Manipulator and robot

Abstract

The invention provides a manipulator and a robot, relates to the technical field of robots, and aims to solve the problem that the holding width of the manipulator is small. The manipulator comprises a first finger, a second finger, a third finger and a mounting base; the first finger is provided with a first root knuckle, the second finger is provided with a second root knuckle, and the third finger is provided with a third root knuckle; the second root knuckle and the third root knuckle are arranged side by side and are fixedly connected to the mounting base, the first finger can be overturned and switched between a first limit position and a second limit position, and the first root knuckle, the second root knuckle and the third root knuckle are arranged side by side at the first limit position; at the second limit position, at least part of the first root knuckle is located outside the area right opposite to the second root knuckle and the third root knuckle, and the first finger is configured in the mode that the fingertip contact face can make contact with the local area, deviating from the fingertip contact face of the third finger, of the fingertip contact face of the second finger. The holding width of the manipulator can be increased.

Description

TECHNICAL FIELD

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

[0002] In the prior art, for a mechanical hand capable of achieving a grip, generally, the root of the thumb is arranged in the extension range area of the remaining four fingers or more fingers, which causes that although the grip can be achieved, the width range of the grip is small, and the stability of the grip is easily reduced. SUMMARY

[0003] The first aspect of the present application aims to provide a mechanical hand to solve the technical problem of a small holding width of the existing mechanical hand.

[0004] The mechanical hand provided by the first aspect of the present application comprises a first finger, a second finger, a third finger and a mounting base; the first finger has a first root knuckle, the second finger has a second root knuckle, and the third finger has a third root knuckle; the second root knuckle and the third root knuckle are arranged side by side and are fixedly connected to the mounting base; the first finger can be switched between a first limit position and a second limit position; in the first limit position, the first root knuckle is arranged side by side with the second root knuckle and the third root knuckle; in the second limit position, the first root knuckle is at least partially outside the area opposite to the second root knuckle and the third root knuckle, and the first finger is configured such that the fingertip contact surface can contact the fingertip contact surface of the second finger, and the contact position is a local area of the fingertip contact surface of the second finger deviated towards the fingertip contact surface of the third finger.

[0005] The mechanical hand provided by the present application has the following beneficial effects: The first root knuckle is arranged to be at least partially outside the area opposite to the second root knuckle and the third root knuckle in the second limit position, which can increase the holding width of the mechanical hand and improve the stability of the grip. Moreover, the first finger is configured such that the fingertip contact surface can contact the local area of the fingertip contact surface of the second finger deviated towards the fingertip contact surface of the third finger, which means that the force of the first finger on the object to be gripped will be towards the local area, so the second finger and the third finger can be used to balance the force of the first finger to prevent the object from generating a torque under the action of the force of the first finger and the second finger.

[0006] In an optional technical solution, the mechanical hand further comprises a turnover assembly installed on the mounting base, the turnover assembly being configured to drive the first finger to turn around a turnover axis between the first limit position and the second limit position, a normal plane of the turnover axis being non-parallel to a normal plane of an extension direction of the second root knuckle, and when the second finger is in a straightened state, the second finger as a whole gradually moves away from the turnover axis from the second root knuckle to a fingertip of the second finger.

[0007] In an optional technical solution, an included angle between the normal plane of the turnover axis and the normal plane of the extension direction of the second root knuckle is 5° to 7°.

[0008] In an optional technical solution, an extension direction of the first root knuckle in the first limit position is non-parallel to an extension direction of the first root knuckle in the second limit position, and an acute included angle is formed between the extension direction of the first root knuckle in the first limit position and an opening direction of the first finger.

[0009] In an optional technical solution, an included angle between the turnover axis and the extension direction of the first root knuckle is at least 6°.

[0010] In an optional technical solution, a rotation angle of the first root knuckle between the first limit position and the second limit position is less than 8°.

[0011] In an optional technical solution, in the second limit position, the first root knuckle is located on an opposite side of the second root knuckle and the third root knuckle, and rotation axes of the knuckles of the first finger are non-parallel to rotation axes of the knuckles of the second finger.

