Mechanical finger, manipulator, robot, control method and control device

Abstract

The invention provides a mechanical finger, a manipulator, a robot, a control method and a control device, and belongs to the technical field of robots. The mechanical finger comprises a base part, a movable assembly, a driving assembly and a knuckle assembly. The movable assembly is rotationally connected to the base part along a first axis, the driving assembly is fixedly connected to the base part, and the knuckle assembly is rotationally connected to the movable assembly along a second axis; the driving assembly comprises driving units, and each driving unit is connected to the corresponding knuckle assembly through a driving rope. In the first driving mode, the driving unit drives the movable assembly to rotate around the first axis through the driving rope; in the second driving mode, the driving unit drives the knuckle assembly to rotate around the second axis through the driving rope. According to the mechanical finger, through cooperative control of the two movement modes along the first axis and the second axis, the structure of the mechanical finger is simplified, then the structure of the mechanical finger is more compact, and the flexibility and lightweight design of the mechanical finger are improved.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to a mechanical finger, a robotic hand, a robot, a control method, and a control device. Background Technology

[0002] In order to enable robots to perform actions such as grasping, holding, pinching, and knocking like human hands, related technologies have equipped robots with humanoid robotic hands (or five-fingered simulated hands).

[0003] Humanoid robotic hands provided in related technologies typically have multiple mechanical fingers, but these mechanical fingers generally suffer from complex structures and large mechanical volumes, resulting in poor flexibility and versatility of the mechanical fingers and humanoid robotic hands. Summary of the Invention

[0004] This application provides a mechanical finger, a robotic hand, a robot, a control method, and a control device, which can solve the problems of mechanical fingers having complex structures and large mechanical volumes, resulting in poor flexibility and versatility.

[0005] The technical solution is as follows:

[0006] On the one hand, a mechanical finger is provided, the mechanical finger comprising: a base member, a movable component, a drive component, and at least one phalanx component;

[0007] The movable component is rotatably connected to the base member along the first axis, the drive component is fixedly connected to the base member, and the at least one knuckle component is rotatably connected to the movable component along the second axis.

[0008] The drive assembly includes at least two drive units, each of which is connected to the at least one knuckle assembly via at least one drive cord.

[0009] The at least two drive units include a first drive mode and a second drive mode;

[0010] In the first drive mode, the at least two drive units respectively drive the movable component to rotate about the first axis relative to the base member via the drive rope;

[0011] In the second drive mode, the at least two drive units respectively drive the at least one knuckle assembly to rotate about the second axis relative to the movable assembly via the drive rope.

[0012] On the other hand, a robotic hand is provided, which includes the robotic fingers described in this application.

[0013] On the other hand, a robot is provided, which includes the mechanical finger or the mechanical hand described in this application.

[0014] On the other hand, a control method is provided for controlling the mechanical finger as described in this application, the control method comprising:

[0015] Determine the movement pattern of the mechanical finger;

[0016] The driving mode of the at least two driving units is determined based on the motion mode of the mechanical finger;

[0017] When the at least two drive units are in the first drive mode, the at least two drive units are controlled to drive the movable component to rotate about the first axis relative to the base member via the drive rope; when the at least two drive units are in the second drive mode, the at least two drive units drive the at least one finger joint assembly to rotate about the second axis relative to the movable component via the drive rope.

[0018] On the other hand, a control device is provided for controlling the mechanical finger as described in this application, the control device comprising:

[0019] The first determining module is used to determine the motion mode of the mechanical finger;

[0020] The second determining module is used to determine the driving mode of the at least two driving units based on the motion mode of the mechanical finger;

[0021] A control module is configured to, when the at least two drive units are in a first drive mode, control the at least two drive units to drive the movable component to rotate relative to the base member about the first axis via the drive rope; and when the at least two drive units are in a second drive mode, control the at least two drive units to drive the at least one finger joint assembly to rotate relative to the movable component about the second axis via the drive rope.

[0022] The beneficial effects of the technical solution provided in this application include at least the following:

[0023] The mechanical finger of this application includes a base, a movable component, and a knuckle component that are rotatably connected in sequence. The base is also connected to a drive assembly. At least two drive units in the drive assembly are connected to the movable component via drive ropes. In a first drive mode, the drive units in the drive assembly can drive the movable component to rotate the knuckle component around a first axis relative to the base via the drive ropes. In a second drive mode, the drive units can drive the knuckle component to rotate around a second axis relative to the movable component via the drive ropes. By using a single drive assembly to couple two types of power drive for the mechanical finger along the first axis and along the second axis, the coordinated control of the two movement modes of the mechanical finger along the first axis and along the second axis is achieved. This allows the mechanical finger to save a set of drive assemblies, which helps to simplify the structure of the mechanical finger, thereby making the structure of the mechanical finger more compact and improving the flexibility and lightweight design of the mechanical finger. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of the mechanical finger provided in an embodiment of this application from one perspective;

[0026] Figure 2 This is a structural schematic diagram of the mechanical finger provided in an embodiment of this application from another perspective;

[0027] Figure 3 This is a schematic diagram of the drive component, side swing component, and knuckle component provided in the embodiments of this application from a first-view perspective;

[0028] Figure 4 This application Figure 3 Schematic diagram of the drive unit and drive rope in the drive assembly;

[0029] Figure 5 This is a schematic diagram of the drive assembly, side swing assembly, and knuckle assembly provided in the embodiments of this application from a second perspective;

[0030] Figure 6 This application Figure 5 Schematic diagram of the drive unit and drive rope in the drive assembly;

[0031] Figure 7 This is a schematic diagram of the structure of the driving component provided in the embodiments of this application;

[0032] Figure 8This is a schematic diagram showing the connection between the base component and the active component provided in the embodiments of this application;

[0033] Figure 9 This is a cross-sectional view of the mechanical finger provided in an embodiment of this application;

[0034] Figure 10 This is a structural cross-sectional view of the knuckle assembly provided in an embodiment of this application;

[0035] Figure 11 This is a partial structural schematic diagram of the driving component provided in an embodiment of this application;

[0036] Figure 12 This is a flowchart illustrating the control method provided in an embodiment of this application;

[0037] Figure 13 This is a schematic diagram of the control device provided in the embodiments of this application;

[0038] Figure 14 This is a structural block diagram of the robot controller provided in the embodiments of this application.

[0039] The reference numerals in the figure are respectively:

[0040] 001, First axis; 001a, First side; 001b, Second side; 002, Second axis; 003, Third axis; 004, Fourth axis; 005, Common perpendicular;

[0041] a1, First winding direction; a2, Second winding direction; a3, Third winding direction; a4, Fourth winding direction; a5, Clockwise direction; a6, Counterclockwise direction;

[0042] 1. Base component;

[0043] 11. First support part; 12. Second support part; 121. Movable limiting groove; 13. Second rope passage;

[0044] 2. Activity components;

[0045] 21. First rope winding section; 22. Movable limiting section; 23. First hinge section; 24. First finger rope pulley; 25. First rope passage;

[0046] 3. Driver components;

[0047] 31. Drive unit; 311. First drive unit; 312. Second drive unit; 313. Drive shaft;

[0048] 32. Drive rope; 321. First drive rope; 322. Second drive rope; 323. Third drive rope; 324. Fourth drive rope;

[0049] 33. Drive pulley; 331. First drive pulley; 332. Second drive pulley;

[0050] 34. Guide sheave; 341. First guide sheave; 342. Second guide sheave;

[0051] 35. Guide rope loop; 351. First guide rope loop; 352. Second guide rope loop;

[0052] 36. First drive mounting plate;

[0053] 37. Second drive mounting plate; 371. Limiting and receiving groove;

[0054] 38. Drive connection side plate; 381. Snap-fit ​​structure;

[0055] 39. Knuckle drive unit; 391. Bending drive unit; 392. Bending rope; 393. Extension drive unit; 3931. Elastic element; 394. Extension rope;

[0056] 310. Sheave bracket; 3101. First sheave shaft; 3102. Second sheave shaft; 3013. Sheave receiving cavity;

[0057] 311. Rope Sleeve Support;

[0058] 4. Knuckle assembly;

[0059] 41. Second hinge section; 42. Second rope winding section; 43. First finger joint assembly; 431. First guide shaft; 44. Second finger joint assembly; 441. Second guide shaft; 45. Third finger joint assembly; 46. Coupling link;

[0060] 5. First sensing component;

[0061] 6. Second sensing component;

[0062] 7. First Determining Module;

[0063] 8. Second determination module;

[0064] 9. Control module;

[0065] 1001. Processor; 1002. Memory; 1003. Peripheral device interface; 1004. Radio frequency circuit; 1005. Display screen; 1006. Camera assembly; 1007. Audio circuit; 1008. Positioning assembly; 1009. Power supply; 1010. Sensor; 1011. Accelerometer sensor; 1012. Gyroscope sensor; 1013. Pressure sensor; 1014. Optical sensor; 1015. Proximity sensor. Detailed Implementation

[0066] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0067] In the description of this application, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the appendix. Figure 1 The orientations or positional relationships shown are for the purpose of facilitating and simplifying the description of this application, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0068] It should be understood that in this application, "electrical connection" can be understood as physical contact and electrical conduction between components; it can also be understood as a form of connection between different components in a circuit structure through physical lines that can transmit electrical signals, such as copper foil or wires on a printed circuit board (PCB). "Communication connection" can refer to the transmission of electrical signals, including wireless communication connections and wired communication connections. Wireless communication connections do not require a physical medium and are not a connection relationship that limits the product structure. "Connection" and "connected" can both refer to a mechanical or physical connection relationship, that is, A and B being connected or connected can mean that there are fastening components (such as screws, bolts, rivets, etc.) between A and B, or that A and B are in contact with each other and are difficult to separate.

[0069] Unless otherwise defined, all technical terms used in the embodiments of this application have the same meaning as commonly understood by one of ordinary skill in the art.

[0070] This application provides a mechanical finger for use in robotic arms or robots, enabling the robotic arms or robots to have a wide range of general-purpose capabilities.

[0071] It should be understood that the robotic fingers or robotic arms provided in this application can be applied to robotic scenarios in fields such as cloud technology, artificial intelligence, and smart transportation, enabling human-computer interaction through robots and serving people's daily lives.

[0072] Artificial intelligence (AI) refers to the theories, methods, technologies, and application systems that utilize digital computers or computers-controlled machines to simulate, extend, and expand human intelligence, perceive the environment, acquire knowledge, and use that knowledge to achieve optimal results. In other words, AI is a comprehensive technology within computer science that attempts to understand the essence of intelligence and produce new intelligent machines that can react in a way similar to human intelligence. AI studies the design principles and implementation methods of various intelligent machines, enabling them to possess perception, reasoning, and decision-making capabilities.

