robotic arms and robots

Abstract

This application provides a robotic hand and a robot, relating to the field of robotics technology, to solve the problem of limited grip width in robotic hands. The robotic hand includes a first, second, and third finger and a mounting base; the first finger has a first root phalanx, the second finger has a second root phalanx, and the third finger has a third root phalanx; the second and third root phalanxes are arranged side-by-side and fixedly connected to the mounting base; the first finger can flip and switch between a first and a second extreme position; in the first extreme position, the first, second, and third root phalanxes are arranged side-by-side; in the second extreme position, the first root phalanx is at least partially outside the area directly opposite the second and third root phalanxes, and the first finger is configured such that its fingertip contact surface can contact a local area of ​​the fingertip contact surface of the second finger that is biased towards the fingertip contact surface of the third finger. This can increase the grip width of the robotic hand.

Description

Technical Field

[0001] This application relates to the field of robotics, and more specifically, to a robotic arm and a robot. Background Technology

[0002] In existing technologies, for robotic hands capable of gripping, the base of the thumb is generally located within the extension range of the other four or more fingers. This results in a small grip width range, which can reduce the stability of the grip, even though gripping can be achieved. Summary of the Invention

[0003] The first aspect of this application aims to provide a robotic hand to solve the technical problem of the small grip width of existing robotic hands.

[0004] The first aspect of this application provides a robotic hand comprising a first finger, a second finger, a third finger, and a mounting base; the first finger has a first root phalanx, the second finger has a second root phalanx, and the third finger has a third root phalanx; the second root phalanx and the third root phalanx are arranged side by side and fixedly connected to the mounting base; the first finger is capable of flipping and switching between a first extreme position and a second extreme position; in the first extreme position, the first root phalanx is arranged side by side with the second root phalanx and the third root phalanx; in the second extreme position, the first root phalanx is at least partially outside the area directly opposite the second root phalanx and the third root phalanx, and the first finger is configured such that its 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 that is biased towards the fingertip contact surface of the third finger.

[0005] The beneficial effects of the robotic arm proposed in this application are:

[0006] By positioning the first root phalanx at least partially outside the area directly opposite the second and third root phalanxes in the second extreme position, the grip width of the robotic hand can be increased, improving grip stability. Furthermore, configuring the first finger so that its fingertip contact surface can contact a localized area where the fingertip contact surface of the second finger is biased towards the fingertip contact surface of the third finger means that the force exerted by the first finger on the grasped object will be directed towards this area. Therefore, the second and third fingers can be used to balance the force exerted by the first finger, preventing torque generated on the object due to the forces exerted by the first and second fingers.

[0007] In an optional technical solution, the robotic arm further includes a flipping component, which is mounted on the mounting base. The flipping component is used to drive the first finger to flip and switch between the first extreme position and the second extreme position around the flipping axis. The vertical plane of the flipping axis is not parallel to the vertical plane of the extension direction of the second root phalanx, and when the second finger is in an extended state, from the second root phalanx toward the fingertip of the second finger, the second finger as a whole gradually moves away from the flipping axis.

[0008] In an optional technical solution, the angle between the vertical plane of the flipping axis and the vertical plane of the extension direction of the second root phalanx is 5° to 7°.

[0009] In an optional technical solution, the extension direction of the first root phalanx at the first extreme position is not parallel to the extension direction of the first root phalanx at the second extreme position, and forms an acute angle with the opening facing the end of the first finger.

[0010] In an optional technical solution, the angle between the flipping axis and the extension direction of the first root phalanx is at least 6°.

[0011] In an optional technical solution, the rotation angle between the first root phalanx and the second extreme position is less than 8°.

[0012] In an optional technical solution, at the second extreme position, the first root phalanx is located on the opposite side of the second root phalanx and the third root phalanx, and the rotation axis of each phalanx of the first finger is not parallel to the rotation axis of each phalanx of the second finger.