[0012] In an optional technical solution, the second finger further comprises a second intermediate knuckle and a second terminal knuckle, the second root knuckle, the second intermediate knuckle and the second terminal knuckle being sequentially rotationally connected, a rotatable range of the second intermediate knuckle relative to the second root knuckle towards a palm of the mechanical hand being greater than a rotatable range towards a back of the hand; the third finger further comprises a third intermediate knuckle and a third terminal knuckle, the third root knuckle, the third intermediate knuckle and the third terminal knuckle being sequentially rotationally connected, a rotatable range of the third intermediate knuckle relative to the third root knuckle towards the palm being greater than a rotatable range towards the back of the hand.

[0013] In an optional technical solution, a rotatable range of the second terminal knuckle relative to the second intermediate knuckle towards the palm is greater than or equal to a rotatable range towards the back of the hand; a rotatable range of the third terminal knuckle relative to the third intermediate knuckle towards the palm is greater than or equal to a rotatable range towards the back of the hand.

[0014] The second aspect of the present application aims to provide a robot to solve the technical problem of small gripping width of a manipulator.

[0015] The robot provided by the second aspect of the present application comprises the manipulator.

[0016] By arranging the manipulator in the robot, the robot has all the advantages of the manipulator, which will not be repeated here. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments or the background art, the drawings needed to be used in the embodiments or the background art description will be briefly introduced. Obviously, the drawings in the following description only constitute the embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of the provided drawings.

[0018] Figure 1 The structural schematic diagram of the manipulator provided by the first embodiment of the present application.

[0019] Figure 2 The structural schematic diagram of the manipulator provided by the first embodiment of the present application when the first finger is in the first limit position.

[0020] Figure 3 The structural schematic diagram of the manipulator provided by the first embodiment of the present application when the first finger is in the second limit position.

[0021] Figure 4 Another structural schematic diagram of the manipulator provided by the first embodiment of the present application when the first finger is in the second limit position.

[0022] Figure 5 The angle between the turning axis and the first surface in the manipulator provided by the first embodiment of the present application.

[0023] Figure 6 The angle between the third surface and the second surface in the manipulator provided by the first embodiment of the present application.

[0024] Figure 7 The structural schematic diagram of the second finger in the manipulator provided by the first embodiment of the present application.

[0025] Figure 8 The structural schematic diagram of another state of the manipulator provided by the first embodiment of the present application when the first finger is in the first limit position.

[0026] Figure 9 The structural schematic diagram of the second finger in the manipulator provided by the first embodiment of the present application.

[0027] Figure 10 A structure schematic view of the middle finger joint body of the mechanical hand provided in Embodiment One of the present application.

[0028] Explanation of reference signs: 100 - first finger; 110 - proximal finger mounting; 111 - third surface; 112 - pivot joint; 113 - second surface; 120 - first proximal finger joint; 130 - first intermediate finger joint; 131 - finger joint body; 132 - connecting portion; 133 - rotary motor; 134 - transmission member; 140 - first distal finger joint; 200 - second finger; 210 - second proximal finger joint; 220 - second intermediate finger joint; 230 - second distal finger joint; 300 - third finger; 310 - third proximal finger joint; 320 - third intermediate finger joint; 330 - third distal finger joint; 400 - mounting base; 410 - overturning assembly; 420 - overturning axis; 430 - first surface. DETAILED DESCRIPTION

[0029] In order to make the above objectives, features and advantages of the present application more apparent, a specific embodiment of the present application is described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiment described herein is only used to explain the present application and does not limit the present application.

[0030] Embodiment One: Figure 1 A structure schematic view of the mechanical hand provided in Embodiment One of the present application. Figure 2 A structure schematic view of the mechanical hand provided in Embodiment One of the present application when the first finger is in the first limit position. Figure 3 A structure schematic view of the mechanical hand provided in Embodiment One of the present application when the first finger is in the second limit position. Figure 4 Another structure schematic view of the mechanical hand provided in Embodiment One of the present application when the first finger is in the second limit position. As Figures 1-4As shown, the mechanical hand provided by the first embodiment of the present application comprises a first finger 100, a second finger 200, a third finger 300 and a mounting base 400; the first finger 100 has a first root knuckle 120, the second finger 200 has a second root knuckle 210, and the third finger 300 has a third root knuckle 310; the second root knuckle 210 and the third root knuckle 310 are arranged side by side and are both fixedly connected to the mounting base 400; the first finger 100 can be switched by flipping between a first limit position and a second limit position; in the first limit position, the first root knuckle 120 is arranged side by side with the second root knuckle 210 and the third root knuckle 310; in the second limit position, the first root knuckle 120 is at least partially outside the area opposite to the second root knuckle 210 and the third root knuckle 310, and the first finger 100 is configured such that the fingertip contact surface can contact the fingertip contact surface of the second finger 200, and the contact position is a local area of the fingertip contact surface of the second finger 200 deviated towards the fingertip contact surface of the third finger 300.