[0073] Artificial intelligence (AI) is a comprehensive discipline encompassing a wide range of fields, including both hardware and software technologies. Fundamental AI technologies generally include sensors, dedicated AI chips, cloud computing, distributed storage, big data processing, pre-trained model technology, operating / interactive systems, and mechatronics. Among these, pre-trained models, also known as large-scale models or foundational models, can be widely applied to downstream tasks across various AI fields after fine-tuning. AI software technologies primarily include computer vision, speech processing, natural language processing, and machine learning / deep learning.

[0074] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0075] On the one hand, combined with Figure 1 and Figure 2 As shown, this embodiment provides a mechanical finger, which includes: a base 1, a movable component 2, a drive component 3, and at least one knuckle component 4.

[0076] The movable component 2 is rotatably connected to the base component 1 along the first axis 001, the drive component 3 is fixedly connected to the base component 1, and at least one knuckle component 4 is rotatably connected to the movable component 2 along the second axis 002.

[0077] The drive assembly 3 includes at least two drive units 31, each of which is connected to at least one knuckle assembly 4 via at least one drive rope 32.

[0078] At least two drive units 31 include a first drive mode and a second drive mode.

[0079] In the first drive mode, at least two drive units 31 drive the movable component 2 to rotate relative to the base component 1 around the first axis 001 via drive ropes 32.

[0080] In the second drive mode, at least two drive units 31 drive at least one knuckle assembly 4 to rotate about the second axis 002 relative to the movable assembly 2 via drive rope 32.

[0081] The mechanical finger of this embodiment includes a base 1, a movable component 2, and a knuckle component 4, which are rotatably connected in sequence. The base 1 is also connected to a drive component 3. At least two drive units 31 in the drive component 3 are connected to the direct component via drive ropes 32. In the first drive mode, the drive units 31 in the drive component 3 can use the drive ropes 32 to drive the movable component 2 to rotate the knuckle component 4 around the first axis 001 relative to the base 1. In the second drive mode, the drive ropes 32 can use the drive ropes 32 to drive the knuckle component 4 to rotate around the second axis 002 relative to the movable component 2. By using a set of drive components 3 to couple the two power drives of the mechanical finger along the first axis 001 and along the second axis 002, the coordinated control of the two movement modes of the mechanical finger along the first axis 001 and along the second axis 002 is realized. This allows the mechanical finger to save a set of drive components 3, which is beneficial to simplifying the structure of the mechanical finger, thereby making the structure of the mechanical finger more compact and improving the flexibility and lightweight design of the mechanical finger.

[0082] In this embodiment, the mechanical finger uses a drive rope 32 for structural drive in the drive unit 3 of the drive assembly 3. This simulates the tendon structure of a human finger, improving gripping speed and dexterity, and optimizing the internal spatial structure of the mechanical finger to reduce its volume. For example, the drive rope 32 can be made of steel wire rope, which has the characteristics of high strength, durability, creep resistance, and corrosion resistance.

[0083] In some possible implementations, the movable component 2 is rotatably connected to the base component 1 along the first axis 001, forming a metacarpophalangeal roll (MPR) joint of the mechanical finger, and the knuckle component 4 is rotatably connected to the movable component 2 along the second axis 002, forming a metacarpophalangeal pitch (MPP) joint of the mechanical finger. The mechanical finger of this embodiment utilizes these two joints to enrich the movement patterns of the mechanical finger, making it more similar to a human finger and possessing better flexibility and grasping performance.

[0084] In some other possible implementations, the number of knuckle components 4 may be one, two, three, etc. When the number of knuckle components 4 is two or more, the knuckle components 4 are rotatably connected in sequence, and the end knuckle components 4 are rotatably connected to the movable component 2 along the second axis 002.

[0085] In some possible implementations, the switching between the first and second drive modes of at least two drive units 31 can be achieved by adjusting operating parameters such as the operating ratio, switching state, torque direction (or forward / reverse rotation), and torque magnitude of the at least two drive units 31. For example, the switching between the first and second drive modes can be achieved by adjusting the torque direction of the at least two drive units 31. For instance, in the first drive mode, the torque directions of the at least two drive units 31 are the same; in the second drive mode, the torque of at least one drive unit 31 is opposite to the torque of the other drive units 31.

[0086] Combination Figures 3 to 6 As shown, in some embodiments, each drive unit 31 is connected to at least one knuckle assembly 4 via two drive ropes 32.

[0087] One end of each of the two drive ropes 32 is wrapped around and connected to the corresponding drive unit 31 in opposite winding directions, and the other end of each of the two drive ropes 32 is wrapped around the second axis 002 in opposite winding directions and connected to at least one finger joint assembly 4.

[0088] With the above arrangement, each drive unit 31 is connected to the knuckle assembly 4 via two drive ropes 32. The two drive ropes 32 are wound in opposite directions with the drive unit 31, and are also wound in opposite directions on the second axis 002. When the drive unit 31 rotates in one direction, it will pull one drive rope 32 and drive the knuckle assembly 4 to rotate around the second axis 002 in the corresponding direction according to the corresponding winding direction. When the drive unit 31 rotates in another direction, it will pull the other drive rope 32. Since the winding directions of the drive ropes 32 are opposite, the knuckle assembly 4 will rotate around the second axis 002 in the opposite direction. Thus, the drive unit 31 can drive the knuckle assembly 4 to rotate in two directions.

[0089] For example, refer to Figure 3 and Figure 4 As shown, one end of each of the two drive ropes 32 (e.g., the first drive rope 321 and the second drive rope 322) is wound and connected to the drive unit 31 (e.g., the drive pulley 33 wound and connected to the output shaft of the drive unit 31) along corresponding and opposite first winding directions a1 and third winding directions a3, respectively. Then, the other ends of the two drive ropes 32 extend to the location of the finger assembly 4, and are connected to the finger assembly 4 after passing around the second axis 002 along corresponding and opposite second winding directions a2 and fourth winding directions a4, respectively.

[0090] Combination Figure 4 and Figure 6As shown, in some embodiments, the first axis 001 and the second axis 002 are two skew lines, and at least two drive units 31 are located on the side of the first axis 001 facing away from the second axis 002.

[0091] Two drive ropes 32 connected to the same drive unit 31 pass through opposite sides of the first axis 001 respectively.

[0092] With the above arrangement, when the drive rope 32 located on one side of the first axis 001 is pulled, the movable component 2 will be subjected to a rotational torque tilted toward that side. Moreover, the two drive ropes 32 corresponding to each drive unit 31 pass through the opposite sides of the first axis 001 respectively. When the drive unit 31 pulls one of the drive ropes 32, the movable component 2 can rotate toward the side where the drive rope 32 is located. Thus, the drive component 3 can drive the movable component 2 to rotate in both directions around the first axis 001.

[0093] For example, refer to Figure 4 and Figure 6 As shown, the two opposite sides of the first axis 001 are the first side 001a and the second side 001b, respectively. Figure 4 Taking the first side 001a of the first axis 001 shown as having two drive ropes 32 (e.g., the first drive rope 321 and the third drive rope 323) as an example, if one of the two drive ropes 32 is pulled, the movable component 2 can be driven to rotate toward the first side 001a.

[0094] In some embodiments, in the first driving mode, at least two driving units 31 respectively pull at least two driving ropes 32 that are wrapped around the second axis 002 in opposite directions and pass through the same side of the first axis 001. The torques of at least one knuckle assembly 4 around the second axis 002 cancel each other out, and the movable assembly 2 rotates around the first axis 001 toward the side where the at least two driving ropes 32 are located.

[0095] In the second driving mode, at least two driving units 31 respectively pull at least two driving ropes 32 that are wound around the second axis 002 in the same winding direction and pass through the opposite sides of the first axis 001. The torques of the movable components 2 around the first axis 001 cancel each other out, and at least one finger joint component 4 rotates around the second axis 002 in the opposite direction to the winding direction of the at least two driving ropes 32.

[0096] In this embodiment, in the first driving mode, the knuckle assembly 4 can be fixed in position relative to the movable assembly 2, while the movable assembly 2 drives the knuckle assembly 4 to rotate relative to the base 1. In the second driving mode, the movable assembly 2 can be fixed in position relative to the base 1, while only the knuckle assembly 4 rotates relative to the movable assembly 2.

[0097] For example, in the first driving mode, the sum of the torques applied to the finger assembly 4 by at least two driving units 31 using the driving rope 32 is zero. That is, the sum of the torques of the finger assembly 4 around the second winding direction a2 is equal to the sum of the torques of the finger assembly 4 around the fourth winding direction a4, but in opposite directions. The finger assembly 4 not only cannot rotate around the second axis 002, but also achieves a stable state under the action of torques in both directions, and can resist rotation when subjected to external forces.

[0098] In another example, in the second drive mode, the tension of the drive ropes 32 applied by at least two drive units 31 to both sides of the first axis 001 is the same, and the moving component 2 can be regarded as a lever in a balanced state.

[0099] In some possible implementations, at least two drive units 31 also have a third drive mode, which is between the first drive mode and the second drive mode. In the third drive mode, the knuckle assembly 4 can rotate about the second axis 002 relative to the movable assembly 2, while the movable assembly 2 can also rotate about the first axis 001 relative to the base member 1. This can be achieved by controlling different drive units 31 to output different torques.

[0100] Combination Figures 2 to 4 and Figure 7 As shown, in some embodiments, each drive unit 31 is provided with an active rope wheel 33, and each active rope wheel 33 is connected to two drive ropes 32, and the two drive ropes 32 on each active rope wheel 33 are wound in opposite directions.

[0101] With the above arrangement, each drive unit 31 can be connected to two drive ropes 32 in opposite winding directions via the active rope wheel 33, and pull different drive ropes 32 when rotating in different directions, so that the drive unit 31 can drive the knuckle assembly 4 or the movable assembly 2 to rotate in different directions.

[0102] For example, refer to Figure 7 As shown, the drive unit 31 has a drive shaft 313, which extends along the axial direction of the drive unit 31 and from one end of the axial direction. The drive pulley 33 is coaxially connected to the drive shaft 313. After the drive unit 31 is powered on, the drive shaft 313 rotates, which drives the drive pulley 33 to rotate. This allows the drive rope 32 connected to it to gradually wind around the drive pulley 33, achieving the effect of pulling (or dragging) the drive rope 32, or gradually unwinding the drive rope 32 from the drive pulley 33, achieving the effect of releasing (or loosening) the drive rope 32.

[0103] In some possible implementations, the drive unit 31 is at least one of an electric motor or a hydraulic motor, which can convert electrical or hydraulic energy into mechanical energy to drive the drive pulley 33 to rotate.