[0013] In an optional technical solution, the second finger further includes a second intermediate phalanx and a second distal phalanx, with the second root phalanx, the second intermediate phalanx, and the second distal phalanx sequentially rotatably connected. The second intermediate phalanx, relative to the second root phalanx, has a greater range of rotation towards the palm of the robotic hand than towards the back of the robotic hand. The third finger further includes a third intermediate phalanx and a third distal phalanx, with the third root phalanx, the third intermediate phalanx, and the third distal phalanx sequentially rotatably connected. The third intermediate phalanx, relative to the third root phalanx, has a greater range of rotation towards the palm of the hand than towards the back of the hand.

[0014] In an optional technical solution, the second distal phalanx, relative to the second intermediate phalanx, has a greater than or equal greater range of rotation toward the palm than toward the back of the hand; the third distal phalanx, relative to the third intermediate phalanx, has a greater than or equal greater range of rotation toward the palm than toward the back of the hand.

[0015] The second aspect of this application aims to provide a robot that solves the technical problem of a small grip width of a robotic arm.

[0016] The robot provided in the second aspect of this application includes the aforementioned robotic arm.

[0017] By incorporating the aforementioned robotic arm into the robot, the robot acquires all the advantages of the robotic arm, which will not be elaborated upon here. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments or background art of this application, the drawings used in the description of the embodiments or background art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the structure of the robotic arm provided in Embodiment 1 of this application.

[0020] Figure 2 This is a schematic diagram of the structure of the robotic hand provided in Embodiment 1 of this application when the first finger is in the first extreme position.

[0021] Figure 3 This is a schematic diagram of the structure of the robotic hand provided in Embodiment 1 of this application when the first finger is in the second extreme position.

[0022] Figure 4 This is another structural schematic diagram of the robotic hand provided in Embodiment 1 of this application when the first finger is in the second extreme position.

[0023] Figure 5 This is a schematic diagram showing the angle between the flipping axis of the robotic arm and the first surface provided in Embodiment 1 of this application.

[0024] Figure 6 This is a schematic diagram showing the angle between the third surface and the second surface of the robotic arm provided in Embodiment 1 of this application.

[0025] Figure 7 This is a schematic diagram of the structure of the second finger in the robotic hand provided in Embodiment 1 of this application.

[0026] Figure 8 This is a schematic diagram of another state of the robotic hand provided in Embodiment 1 of this application when the first finger is in the first extreme position.

[0027] Figure 9 This is a schematic diagram of the structure of the second finger in the robotic hand provided in Embodiment 1 of this application.

[0028] Figure 10 This is a schematic diagram of the structure of the mechanical hand finger joint body provided in Embodiment 1 of this application.

[0029] Explanation of reference numerals in the attached figures:

[0030] 100-First finger; 110-Finger root mounting part; 111-Third surface; 112-Pivot part; 113-Second surface; 120-First root phalanx; 130-First intermediate phalanx; 131-Pulse body; 132-Connecting part; 133-Rotating motor; 134-Transmission component; 140-First distal phalanx;

[0031] 200 - Second finger; 210 - Second root phalanx; 220 - Second middle phalanx; 230 - Second terminal phalanx;

[0032] 300 - Third finger; 310 - Third root phalanx; 320 - Third middle phalanx; 330 - Third terminal phalanx;

[0033] 400 - Mounting base; 410 - Flip assembly; 420 - Flip axis; 430 - First surface. Detailed Implementation

[0034] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, specific embodiments of this application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0035] Example 1:

[0036] Figure 1 This is a schematic diagram of the structure of the robotic arm provided in Embodiment 1 of this application. Figure 2 This is a schematic diagram of the structure of the robotic hand provided in Embodiment 1 of this application when the first finger is in the first extreme position. Figure 3 This is a schematic diagram of the structure of the robotic hand provided in Embodiment 1 of this application when the first finger is in the second extreme position. Figure 4 This is another structural schematic diagram of the robotic hand provided in Embodiment 1 of this application when the first finger is in the second extreme position. Figures 1-4As shown, the robotic hand provided in Embodiment 1 of this application 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 are both fixedly connected to the mounting base 400. The first finger 100 can flip between a first extreme position and a second extreme position. When switching, in the first extreme 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 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.

