21.

[0161] The seventh cable is used to control the relative movement of the wrist 4 and the palm 14. In some embodiments, one end of two or more seventh cables is connected with the palm 14 through the wrist 4 (such as the central through hole 41), and the other end of the two or more seventh cables is connected with at least one of the plurality of pneumatic muscles 21 after extending out of the wrist 4 (such as the central through hole 41).

[0162] The eighth cable is used to control the relative movement of the wrist 4 and the base 3. In some embodiments, one end of two or more eighth cables is connected with the wrist 4 through the base 3 (such as the countersunk hole 332), and the other end of the two or more eighth cables is connected with at least one of the plurality of pneumatic muscles 21 after extending out of the base 3 (such as the countersunk hole 332).

[0163] ​It can be understood that the seventh cable and the eighth cable can control the relative movement between the wrist 4 and the palm 14 and between the wrist 4 and the base 3 by the axial contraction of the connected pneumatic muscle 21. For more details about how the seventh cable controls the palm and how the eighth cable controls the wrist, please refer to the relevant description of the first cable, the second cable, or the third cable controlling the finger joints in the Figures 2-5 . .

[0164] It should be noted that the specific number of the seventh cable and the eighth cable can be determined according to actual needs.

[0165] In some embodiments of the present specification, by setting the seventh cable and the eighth cable to control the movement of the wrist joint, the movement mode of the wrist of the robot hand can be similar to the movement mode of the human wrist, and the bionic performance of the robot hand is increased.

[0166] In some embodiments, as shown in Figure 13 , the second elastic structure 19 is arranged between the wrist 4 and the palm 14 and between the wrist 4 and the base 3, and the second elastic structure 19 is configured to realize the automatic reset of the wrist 4 and the palm 14.

[0167] The second elastic structure 19 is used to realize the automatic reset of the wrist 4 and the palm 14. The structure shape or type of the second elastic structure 19 can be the same as or different from that of the first elastic structure 18. In some embodiments, the principle of the second elastic structure 19 realizing the automatic reset of the wrist 4 and the palm 14 is similar to that of the first elastic structure 18 realizing the automatic reset of each finger joint 111. For details, please refer to Figures 2-5 and the related description thereof, which will not be repeated here.

[0168] In some embodiments of the present specification, by arranging the second elastic structure between the wrist and the palm and between the wrist and the base, the wrist and the palm can quickly realize automatic reset when the traction force disappears, the response speed is fast, and the wrist joint movement is more flexible.

[0169] The above has described the basic concept. Obviously, for those skilled in the art, the above detailed disclosure is only used as an example and does not constitute a limitation on the present specification. Although it is not explicitly stated here, those skilled in the art can make various modifications, improvements and corrections to the present specification. Such modifications, improvements and corrections are suggested in the present specification, so such modifications, improvements and corrections still belong to the spirit and scope of the exemplary embodiments of the present specification.

Claims

1. A robot, characterized in that: include: A hand comprising a plurality of fingers, each of the fingers comprising a plurality of knuckles, at least two adjacent knuckles among the plurality of knuckles being in rolling contact with each other via a first toothed structure that engages with each other, and the at least two adjacent knuckles being connected by a first connecting member, and each of the at least two adjacent knuckles being capable of rotating relative to the first connecting member; At least one of the plurality of fingers includes a distal phalanx, a middle phalanx, and a proximal phalanx, the distal phalanx is connected to at least a first cable, the middle phalanx is connected to a second cable or the first cable passes through the middle phalanx, and the proximal phalanx is connected to at least a third cable; The driving unit includes a plurality of pneumatic muscles, and the first cable, the second cable, and the third cable are respectively connected to at least one of the plurality of pneumatic muscles.

2. The robot according to claim 1, wherein: The hand also includes a palm, and the at least one finger is in rolling contact with the palm through a second toothed structure that is engaged with each other, and the at least one finger is connected to the palm through a second connecting member, and the at least one finger and the palm can rotate respectively relative to the second connecting member.

3. The robot according to claim 1, wherein: A first elastic structure is provided between the at least two adjacent finger joints, and the first elastic structure is configured to achieve automatic resetting of the at least two adjacent finger joints.

4. The robot according to claim 1, wherein: The finger pad of at least one of the plurality of finger joints is flexible; and / or, The finger pad of the at least one finger joint is provided with a sensor.

5. The robot according to claim 1, wherein: The plurality of fingers include a thumb, the thumb includes a distal phalanx and a proximal phalanx, the proximal phalanx is connected to the palm via a connecting portion and a mounting portion, the connecting portion is triangular, and the mounting portion is connected to the palm; The distal phalanx is connected to at least a fourth cable, the proximal phalanx is connected to a fifth cable or the fourth cable passes through the proximal phalanx, the connecting portion is connected to at least a sixth cable, and the fourth cable, the fifth cable and the sixth cable are respectively connected to at least one of the multiple pneumatic muscles.

6. The robot according to claim 1, wherein: Also includes: base; a wrist portion, disposed between the base and the palm, the wrist portion being rotatably connected to the palm around a first axis, and the wrist portion being rotatably connected to the base around a second axis; Wherein, the first axis intersects with the second axis.

7. The robot according to claim 6, wherein: At least two seventh cables are provided between the wrist and the palm, and one end of the at least two seventh cables passes through the wrist and is connected to the palm to control the relative movement of the wrist and the palm; At least two eighth cables are provided between the wrist and the base, one end of the at least two eighth cables passes through the base and is connected to the wrist to control the relative movement of the wrist and the base; The at least two seventh cables and the at least two eighth cables are respectively connected to at least one of the plurality of pneumatic muscles.

8. The robot according to claim 7, wherein: A second elastic structure is provided between the wrist and the palm and between the wrist and the base, and the second elastic structure is configured to achieve automatic resetting of the wrist and the palm.

9. The robot according to claim 1, wherein: The pneumatic muscle includes a tubular member, both ends of which are provided with seals, the seal including a first part and a second part, the first part including a first threaded structure and a connecting head, the second part including a second threaded structure cooperating with the first threaded structure and an inner inclined surface cooperating with the conical outer surface of the connecting head, and both ends of the tubular member are located between the connecting head and the inner inclined surface.

10. The robot according to claim 9, wherein: The sealing member further comprises a circular ring member, which is sleeved on the outside of the tubular member and matched with the conical outer side surface of the connector.

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