[0104] Combination Figure 7 As shown, in some embodiments, each active pulley 33 is located at one end of the corresponding drive unit 31 near the base member 1, and the drive rope 32 connected to the active pulley 33 extends through the base member 1 toward the side where the active component 2 is located.

[0105] With the above arrangement, the active pulley 33 is located at the end of the drive unit 31 near the base member 1. As the connection point for the drive rope 32, the active pulley 33 has the shortest distance from the base member 1, the movable component 2, and the knuckle assembly 4, which helps to reduce the length of the drive rope 32 and improve the efficiency and reliability of the tendon-driven mechanism. Furthermore, the drive rope 32 passes through the base member 1 and extends towards the movable component 2, ensuring that the drive rope 32 is not exposed outside the structure of the robotic finger, thereby improving the safety and structural compactness of the robotic finger.

[0106] The active pulley 33 is arranged at the end of the drive unit 31, and the other end of the drive unit 31 is located away from the base 1. The structure of the base 1, the movable component 2 to the knuckle component 4 is simplified as much as possible. On the one hand, the structure is more compact and more in line with the slender characteristics of human fingers, which is conducive to simulating the grasping action of human fingers. On the other hand, the end structure is lighter, which reduces the load and inertia of the end, thereby greatly improving the flexibility and driving efficiency of the mechanical finger.

[0107] Among some possible implementations, refer to Figure 7 As shown, the base component 1 is provided with at least one second rope passage 13, through which the drive rope 32 connected to the drive pulley 33 can extend to the other side of the base component 1. The number of second rope passages 13 can be one or more. For example, the number of second rope passages 13 is equal to the number of drive ropes 32, with each drive rope 32 passing through one second rope passage 13. By arranging a second rope passage 13 for each drive rope 32, multiple drive ropes 32 can be separated from each other, thereby preventing accidental entanglement or knotting of multiple drive ropes 32, and also facilitating the installation and adjustment of the robotic finger.

[0108] Combination Figure 7 As shown, in some embodiments, the drive assembly 3 further includes at least one guide pulley 34, which is connected to at least one of the drive unit 31 and the base member 1, and is used to adjust at least one of the position and direction of the drive rope 32.

[0109] By utilizing at least one guide rope wheel 34 provided in this embodiment, the position and / or direction adjustment of multiple drive ropes 32 between the drive unit 31 and the base member 1 can be realized, which can improve the operational reliability of the drive ropes 32 and reduce the difficulty of laying the drive ropes 32.

[0110] In some possible implementations, the number of guide pulleys 34 can be one, two, or more. The number of guide pulleys 34 can be the same as the number of drive ropes 32. Exemplarily, the number of guide pulleys 34 is greater than or equal to the number of drive ropes 32, so that each drive rope 32 is positionally and / or oriented via at least one guide pulley 34.

[0111] Combination Figure 1 and Figure 7 As shown, in some embodiments, the drive assembly 3 further includes at least one guide rope sleeve 35, which is connected to at least one of the first drive unit 311 and the base member 1. The at least one guide rope sleeve 35 is used to adjust at least one of the position and orientation of the drive rope 32. Exemplarily, the guide rope sleeve 35 is a rigid hollow sleeve through which the drive rope 32 can pass. The guide rope sleeve 35 can be designed with an arbitrary curved shape, thereby changing the curved shape of the guide rope sleeve 35 to achieve position and / or orientation adjustment of the drive rope 32.

[0112] By using at least one guide rope sleeve 35 provided in this embodiment, the position and / or direction of multiple drive ropes 32 between the drive unit 31 and the base member 1 can be adjusted, which can improve the operational reliability of the drive ropes 32 and reduce the difficulty of laying the drive ropes 32.

[0113] In some possible implementations, the number of guide rope loops 35 can be one, two, or more. The number of guide rope loops 35 can be the same as the number of drive ropes 32. Exemplarily, the number of guide rope loops 35 is greater than or equal to the number of drive ropes 32, such that each drive rope 32 is positionally and / or oriented via at least one guide rope loop 35.

[0114] Combination Figure 7 As shown, in some embodiments, the drive unit 31 includes a first drive unit 311 and a second drive unit 312; the first drive unit 311 is provided with a first active rope wheel 331, and the second drive unit 312 is provided with a second active rope wheel 332, and the axes of the first active rope wheel 331 and the second active rope wheel 332 are arranged parallel to each other.

[0115] Using two drive units 31 as the drive components 3 in this embodiment reduces the space occupied by the two drive units 31. The two drive units 31 can generate the same or opposite torque using the drive rope 32, thereby driving the movable component 2 to rotate relative to the base component 1 around the first axis 001 in the first drive mode, and driving the movable component 2 to rotate relative to the movable component 2 around the second axis 002 in the second drive mode.

[0116] Among some possible implementations, refer to Figure 7 As shown, the main bodies of the first drive unit 311 and the second drive unit 312 are both cylindrical. The electromagnetic conversion device and the deceleration device of the drive unit 31 are arranged in the cylindrical part, thereby arranging the first drive unit 311 and the second drive unit 312 in parallel, reducing the space occupied by the drive unit 31, which is beneficial to reducing the cross-sectional size of the mechanical finger and reducing the volume of the mechanical finger.

[0117] Combination Figure 4 , Figure 6 and Figure 7 As shown, in some embodiments, the axis of the first drive pulley 331 and the axis of the second drive pulley 332 are parallel to the common perpendicular 005 of the first axis 001 and the second axis 002, respectively.

[0118] With the above arrangement, the axes of the first active rope wheel 331 and the second active rope wheel 332 are both parallel to the common perpendicular line 005 of the first axis 001 and the second axis 002. The mechanical finger has better balance in this direction, which is more conducive to achieving balance control of the mechanical finger.

[0119] For example, refer to Figure 7 As shown, the first drive unit 311 is coaxially connected to the first active rope wheel 331, and the second drive unit 312 is coaxially connected to the second active rope wheel 332. Consequently, the first drive unit 311 and the second drive unit 312 are also parallel to the common perpendicular 005, which further improves the overall balance of the mechanical finger.

[0120] In another example, the distance between the axis of the first drive pulley 331 and the common perpendicular 005 is equal to the distance between the axis of the second drive pulley 332 and the common perpendicular 005, which helps to further improve the overall balance of the mechanical finger.

[0121] Combination Figures 3 to 6 As shown, in some embodiments, the drive rope 32 includes a first drive rope 321, a second drive rope 322, a third drive rope 323, and a fourth drive rope 324.

[0122] One end of the first drive rope 321 is wound and connected to the first drive pulley 331 along the first winding direction a1. The other end of the first drive rope 321 passes through the first side 001a of the first axis 001 and passes around the second axis 002 along the second winding direction a2 before being connected to at least one finger joint assembly 4.

[0123] One end of the second drive rope 322 is wound and connected to the first drive rope wheel 331 along the third winding direction a3. The other end of the second drive rope 322 passes through the second side 001b of the first axis 001 and passes around the second axis 002 along the fourth winding direction a4 before being connected to at least one finger joint assembly 4.

[0124] One end of the third drive rope 323 is wound around and connected to the second drive pulley 332 along the first winding direction a1. The other end of the third drive rope 323 passes through the first side 001a of the first axis 001 and passes around the second axis 002 along the second winding direction a2 before being connected to at least one finger joint assembly 4.

[0125] One end of the fourth drive rope 324 is wound and connected to the second drive pulley 332 along the third winding direction a3. The other end of the fourth drive rope 324 passes through the second side 001b of the first axis 001 and is connected to at least one finger joint assembly 4 after passing around the second axis 002 along the second winding direction a2.

[0126] Among them, the axes of the first winding direction a1 and the third winding direction a3 coincide and are opposite in direction, and the axes of the second winding direction a2 and the fourth winding direction a4 coincide and are opposite in direction.

[0127] In this embodiment, the mechanical finger uses two drive units 31 in conjunction with four drive ropes 32 to drive the movable component 2 to rotate relative to the base component 1 around the first axis 001 in the first drive mode, and to drive the movable component 2 to rotate relative to the movable component 2 around the second axis 002 in the second drive mode.

[0128] In some possible implementations, in the first driving mode, the first driving unit 311 and the second driving unit 312 rotate in the same direction, and the movable component 2 drives the knuckle assembly 4 to rotate relative to the base component 1 about the first axis 001. In the second driving mode, the first driving unit 311 and the second driving unit 312 rotate in opposite directions, and the knuckle assembly 4 rotates relative to the movable component 2 about the second axis 002.

[0129] By controlling the rotation direction of the first drive unit 311 and the second drive unit 312, the first drive mode and the second drive mode of the drive component 3 can be switched, thereby controlling different movement modes of the mechanical finger. The control method is simple and has higher reliability.

[0130] For example, refer to Figures 3 to 6In the first driving mode, the first driving unit 311 and the second driving unit 312 rotate along the first winding direction a1 respectively; the first driving unit 311 winds and pulls the first driving rope 321 while releasing the second driving rope 322; the second driving unit 312 winds and pulls the third driving rope 323 while releasing the fourth driving rope 324.

[0131] On the second axis 002, the traction torque of the first drive rope 321 along the fourth winding direction a4 and the traction torque of the third drive rope 323 along the second winding direction a2 are the same in magnitude but opposite in direction, so the finger assembly 4 will not rotate around the second axis 002. However, since the first drive rope 321 and the third drive rope 323 are both located on the first side 001a of the first axis 001 and are in a tensioned state, and the second drive rope 322 and the fourth drive rope 324 are located on the second side 001b of the first axis 001 and are in a released state, under the tension of the first drive rope 321 and the third drive rope 323, one end of the movable component 2 connected to the finger assembly 4 (that is, the top end shown in the figure) rotates toward the first side 001a of the first axis 001.

[0132] When the movable component 2 needs to drive the knuckle assembly 4 to rotate toward the second side 001b of the first axis 001, it is only necessary to control the first drive unit 311 and the second drive unit 312 to rotate along the third winding direction a3, respectively. At this time, the first drive unit 311 winds and pulls the second drive rope 322 while releasing the first drive rope 321; the second drive unit 312 winds and pulls the fourth drive rope 324 while releasing the third drive rope 323. Under the tension of the second drive rope 322 and the fourth drive rope 324, the movable component 2 drives the knuckle assembly 4 to rotate toward the second side 001b of the first axis 001.

[0133] Another example, refer to Figures 3 to 6 As shown, in the second driving mode, the first driving unit 311 rotates along the first winding direction a1, and the second driving unit 312 rotates along the third winding direction a3; the first driving unit 311 winds and pulls the first driving rope 321 while releasing the second driving rope 322, and the second driving unit 312 winds and pulls the fourth driving rope 324 while releasing the third driving rope 323.