[0037] When the first root phalanx 120 is positioned at least partially outside the area directly opposite the second root phalanx 210 and the third root phalanx 310 in the second extreme position, the grip width of the robotic hand can be increased, improving grip stability. Furthermore, the configuration of the first finger 100 such that its fingertip contact surface contacts a localized area of ​​the fingertip contact surface of the second finger 200 that is biased towards the fingertip contact surface of the third finger 300 means that the force exerted by the first finger 100 on the grasped object will be directed towards this area. Therefore, the second finger 200 and the third finger 300 can be used to balance the force exerted by the first finger 100, preventing the object from experiencing torque due to the forces exerted by the first finger 100 and the second finger 200.

[0038] It should be noted that the robotic hand listed in this application includes a first finger 100, a second finger 200, and a third finger 300, but this does not preclude the inclusion of a fourth finger, a fifth finger, etc. For example, when the first root phalanx 120, the second root phalanx 210, and the third root phalanx 310 are arranged side by side, the fourth finger and the fifth finger can be arranged sequentially on the side of the third finger 300 away from the second finger 200.

[0039] The robotic arm includes a mounting base 400, described later, the top of which is roughly rectangular when viewed from above. In its first extreme position, the first root segment 120 is arranged side-by-side with the second root segment 210 and the third root segment 310, meaning that the first root segment 120, the second root segment 210, and the third root segment 310 are on the same side of the top of the mounting base 400. This does not mean that the first root segment 120, the second root segment 210, and the third root segment 310 are equal in height or at the same height position. Furthermore, the first root segment 120, the second root segment 210, and the third root segment 310 can maintain the same distance from the top of the mounting base 400.

[0040] When the first root finger 120 is in the second extreme position, the first root finger 120 is located on the side of the mounting base 400 opposite to the second root finger 210. In the second extreme position, the first root finger 120 is at least partially outside the area directly opposite the second root finger 210 and the third root finger 310. This means that if the second root finger 210 and the third root finger 310 are considered to form a plane, and this plane is extended vertically to form a columnar space, at least a portion of the first root finger 120 is on one side of this columnar space, but not located within it.

[0041] If the first root knuckle 120 is in the second extreme position, and the bending direction of the first finger 100 is perpendicular to the side of the mounting base 400 near the second root knuckle 210, then the force exerted by the first finger 100 on the object when bent is also perpendicular to that side. In addition, the force exerted by the second finger 200 on the object is also perpendicular to that side. Since the first finger 100 and the second finger 200 are not coplanar, the forces of the first finger 100 and the second finger 200 will create a torque, which may prevent a stable grip on the object. Even if the third finger 300 is bent, this torque cannot be reduced. However, in this embodiment, when the first finger 100 is in the second extreme position, its bending direction points towards the area where the second finger 200 and the third finger 300 are located, thus avoiding the aforementioned defects.

[0042] The first finger 100 is configured to be able to bend toward the area where the second finger 200 and the third finger 300 are located. This does not limit the first finger 100 to only bend in that direction and not in other directions. Even when the first finger 100 is in that position, it can bend away from the direction of the second finger 200.

[0043] like Figures 1 to 5As shown, optionally, the robotic arm also includes a flipping assembly 410, which is mounted on the mounting base 400. The flipping assembly 410 is used to drive the first finger 100 to flip and switch between a first limit position and a second limit 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 phalanx 210. When the second finger 200 is in an extended state, from the second root phalanx 210 toward the fingertip of the second finger 200, the second finger 200 gradually moves away from the flipping axis 420.

[0044] With this configuration, when the first finger 100 is in the second extreme position, the angle between the extension direction of the first root phalanx 120 and the length direction of the second finger 200 can be increased, that is, the distance between the free ends of the first root phalanx 120 and the second root phalanx 210 can be increased, thereby increasing the gripping space and making it easier to hold objects with a wider grip.

[0045] The length direction of the second finger 200 refers to the direction of the line connecting the free end of the second finger 200 from the second root phalanx 210 to the second terminal phalanx 230, with all the joints of the second finger 200—the second root phalanx 210, the second intermediate phalanx 220, and the second terminal phalanx 230—maintaining a straight angle. That is, the length direction of the second finger 200 is consistent with the extension direction of the second root phalanx 210. The extension direction of the second root phalanx 210 is consistent with the height direction of the second root phalanx 210. Similarly, the length direction of the first finger 100 and the third finger 300 are defined in the same way. Likewise, the length direction of the first finger 100 is consistent with the extension direction of the first root phalanx 120, and the length direction of the third finger 300, the length direction of the second intermediate phalanx 220, and the extension direction of the third root phalanx 310 are consistent.

