Tendon-driven mechanical finger, manipulator and robot

Abstract

The invention provides a tendon-driven mechanical finger, a manipulator and a robot. The tendon-driven mechanical finger comprises a first knuckle, a second knuckle, a first bent tendon rope, a second bent tendon rope and a reset tendon rope. The first end of the first knuckle is used for being connected to a mechanical palm, and the second end of the first knuckle is movably connected with the first end of the second knuckle; the first end of the first bent tendon rope is used for being connected to a first driving mechanism, and the second end of the first bent tendon rope is connected to the first knuckle and used for pulling the first knuckle to achieve bending. The first end of the second bent tendon rope is used for being connected to a second driving mechanism, and the second end of the second bent tendon rope is connected to the second knuckle and used for pulling the second knuckle to achieve bending. The first end of the reset tendon rope is used for being connected to a third driving structure, and the second end of the reset tendon rope is connected to the second knuckle and used for pulling the second knuckle to achieve finger straightening. According to the tendon-driven mechanical finger, independent movement control over all knuckles is achieved, and the weight of the finger is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a tendon-driven mechanical finger, a mechanical hand and a robot. BACKGROUND

[0002] At present, the driving schemes of dexterous hands mainly include motor direct drive, linkage transmission and a mixture of one or more of them. Among them, the motor direct drive is to directly install the motor at the joint, which is similar to the scheme of direct drive mechanical arm, and each joint has a motor drive. However, the motor direct drive has the disadvantages of small output force, limited by the size of the finger, and can only select a small motor because the motor torque is small and the motion compliance is not good. And the motor is arranged on the finger, so the mass of the finger will be larger. The linkage transmission generally embeds the motor in the palm and uses multiple linkages as the finger skeleton. However, due to the limited space of the palm, it is not possible to arrange enough motors, so it is generally underactuated, each finger has 1-2 drivers, so there is a strong coupling relationship between the joints of the finger, which is not easy to decouple. And because there are many rotating pairs in the linkage, the size and mass of the finger are large. SUMMARY

[0003] To solve at least one technical problem existing in the prior art, the present application provides a tendon-driven mechanical finger, a mechanical hand and a robot.

[0004] In a first aspect, the present application provides a tendon-driven mechanical finger for a mechanical hand, the tendon-driven mechanical finger comprising a first phalanx, a second phalanx, a first bending tendon, a second bending tendon and a reset tendon, characterized in that: a first end of the first phalanx is used to be connected to a mechanical palm, and a second end of the first phalanx is movably connected to a first end of the second phalanx; a first end of the first bending tendon is used to be connected to a first driving mechanism, and a second end of the first bending tendon is connected to the first phalanx for pulling the first phalanx to bend; a first end of the second bending tendon is used to be connected to a second driving mechanism, and a second end of the second bending tendon is connected to the second phalanx for pulling the second phalanx to bend; a first end of the reset tendon is used to be connected to a third driving structure, and a second end of the reset tendon is connected to the second phalanx for pulling the second phalanx to straighten the finger.

[0005] In some embodiments, the first end of the first phalanx is connected to the mechanical palm through a first bending shaft, and the first phalanx can bend around the first bending shaft; the second end of the first phalanx is movably connected to the first end of the second phalanx through a second bending shaft, and the second phalanx can bend around the second bending shaft; The second bending tendon passes through the first phalanx, and a first end of the second bending tendon is connected to the second driving mechanism through the outer side of the first bending shaft, and a second end of the second bending tendon is connected to the second phalanx through the inner side of the second bending shaft.

[0006] In some embodiments, the reset tendon is arranged close to the dorsal side of the finger, and the first bending tendon is arranged close to the palmar side of the finger.

[0007] In some embodiments, the second end of the second bending tendon is connected to the palmar side of the second phalanx, and the first end of the second bending tendon is passed into the palmar side of the first phalanx and output from the dorsal side of the first phalanx.

[0008] When only the first phalanx is bent, the first bending tendon is in a tension state, and the second bending tendon and the reset tendon are in a relaxed state; When the first phalanx is stretched, the reset tendon and the second bending tendon are in a tension state, and the first bending tendon is in a relaxed state; When the second phalanx is bent, the first bending tendon and the second bending tendon are in a tension state, and the reset tendon is in a relaxed state; When the second phalanx is stretched, the reset tendon and the first bending tendon are in a tension state, and the second bending tendon is in a relaxed state; When the first phalanx and the second phalanx are both bent, the first bending tendon and the second bending tendon are both in a tension state, and the reset tendon is in a relaxed state.