[0134] On the first axis 001, since the first drive rope 321 and the fourth drive rope 324 are located on the first side 001a and the second side 001b of the first axis 001 respectively, the traction torque generated by the first drive rope 321 toward the first side 001a is the same in magnitude but opposite in direction to the traction torque generated by the fourth drive rope 324 toward the second side 001b, so the movable component 2 will not rotate around the first axis 001. However, the first drive rope 321 and the fourth drive rope 324 are both wound in the second winding direction a2 on the second axis 002, and the traction torque generated by both is in the fourth winding direction a4. Therefore, the finger assembly 4 will rotate around the second axis 002 along the fourth winding direction a4.

[0135] When the knuckle assembly 4 needs to rotate along the second axis 002 and the second winding direction a2, it is only necessary to control the first drive unit 311 to rotate along the third winding direction a3 and the second drive unit 312 to rotate along the first winding direction a1. At this time, the first drive unit 311 pulls the second drive rope 322 and releases the first drive rope 321; the second drive unit 312 pulls the third drive rope 323 and releases the fourth drive rope 324. Under the tension of the second drive rope 322 and the third drive rope 323, the knuckle assembly 4 will rotate around the second axis 002 and the second winding direction a2.

[0136] Combination Figure 7 As shown, in some embodiments, the drive assembly 3 further includes a first drive mounting plate 36, a second drive mounting plate 37, and a drive connection side plate 38. The first drive mounting plate 36 is spaced apart on the side of the base member 1 facing away from the movable assembly 2 and is connected to the base member 1 through the drive connection side plate 38. The second drive mounting plate 37 is located on the side of the first drive mounting plate 36 facing away from the base member 1.

[0137] The second drive mounting plate 37 is provided with a limiting receiving groove 371, and at least two drive units 31 are located in the limiting receiving groove 371.

[0138] When the drive assembly 3 includes a drive pulley 33, a guide pulley 34, and a guide rope sleeve 35, at least one of the drive pulley 33, the guide pulley 34, and the guide rope sleeve 35 is located within the space enclosed by the base member 1, the first drive mounting plate 36, and the drive connection side plate 38.

[0139] With the above arrangement, the drive assembly 3 has better structural stability and can accommodate two drive units 31, resulting in better overall compactness. The active pulley 33, guide pulley 34 and guide rope sleeve 35 can be arranged in a semi-enclosed space enclosed by the base 1, the first drive mounting plate 36 and the drive connection side plate 38. The drive rope 32 is also located in this space, resulting in better transmission stability and safety.

[0140] For example, there are two drive connection side plates 38, which are symmetrically arranged between the base member 1 and the first drive mounting plate 36. The two drive connection side plates 38, the first drive mounting plate 36 and the base member 1 form a rectangular semi-enclosed space.

[0141] Among some possible implementations, refer to Figure 11 As shown, the drive assembly 3 also includes a pulley bracket 310, which has a pulley receiving cavity 3013. The pulley bracket 310 is connected to the side of the first drive mounting plate 36 facing the base member 1 and covers the drive pulley 33. The drive pulley 33 is housed in the pulley receiving cavity 3013. The pulley bracket 310 can provide rotational support for the top axle of the drive pulley 33 (i.e., the end away from the drive unit 31). The bottom axle of the drive pulley 33 is connected to the drive unit 31 and can be rotated using the first drive mounting plate 36. The top axle of the drive pulley 33 is rotatably connected to the pulley bracket 310. The drive pulley 33 rotates within the pulley receiving cavity 3013, which enhances safety. In addition, the pulley bracket 310 can provide protection for the drive rope 32 wound around the surface of the drive pulley 33, preventing foreign objects from entering and damaging the drive rope 32.

[0142] For example, there are two sheave brackets 310, with the first active sheave 331 and the second active sheave 332 each corresponding to one sheave bracket 310.

[0143] Among other possible implementations, see reference Figure 11 As shown, the guide pulley 34 includes two first guide pulleys 341 and two second guide pulleys 342. One first guide pulley 341 and one second guide pulley 342 correspond to the first drive pulley 331. The first guide pulley 341 is used to support and guide the first drive rope 321, and the second guide pulley 342 is used to support and guide the second drive rope 322. The other first guide pulley 341 and the other second guide pulley 342 correspond to the second drive pulley 332. The first guide pulley 341 is used to support and guide the fourth drive rope 324, and the second guide pulley 342 is used to support and guide the third drive rope 323.

[0144] For example, two first guide pulleys 341 and two second guide pulleys 342 are coaxial and arranged side by side in the order of first guide pulley 341, second guide pulley 342, second guide pulley 342 and first guide pulley 341, thereby correspondingly supporting the first drive rope 321, second drive rope 322, third drive rope 323 and fourth drive rope 324 that extend outward side by side.

[0145] Optionally, the first guide sheave 341 and the second guide sheave 342 have different diameters, thereby accommodating position adjustments of different drive ropes 32. For example, the diameter of the first guide sheave 341 is larger than the diameter of the second guide sheave 342.

[0146] For example, the rope wheel bracket 310 is provided with a first wheel shaft 3101 and a second wheel shaft 3102 arranged coaxially. The first guide rope wheel 341 is rotatably connected to the first wheel shaft 3101, and the second guide rope wheel 342 is rotatably connected to the second wheel shaft 3102. The first guide rope wheel 341 and the second guide rope wheel 342 are respectively located on two drive ropes extending from both sides of the active rope wheel 33.

[0147] Among other possible implementations, see reference Figure 11 As shown, the drive assembly 3 also includes a rope sleeve bracket 311, which can be connected to at least one of the first drive mounting plate 36, the base member 1 and the drive connection side plate 38. The rope sleeve bracket 311 is used to fix the position of the guide rope sleeve 35 so that the guide rope sleeve 35 can support and guide the drive rope 32 in a suitable position.

[0148] For example, the drive connection side plate 38 is provided with a snap-fit ​​structure 381, and the rope sleeve bracket 311 is snapped and fixed within the snap-fit ​​structure 381. The snap-fit ​​structure 381 can be a concave-convex structure, such as a protrusion or a groove. In addition, the rope sleeve bracket 311 can also be fixedly connected to the rope wheel bracket 310 by screw fasteners.

[0149] Another example, refer to Figure 1 and Figure 11 As shown, the guide rope sleeve 35 includes a first guide rope sleeve 351 and a second guide rope sleeve 352. The first guide rope sleeve 351 and the second guide rope sleeve 352 are respectively connected to the rope sleeve bracket 311. The first guide rope sleeve 351 is used for supporting and guiding the first drive rope 321, and the second guide rope sleeve 352 is used for supporting and guiding the fourth drive rope 324.

[0150] Combination Figure 8 As shown, in some embodiments, the active component 2 includes a first rope winding portion 21 located at the end of the active component 2 facing the base member 1. The first rope winding portion 21 is used to guide two drive ropes 32 connected to the same drive unit 31 through opposite sides of the first axis 001.

[0151] With the above arrangement, the drive rope 32 can pass through the surface of the movable component 2 via the first winding part 21, and then connect to the finger joint component 4 after bypassing the first axis 001. The drive rope 32 is wound inside the first winding part 21, which helps to regulate the position of the drive rope 32 and prevent problems such as deviation or knotting of the drive rope 32 during transmission.

[0152] In some possible implementations, the first rope winding portion 21 is an arc-shaped groove, such as a semi-circular groove, formed at the end of the movable component 2. The axis of the semi-circular groove coincides with the first axis 001. This first rope winding portion 21 can also accommodate and limit the drive rope 32 during the rotation of the movable component 2 around the first axis 001.

[0153] For example, there are two first winding sections 21, which are arranged at intervals along the first axis 001. The first drive rope 321 and the fourth drive rope 324 are respectively accommodated and limited in one first winding section 21, and the second drive rope 322 and the fourth drive rope 324 are respectively accommodated and limited in another first winding section 21.

[0154] Combination Figure 8 As shown, in some embodiments, the base member 1 has a first support portion 11 and a second support portion 12 on the side facing the movable component 2. The first support portion 11 and the second support portion 12 are arranged at intervals along the first axis 001, and the first support portion 11 and the second support portion 12 are respectively rotatably connected to the two ends of the movable component 2 along the first axis 001.

[0155] With the above arrangement, the movable component 2 can be rotatably connected to the base component 1 and can rotate about the first axis 001. Exemplarily, at least one of the first support portion 11 and the second support portion 12 is provided with a rotary bearing to reduce the rotational friction of the movable component 2 about the first axis 001, improve the rotational effect, and thus improve the flexibility of the mechanical finger.

[0156] Combination Figure 5 and Figure 8 As shown, in some embodiments, at least one of the first support portion 11 and the second support portion 12 is provided with a movable limiting groove 121, and the movable component 2 is provided with a movable limiting portion 22. The movable limiting portion 22 is movably disposed in the movable limiting groove 121. The movable limiting groove 121 and the movable limiting portion 22 cooperate to provide rotational limitation of the movable component 2 around the first axis 001.

[0157] With the above arrangement, the movable component 2 can achieve rotational limitation around the first axis 001 by utilizing the movable limiting part 22 and the movable limiting groove 121. For example, the movable limiting groove 121 is a fan-shaped groove. When the movable component 2 rotates around the first axis 001, the movable limiting part 22 reciprocates within the movable limiting groove 121. It should be noted that the positions of the movable limiting part 22 and the movable limiting groove 121 can be interchanged. For example, the movable limiting groove 121 can be located on the movable component 2, and the movable limiting part 22 can be located on the first support part 11 or the second support part 12.

[0158] In some possible implementations, at least one of the first support portion 11 and the second support portion 12 is detachably connected to the base member 1, thereby reducing the assembly difficulty of the movable component 2 and the base member 1. For example, the second support portion 12 is detachably connected to the base member 1, and the movable limiting groove 121 is located on the second support portion 12. During assembly, one axial end of the movable component 2 is first connected to the first support, and then the second support portion 12 is connected along the first axis 001 to the other axial end of the movable component 2, while the movable limiting portion 22 can be inserted into the movable limiting groove.

[0159] Combination Figure 5 and Figure 8 As shown, in some embodiments, the movable component 2 further includes at least one first hinge portion 23, and at least one knuckle component 4 includes at least one second hinge portion 41 and two second cord winding portions 42; at least one first hinge portion 23 and at least one second hinge portion 41 are rotatably connected along a second axis 002.