[0046] Specifically, if the bending axes of each phalanx of the second finger 200 are horizontal, then the vertical plane of the flip axis 420 is inclined, meaning the flip axis 420 is also inclined. When the flip axis 420 is inclined, and the first root phalanx 120 and the second root phalanx 210 are side by side at the first extreme position, the extension direction of the first root phalanx 120 is basically parallel to the length direction of the second finger 200. When the first root phalanx 120 is flipped along the flip axis 420 to the second extreme position, the extension direction of the first root phalanx 120 is more inclined than the flip axis 420 relative to the extension direction of the second root phalanx 210, thereby increasing the distance between the free ends of the first root phalanx 120 and the second root phalanx 210, thus increasing the gripping space.

[0047] Figure 5This is a schematic diagram showing the angle between the flipping axis and the first surface in the robotic arm provided in Embodiment 1 of this application. Figure 1 , Figures 3 to 5 As shown, optionally, the angle between the vertical plane of the flipped axis 420 and the vertical plane of the extension direction of the second root finger 210 is 5° to 7°.

[0048] Setting the included angle between these two vertical planes within the above range not only appropriately increases the distance between the first root knuckle 120 and the second root knuckle 210, thus increasing the gripping space, but also ensures full utilization of the length of each knuckle of the first finger 100. Otherwise, if the included angle is too large, when the first root knuckle 120 is in the second extreme position, it will be tilted too outward relative to the second root knuckle 210. The extended length of the first root knuckle 120 will need to be offset by the other knuckles of the first finger 100 bending inward, thus wasting the length of the first finger 100.

[0049] In this embodiment, a finger root mounting member 110 is installed at the power output end of the flipping assembly 410. The finger root mounting member 110 is fixedly connected to the first root phalanx 120, and the finger root mounting member 110 is rotated to achieve the flipping of the first finger 100. The finger root mounting member 110 has a pivot portion 112 and a mounting portion fixedly connected to the pivot portion 112. The first root phalanx 120 is inserted into the mounting portion and fixedly connected to the mounting portion. The upper surface of the pivot portion 112 of the finger root mounting member 110, i.e., the second surface 113, belongs to the vertical plane of the flipping axis 420, and the angle between the flipping axis 420 and the second surface 113 is the first angle.

[0050] When the robotic arm is in Figure 1 In the indicated position, the first surface 430 is the upper surface of the mounting base 400, which is horizontal at this time, and the first surface 430 is the vertical plane of the extension direction of the second root phalanx 210. The length direction of the second finger 200 is vertical at this time. 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 rotation axis 420 is tilted to the right. That is, the first angle is between 83° and 85°. The difference between the first angle and the second angle is the angle between the vertical plane of the rotation axis 420 and the vertical plane of the extension direction of the second root phalanx 210. Figure 5 Angle α and the first included angle are alternate interior angles between two parallel lines, and they are equal. If α is directly marked at the position of the first included angle, it will interfere with other lines in the figure. Marking it here is clearer. The two red horizontal dashed lines in the figure are both parallel to the first surface 43°.

[0051] like Figures 1 to 4As shown, optionally, the extension direction of the first root phalanx 120 in the first extreme position is not parallel to the extension direction of the first root phalanx 120 in the second extreme position, and forms an acute angle with the opening facing the end of the first finger 100.

[0052] This configuration can further increase the distance between the free ends of the first root knuckle 120 and the second root knuckle 210, thereby increasing the gripping space.

[0053] Specifically, the extension direction of the first root phalanx 120 in the first and second extreme positions is not parallel, indicating that the extension direction of the first root phalanx 120 is not parallel to the rotation axis 420, and the two form an acute angle. Therefore, when the first finger 100 rotates along the rotation axis 420, the area it actually sweeps is a frustum-shaped area.