[0009] In some embodiments, the tendon-driven mechanical finger further comprises a third phalanx, the second phalanx and the third phalanx are connected through a coupling mechanism, and the coupling mechanism is configured to bend the third phalanx under the action of the coupling mechanism when the second phalanx is bent.

[0010] In some embodiments, the coupling mechanism comprises a first coupling wheel and a second coupling wheel, the first coupling wheel is fixedly installed at a second end of the first phalanx, the second coupling wheel is fixedly installed at a first end of the third phalanx, and a bending coupling tendon and a stretching coupling tendon are arranged between the first coupling wheel and the second coupling wheel in cross-reversely spliced manner.

[0011] In some embodiments, the second coupling wheel comprises an inner coupling wheel and an outer coupling wheel, the first end of the bending coupling tendon is wound around the first coupling wheel in a first direction, and the second end of the bending coupling tendon is wound around the inner coupling wheel in a second direction; the first end of the stretching coupling tendon is wound around the first coupling wheel in the second direction, and the second end of the stretching coupling tendon is wound around the outer coupling wheel in the first direction.

[0012] In some embodiments, the tendon-driven mechanical finger further comprises a finger swing structure, a first end of the finger swing structure is movably connected to the mechanical palm through a swing shaft to realize swing of the finger, and a second end of the finger swing structure is movably connected to a first end of the first phalanx through a first bending shaft to realize bending of the first phalanx; wherein the swing shaft and the first bending shaft are perpendicular to each other.

[0013] In some embodiments, the swing shaft is symmetrically provided with a left swing tendon mounting structure for mounting a left swing tendon and a right swing tendon mounting structure for mounting a right swing tendon.

[0014] In some embodiments, the tendon-driven mechanical finger further comprises a first finger pad mounted on a side of the first phalanx and a second finger pad mounted on a side of the second phalanx; wherein an upper end of the first finger pad is provided with a first limiting portion, a lower end of the second finger pad is provided with a second limiting portion, the first limiting portion and the second limiting portion are in surface contact when the second phalanx is at a maximum bending angle; and / or a lower end of the first finger pad is provided with a third limiting portion, the third limiting portion abuts against the finger swing structure when the first phalanx is at a maximum bending angle; and / or an upper end of the second finger pad is provided with a fourth limiting portion, the fourth limiting portion and a lower end of a third phalanx connected to an upper end of the second phalanx abut against each other when the third phalanx is at a maximum bending angle.

[0015] In a second aspect, the embodiments of the present application further provide a mechanical hand comprising the finger according to any of the embodiments of the present application.

[0016] In a third aspect, the embodiments of the present application further provide a robot comprising the mechanical hand according to any of the embodiments of the present application.

[0017] In the tendon-driven mechanical finger of the present application, the connection and driving relationship between the first bending tendon, the second bending tendon and the reset tendon and the first phalanx and the second phalanx enables independent activity control of each phalanx of the tendon-driven mechanical finger of the present application, and each phalanx does not need to be separately provided with a driving mechanism, thereby reducing the weight of the finger. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly introduced as follows. Obviously, the drawings in the following description are some embodiments of the present application, and all other drawings obtained by those of ordinary skill in the art without creative efforts based on the drawings are within the protection scope of the present application.

[0019] Figure 1 A structural cross-section of an embodiment of the tendon-driven mechanical finger of the present application; Figure 2 A structural cross-section of another embodiment of the tendon-driven mechanical finger of the present application; Figure 3 A perspective structural schematic diagram of an embodiment of the tendon-driven mechanical finger of the present application; Figure 4 A perspective structural schematic diagram of another view of the tendon-driven mechanical finger of the embodiment; Figure 3 A perspective structural schematic diagram of another view of the tendon-driven mechanical finger of the embodiment; Figure 5 A connection structure schematic diagram between the metacarpophalangeal joint and the base in the present application; Figure 6 A side view of an embodiment of the coupling mechanism in the present application; Figure 7 A perspective structural schematic diagram of the coupling mechanism is shown; Figure 6 An exploded structural schematic diagram of the coupling mechanism is shown. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described in the following with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts are within the protection scope of the present application.