[0160] Two second rope-winding portions 42 are arranged at intervals along the second axis 002, and are located on both sides of the common perpendicular 005 of the first axis 001 and the second axis 002, respectively; two drive ropes 32 connected to the same drive unit 31 are respectively wound around and connected to the two second rope-winding portions 42, and the two drive ropes 32 are wound in opposite directions relative to the second axis 002. Optionally, the first hinge portion 23 and the second hinge portion 41 are both hinge lugs.

[0161] With the above arrangement, the movable component 2 and the knuckle component 4 are rotatably connected around the second axis 002 through the first hinge 23 and the second hinge 41. The two second rope winding parts 42 are located on both sides of the first axis 001. At least two drive units 31 can drive the movable component 2 to rotate around the first axis 001 relative to the base component 1 in the first drive mode, and drive the movable component 2 to rotate around the second axis 002 relative to the movable component 2 in the second drive mode.

[0162] For example, refer to Figure 3 , Figure 5 and Figure 8 As shown, there are two second hinge parts 41, which form a U-shaped hinge space. The first hinge part 23 is inserted between the two second hinge parts 41. A hinge shaft is provided on one of the first hinge part 23 and the second hinge part 41 to rotatably connect the first hinge part 23 and the second hinge part 41 together.

[0163] In another example, when the first drive unit 311 is connected to the first drive rope 321 and the second drive rope 322, and the second drive unit 312 is connected to the third drive rope 323 and the fourth drive rope 324, the first drive rope 321 and the second drive rope 322 are wound on one of the second winding portions in opposite winding directions, and the third drive rope 323 and the fourth drive rope 324 are wound on the other second winding portion 42 in opposite winding directions.

[0164] Combination Figure 1 , Figure 2 and Figure 8 As shown, in some embodiments, the mechanical finger further includes a first sensing component 5 and a second sensing component 6. The first sensing component 5 is used to detect the rotational state of the movable component 2 about a first axis 001, and the second sensing component 6 is used to detect the rotational state of at least one phalanx component 4 about a second axis 002. The first sensing component 5 and the second sensing component 6 can be rotary encoders, also known as shaft encoders, which are sensors that convert rotational mechanical displacement into electrical signals, process these signals, and then detect signals such as position and speed.

[0165] The first sensing component 5 and the second sensing component 6 can be used to accurately detect the rotational state of the movable component 2 and the knuckle component 4, which is beneficial to improving the control precision of the mechanical finger.

[0166] For example, refer to Figure 2 and Figure 8 As shown, the first sensing component 5 is located on the first axis 001 and is fixedly connected to the first support portion 11 of the base component 1. Another example is shown below. Figure 1 and Figure 8 As shown, the second sensing component 6 is located on the second axis 002 and is fixedly connected to the second hinge part 41.

[0167] Combination Figure 9 As shown, in some embodiments, the drive component 3 further includes a knuckle drive unit 39.

[0168] The knuckle drive unit 39 includes a bending drive unit 391 and a bending rope 392. The bending drive unit 391 is located on the side of the base member 1 facing away from the movable component 2. One end of the bending rope 392 is wrapped around the bending drive unit 391, and the other end of the bending rope 392 passes around the second axis 002 and is connected to at least one knuckle component 4. The bending drive unit 391 pulls the bending rope 392 to drive at least one knuckle component 4 to rotate relative to the movable component 2 around the second axis 002.

[0169] With the above arrangement, the mechanical finger in this embodiment, the knuckle assembly 4 can rotate around the second axis 002 under the cooperative drive of at least two drive units 31, and can also be driven to rotate around the second axis 002 by the knuckle drive unit 39. The knuckle assembly 4 can obtain a larger working torque, thereby achieving a faster rotation speed and a greater gripping force.

[0170] For example, the bending drive unit 391 is arranged on other structures connected to the mechanical finger, such as a robotic arm or robot torso. The position of the bending drive unit 391 is more flexible, reducing the load and inertia of the end structure of the mechanical finger. The bending drive unit 391 is no longer limited by the internal space of the mechanical finger and can use a more powerful drive element, thereby further improving the working torque of the knuckle assembly 4.

[0171] Combination Figure 9 As shown, in some embodiments, the knuckle drive unit 39 further includes an extension drive unit 393 and an extension rope 394.

[0172] The extension drive unit 393 is located on the side of the base member 1 facing away from the movable component 2. One end of the extension rope 394 is connected to the extension drive unit 393, and the other end of the extension rope 394 is connected to at least one finger joint component 4 after passing around the second axis 002. The extension rope 394 and the bending rope 392 are wound in opposite directions on the second axis 002. The extension drive unit 393 can pull the extension rope 394 to drive at least one finger joint component 4 to rotate in the opposite direction relative to the movable component 2 around the second axis 002.

[0173] With the above arrangement, the knuckle assembly 4 can be driven to rotate in the forward and reverse directions around the second axis 002 by the bending drive unit 391 and the extension drive unit 393, respectively.

[0174] The bending drive unit 391 drives the knuckle assembly 4 to rotate in one direction, simulating the bending process of a human finger, while the extension drive unit 393 drives the knuckle assembly 4 to rotate in another direction, simulating the extension process of a human finger.

[0175] In some embodiments, when the drive assembly 3 includes a knuckle drive unit 39, which includes a bending drive unit 391 and a bending rope 392, and a stretching drive unit 393 and a stretching rope 394, the knuckle drive unit 39 includes a third drive mode and a fourth drive mode.

[0176] In the third drive mode, the bending drive unit 391 drives the knuckle assembly 4 to bend via the bending rope 392; in the fourth drive mode, the extension drive unit 393 drives the knuckle assembly 4 to extend via the extension rope 394.

[0177] Combination Figure 9 As shown, in some embodiments, the extension drive unit 393 includes an elastic element 3931; when the drive assembly 3 includes a second drive mounting plate 37, one end of the elastic element 3931 is fixedly connected to the second drive mounting plate 37, and the other end of the elastic element 3931 is connected to the extension rope 394.

[0178] In this embodiment, the elastic element 3931 is used as the extension drive unit 393, which makes the structure simpler, eliminates the need for external power supply and signal control, saves internal space of the mechanical finger, and can provide flexible traction to drive the elastic extension of the knuckle assembly 4.

[0179] Combination Figure 3 , Figure 5 and Figure 9 As shown, in some embodiments, the active component 2 includes a first knuckle pulley 24 disposed on a second axis 002, and a bending rope 392 and an extension rope 394 passing around the first knuckle pulley 24 in opposite winding directions.

[0180] In this embodiment, the first knuckle pulley 24 supports the curved rope 392 and the extension rope 394 that pass around the second axis 002, which can increase the lever arm of the curved rope 392 and the extension rope 394 on the second axis 002, thereby increasing the torque of the curved rope 392 and the extension rope 394 on the knuckle assembly 4.

[0181] For example, refer to Figure 3 , Figure 5 and Figure 8 As shown, there are two first hinge parts 23, forming a U-shaped hinge space. A first knuckle pulley 24 is inserted between the two first hinge parts 23. A hinge shaft is provided on one of the first hinge parts 23 and the first knuckle pulley 24, rotatably connecting the first hinge part 23 and the first knuckle pulley 24 together. When two second hinge parts 41 are included, the hinge shaft along the second axis 002 sequentially passes through the second hinge part 41, the first hinge part 23, the first knuckle pulley 24, and the second hinge part 41. It should be noted that, for clarity, Figure 8 The first knuckle rope pulley 24, the bending rope 392, and the extension rope 394 are hidden within. The first knuckle rope pulley 24 can be referenced. Figure 3 or Figure 5 For reference, see the bending rope 392 and the stretching rope 394. Figure 9 .

[0182] Combination Figure 9As shown, in some embodiments, the movable component 2 includes a first rope passage 25, one end of which extends through to the surface of the movable component 2 near the base member 1, and the other end of which extends through to the surface of the movable component 2 near the first knuckle pulley 24. The first rope passage 25 is used to allow at least one of the bending rope 392 and the extension rope 394 to pass through the interior of the movable component 2. When the base member 1 includes a second rope passage 13, the bending rope 392 and the extension rope 394 pass through the second rope passage 13 and then enter the first rope passage 25.

[0183] With the above arrangement, the bending rope 392 and the extension rope 394 can pass through the interior of the base component 1 and the moving component 2, providing better concealment and safety, and the drive component 3 has better compactness.

[0184] Combination Figure 1 , Figure 2 and Figure 9 As shown, in some embodiments, the knuckle assembly 4 includes a first knuckle assembly 43, a second knuckle assembly 44, and a third knuckle assembly 45. The first knuckle assembly 43 is rotatably connected to the movable assembly 2 along the second axis 002, the second knuckle assembly 44 is rotatably connected to the first knuckle assembly 43 along the third axis 003, and the third knuckle assembly 45 is rotatably connected to the second knuckle assembly 44 along the fourth axis 004. The third axis 003 is located on the side of the second axis 002 opposite to the first axis 001, and the fourth axis 004 is located on the side of the third axis 003 opposite to the second axis 002.

[0185] The first phalanx component 43 can be equivalent to the proximal phalanx of a human finger, the second phalanx component 44 can be equivalent to the middle phalanx of a human finger, and the third phalanx component 45 can be equivalent to the distal phalanx (or fingertip phalanx) of a human finger.

[0186] With the above arrangement, the mechanical finger of this embodiment has three knuckle components 4, which more closely resemble the structure of a human finger and can simulate the grasping action of a human finger. The three knuckle components 4 are connected and rotated in sequence, and can be bent and extended using the knuckle drive unit 39.

[0187] Combination Figure 9 As shown, in some embodiments, the drive assembly 3 includes a knuckle drive assembly 3, which includes a bending rope 392 and a stretching rope 394; the first knuckle assembly 43 includes a first guide shaft 431 located between the second axis 002 and the third axis 003, and the second knuckle assembly 44 includes a second guide shaft 441 located between the third axis 003 and the fourth axis 004.

[0188] The curved rope 392 passes through the second axis 002, the first guide shaft 431, the third axis 003, the second guide shaft 441, and the fourth axis 004 in sequence and alternately in winding direction before connecting to the third finger joint assembly 45; the extension rope 394 passes through the second axis 002, the first guide shaft 431, and the third axis 003 in sequence and alternately in winding direction before connecting to the second finger joint assembly 44, and the winding directions of the extension rope 394 and the curved rope 392 on the second axis 002, the first guide shaft 431, and the third axis 003 are opposite.

[0189] With the above arrangement, the bending rope 392, when pulled by the bending drive unit 391, can drive the three knuckle components 4 to bend, and the extension rope 394, when pulled by the extension drive unit 393, can drive the three knuckle components 4 to extend.