[0054] In this embodiment, the upper surfaces of the first root phalanx 120, the second root phalanx 210, and the third root phalanx 310 are perpendicular to the length direction of their respective fingers. Since the extension direction of the first root phalanx 120 is not parallel when in the first and second extreme positions, but can be parallel to the length direction of the second finger 200 when in the first extreme position, the extension direction of the first root phalanx 120 in the second extreme position is neither parallel nor coplanar with the length direction of the second finger 200. Therefore, the extension direction of the first root phalanx 120 in the second extreme position is neither parallel nor coplanar with the length direction of the second finger 200, and correspondingly, the upper surfaces of the first root phalanx 120, the second root phalanx 210, and the third root phalanx 310 are neither parallel nor coplanar.

[0055] like Figure 5 and Figure 6 As shown, optionally, the angle between the rotating axis 420 and the extending direction of the first root phalanx 120 is at least 6°.

[0056] This configuration further increases the distance between the first root knuckle 120 and the second root knuckle 210, thereby increasing the gripping space. Setting the included angle as described above ensures that when the first root knuckle 120 is in its first extreme position, the extension direction of the first root knuckle 120 is substantially consistent with the length direction of the second root knuckle 210, facilitating the gripping of plate-shaped parts when all three fingers are side-by-side.

[0057] Specifically, the third surface 111 is Figure 6 The upward surface of the mounting portion of the middle finger root mount 110 has a third surface 111 perpendicular to the extending direction of the first root phalanx 120, while the second surface 113 is perpendicular to the flip axis 420. Therefore, the angle between the flip axis 420 and the first root phalanx 120 is equal to the angle between the third surface 111 and the second surface 113. Figure 6The angle θ between the second surface 113 and the third surface 111 is at least 6°.

[0058] like Figures 1 to 4 As shown, optionally, the rotation angle of the first root phalanx 120 from the first extreme position to the second extreme position is less than 180°.

[0059] This configuration increases the width of the gripping area of ​​the robotic arm on the object being grasped, thereby improving the stability of the gripping action.

[0060] Specifically, if the first root knuckle 120 rotates 180° from the first extreme position to the second extreme position, the top two of the three knuckles of the first finger 100 can rotate with the first root knuckle 120 about the extension direction of the first root knuckle 120. Although this allows the first finger 100 to bend towards the second finger 200 and the third finger 300, and avoids the torque problem caused by the force applied by multiple fingers mentioned earlier, it results in a smaller gripping area. Because when the first finger 100 rotates 180° from the first extreme position, the gripping area is actually the same as the area gripped by the three fingers when the first finger 100 is in the first extreme position. However, a rotation of less than 180° can increase the width of the gripping area.

[0061] like Figures 1 to 4 As shown, optionally, 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.

[0062] This configuration allows the force exerted on the object being gripped by the joints of the first finger 100 to be more biased towards the second finger 200 and the third finger 300 when they rotate relative to each other. This reduces the torque generated on the object when the fingers on opposite sides grip it, thereby improving the stability of the grip.

[0063] In this embodiment, each phalanx of the first finger 100 cannot rotate relative to the first root phalanx 120 around the extension direction of the first root phalanx 120. The rotation axis of each phalanx of the first finger 100 rotates by the same angle as the first finger 100 is driven to rotate by the flipping component 410.

[0064] Figure 7 This is a schematic diagram of the structure of the second finger in the robotic hand provided in Embodiment 1 of this application. Figure 8 This is a schematic diagram illustrating another state of the robotic hand provided in Embodiment 1 of this application when the first finger is in the first extreme position. Figure 7 and Figure 8As shown, optionally, the second finger 200 includes a second intermediate phalanx 220 and a second distal phalanx 230, with the second root phalanx 210, the second intermediate phalanx 220 and the second distal phalanx 230 sequentially rotatably connected. The second intermediate phalanx 220, relative to the second root phalanx 210, has a greater range of rotation towards the palm of the robotic hand than towards the back of the robotic hand. The third finger 300 includes a third intermediate phalanx 320 and a third distal phalanx 330, with the third root phalanx 310, the third intermediate phalanx 320 and the third distal phalanx 330 sequentially rotatably connected. The third intermediate phalanx 320, relative to the third root phalanx 310, has a greater range of rotation towards the palm of the hand than towards the back of the hand.