[0021] As Figure 1A structural section of an embodiment of the tendon-driven robotic finger of the present application is shown. In this embodiment, the tendon-driven robotic finger includes a proximal phalanx 303 (i.e., a first phalanx), a middle phalanx 403 (i.e., a second phalanx), a metacarpophalangeal flexion tendon 601 (i.e., a first flexion tendon), a proximal interphalangeal tendon 602 (i.e., a second flexion tendon), and a reset tendon 603. The upper end of the proximal phalanx 303 is movably connected to the lower end of the middle phalanx 403 by a proximal interphalangeal joint axis 401, and the middle phalanx 403 can bend about the proximal interphalangeal joint axis 401. The other end of the proximal phalanx 303 is movably connected to a robotic hand palm, and the proximal phalanx 303 can bend relative to the robotic hand palm. The upper end of the metacarpophalangeal flexion tendon 601 is connected to the palmar surface of the proximal phalanx 303, and the other end is connected to a first driving mechanism. The upper end of the proximal interphalangeal tendon 602 is connected to the palmar surface of the middle phalanx 403, and the other end is connected to a second driving mechanism. The upper end of the reset tendon 603 is connected to the dorsal surface of the middle phalanx 403, and the other end is connected to a third driving mechanism. The first to third driving mechanisms in the above embodiment can be arranged in the palm space of the robotic hand. Under the drive of the first to third driving mechanisms: when the metacarpophalangeal flexion tendon 601 is pulled, a torque is generated on the metacarpophalangeal flexion axis 301, thereby driving the proximal phalanx 303 to bend and rotate; when the proximal interphalangeal tendon 602 is pulled, a torque is generated on the proximal interphalangeal joint axis 401, thereby driving the middle phalanx 403 to bend and rotate; when the reset tendon 603 is pulled, an opposite torque is generated on the proximal interphalangeal joint axis 401, thereby driving the middle phalanx 403 to rotate in the opposite direction, and also driving the proximal phalanx 303 to rotate in the opposite direction.

[0022] The three tendons in the tendon-driven robotic finger of the present application can independently complete the extension and bending actions at the metacarpophalangeal joint and the proximal interphalangeal joint, thereby achieving independent control of the extension and bending actions of the proximal phalanx 303 and the middle phalanx 403. That is, through the above metacarpophalangeal flexion tendon 601, proximal interphalangeal tendon 602, reset tendon 603, and the connection relationship of the proximal phalanx 303 and the middle phalanx 403, the tendon-driven robotic finger of the present application achieves independent activity control of each phalanx, and does not need to configure a driving mechanism for each phalanx, thereby reducing the weight of the finger.

[0023] In some embodiments, when only the first phalanx is bent, the first flexion tendon is in a tensioned state, and the second flexion tendon and the reset tendon are in a relaxed state. For example, when only the metacarpophalangeal joint (corresponding to the lower end of the proximal phalanx) is desired to be bent, the metacarpophalangeal flexion tendon 601 is pulled, while the proximal interphalangeal tendon 602 and the reset tendon 603 are relaxed. The torques of the proximal interphalangeal tendon 602 and the reset tendon 603 on the proximal interphalangeal joint axis 401 are opposite, and the antagonism of the two can ensure that the proximal interphalangeal joint does not bend.

[0024] In some embodiments, when the first knuckle is flexed, the first flexor tendon and the second flexor tendon are in a tensioned state, and the reset tendon is in a relaxed state. Illustratively, when flexion at the metacarpophalangeal joint is desired, the metacarpophalangeal flexor tendon 601 is pulled, and the proximal phalangeal tendon 602 is relaxed, and the tension of the reset tendon 603 is controlled to ensure that the metacarpophalangeal joint does not bend or extend.

[0025] In some embodiments, when the middle knuckle is flexed, the first flexor tendon and the second flexor tendon are in a tensioned state, and the reset tendon is in a relaxed state. Illustratively, when flexion at the proximal phalangeal joint (corresponding to the upper end of the proximal phalangeal joint or the lower end of the middle phalangeal joint) is desired, the proximal phalangeal tendon 602 is pulled, and the reset tendon 603 is relaxed, and the torque of the metacarpophalangeal flexor shaft 301 is controlled by the metacarpophalangeal flexor tendon 601 to ensure that the metacarpophalangeal joint does not bend or extend.

[0026] In some embodiments, when the middle knuckle is flexed, the first flexor tendon and the second flexor tendon are in a tensioned state, and the reset tendon is in a relaxed state. Illustratively, when flexion at the proximal phalangeal joint (corresponding to the upper end of the proximal phalangeal joint or the lower end of the middle phalangeal joint) is desired, the proximal phalangeal tendon 602 is pulled, and the reset tendon 603 is relaxed, and the tension of the metacarpophalangeal flexor tendon 601 is controlled to ensure that the metacarpophalangeal joint does not bend or extend.