[0031] The first root knuckle 120 is arranged at least partially outside the area opposite to the second root knuckle 210 and the third root knuckle 310 in the second limit position, which can increase the holding width of the mechanical hand and improve the stability of holding. Moreover, the first finger 100 is configured such that the fingertip contact surface can contact the local area of the fingertip contact surface of the second finger 200 deviated towards the fingertip contact surface of the third finger 300, which means that the force of the first finger 100 on the object to be grabbed will be towards the area, so the second finger 200 and the third finger 300 can be used to balance the force of the first finger 100 to prevent the object from generating torque under the force of the first finger 100 and the second finger 200.

[0032] It should be noted that the mechanical hand provided in the present application comprises the first finger 100, the second finger 200 and the third finger 300, but it does not hinder the fourth finger, the fifth finger, etc. For example, when the first root knuckle 120, the second root knuckle 210 and the third root knuckle 310 are arranged side by side, the fourth finger, the fifth finger, etc. can be arranged in turn on the side of the third finger 300 deviated from the second finger 200.

[0033] The first root knuckle 120 is arranged side by side with the second root knuckle 210 and the third root knuckle 310 when the first root knuckle 120 is in the first limit position, which means that the first root knuckle 120, the second root knuckle 210 and the third root knuckle 310 are all on the same side of the top of the mounting base 400. The height of the first root knuckle 120, the second root knuckle 210 and the third root knuckle 310 is not limited to be equal or the same. Further, the first root knuckle 120, the second root knuckle 210 and the third root knuckle 310 can be arranged at the same distance from the top of the mounting base 400.

[0034] When the first root knuckle 120 is in the second limit position, the first root knuckle 120 is on the side of the mounting base 400 opposite to the second root knuckle 210. In the second limit position, the first root knuckle 120 is at least partially outside the area opposite to the second root knuckle 210 and the third root knuckle 310, which means that if a plane is formed by the second root knuckle 210 and the third root knuckle 310, and the plane is extended in the vertical direction to form a columnar space, at least part of the first root knuckle 120 is on one side of the columnar space but not in the columnar space.

[0035] When the first root knuckle 120 is in the second limit position and the bending direction of the first finger 100 is perpendicular to the side of the mounting base 400 close to the second root knuckle 210, the force generated by the bending of the first finger 100 on the object is also perpendicular to the side, and the force generated by the second finger 200 on the object is also perpendicular to the side, and the first finger 100 and the second finger 200 are not coplanar, so the force generated by the first finger 100 and the force generated by the second finger 200 will form a torque, which may not be able to stably grasp the object. Even if the third finger 300 is bent, the torque cannot be reduced. In the embodiment, when the first finger 100 is in the second limit position, the bending direction points to the area where the second finger 200 and the third finger 300 are located, so the above-mentioned defect can be avoided.

[0036] The first finger 100 is configured to be able to bend towards the area where the second finger 200 and the third finger 300 are located, and is not limited to bending only in this direction. Even if the first finger 100 is in this position, it can also bend away from the second finger 200.

[0037] As shown in FIG. 1, the first finger 100 is arranged on the mounting base 400, and the second finger 200 and the third finger 300 are arranged on the mounting base 400. The first finger 100 is arranged on the mounting base 400 in such a way that the first finger 100 is arranged on the side of the mounting base 400 opposite to the second finger 200 and the third finger 300. The first finger 100 is arranged on the mounting base 400 in such a way that the first finger 100 is arranged on the side of the mounting base 400 opposite to the second finger 200 and the third finger 300. Figures 1 to 5As shown, the robot hand further comprises a flipping assembly 410 mounted on the mounting base 400, the flipping assembly 410 being configured to drive the first finger 100 to flip around a flipping axis 420 between a first limit position and a second limit position, a normal plane of the flipping axis 420 being non-parallel to a normal plane of the extending direction of the second proximal phalanx 210, and when the second finger 200 is in the straightened state, the second finger 200 as a whole gradually moves away from the flipping axis 420 from the second proximal phalanx 210 towards the fingertip of the second finger 200.