[0190] For example, the bent rope 392 is wound counterclockwise a6 around the second axis 002, then clockwise a5 around the first guide shaft 431, then counterclockwise a6 around the third axis 003, then clockwise a5 around the second guide shaft 441, and then counterclockwise a6 around the fourth axis 004 and connected to the third knuckle assembly 45. Thus, when the bent rope 392 is pulled, the end of the bent rope 392 connected to the third knuckle assembly 45 pulls the third knuckle assembly 45 to rotate clockwise a5 around the fourth axis 004. The second guide shaft 441 is subjected to force, causing the second knuckle assembly 44 to rotate clockwise a5 around the third axis 003. The first guide shaft 431 is subjected to force, causing the first knuckle assembly 43 to rotate clockwise a5 around the second axis 002. The three knuckle assemblies 4 bend in the clockwise direction a5.

[0191] The extension rope 394 is wound clockwise a5 around the second axis 002, then clockwise a6 around the first guide shaft 431, and then clockwise a5 around the third axis 003 and connected to the second knuckle assembly 44. Thus, when the extension rope 394 is pulled, the end of the extension rope 394 connected to the second knuckle assembly 44 pulls the second knuckle assembly 44 to rotate counterclockwise a6 around the third axis 003. The first guide shaft 431 is subjected to force, causing the first knuckle assembly 43 to rotate counterclockwise a6 around the second axis 002. The three knuckle assemblies 4 extend in the counterclockwise direction a6.

[0192] It should be noted that in this embodiment, clockwise direction a5 and counterclockwise direction a6 are based on... Figure 9 The illustrative examples shown are only intended to represent a pair of opposite winding directions and may be described in different ways; they are not limiting technical features. Furthermore, the clockwise direction a5 and the counterclockwise direction a6 can change depending on the viewing angle.

[0193] Combination Figure 10 As shown, in some embodiments, at least one knuckle assembly 4 further includes a coupling link 46 connected between the first knuckle assembly 43 and the third knuckle assembly 45. The coupling link 46 is used to drive the third knuckle assembly 45 to rotate relative to the second knuckle assembly 44 about a fourth axis 004 when the second knuckle assembly 44 rotates relative to the first knuckle assembly 43 about a third axis 003.

[0194] With the above arrangement, a coupling link 46 is provided between the third knuckle assembly 45 and the first knuckle assembly 43. This coupling link 46 can replace the drive rope 32 to transmit torque from the first knuckle assembly 43 to the third knuckle assembly 45. By using the coupling link 46, the rotation of the third knuckle assembly 45 around the fourth axis 004 can be coupled with the rotation of the second knuckle assembly 44 around the third axis 003. As the rotation angle of the second knuckle assembly 44 increases, the rotation angle of the third knuckle assembly 45 increases synchronously. This conforms to the movement law of human fingers and is beneficial to improving the flexibility and grip effect of the mechanical finger. In addition, the third knuckle assembly 45 needs to be lighter and thinner than the second knuckle assembly 44 and the first knuckle assembly 43, and its internal space is also smaller. There is not enough space to arrange the rope pulley and the rope fixing structure. Therefore, using the coupling link 46 is also beneficial to reduce the volume of the third knuckle assembly 45.

[0195] On the other hand, this embodiment provides a robotic hand, which includes the robotic fingers of this application. The robotic hand of this embodiment uses the robotic fingers of this application and has all the beneficial technical effects of this application.

[0196] For example, a robotic hand has at least one mechanical finger, which can serve as an effective extension of a human limb and can perform flexible and precise grasping operations.

[0197] Optionally, the robotic hand has five robotic fingers, which are respectively formed in the manner of a human hand as a robotic thumb, robotic index finger, robotic middle finger, robotic ring finger, and robotic little finger.

[0198] On the other hand, this embodiment provides a robot, which includes the mechanical finger or the robotic hand of this application. The robotic hand of this embodiment adopts the mechanical finger or robotic hand of this application and has all the beneficial technical effects of this application.

[0199] For example, the robot is a humanoid robot that can use the mechanical fingers or hands of this application to perform actions such as grasping, holding, pinching, and knocking like a human hand.

[0200] On the other hand, combining Figure 12 As shown, this embodiment provides a control method for controlling a mechanical finger as described in this application. The control method includes:

[0201] Step S1: Determine the motion pattern of the mechanical finger.

[0202] For example, the movement modes of the mechanical finger include lateral movement and bending movement; wherein the lateral movement requires the movable component 2 to rotate relative to the base component 1 about the first axis 001, and the bending movement requires the knuckle component 4 to rotate relative to the movable component 2 about the second axis 002.

[0203] Step S2: Determine the driving mode of at least two driving units 31 based on the motion mode of the mechanical finger.

[0204] Specifically, when the movement mode of the mechanical finger is lateral swinging motion, the driving mode of at least two driving units 31 is determined as the first driving mode; when the movement mode of the mechanical finger is bending motion, the driving mode of at least two driving units 31 is determined as the second driving mode.

[0205] Step S3: When at least two drive units 31 are in the first drive mode, control at least two drive units 31 to drive the movable component 2 to rotate relative to the base component 1 around the first axis 001 via drive rope 32; when at least two drive units 31 are in the second drive mode, at least two drive units 31 to drive at least one finger joint component 4 to rotate relative to the movable component 2 around the second axis 002 via drive rope 32.

[0206] Therefore, the control method of this embodiment can select the driving modes of at least two driving units 31 as needed to realize different movement modes of the mechanical finger.

[0207] In some possible implementations, when the mechanical finger includes a knuckle drive unit 39, which includes a flexion drive unit 391 and a flexion cord 392, and an extension drive unit 393 and an extension cord 394, the control method further includes:

[0208] Step S4: Determine the driving mode of the knuckle driving unit 39 based on the movement pattern of the mechanical finger. For example, the knuckle driving modes are a third driving mode and a fourth driving mode, where the third driving mode corresponds to the bending movement of the mechanical finger, and the fourth driving mode corresponds to the extension movement of the mechanical finger.

[0209] In step S5, when the knuckle drive unit 39 is in the third drive mode, the bending drive unit 391 is controlled to tighten the bending rope 392, and the bending rope 392 pulls the knuckle assembly 4 to bend; when the knuckle drive unit 39 is in the fourth drive mode, the extension drive unit 393 is controlled to tighten the extension rope 394, and the extension rope 394 pulls the knuckle assembly 4 to extend.

[0210] For example, when the extension drive unit 393 is an elastic element 3931, the knuckle drive unit 39 is in the fourth drive mode, controlling the bending drive unit 391 to release the bending rope 392, and the extension rope 394 pulls the knuckle assembly 4 to extend under the action of elastic restoring force.

[0211] On the other hand, combining Figure 13 As shown, this embodiment provides a control device for controlling a mechanical finger as described in this application. The control device includes:

[0212] The first determining module 7 is used to determine the motion pattern of the mechanical finger.

[0213] The second determining module 8 is used to determine the driving mode of at least two driving units 31 based on the motion mode of the mechanical finger.

[0214] The control module 9 is used to control at least two drive units 31 to drive the movable component 2 to rotate relative to the base component 1 about the first axis 001 via drive rope 32 when at least two drive units 31 are in the first drive mode; and to drive at least one finger joint component 4 to rotate relative to the movable component 2 about the second axis 002 via drive rope 32 when at least two drive units 31 are in the second drive mode.

[0215] With the above settings, the control device can select the drive modes of at least two drive units 31 as needed to realize different movement modes of the mechanical finger.

[0216] In some possible implementations, when the mechanical finger includes a knuckle drive unit 39, which includes a bending drive unit 391 and a bending cord 392, and a stretching drive unit 393 and a stretching cord 394, the control device further includes:

[0217] The third determining module is used to determine the driving mode of the knuckle driving unit 39 based on the movement mode of the mechanical finger.

[0218] The control module 9 is also used to control the bending drive unit 391 to tighten the bending rope 392 when the knuckle drive unit 39 is in the third drive mode, so that the bending rope 392 pulls the knuckle assembly 4 to bend; and to control the extension drive unit 393 to tighten the extension rope 394 when the knuckle drive unit 39 is in the fourth drive mode, so that the extension rope 394 pulls the knuckle assembly 4 to extend.

[0219] Figure 14 A structural block diagram of a robot provided in an exemplary embodiment of this application is shown. The robot includes a controller, which includes a processor 1001 and a memory 1002.

[0220] Processor 1001 may include one or more processing cores, such as a quad-core processor, an octa-core processor, etc. Processor 1001 may be implemented using at least one hardware form selected from DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). Processor 1001 may also include a main processor and a coprocessor. The main processor, also known as a CPU (Central Processing Unit), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, processor 1001 may integrate a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content required to be displayed on the screen. In some embodiments, processor 1001 may also include an AI (Artificial Intelligence) processor, which is used to handle computational operations related to machine learning.

[0221] The memory 1002 may include one or more computer-readable storage media, which may be non-transitory. The memory 1002 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In some embodiments, the non-transitory computer-readable storage media in the memory 1002 are used to store at least one instruction, which is executed by the processor 1001 to implement the control method provided in the method embodiments of this application.

[0222] In some embodiments, the computer device may also optionally include: a peripheral device interface 1003 and at least one peripheral device. The processor 1001, memory 1002, and peripheral device interface 1003 can be connected via a bus or signal line. Each peripheral device can be connected to the peripheral device interface 1003 via a bus, signal line, or circuit board. Specifically, the peripheral device includes at least one of: a radio frequency circuit 1004, a display screen 1005, a camera assembly 1006, an audio circuit 1007, a positioning assembly 1008, and a power supply 1009.

[0223] Peripheral device interface 1003 can be used to connect at least one I / O (Input / Output) related peripheral device to processor 1001 and memory 1002. In some embodiments, processor 1001, memory 1002 and peripheral device interface 1003 are integrated on the same chip or circuit board; in some other embodiments, any one or two of processor 1001, memory 1002 and peripheral device interface 1003 can be implemented on separate chips or circuit boards, which is not limited in this embodiment.

[0224] The radio frequency (RF) circuit 1004 is used to receive and transmit RF (Radio Frequency) signals, also known as electromagnetic signals. The RF circuit 1004 communicates with communication networks and other communication devices via electromagnetic signals. The RF circuit 1004 converts electrical signals into electromagnetic signals for transmission, or converts received electromagnetic signals back into electrical signals. Optionally, the RF circuit 1004 includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a user identity module card, etc. The RF circuit 1004 can communicate with other terminals via at least one wireless communication protocol. This wireless communication protocol includes, but is not limited to, at least one of: the World Wide Web, metropolitan area networks, intranets, various generations of mobile communication networks (2G, 3G, 4G, and 5G), wireless local area networks, and Wi-Fi (Wireless Fidelity) networks. In some embodiments, the RF circuit 1004 may also include circuitry related to NFC (Near Field Communication), which is not limited in this application.