[0065] This configuration not only allows the first finger 100, the second finger 200, and the third finger 300 to hold an object together, but also, when the first finger 100 moves to the first limit position, the last phalanges of the first finger 100 and the third finger 300 are controlled to bend towards the back of the hand, while the last phalanges of the second finger 200 bend towards the palm. The last phalanges of the three fingers are roughly parallel, which can achieve the clamping of plate-shaped parts.

[0066] Figure 9 This is a schematic diagram of the structure of the second finger in the robotic hand provided in Embodiment 1 of this application. Figure 10 This is a schematic diagram of the structure of the manipulator's middle finger joint body provided in Embodiment 1 of this application. Figure 9 and Figure 10As shown, the first finger 100 also includes a first intermediate phalanx 130 and a first distal phalanx 140. The first root phalanx 120, the first intermediate phalanx 130, and the first distal phalanx 140 are rotatably connected in sequence. The second intermediate phalanx 220, the second distal phalanx 230, the third intermediate phalanx 320, the third distal phalanx 330, the first intermediate phalanx 130, and the first distal phalanx 140 each include a connecting portion 132 and a phalanx body 131 fixedly connected to the connecting portion 132. Each connecting portion 132 is drively connected to the phalanx of the next higher level, while the phalanx body 131 forms a part for gripping objects. Of course, the connecting portion 132 can also be used to grip objects. The phalanx bodies 131 of the second intermediate phalanx 220, the third intermediate phalanx 320, and the first intermediate phalanx 130 are provided with a driving portion for driving the movement of the next higher level phalanx, and the driving portion is drively connected to the connecting portion 132 of the next higher level phalanx. The second terminal phalanx 230, the third terminal phalanx 330, and the first terminal phalanx 140 do not require drive units. Furthermore, drive units are also provided on the second root phalanx 210, the third root phalanx 310, and the first root phalanx 120 for connecting to the next-level phalanx, via connection parts 132. The drive unit may include a rotary motor 133, which is connected to multiple transmission components 134. The power output ends of the multiple transmission components 134 are connected to the connection parts 132 of the next-level phalanx. Specifically, in this embodiment, the multiple transmission components 134 may be multiple meshing gears.

[0067] like Figure 8 As shown, optionally, the second distal phalanx 230 relative to the second intermediate phalanx 220 has a greater or equal 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 or equal range of rotation toward the palm than toward the back of the hand.

[0068] When the first root knuckle 120, the second root knuckle 210, and the third root knuckle 310 are arranged side by side, and the first finger 100 and the third finger 300 clamp from one side and the second finger 200 from the other side, the last knuckles of the three fingers are roughly parallel, which can achieve clamping of plate-shaped parts. Therefore, there is no need for the last knuckle to rotate backward at an excessive angle.

[0069] Example 2:

[0070] Embodiment 2 also provides a robot, including the aforementioned robotic arm.

[0071] By incorporating the aforementioned robotic arm into the robot, the robot acquires all the advantages of the robotic arm, which will not be elaborated upon here.

[0072] While this application discloses the above information, it is not limited thereto. Any person skilled in the art can make various modifications and alterations without departing from the spirit and scope of this application; therefore, the scope of protection of this application shall be determined by the scope defined in the claims.

[0073] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the term "comprising" or any other variations thereof is intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0074] In the above embodiments, descriptions of directions such as "up" and "down" are based on the accompanying drawings.

[0075] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application.

[0076] Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded 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 between a first extreme position and a second extreme position. In the first extreme 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 the second root phalanx (210) and the third root phalanx (310). 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); the robotic hand 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 limit position and the second limit 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 phalanx (210), and when the second finger (200) is in the extended state, from the second root phalanx (210) toward the fingertip of the second finger (200), the second finger (200) gradually moves away from the flipping axis (420).

2. The robotic arm according to claim 1, 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°.

3. The robotic arm according to claim 1, 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).

4. The robotic arm according to claim 3, characterized in that, The angle between the flipping axis (420) and the extending direction of the first root phalanx (120) is at least 6°.

5. The robotic arm according to claim 3, 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°.

6. 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).

7. The robotic arm according to any one of claims 1-6, 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).

8. The robotic arm according to claim 7, 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.

9. A robot, characterized in that, The robot includes the robotic arm as described in any one of claims 1-8.

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