[0038] In this way, when the first finger 100 is in the second limit position, the included angle between the extending direction of the first proximal phalanx 120 and the length direction of the second finger 200 can be increased, i.e., the distance between the free ends of the first proximal phalanx 120 and the second proximal phalanx 210 is increased, so as to increase the gripping space, which is beneficial to holding objects with a larger width.

[0039] The length direction of the second finger 200 refers to the direction of the line segment connecting the second proximal phalanx 210 to the free end of the second distal phalanx 230 when the included angles between the second proximal phalanx 210, the second intermediate phalanx 220 and the second distal phalanx 230 of the second finger 200 are all right angles. That is, the length direction of the second finger 200 is consistent with the extending direction of the second proximal phalanx 210. The extending direction of the second proximal phalanx 210 is consistent with the height direction of the second proximal phalanx 210. That is, the length direction of the second finger 200 is consistent with the height direction of the second proximal phalanx 210. Similarly, the length direction of the first finger 100 and the third finger 300 are defined in the same way. Similarly, the length direction of the first finger 100 is consistent with the extending direction of the first proximal phalanx 120, and the length direction of the third finger 300 is consistent with the length direction of the second intermediate phalanx 220 and the extending direction of the third proximal phalanx 310.

[0040] Specifically, if the bending axes of the phalanges of the second finger 200 are horizontally arranged, the normal plane of the flipping axis 420 is the tilt direction, i.e., the flipping axis 420 is also the tilt direction. When the flipping axis 420 is tilted, and the first proximal phalanx 120 and the second proximal phalanx 210 are side by side in the first limit position, the extending direction of the first proximal phalanx 120 is substantially parallel to the length direction of the second finger 200. When the first proximal phalanx 120 is flipped to the second limit position along the flipping axis 420, the extending direction of the first proximal phalanx 120 is more tilted relative to the extending direction of the second proximal phalanx 210 than the flipping axis 420, so as to increase the distance between the free ends of the first proximal phalanx 120 and the second proximal phalanx 210, and increase the gripping space.

[0041] Figure 5Figure 1 is a schematic view of the angle between the turning axis and the first surface of the mechanical hand according to an embodiment of the present application. As shown in Figure 1 , Figures 3 to 5 Optionally, the angle between the normal plane of the turning axis 420 and the normal plane of the extension direction of the second root knuckle 210 is 5° to 7°.

[0042] Setting the angle between the two normal planes in the above range can not only appropriately expand the distance between the first root knuckle 120 and the second root knuckle 210 to facilitate the increase of the gripping space, but also can ensure that the length of each knuckle of the first finger 100 is fully utilized. Otherwise, if the angle is too large, the first root knuckle 120 is excessively inclined outward relative to the second root knuckle 210 when the first root knuckle 120 is in the second limit position, and the length of the first root knuckle 120 needs to be bent inward by other knuckles of the first finger 100 to offset, thereby wasting the length of the first finger 100.

[0043] In the present embodiment, the power output end of the turning assembly 410 is provided with a finger root mounting member 110, and the finger root mounting member 110 is fixedly connected with the first root knuckle 120 to drive the rotation of the finger root mounting member 110 to realize the turning of the first finger 100. The finger root mounting member 110 has a pivot joint portion 112 and a mounting portion fixedly connected with the pivot joint portion 112, the first root knuckle 120 is inserted into the mounting portion and fixedly connected with the mounting portion, and the upper surface of the pivot joint portion 112, i.e., the second surface 113, belongs to the normal plane of the turning axis 420, and the angle between the turning axis 420 and the second surface 113 is the first angle.

[0044] When the mechanical hand is in the position shown in Figure 1 , the first surface 430 is the upper surface of the mounting base 400, which is a horizontal plane at this time, and the first surface 430 belongs to the normal plane of the extension direction of the second root knuckle 210. At this time, the length direction of the second finger 200 is a vertical direction. The angle between the length direction of the second finger 200 and the first surface 430 is the second angle, which is a right angle of 90°. The turning axis 420 is inclined to the right side. That is, the first angle is 83° to 85°. The difference between the first angle and the second angle is the angle between the normal plane of the turning axis 420 and the normal plane of the extension direction of the second root knuckle 210. Figure 5 The angle α in the figure and the first angle are the included angle between two parallel lines, and they are equal. If α is directly marked in the position of the first angle, it will interfere with other lines in the figure, and it is clearer to mark it here. The two red horizontal dotted lines in the figure are parallel to the first surface 430.