[0225] Display screen 1005 is used to display a UI (User Interface). The UI may include graphics, text, icons, videos, and any combination thereof. When display screen 1005 is a touch display screen, it also has the ability to collect touch signals on or above its surface. These touch signals can be input as control signals to processor 1001 for processing. In this case, display screen 1005 can also provide at least one of virtual buttons and a virtual keyboard, also known as soft buttons and soft keyboards. In some embodiments, display screen 1005 may be a single screen disposed on the front panel of a computer device; in other embodiments, display screen 1005 may be at least two screens, disposed on different surfaces of the computer device or in a folded design; in still other embodiments, display screen 1005 may be a flexible display screen disposed on a curved or folded surface of the computer device. Furthermore, display screen 1005 may be configured as a non-rectangular irregular shape, i.e., a non-rectangular screen. Display screen 1005 may be made of materials such as LCD (Liquid Crystal Display) or OLED (Organic Light-Emitting Diode).

[0226] The camera assembly 1006 is used to acquire images or videos. Optionally, the camera assembly 1006 includes a front-facing camera and a rear-facing camera. Typically, the front-facing camera is located on the front panel of the terminal, and the rear-facing camera is located on the back of the terminal. In some embodiments, there are at least two rear-facing cameras, which are any one of a main camera, a depth-sensing camera, a wide-angle camera, and a telephoto camera, to achieve background blurring by fusion of the main camera and the depth-sensing camera, panoramic shooting by fusion of the main camera and the wide-angle camera, VR (Virtual Reality) shooting, or other fusion shooting functions. In some embodiments, the camera assembly 1006 may also include a flash. The flash can be a single-color temperature flash or a dual-color temperature flash. A dual-color temperature flash refers to a combination of a warm-light flash and a cool-light flash, which can be used for light compensation at different color temperatures.

[0227] The audio circuit 1007 may include a microphone and a speaker. The microphone is used to collect sound waves from the user and the environment, converting the sound waves into electrical signals that are input to the processor 1001 for processing, or input to the radio frequency circuit 1004 for voice communication. For stereo sound acquisition or noise reduction purposes, multiple microphones may be used, each positioned in a different part of the computer device. The microphone may also be an array microphone or an omnidirectional microphone. The speaker is used to convert electrical signals from the processor 1001 or the radio frequency circuit 1004 into sound waves. The speaker may be a conventional diaphragm speaker or a piezoelectric ceramic speaker. When the speaker is a piezoelectric ceramic speaker, it can convert electrical signals not only into audible sound waves but also into inaudible sound waves for purposes such as distance measurement. In some embodiments, the audio circuit 1007 may also include a headphone jack.

[0228] The positioning component 1008 is used to locate the current geographical location of the computer device to enable navigation or LBS (Location Based Service). The positioning component 1008 can be a positioning component based on GPS (Global Positioning System), BeiDou system, or Galileo system.

[0229] Power supply 1009 is used to supply power to various components in a computer device. Power supply 1009 can be AC ​​power, DC power, a disposable battery, or a rechargeable battery. When power supply 1009 includes a rechargeable battery, the rechargeable battery can be a wired rechargeable battery or a wireless rechargeable battery. A wired rechargeable battery is a battery that is charged via a wired connection, while a wireless rechargeable battery is a battery that is charged via a wireless coil. The rechargeable battery can also be used to support fast charging technology.

[0230] In some embodiments, the computer device further includes one or more sensors 1010. The one or more sensors 1010 include, but are not limited to: an accelerometer 1011, a gyroscope 1012, a pressure sensor 1013, an optical sensor 1014, and a proximity sensor 1015.

[0231] Accelerometer 1011 can detect the magnitude of acceleration along the three coordinate axes of a coordinate system established by a computer device. For example, accelerometer 1011 can be used to detect the components of gravitational acceleration along the three coordinate axes. Processor 1001 can control display screen 1005 to display the user interface in either a landscape or portrait view based on the gravitational acceleration signal acquired by accelerometer 1011. Accelerometer 1011 can also be used for games or for acquiring user motion data.

[0232] The gyroscope sensor 1012 can detect the orientation and rotation angle of the computer device. The gyroscope sensor 1012 can work in conjunction with the accelerometer sensor 1011 to collect the user's 3D movements on the computer device. Based on the data collected by the gyroscope sensor 1012, the processor 1001 can perform the following functions: motion sensing (e.g., changing the UI based on the user's tilt), image stabilization during shooting, game control, and inertial navigation.

[0233] The pressure sensor 1013 can be disposed on the lower layer of at least one of the side bezel of the computer device and the display screen 1005. When the pressure sensor 1013 is disposed on the side bezel of the computer device, it can detect the user's grip signal on the computer device, and the processor 1001 can perform left / right hand recognition or quick operation based on the grip signal collected by the pressure sensor 1013. When the pressure sensor 1013 is disposed on the lower layer of the display screen 1005, the processor 1001 can control the operable controls on the UI interface based on the user's pressure operation on the display screen 1005. The operable controls include at least one of button controls, scroll bar controls, icon controls, and menu controls.

[0234] An optical sensor 1014 is used to collect ambient light intensity. In one embodiment, the processor 1001 can control the display brightness of the display screen 1005 based on the ambient light intensity collected by the optical sensor 1014. Specifically, when the ambient light intensity is high, the display brightness of the display screen 1005 is increased; when the ambient light intensity is low, the display brightness of the display screen 1005 is decreased. In another embodiment, the processor 1001 can also dynamically adjust the shooting parameters of the camera assembly 1006 based on the ambient light intensity collected by the optical sensor 1014.

[0235] The proximity sensor 1015, also known as a distance sensor, is typically installed on the front panel of a computer device. The proximity sensor 1015 is used to detect the distance between the user and the front of the computer device. In one embodiment, when the proximity sensor 1015 detects that the distance between the user and the front of the computer device is gradually decreasing, the processor 1001 controls the display screen 1005 to switch from a screen-on state to a screen-off state; when the proximity sensor 1015 detects that the distance between the user and the front of the computer device is gradually increasing, the processor 1001 controls the display screen 1005 to switch from a screen-off state to a screen-on state.

[0236] Those skilled in the art will understand that Figure 14 The structure shown does not constitute a limitation on the robot and may include more or fewer components than shown, or combine certain components, or use different component arrangements.

[0237] This application also provides a computer device, which includes a memory and a processor; the memory stores at least one piece of program code, which is loaded and executed by the processor to implement the mobile robot control method described above.

[0238] According to one aspect of this application, this embodiment provides a computer-readable storage medium storing a computer program that is executed by a processor to implement the control method described above.

[0239] According to one aspect of this application, this embodiment provides a chip that includes at least one of programmable logic circuits and program instructions, which, when an electronic device equipped with the chip is running, is used to implement the control method described above.

[0240] According to one aspect of this application, a computer program product is provided, comprising computer instructions stored in a computer-readable storage medium, wherein a processor reads from and executes the computer instructions to implement the control method described above.

[0241] It should be noted that in this article, "several" and "at least one" refer to one or more, while "multiple" and "at least two" refer to two or more.

[0242] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0243] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0244] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0245] In the description of this specification, the references to the terms "certain embodiments", "one embodiment", "some embodiments", "illustrative embodiment", "example", "specific example", or "some examples" refer to specific features, structures, materials, or characteristics described in connection with the embodiments or examples that are included in at least one embodiment or example of this application.

[0246] The above description is merely an embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the principles of this application should be included within the protection scope of this application.

Claims

1. A mechanical finger, characterized in that, The mechanical finger includes: a base (1), a movable component (2), a drive component (3), and at least one knuckle component (4); The movable component (2) is rotatably connected to the base component (1) along the first axis (001), the drive component (3) is fixedly connected to the base component (1), and the at least one knuckle component (4) is rotatably connected to the movable component (2) along the second axis (002). The drive assembly (3) includes at least two drive units (31), each of which is connected to the at least one knuckle assembly (4) via at least one drive rope (32); The at least two drive units (31) include a first drive mode and a second drive mode; In the first driving mode, the at least two driving units (31) respectively drive the movable component (2) to rotate relative to the base member (1) about the first axis (001) via the driving rope (32); In the second drive mode, the at least two drive units (31) respectively drive the at least one knuckle assembly (4) to rotate about the second axis (002) relative to the movable assembly (2) via the drive rope (32).

2. The mechanical finger according to claim 1, characterized in that, Each of the drive units (31) is connected to the at least one knuckle assembly (4) via two drive ropes (32); One end of each of the two drive ropes (32) is wrapped around and connected to the corresponding drive unit (31) in opposite winding directions, and the other end of each of the two drive ropes (32) is wrapped around the second axis (002) in opposite winding directions and connected to the at least one knuckle assembly (4).

3. The mechanical finger according to claim 2, characterized in that, The first axis (001) and the second axis (002) are two skew lines, and the at least two drive units (31) are respectively located on the side of the first axis (001) facing away from the second axis (002); Two drive ropes (32) connected to the same drive unit (31) pass through opposite sides of the first axis (001).

4. The mechanical finger according to claim 3, characterized in that, In the first driving mode, the at least two driving units (31) respectively pull at least two driving ropes (32) that are wrapped around the second axis (002) in opposite directions and pass through the same side of the first axis (001), the torques of the at least one knuckle assembly (4) around the second axis (002) cancel each other out, and the movable assembly (2) rotates around the first axis (001) toward the side where the at least two driving ropes (32) are located; In the second driving mode, the at least two driving units (31) respectively pull at least two driving ropes (32) that are wound around the second axis (002) in the same winding direction and pass through the opposite sides of the first axis (001). The torques of the movable components (2) around the first axis (001) cancel each other out. The at least one finger joint assembly (4) rotates around the second axis (002) in the opposite direction to the winding direction of the at least two driving ropes (32).

5. The mechanical finger according to claim 4, characterized in that, Each of the drive units (31) is provided with an active rope wheel (33), and each of the active rope wheels (33) is connected to two drive ropes (32), and the two drive ropes (32) on each of the active rope wheels (33) are wound in opposite directions.

6. The mechanical finger according to claim 4, characterized in that, The drive assembly (3) further includes at least one guide pulley (34), which is connected to at least one of the drive unit (31) and the base member (1), and the at least one guide pulley (34) is used to adjust at least one of the position and orientation of the drive rope (32); the drive assembly (3) further includes at least one guide rope sleeve (35), which is connected to at least one of the drive unit (31) and the base member (1), and the at least one guide rope sleeve (35) is used to adjust at least one of the position and orientation of the drive rope (32).