[0027] In some embodiments, when the first knuckle and the second knuckle are flexed, the first flexor tendon and the second flexor tendon are in a tensioned state, and the reset tendon is in a relaxed state. Illustratively, when flexion at the metacarpophalangeal joint and the proximal phalangeal joint is desired, the metacarpophalangeal flexor tendon 601 and the proximal phalangeal tendon 602 are pulled, and the reset tendon 603 is relaxed. As shown in FIG. 6B, the proximal phalangeal joint 301 and the middle phalangeal joint 401 of the tendon-driven mechanical finger are in a maximum flexion state. Figure 2 As shown in FIG. 6B, the proximal phalangeal joint 301 and the middle phalangeal joint 401 of the tendon-driven mechanical finger are in a maximum flexion state.

[0028] As shown in FIG. 6B, the proximal phalangeal joint 301 and the middle phalangeal joint 401 of the tendon-driven mechanical finger are in a maximum flexion state. Figure 1 and Figure 2As shown, the tendon-driven mechanical finger of the present application is also provided with a tendon sleeve 304 for the proximal interphalangeal tendon 602 to pass through, which can bind the path of the proximal interphalangeal tendon 602 and isolate the tendon from other structural components, so as to prevent friction between other structural components and the proximal interphalangeal tendon 602 and generate wear, thereby playing a protective role on the proximal interphalangeal tendon 602. The arrangement of the tendon sleeve 304 matches the arrangement path of the proximal interphalangeal tendon 602. The tendon sleeve 304 is arranged from the palmar side of the proximal phalanx 303 to the dorsal side of the proximal phalanx 303.

[0029] As shown in Figure 3 Fig. 1 is a perspective structural schematic diagram of an embodiment of the tendon-driven mechanical finger of the present application. Figure 4 As shown in Figure 3 Fig. 2 is a perspective structural schematic diagram of another view of the tendon-driven mechanical finger of the embodiment. In this embodiment, the tendon-driven mechanical finger comprises a base 101, a metacarpophalangeal joint 203, a proximal phalanx 303, a middle phalanx 403 and a distal phalanx 502. The lower end of the proximal phalanx 303 is movably connected with the base 101 through the metacarpophalangeal joint 203 to realize the yaw motion and the bending motion of the proximal phalanx 303; the upper end of the proximal phalanx 303 and the lower end of the middle phalanx 403 are movably connected through a proximal interphalangeal joint shaft 401 to realize the bending motion around the proximal interphalangeal joint shaft 401; the upper end of the middle phalanx 403 and the lower end of the distal phalanx 502 are movably connected through a distal interphalangeal joint shaft 501 to realize the bending motion around the distal interphalangeal joint shaft 501.

[0030] Continuing to refer to Figure 3 and Figure 4 , the lower end of the metacarpophalangeal joint 203 (i.e., the finger swing structure) is movably connected with the base 101 through a metacarpophalangeal joint swing shaft 201 (i.e., a swing shaft) to realize the yaw motion of the proximal phalanx 303 around the metacarpophalangeal joint swing shaft 201; the upper end of the metacarpophalangeal joint 203 is movably connected with the lower end of the proximal phalanx 303 through a metacarpophalangeal joint bending shaft 301 (i.e., a first bending shaft) to realize the bending motion of the proximal phalanx 303 around the metacarpophalangeal joint bending shaft 301. The base 101 can be an independently arranged component or a part of a mechanical palm, which is not limited in the present application.

[0031] The tendon-driven mechanical finger of the embodiment of the present application has four degrees of freedom, which are respectively: the yaw motion of the proximal phalanx 303 around the metacarpophalangeal joint swing shaft 201, the bending motion of the proximal phalanx 303 around the metacarpophalangeal joint bending shaft 301, the bending motion of the middle phalanx 403 around the proximal interphalangeal joint shaft 401 and the bending motion of the distal phalanx 502 around the distal interphalangeal joint shaft 501. The metacarpophalangeal joint swing shaft 201 and the metacarpophalangeal joint bending shaft 301 are perpendicular to each other, and the metacarpophalangeal joint bending shaft 301, the proximal interphalangeal joint shaft 401 and the distal interphalangeal joint shaft 501 are parallel to each other.

[0032] Continuing to refer to Figure 4The tendon-driven mechanical finger of the present application further comprises a metacarpophalangeal joint bending limiting part 202, a proximal phalanx pad 302, a middle phalanx pad 402, and a distal phalanx pad. The metacarpophalangeal joint bending limiting part 202 is arranged on the metacarpophalangeal joint 203 and located on the side of the finger pad. The proximal phalanx pad 302 is arranged on the side of the proximal phalanx pad of the proximal phalanx 303. The middle phalanx pad 402 is arranged on the side of the middle phalanx pad of the middle phalanx 403. The distal phalanx pad is arranged on the side of the distal phalanx pad of the distal phalanx 502.