[0045] As shown in Figures 1 to 4As shown, optionally, the extension direction of the first root knuckle 120 at the first limit position is not parallel to the extension direction of the first root knuckle 120 at the second limit position, and forms an acute angle opening towards the end of the first finger 100.

[0046] In this way, the distance between the free end of the first root knuckle 120 and the second root knuckle 210 can be further increased, so as to increase the gripping space.

[0047] Specifically, the extension direction of the first root knuckle 120 at the first limit position and the second limit position is not parallel, which means that the extension direction of the first root knuckle 120 is not parallel to the flip axis 420, but forms an acute angle.

[0048] In this embodiment, the upper surfaces of the first root knuckle 120, the second root knuckle 210 and the third root knuckle 310 are perpendicular to the length direction of the respective fingers. Since the extension direction of the first root knuckle 120 at the first limit position and the second limit position is not parallel, the extension direction of the first root knuckle 120 at the first limit position can be parallel to the length direction of the second finger 200. Therefore, the extension direction of the first root knuckle 120 at the second limit position is not parallel to the length direction of the second finger 200, and the upper surfaces of the first root knuckle 120, the second root knuckle 210 and the third root knuckle 310 are not parallel and coplanar.

[0049] As shown in Figure 5 and Figure 6 Optionally, the angle between the flip axis 420 and the extension direction of the first root knuckle 120 is at least 6°.

[0050] In this way, the distance between the first root knuckle 120 and the second root knuckle 210 can be further increased, so as to increase the gripping space. By setting the above angle to the above angle, the extension direction of the first root knuckle 120 at the first limit position can be basically consistent with the length direction of the second root knuckle 210, so as to facilitate the clamping of the plate-shaped part when the three fingers are side by side.

[0051] Specifically, the third surface 111 is Figure 6 the upward surface of the mounting portion of the middle finger root mounting member 110, since the third surface 111 is perpendicular to the extension direction of the first root knuckle 120, and the second surface 113 is perpendicular to the flip axis 420. Therefore, the angle between the flip axis 420 and the first root knuckle 120 is equal to the angle between the third surface 111 and the second surface 113, i.e. Figure 6The included angle θ between the second surface 113 and the third surface 111 is at least 6°.

[0052] As shown in Figures 1 to 4 Optionally, the rotation angle of the first root knuckle 120 between the first limit position and the second limit position is less than 180°.

[0053] In this way, the width of the holding area of the gripper for the gripped object can be increased, and the stability of the gripping can be improved.

[0054] Specifically, if the first root knuckle 120 rotates 180° from the first limit position to the second limit position, the upper two knuckles of the first finger 100 and the first root knuckle 120 can rotate about the extension direction of the first root knuckle 120, although the first finger 100 can also be bent towards the second finger 200 and the third finger 300, although the problem of torque generated by the forces exerted by the multiple fingers can be avoided, but the width of the holding area can be small. Because the first finger 100 rotates 180° from the first limit position, the holding area is actually the same as the holding area of the three fingers when the first finger 100 is in the first limit position. And less than 180°, the width of the holding area can be increased.

[0055] As shown in Figures 1 to 4 Optionally, in the second limit position, the first root knuckle 120 is located on the opposite side of the second root knuckle 210 and the third root knuckle 310, and the rotation axes of the knuckles of the first finger 100 are not parallel to the rotation axes of the knuckles of the second finger 200.

[0056] In this way, when the knuckles of the first finger 100 rotate relative to each other, the forces exerted on the gripped object are more biased towards the second finger 200 and the third finger 300, thereby reducing the torque generated by the fingers on the opposite side when gripping the object, and improving the stability of the gripping.

[0057] In the embodiment, the knuckles of the first finger 100 cannot rotate relative to the first root knuckle 120 about the extension direction of the first root knuckle 120. When the first finger 100 is driven to rotate by the flipping assembly 410, the rotation axes of the knuckles of the first finger 100 also rotate by the same angle.