7. The mechanical finger according to claim 4, characterized in that, The driving unit (31) includes a first driving unit (311) and a second driving unit (312); The first drive unit (311) is provided with a first drive pulley (331), and the second drive unit (312) is provided with a second drive pulley (332). The axes of the first drive pulley (331) and the second drive pulley (332) are arranged parallel to each other. The axis of the first drive pulley (331) and the axis of the second drive pulley (332) are parallel to the common perpendicular of the first axis (001) and the second axis (002), respectively.

8. The mechanical finger according to claim 7, characterized in that, The drive rope (32) includes a first drive rope (321), a second drive rope (322), a third drive rope (323), and a fourth drive rope (324); One end of the first drive rope (321) is wound around the first drive pulley (331) along the first winding direction (a1), and the other end of the first drive rope (321) passes through the first side of the first axis (001), and after passing around the second axis (002) along the second winding direction (a2), it is connected to the at least one finger joint assembly (4). One end of the second drive rope (322) is wound around the first drive pulley (331) along the third winding direction (a3), and the other end of the second drive rope (322) passes through the second side of the first axis (001) and passes around the second axis (002) along the fourth winding direction (a4) before being connected to the at least one finger joint assembly (4). One end of the third drive rope (323) is wound around the second drive pulley (332) along the first winding direction (a1), and the other end of the third drive rope (323) passes through the first side of the first axis (001), and after passing around the second axis (002) along the second winding direction (a2), it is connected to the at least one finger joint assembly (4). One end of the fourth drive rope (324) is wound around the second drive pulley (332) along the third winding direction (a3), and the other end of the fourth drive rope (324) passes through the second side of the first axis (001), and after passing around the second axis (002) along the second winding direction (a2), it is connected to the at least one finger joint assembly (4); Wherein, the axes of the first winding direction (a1) and the third winding direction (a3) ​​coincide and are opposite in direction, and the axes of the second winding direction (a2) and the fourth winding direction (a4) coincide and are opposite in direction.

9. The mechanical finger according to any one of claims 4 to 8, characterized in that, The drive assembly (3) further includes a first drive mounting plate (36), a second drive mounting plate (37), and a drive connection side plate (38). The first drive mounting plate (36) is spaced apart on the side of the base member (1) facing away from the movable assembly (2) and is connected to the base member (1) through the drive connection side plate (38). The second drive mounting plate (37) is located on the side of the first drive mounting plate (36) facing away from the base member (1). The second drive mounting plate (37) is provided with a limiting receiving groove (371), and the at least two drive units (31) are located in the limiting receiving groove (371); When the drive assembly (3) includes an active rope pulley (33), a guide rope pulley (34), and a guide rope sleeve (35), at least one of the active rope pulley (33), the guide rope pulley (34), and the guide rope sleeve (35) is located within the space enclosed by the base member (1), the first drive mounting plate (36), and the drive connection side plate (38).

10. The mechanical finger according to any one of claims 3 to 9, characterized in that, The active component (2) includes a first winding portion (21) located at the end of the active component (2) facing the base member (1), and the first winding portion (21) is used to guide two drive ropes (32) connected to the same drive unit (31) through opposite sides of the first axis (001).

11. The mechanical finger according to claim 10, characterized in that, The base component (1) is provided with a first support portion (11) and a second support portion (12) on the side facing the movable component (2); The first support portion (11) and the second support portion (12) are arranged at intervals along the first axis (001), and the first support portion (11) and the second support portion (12) are respectively rotatably connected to the two ends of the movable component (2) along the first axis (001).

12. The mechanical finger according to claim 11, characterized in that, At least one of the first support portion (11) and the second support portion (12) is provided with a movable limiting groove (121), and the movable component (2) is provided with a movable limiting portion (22). The movable limiting portion (22) is movably disposed in the movable limiting groove (121). The movable limiting groove (121) and the movable limiting portion (22) cooperate to provide rotational limitation of the movable component (2) around the first axis (001).

13. The mechanical finger according to any one of claims 3 to 12, characterized in that, The movable component (2) further includes at least one first hinge (23), and the at least one finger joint component (4) includes at least one second hinge (41) and two second rope winding portions (42); the at least one first hinge (23) and the at least one second hinge (41) are rotatably connected along the second axis (002); Two second rope-winding portions (42) are arranged at intervals along the second axis (002) and are located on both sides of the common perpendicular of the first axis (001) and the second axis (002), respectively. Two drive ropes (32) connected to the same drive unit (31) are respectively wound around and connected to two second winding sections (42), and the two drive ropes (32) are wound in opposite directions relative to the second axis (002).

14. The mechanical finger according to any one of claims 1 to 13, characterized in that, The mechanical finger also includes a first sensing component (5) and a second sensing component (6), wherein the first sensing component (5) is used to detect the rotational state of the movable component (2) about the first axis (001), and the second sensing component (6) is used to detect the rotational state of the at least one knuckle component (4) about the second axis (002).

15. The mechanical finger according to any one of claims 1 to 14, characterized in that, The drive assembly (3) further includes a knuckle drive unit (39); The knuckle drive unit (39) includes a bending drive unit (391) and a bending rope (392). The bending drive unit (391) is located on the side of the base member (1) facing away from the movable component (2). One end of the bending rope (392) is wrapped around the bending drive unit (391), and the other end of the bending rope (392) passes around the second axis (002) and is connected to the at least one knuckle component (4). The bending drive unit (391) pulls the bending rope (392) to drive the at least one knuckle assembly (4) to rotate about the second axis (002) relative to the movable assembly (2).

16. The mechanical finger according to claim 15, characterized in that, The knuckle drive unit (39) also includes an extension drive unit (393) and an extension rope (394); The extension drive unit (393) is located on the side of the base member (1) facing away from the movable component (2). One end of the extension rope (394) is connected to the extension drive unit (393), and the other end of the extension rope (394) is connected to the at least one knuckle component (4) after passing around the second axis (002). The extension rope (394) and the bending rope (392) are wound in opposite directions on the second axis (002). The extension drive unit (393) pulls the extension rope (394) to drive the at least one knuckle assembly (4) to rotate in the opposite direction to the movable assembly (2) about the second axis (002).

17. The mechanical finger according to claim 16, characterized in that, The extension drive unit (393) includes an elastic element (3931); When the drive assembly (3) includes a second drive mounting plate (37), one end of the elastic element (3931) is fixedly connected to the second drive mounting plate (37), and the other end of the elastic element (3931) is connected to the extension rope (394).

18. The mechanical finger according to claim 17, characterized in that, The active component (2) includes a first knuckle pulley (24) and a first rope passage (25); The first knuckle rope pulley (24) is disposed on the second axis (002), and the bending rope (392) and the extending rope (394) pass around the first knuckle rope pulley (24) in opposite winding directions; One end of the first rope passage (25) extends to the surface of the movable component (2) near the base member (1), and the other end of the first rope passage (25) extends to the surface of the movable component (2) near the first knuckle pulley (24). The first rope passage (25) is used to allow at least one of the bending rope (392) and the stretching rope (394) to pass through the interior of the movable component (2).

19. The mechanical finger according to any one of claims 1 to 18, characterized in that, The knuckle assembly (4) includes a first knuckle assembly (43), a second knuckle assembly (44), and a third knuckle assembly (45). The first knuckle assembly (43) is rotatably connected to the movable assembly (2) along the second axis (002). The second knuckle assembly (44) is rotatably connected to the first knuckle assembly (43) along the third axis (003). The third knuckle assembly (45) is rotatably connected to the second knuckle assembly (44) along the fourth axis (004). The third axis (003) is located on the side of the second axis (002) facing away from the first axis (001), and the fourth axis (004) is located on the side of the third axis (003) facing away from the second axis (002).

20. The mechanical finger according to claim 19, characterized in that, The drive assembly (3) includes a knuckle drive assembly (3), which includes a bending rope (392) and a stretching rope (394); The first knuckle assembly (43) includes a first guide shaft (431) located between the second axis (002) and the third axis (003), and the second knuckle assembly (44) includes a second guide shaft (441) located between the third axis (003) and the fourth axis (004); The curved rope (392) sequentially and alternately wraps around the second axis (002), the first guide shaft (431), the third axis (003), the second guide shaft (441), and the fourth axis (004) before connecting to the third finger joint assembly (45); The extension rope (394) passes sequentially and alternately around the second axis (002), the first guide shaft (431), and the third axis (003) before connecting to the second knuckle assembly (44), and the extension rope (394) and the bending rope (392) have opposite winding directions on the second axis (002), the first guide shaft (431), and the third axis (003).

21. The mechanical finger according to claim 20, characterized in that, The at least one knuckle assembly (4) further includes a coupling link (46) connected between the first knuckle assembly (43) and the third knuckle assembly (45), the coupling link (46) being used to drive the third knuckle assembly (45) to rotate about the fourth axis (004) relative to the second knuckle assembly (44) when the second knuckle assembly (44) rotates about the third axis (003) relative to the first knuckle assembly (43).

22. A robotic arm, characterized in that, The robotic hand includes the robotic finger according to any one of claims 1 to 21.

23. A robot, characterized in that, The robot includes the mechanical finger of any one of claims 1 to 21, or the mechanical hand of claim 22.

24. A control method, characterized in that, The control method is used to control the mechanical finger as described in any one of claims 1 to 21, the control method comprising: Determine the movement pattern of the mechanical finger; The driving mode of the at least two driving units (31) is determined according to the motion mode of the mechanical finger; When the at least two drive units (31) are in the first drive mode, the at least two drive units (31) are controlled to drive the movable component (2) to rotate relative to the base member (1) about the first axis (001) via the drive rope (32); when the at least two drive units (31) are in the second drive mode, the at least two drive units (31) drive the at least one finger joint assembly (4) to rotate relative to the movable component (2) about the second axis (002) via the drive rope (32).

25. A control device, characterized in that, The control device is used to control the mechanical finger as described in any one of claims 1 to 21, the control device comprising: The first determining module (7) is used to determine the motion mode of the mechanical finger; The second determining module (8) is used to determine the driving mode of the at least two driving units (31) according to the motion mode of the mechanical finger; The control module (9) is configured to control the at least two drive units (31) to drive the movable component (2) to rotate relative to the base member (1) about the first axis (001) via the drive rope (32) when the at least two drive units (31) are in the first drive mode; and to drive the at least one finger joint assembly (4) to rotate relative to the movable component (2) about the second axis (002) via the drive rope (32) when the at least two drive units (31) are in the second drive mode.

Images