[0033] In some embodiments, after the proximal phalanx 303 bends by a first preset angle, the lower end of the proximal phalanx pad 302 interferes with the metacarpophalangeal joint bending limiting part 202, thereby limiting the bending of the proximal phalanx 303. The first preset angle is the maximum angle at which the proximal phalanx 303 can bend, and the structure of the part where the lower end of the proximal phalanx pad 302 interferes with the metacarpophalangeal joint bending limiting part 202 matches the structure of the part where the lower end of the proximal phalanx pad 302 interferes with the metacarpophalangeal joint bending limiting part 202. As shown in FIG. 3B, the lower end of the proximal phalanx pad 302 can be arranged as an inclined surface downward (i.e., a third limiting part), and the metacarpophalangeal joint bending limiting part 202 can be arranged as an inclined surface upward. When the proximal phalanx 303 bends to the maximum angle, the two inclined surfaces interfere with each other (i.e., face contact), thereby stably supporting and limiting the proximal phalanx 303, and preventing the proximal phalanx 303 from being squeezed and damaged. The inclination of the two inclined surfaces can be set according to the required maximum angle. Figure 1 Figure 2 As shown in the embodiment of FIG. 3C, when the proximal phalanx 303 bends by 90°, the lower end of the proximal phalanx pad 302 interferes with the metacarpophalangeal joint bending limiting part 202.

[0034] In some embodiments, after the middle phalanx 403 bends by a second preset angle, the lower end of the middle phalanx pad 402 interferes with the upper end of the proximal phalanx pad 302, thereby limiting the bending of the middle phalanx 403. The second preset angle is the maximum angle at which the middle phalanx 403 can bend, and the structure of the part where the lower end of the middle phalanx pad 402 interferes with the upper end of the proximal phalanx pad 302 matches the structure of the part where the lower end of the middle phalanx pad 402 interferes with the upper end of the proximal phalanx pad 302. As shown in FIG. 4B, the lower end of the middle phalanx pad 402 can be arranged as an inclined surface downward (i.e., a second limiting part), and the upper end of the proximal phalanx pad 302 can be arranged as an inclined surface upward (i.e., a first limiting part). When the middle phalanx 403 bends to the maximum angle, the two inclined surfaces interfere with each other (i.e., face contact), thereby stably supporting and limiting the middle phalanx 403, and preventing the middle phalanx 403 from being squeezed and damaged. The inclination of the two inclined surfaces can be set according to the required maximum angle. Figure 1 Figure 2 As shown in the embodiment of FIG. 4C, when the middle phalanx 403 bends by 90°, the lower end of the middle phalanx pad 402 interferes with the upper end of the proximal phalanx pad 302.

[0035] ​​In some embodiments, when the distal phalange 502 is bent to the third preset angle, the lower end of the distal phalange pad and the upper end of the middle phalange pad 402 are in contact with each other, thereby limiting the distal phalange 502. The third preset angle is the maximum angle at which the distal phalange 502 can be bent, and the maximum angle is matched with the structure of the part where the lower end of the distal phalange pad and the upper end of the middle phalange pad 402 are in contact with each other. As shown in Figure 1 , the lower end of the distal phalange pad can be arranged as a horizontal plane (perpendicular to the length direction of the finger), and the upper end of the middle phalange pad 402 can be arranged as an upwardly inclined plane (i.e., the fourth limiting part). When the distal phalange 502 is bent to the maximum angle, the two planes are in contact with each other (i.e., surface contact), thereby stably supporting and limiting the distal phalange 502 and preventing damage to other structures due to extrusion. The inclination of the two planes can be set according to the required maximum angle value. As shown in Figure 2 , a schematic view of the lower end of the distal phalange pad and the upper end of the middle phalange pad 402 in contact with each other when the distal phalange 502 is bent to the maximum angle (less than 90°).

[0036] As shown in Figure 5 , a schematic view of the connection structure between the metacarpophalangeal joint and the base in the present application. In this embodiment, the metacarpophalangeal joint 203 is fixedly connected to the metacarpophalangeal joint swing shaft 201, and then movably connected to the base 101 (for example, movably connected to the base 101 through a bearing, which is not shown in the figure, and the present application does not limit this), so that the metacarpophalangeal joint 203 can drive the finger to swing relative to the base.