[0058] Figure 7 A structural schematic view of the second finger of the gripper provided in Embodiment One of the present application. Figure 8 A structural schematic view of another state of the gripper provided in Embodiment One of the present application when the first finger is in the first limit position. As shown in Figure 7 and Figure 8As shown, the second finger 200 further comprises a second intermediate phalanx 220 and a second terminal phalanx 230, the second root phalanx 210, the second intermediate phalanx 220 and the second terminal phalanx 230 are rotationally connected in sequence, the second intermediate phalanx 220 has a rotation range towards the palm of the mechanical hand larger than a rotation range towards the back of the hand relative to the second root phalanx 210; the third finger 300 further comprises a third intermediate phalanx 320 and a third terminal phalanx 330, the third root phalanx 310, the third intermediate phalanx 320 and the third terminal phalanx 330 are rotationally connected in sequence, the third intermediate phalanx 320 has a rotation range towards the palm of the hand larger than a rotation range towards the back of the hand relative to the third root phalanx 310.

[0059] In this way, the first finger 100, the second finger 200 and the third finger 300 can hold the object together, and when the first finger 100 moves to the first limit position, the terminal phalanx of the first finger 100 and the third finger 300 is bent towards the back of the hand, while the terminal phalanx of the second finger 200 is bent towards the palm of the hand, the terminal phalanx of the three fingers are substantially parallel, and the plate-shaped part can be clamped.

[0060] Figure 9 The structure schematic diagram of the second finger in the mechanical hand provided by the embodiment one of the present application. Figure 10 The structure schematic diagram of the phalanx body in the mechanical hand provided by the embodiment one of the present application. Figure 9 and Figure 10As shown, the first finger 100 further comprises a first middle knuckle 130 and a first end knuckle 140, the first root knuckle 120, the first middle knuckle 130 and the first end knuckle 140 are connected in turn, wherein the second middle knuckle 220, the second end knuckle 230, the third middle knuckle 320, the third end knuckle 330, the first middle knuckle 130 and the first end knuckle 140 all comprise a connecting part 132 and a knuckle body 131 fixedly connected to the connecting part 132, each connecting part 132 is drivingly connected to the upper level knuckle to drive the knuckle, and the knuckle body 131 forms a part for clamping an object. Of course, the connecting part 132 can also be used to clamp the object. Among them, the knuckle bodies 131 of the second middle knuckle 220, the third middle knuckle 320 and the first middle knuckle 130 are provided with a driving part for driving the next level knuckle to move, and the driving part is drivingly connected with the connecting part 132 of the next level knuckle. The second end knuckle 230, the third end knuckle 330 and the first end knuckle 140 do not need to be provided with a driving part. In addition, driving parts are also provided on the second root knuckle 210, the third root knuckle 310 and the first root knuckle 120 for connecting the connecting parts 132 of the next level knuckles. Among them, the driving part can include a rotary motor 133, the rotary motor 133 is connected with a plurality of transmission members 134, the power output ends of the plurality of transmission members 134 are connected with the connecting parts 132 of the next level knuckles. Specifically, in the embodiment, the plurality of transmission members 134 can be a plurality of meshing gears.

[0061] As shown in Figure 8 Optionally, the rotatable range of the second end knuckle 230 relative to the second middle knuckle 220 towards the palm is greater than or equal to the rotatable range towards the back of the hand; the rotatable range of the third end knuckle 330 relative to the third middle knuckle 320 towards the palm is greater than or equal to the rotatable range towards the back of the hand.

[0062] When the first root knuckle 120 is arranged side by side with the second root knuckle 210 and the third root knuckle 310, the first finger 100 and the third finger 300 are clamped from one side, and the second finger 200 is clamped from the other side, the last knuckles of the three fingers are substantially parallel, and the clamping of the plate-shaped parts can be realized, so the angle of the last knuckles rotating backward does not need to be too large.

[0063] Embodiment two: Embodiment two further provides a robot comprising the above mechanical hand.

[0064] By providing the above mechanical hand in the robot, the robot has all the advantages of the above mechanical hand, which will not be repeated here.

[0065] Although this application discloses the above, it is not limited to it. Any person skilled in the art, without departing from the spirit and scope of the application, can make various changes and modifications, therefore the protection scope of the application should be limited by the scope defined by the claims.

