Mechanical finger and manipulator

Abstract

The invention relates to the technical field of bionic mechanical hands, in particular to a mechanical finger which comprises a first joint and a second joint adjacent to the first joint. The robot is characterized in that the first joint comprises a base, a first driving mechanism and a second driving mechanism; the first driving mechanism and the second driving mechanism are arranged on one side of the base; the base is hinged to the side, close to the first joint, of the second joint. The output end of the first driving mechanism and the output end of the second driving mechanism are hinged to the side, close to the first joint, of the second joint. By controlling the driving signals of the first driving mechanism and the second driving mechanism, the movement angle of the second joint can be changed, rotation of the second joint is achieved, the stability when an object is pinched is improved, and the possibility that the object falls off is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of bionic robot hand, and particularly to a mechanical finger and a robot hand. BACKGROUND

[0002] The bionic robot hand on the market has good development in picking up objects and can be achieved through linkage of bionic fingers. The bionic robot hand on the market has good performance in pressing and holding objects, but the fingers of the existing robot hand cannot rotate, which easily leads to unstable gripping of objects and easy falling of the gripped objects.

[0003] Therefore, the prior art has defects and needs to be improved. SUMMARY

[0004] The present application provides a mechanical finger and a robot hand to solve the problem of unstable gripping of objects caused by the fingers of the bionic robot hand on the market being unable to rotate.

[0005] In a first aspect, the present application provides a mechanical finger, which comprises a first joint and a second joint adjacent to the first joint; characterized in that: the first joint comprises a base, a first driving mechanism and a second driving mechanism; the first driving mechanism and the second driving mechanism are arranged on one side of the base; the base is hinged to one side of the second joint close to the first joint; the output end of the first driving mechanism and the output end of the second driving mechanism are respectively hinged to one side of the second joint close to the first joint; and the first driving mechanism and the second driving mechanism drive the second joint to rotate.

[0006] Optionally, the first joint further comprises a connecting rod mechanism; the connecting rod mechanism comprises a first connecting rod, a second connecting rod and a crossbar; the crossbar is connected to one side of the second joint close to the first joint, and the extension direction of the crossbar is parallel to the horizontal direction; one end of the first connecting rod is connected to the output end of the first driving mechanism and can rotate relative to the output end, and the other end is connected to the first end of the crossbar and can rotate relative to the crossbar; one end of the second connecting rod is connected to the output end of the second driving mechanism and can rotate relative to the output end, and the other end is connected to the second end of the crossbar and can rotate relative to the crossbar.

[0007] Optionally, the first driving mechanism and the second driving mechanism are arranged side by side in alignment; the shape and size of the first connecting rod are consistent with the shape and size of the second connecting rod.

[0008] Optionally, the first connecting rod comprises a first rod, a first universal ball and a second universal ball, both ends of the first rod are provided with accommodating structures, the accommodating structures are provided with accommodating spaces matched with the first universal ball and the second universal ball, the first universal ball and the second universal ball are accommodated in the accommodating spaces of the accommodating structures and are constrained by the accommodating structures, a first through hole matched with the radial length of the horizontal rod is formed in the first universal ball, and the first rod is sleeved on the horizontal rod through the first through hole.

[0009] Optionally, the horizontal rod is a hollow structure, and the horizontal rod is provided with limiting pieces matched with the hollow structure at both ends.

[0010] Optionally, the output end of the first driving mechanism comprises a first connecting seat and a first rotating shaft arranged on the first connecting seat, a second through hole matched with the first rotating shaft is formed in the second universal ball, and the first rotating shaft penetrates through the second through hole.

[0011] Optionally, the first connecting seat comprises a first bottom plate and two first side plates connected to both sides of the first bottom plate, and both ends of the first rotating shaft are fixed on the first side plates on both sides respectively.

[0012] Optionally, the base is provided with a vertical rod on the side close to the second joint, a second connecting seat and a second rotating shaft arranged on the second connecting seat are arranged on the free end of the vertical rod, and the second rotating shaft is hinged with the second joint.

[0013] Optionally, the second connecting seat comprises a second bottom plate and two second side plates connected to both sides of the second bottom plate, the second bottom plate is fixed on the free end of the vertical rod, and both ends of the second rotating shaft are fixed on the second side plates respectively.

[0014] In the second aspect, the application further provides a mechanical hand comprising any of the above mechanical fingers.

[0015] Compared with the prior art, the above technical scheme provided by the embodiments of the application has the following advantages:

[0016] The mechanical finger provided by the embodiments of the application comprises a first joint and a second joint adjacent to the first joint, the first joint comprises a base, the second joint is hinged with the base, the first driving mechanism and the second driving mechanism of the first joint can drive the second joint to move relative to the base, the driving signals of the first driving mechanism and the second driving mechanism can be controlled to change the movement angle of the second joint, the rotation of the second joint is realized, the stability during the pinching and picking of the object is increased, and the possibility of the object falling off is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0017] The accompanying drawings, which are incorporated herein and constitute part of the specification, illustrate embodiments consistent with the application and, together with the description, further serve to explain the principles of the application.

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the accompanying drawings required by the embodiments or the prior art description will be briefly introduced as follows. Obviously, those skilled in the art can obtain other drawings from these drawings without any creative effort.

[0019] One or more embodiments are illustrated by way of example in the drawings that are not intended to be limiting of the application, and the same or similar reference numerals designate similar components throughout the drawings and specification. The drawings are not necessarily to scale, the emphasis instead being placed upon illustrating the principles of the embodiments.