[0037] Continuing to refer to Figure 5 , the left swing tendon 604 and the right swing tendon 605 are connected to the metacarpophalangeal joint swing shaft 201 (for example, the connection of the left swing tendon 604 and the right swing tendon 605 to the metacarpophalangeal joint swing shaft 201 can be achieved by knotting or end bonding, etc.).

[0038] When the left swing tendon 604 is pulled, the metacarpophalangeal joint swing shaft 201 will be subjected to a moment and rotate counterclockwise, thereby driving the metacarpophalangeal joint 203 to rotate counterclockwise. Similarly, when the right swing tendon 605 is pulled, it will drive the metacarpophalangeal joint 203 to rotate clockwise.

[0039] Continuing to refer to Figure 5, the metacarpophalangeal joint swing shaft 201 is provided with two wire grooves to form a left swing tendon installation structure and a right swing tendon installation structure, which are respectively used to limit the left swing tendon 604 and the right swing tendon 605, and the two wire grooves have the same radius. When the left swing tendon 604 is pulled to cause the metacarpophalangeal joint swing shaft 201 to rotate counterclockwise, the length of the left swing tendon 604 wound around the metacarpophalangeal joint swing shaft 201 will decrease, and the length of the right swing tendon 605 wound around the metacarpophalangeal joint swing shaft 201 will increase, and the two are wound on the same circumference, so the length of the right swing tendon 605 increases is equal to the length of the left swing tendon 604 decreases, and thus the same driver can be used for driving, and the forward movement and reverse movement of the driver drive the metacarpophalangeal joint swing shaft 201 to rotate forward and reverse, respectively.

[0040] In some embodiments, the distal phalanx 502 and the middle phalanx 403 are connected through a coupling mechanism, which is configured to cause the distal phalanx 502 to bend under the action of the coupling mechanism when the middle phalanx 403 bends.

[0041] As shown in FIG. 6, the coupling mechanism includes a middle phalanx coupling wheel 306 (i.e., a first coupling wheel) and a distal phalanx coupling wheel (i.e., a second coupling wheel, including a distal phalanx inner coupling wheel 504 and a distal phalanx outer coupling wheel 505). Figure 6 As shown in FIG. 7, the coupling mechanism includes a middle phalanx coupling wheel 306 (i.e., a first coupling wheel) and a distal phalanx coupling wheel (i.e., a second coupling wheel, including a distal phalanx inner coupling wheel 504 and a distal phalanx outer coupling wheel 505). Figure 7 As shown in FIG. 8, the coupling mechanism includes a middle phalanx coupling wheel 306 (i.e., a first coupling wheel) and a distal phalanx coupling wheel (i.e., a second coupling wheel, including a distal phalanx inner coupling wheel 504 and a distal phalanx outer coupling wheel 505). Figure 6 As shown in FIG. 9, the coupling mechanism includes a middle phalanx coupling wheel 306 (i.e., a first coupling wheel) and a distal phalanx coupling wheel (i.e., a second coupling wheel, including a distal phalanx inner coupling wheel 504 and a distal phalanx outer coupling wheel 505).

[0042] As shown in FIG. 10, the coupling mechanism includes a middle phalanx coupling wheel 306 (i.e., a first coupling wheel) and a distal phalanx coupling wheel (i.e., a second coupling wheel, including a distal phalanx inner coupling wheel 504 and a distal phalanx outer coupling wheel 505).

[0043] As shown in FIG. 11, the coupling mechanism includes a middle phalanx coupling wheel 306 (i.e., a first coupling wheel) and a distal phalanx coupling wheel (i.e., a second coupling wheel, including a distal phalanx inner coupling wheel 504 and a distal phalanx outer coupling wheel 505). Figure 7 As shown in FIG. 12, the coupling mechanism includes a middle phalanx coupling wheel 306 (i.e., a first coupling wheel) and a distal phalanx coupling wheel (i.e., a second coupling wheel, including a distal phalanx inner coupling wheel 504 and a distal phalanx outer coupling wheel 505).

[0044] In the embodiments of the present application, the distal phalange 502 is coupled with the motion of the middle phalange 403, and when the middle phalange 403 moves, the distal phalange 502 is driven to move by the coupling mechanism. The implementation of the coupling mechanism is as follows Figure 6 and Figure 7 The coupling is achieved by using the common 8-shaped winding method. The proximal phalange coupling wheel 306 is a part of the proximal phalange side cover 305 (see Figure 4 ), which is fixed on the proximal phalange 303, and the distal phalange fixing member 503, the distal phalange inner coupling wheel 504 and the distal phalange outer coupling wheel 505 are fixed with each other, and the distal phalange 502 is fixed and installed through the distal phalange fixing hole 5031 on the distal phalange fixing member 503.