[0066] Finally, it should be noted that, in this document, relational terms such as first and second and the like can be used solely to distinguish one entity or action from another entity or action without necessarily implying any actual relationship or order between such entities or actions. Also, the terms "comprises", "comprising", or any other variation thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without limitation, an element preceded by "comprises a" does not, without more constraints, foreclose the existence of additional identical elements in the process, method, article, or apparatus.

[0067] In the above embodiments, the description of orientation such as "upper", "lower" and the like are based on the drawings shown.

[0068] The above description of disclosed embodiments provides enabling teaching to a person skilled in the art to implement or use the application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein can be applied to other embodiments without departing from the spirit or scope of the application.

[0069] Therefore, the application will not be limited to these embodiments shown in this document, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A robotic arm, characterized in that, The device includes a first finger (100), a second finger (200), a third finger (300), and a mounting base (400). The first finger (100) has a first root phalanx (120), the second finger (200) has a second root phalanx (210), and the third finger (300) has a third root phalanx (310). The second root phalanx (210) and the third root phalanx (310) are arranged side by side and fixedly connected to the mounting base. The first finger (100) can be flipped and switched between a first extreme position and a second extreme position. In the first position, the first root phalanx (120) is arranged side by side with the second root phalanx (210) and the third root phalanx (310); in the second extreme position, the first root phalanx (120) is at least partially outside the area directly opposite to the second root phalanx (210) and the third root phalanx (310), and the first finger (100) is configured such that its fingertip contact surface can contact the fingertip contact surface of the second finger (200), and the contact position is a local area of ​​the fingertip contact surface of the second finger (200) that is biased towards the fingertip contact surface of the third finger (300).

2. The robotic arm according to claim 1, characterized in that, The robotic arm also includes a flipping component (410), which is mounted on the mounting base (400). The flipping component (410) is used to drive the first finger (100) to flip and switch between the first extreme position and the second extreme position around the flipping axis (420). The vertical plane of the flipping axis (420) is not parallel to the vertical plane of the extension direction of the second root knuckle (210). When the second finger (200) is in the extended state, from the second root knuckle (210) toward the fingertip of the second finger (200), the second finger (200) gradually moves away from the flipping axis (420).

3. The robotic arm according to claim 2, characterized in that, The angle between the vertical plane of the flipping axis (420) and the vertical plane of the extension direction of the second root phalanx (210) is 5° to 7°.

4. The robotic arm according to claim 2, characterized in that, The extension direction of the first root phalanx (120) at the first extreme position is not parallel to the extension direction of the first root phalanx (120) at the second extreme position, and forms an acute angle with the opening facing the end of the first finger (100).

5. The robotic arm according to claim 4, characterized in that, The angle between the flipping axis (420) and the extending direction of the first root phalanx (120) is at least 6°.

6. The robotic arm according to claim 4, characterized in that, The rotation angle of the first root phalanx (120) from the first extreme position to the second extreme position is less than 180°.

7. The robotic arm according to claim 1, characterized in that, In the second extreme position, the first root phalanx (120) is located on the opposite side of the second root phalanx (210) and the third root phalanx (310), and the rotation axis of each phalanx of the first finger (100) is not parallel to the rotation axis of each phalanx of the second finger (200).

8. The robotic arm according to any one of claims 1-7, characterized in that, The second finger (200) includes a second intermediate phalanx (220) and a second distal phalanx (230). The second root phalanx (210), the second intermediate phalanx (220), and the second distal phalanx (230) are rotatably connected in sequence. The second intermediate phalanx (220) has a greater range of rotation towards the palm of the robotic hand than towards the back of the robotic hand relative to the second root phalanx (210). The third finger (300) includes a third intermediate phalanx (320) and a third distal phalanx (330). The third root phalanx (310), the third intermediate phalanx (320), and the third distal phalanx (330) are rotatably connected in sequence. The third intermediate phalanx (320) has a greater range of rotation towards the palm of the hand than towards the back of the hand relative to the third root phalanx (310).

9. The robotic arm according to claim 8, characterized in that, The second distal phalanx (230) relative to the second intermediate phalanx (220) has a greater than or equal greater range of rotation toward the palm than toward the back of the hand; the third distal phalanx (330) relative to the third intermediate phalanx (320) has a greater than or equal greater range of rotation toward the palm than toward the back of the hand.

10. A robot, characterized in that, The robot includes the robotic arm as described in any one of claims 1-9.

Images