[0045] The bending coupling tendon 606 and the stretching coupling tendon 607 need to be tensioned, and the two tendons are wound in opposite directions and need to be tensioned respectively. At the same time, the tendons have a volume and cannot be arranged in the same plane, so the present application adopts the split distal phalange inner coupling wheel 504 and the distal phalange outer coupling wheel 505 to wind the bending coupling tendon 606 and the stretching coupling tendon 607 respectively.

[0046] In some embodiments, one assembly method of the coupling mechanism is as follows: one end of the bending coupling tendon 606 is first fixed on the proximal phalange coupling wheel 306, and then wound around the distal phalange inner coupling wheel 504 and fixed therewith. The centers of the two coupling wheels of the distal phalange have a hexagonal locking feature 701, which can be inserted into a hexagonal torque wrench, the distal phalange inner coupling wheel 504 is rotated by inserting the torque wrench, and the tensioning of the tendon is completed when the set torque is reached. Then the bolt 506 is used to pass through the arc-shaped slot of the distal phalange inner coupling wheel 504 and is locked on the distal phalange fixing member 503, that is, the tensioning of the tendon is completed. The installation method of the stretching coupling tendon 607 is similar to that of the bending coupling tendon 606, except that it is wound in the opposite direction. Finally, the bolt 507 is used to lock the distal phalange outer coupling wheel 505 on the distal phalange inner coupling wheel 504. Finally, the distal phalange fixing member 503, the distal phalange inner coupling wheel 504 and the distal phalange outer coupling wheel 505 are fixed and connected, so that the entire coupling mechanism is implemented.

[0047] As Figure 6 and Figure 7As shown, the flexion coupling tendon 606 is fixed at the proximal phalangeal coupling wheel 306 at the starting end and at the distal phalangeal inner coupling wheel 504 at the ending end, and is wound around the wire slots on the outer edges of the two wheels respectively. Similarly, the extension coupling tendon 607 is also fixed at the proximal phalangeal coupling wheel 306 at the starting end and at the distal phalangeal outer coupling wheel 505 at the ending end, and is wound around the wire slots on the outer edges of the two wheels respectively, but the positions of the two tendons are different and the winding directions are opposite. When the middle phalange 403 moves, it drives the distal phalange 502 to move through the distal interphalangeal joint axis 501, and causes the wrap angles (i.e. the central angles corresponding to the arc lengths of the tendons wound around the wheels) of the flexion coupling tendon 606 and the extension coupling tendon 607 on the respective coupling wheels to change, thereby driving the distal phalange 502 to rotate relative to the middle phalange 403 to complete the coupling action.

[0048] The tendon-driven mechanical finger in the embodiment can realize independent flexion control of the proximal phalange and the middle phalange and coupling flexion control of the distal phalange by cooperation of only three tendons, and does not need to configure a driving mechanism for each phalange, thereby simplifying the driving structure of the mechanical finger and reducing the volume and weight of the finger.

[0049] In some embodiments, the application further provides a mechanical hand comprising the finger according to any one of the embodiments of the application. The mechanical hand in the embodiment adopts the tendon-driven mechanical finger in the above-mentioned embodiments, and has a small volume and a light weight.

[0050] In some embodiments, the application further provides a robot comprising the mechanical hand according to any one of the embodiments of the application.

[0051] In the description of the 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", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the application.

[0052] In addition, the terms "first" and "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implying the number of the technical features indicated. Therefore, the features defined as "first" and "second" can explicitly or implicitly include one or more of the features.

[0053] In the present application, unless specifically defined otherwise, the terms "mounting", "connection", "connecting", "fixed", and the like should be construed in a broad sense, for example, can be fixed connection, can also be detachable connection, or integrated; can be mechanical connection, can also be electrical connection, and can also be communication; can be directly connected, or indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0054] In the present application, unless specifically defined otherwise, the first feature "on" or "under" the second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the first feature "on", "above" and "over" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the first feature is higher in horizontal height than the second feature. The first feature "under", "below" and "under" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the first feature is lower in horizontal height than the second feature.

[0055] The above disclosure provides many different implementations or examples for implementing the different structures of the present application. In order to simplify the disclosure of the present application, the components and arrangements of specific examples are described in the above. Of course, they are only examples, and the purpose is not to limit the present application. In addition, the present application can repeatedly refer to numbers and / or letters in different examples, and such repetition is for the purpose of simplification and clarity, which itself does not indicate the relationship between the various embodiments and / or arrangements discussed.

[0056] Finally, it should be noted that: the above examples are only used to illustrate the technical solutions of the present application, and not to limit it; although the present application has been described in detail with reference to the foregoing examples, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing examples, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A tendon-driven mechanical finger for use in a robotic hand, characterized in that, The tendon-driven mechanical finger comprises a first phalanx, a second phalanx, a first flexed tendon cord, a second flexed tendon cord, and a repositioning tendon cord, characterized in that: The first end of the first phalanx is used to connect to the mechanical hand, and the second end of the first phalanx is movably connected to the first end of the second phalanx. The first end of the first bending tendon cord is connected to the first drive mechanism, and the second end of the first bending tendon cord is connected to the first phalanx for pulling the first phalanx to achieve bending. The first end of the second bending tendon cord is connected to the second drive mechanism, and the second end of the second bending tendon cord is connected to the second phalanx to pull the second phalanx to achieve bending. The first end of the repositioning tendon cord is connected to the third drive structure, and the second end of the repositioning tendon cord is connected to the second phalanx to pull the second phalanx to straighten the finger.

2. The finger according to claim 1, characterized in that, The first end of the first phalanx is connected to the mechanical hand via a first bending axis, and the first phalanx can be bent around the first bending axis; The second end of the first phalanx is movably connected to the first end of the second phalanx via a second bending axis, and the second phalanx can be bent around the second bending axis; The second flexed tendon cord passes through the first phalanx, and the first end of the second flexed tendon cord wraps around to the outside of the first flexed shaft and connects to the second drive mechanism, while the second end of the second flexed tendon cord wraps around to the inside of the second flexed shaft and connects to the second phalanx.

3. The finger according to claim 2, characterized in that, The repositioning tendon cord is arranged near the back of the finger, and the first bending tendon cord is distributed near the fingertip. The second end of the second bending tendon cord is connected to the fingertip of the second phalanx, and the first end of the second bending tendon cord enters from the fingertip of the first phalanx and exits from the back of the first phalanx.

4. The finger according to claim 3, characterized in that, When only the first phalanx is bent, the first flexion tendon is in a taut state, while the second flexion tendon and the reset tendon are in a relaxed state. When the first phalanx is extended, the repositioning tendon cord and the second flexion tendon cord are in a taut state, and the first flexion tendon cord is in a relaxed state. When the second phalanx is bent, the first and second bending tendon ropes are in a taut state, and the reset tendon rope is in a relaxed state. When the second phalanx is extended, the repositioning tendon cord and the first flexion tendon cord are in a taut state, while the second flexion tendon cord is in a relaxed state. When both the first and second phalanges are bent, both the first and second flexed tendon ropes are in a taut state, while the reset tendon rope is in a relaxed state.

5. The finger according to claim 2, characterized in that, It also includes a third phalanx, and the second phalanx and the third phalanx are connected by a coupling mechanism, which is configured such that when the second phalanx is bent, the third phalanx bends under the action of the coupling mechanism.

6. The finger according to any one of claims 1-5, characterized in that, It also includes a finger swinging structure, the first end of which is movably connected to the mechanical hand via a swinging shaft to realize the swinging of the finger; the second end of which is movably connected to the first end of the first phalanx via a first bending shaft to realize the bending of the first phalanx; wherein the swinging shaft and the first bending shaft are perpendicular to each other.

7. The finger according to claim 6, characterized in that, The swing axis is symmetrically provided with a left swing tendon ligament mounting structure for mounting the left swing tendon ligament and a right swing tendon ligament mounting structure for mounting the right swing tendon ligament.

8. The finger according to claim 7, characterized in that, It also includes a first fingertip installed on the side of the first phalanx and a second fingertip installed on the side of the second phalanx; Wherein, the upper end of the first fingertip is provided with a first limiting part, and the lower end of the second fingertip is provided with a second limiting part. When the second phalanx is at its maximum bending angle, the first limiting part and the second limiting part are in surface contact; and / or, the lower end of the first fingertip is provided with a third limiting part. When the first phalanx is at its maximum bending angle, the third limiting part abuts against the finger swinging structure; and / or, the upper end of the second fingertip is provided with a fourth limiting part. When the third phalanx connected to the upper end of the second phalanx is at its maximum bending angle, the fourth limiting part abuts against the lower end of the third phalanx.

9. A robotic arm, characterized in that, Includes the finger as described in any one of claims 1-8.

10. A robot, characterized in that, Including the robotic arm as described in claim 9.

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