[0020] Figure 1 A perspective view of a mechanical finger according to an embodiment of the present application;

[0021] Figure 2 A structural schematic view of a first joint in a mechanical finger according to an embodiment of the present application;

[0022] Figure 3 A structural schematic view of a first joint except a first connecting rod and a second connecting rod according to an embodiment of the present application;

[0023] Figure 4 A perspective view of a first connecting rod according to an embodiment of the present application;

[0024] Figure 5 A perspective view of a first connecting rod according to an embodiment of the present application;

[0025] Figure 6 A perspective view of a limiting member according to an embodiment of the present application;

[0026] Figure 7 A perspective view of an output end of a first driving mechanism according to an embodiment of the present application;

[0027] Figure 8 A structural schematic view of a base 8 in a mechanical finger according to an embodiment of the present application;

[0028] Figure 9 A perspective view of a first joint in a mechanical finger according to an embodiment of the present application; Figure 8 A perspective view from another angle;

[0029] Figure 10 A perspective view of a first joint in a mechanical finger according to an embodiment of the present application;

[0030] Figure 11 A perspective view of a mechanical finger according to an embodiment of the present application;

[0031] Figure 12 This is a perspective view of a mechanical finger according to an embodiment of this application;

[0032] Figure 13 This is an exploded view of a passive joint according to an embodiment of this application.

[0033] Explanation of reference numerals in the attached figures:

[0034] 1. First joint; 2. Second joint; 3. Third joint; 4. Passive joint; 5. Housing; 6. Visual and tactile sensor; 7. Nail structure; 8. Base; 9. First drive mechanism; 10. Second drive mechanism; 11. Linkage mechanism; 12. First link; 13. Second link; 14. Crossbar; 15. First member; 16. First omnidirectional ball; 17. Second omnidirectional ball; 18. Receiving structure; 19. Receiving space; 20. 21. Through hole; 22. Limiting component; 23. Column; 24. Cap; 25. Stop; 26. First base plate; 27. First side plate; 28. First pivot; 29. ​​Second through hole; 30. Vertical rod; 31. Second base plate; 32. Second side plate; 33. Second pivot; 34. Connecting cylinder; 35. Bearing; 36. First housing; 37. Third drive mechanism; 38. Second housing; 39. Fourth drive mechanism; 30. Connecting hole. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0036] The following disclosure provides numerous different embodiments or examples for implementing various structures of this application. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the scope of this application. Furthermore, reference numerals and / or letters may be repeated in different examples. Such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed.

[0037] For the purpose of convenience, spatial relative terms can be used in the specification to describe one element's or feature's relative position or movement to another element or feature as shown in the drawings. Such spatial relative terms include, for example, "inner", "outer", "inward", "outward", "lower", "bottom", "top", "upper", "front", "rear", and the like. Such spatial relative terms can be used to indicate different orientations of the device in use or operation, relative to the orientation shown in the drawings. For example, if the device in the drawings were turned over or rotated 90 degrees or in another direction, the indicative terms can change accordingly, for example, an element described as "below" or "under" another element or feature would then be oriented "above" or "over" the other element or feature. Therefore, the exemplary term "below" can include both above and below orientations. The device can be additionally oriented (rotated 90 degrees or in another direction) and the spatial relative terms used in the specification are interpreted accordingly.

[0038] A robot hand is a device that can imitate human hand to perform certain functions. In the field of robotics, a robot hand can automatically grasp specific objects according to a pre-set program. The robot hand imitates the appearance of a human hand and is designed with multiple fingers that cooperate with each other to grasp objects. The present application discloses a robot finger that can rotate the finger and improve the stability of human hand in grasping objects.

[0039] Figure 1 A robot finger is provided in the embodiments of the present application, which includes a first joint 1 and a second joint 2. For the robot finger designed for a human-like finger, the number of joints included in the robot finger can be different. For example, in an embodiment, the robot finger can only include one active joint and one passive joint. In this embodiment, the first joint 1 is an active joint and the second joint 2 is a passive joint. In some other embodiments, the robot finger further includes a third joint 3 and a passive joint 4. Among them, the first joint 1, the second joint 2 and the third joint 3 are active joints. In this embodiment, the first joint 1 is a metacarpophalangeal joint, the second joint 2 is an interphalangeal joint, the third joint 3 is a fingertip joint, and the passive joint 4 is a finger tip. The embodiments of the present application are not limited to the number of joints of the robot finger.

[0040] Please refer to Figure 2 . Figure 2 The structural schematic diagram of the first joint 1 in an embodiment of the present application is shown. As shown in the figure, Figure 2As shown, the first joint 1 comprises a base 8, a first driving mechanism 9, and a second driving mechanism 10. The first driving mechanism 9 and the second driving mechanism 10 are fixed on one side of the base 8, the base 8 is hinged to the second joint 2 near one side of the first joint 1 of the mechanical finger, and the output end of the first driving mechanism 9 and the output end of the second driving mechanism 10 are respectively hinged to the other side of the second joint 2 near the first joint 1 of the mechanical finger. The first driving mechanism 9 can be individually jacked up or retracted, and similarly, the second driving mechanism 10 can also be individually jacked up or retracted, and the first driving mechanism 9 and the second driving mechanism 10 cooperatively drive the second joint 2 to rotate. When the first driving mechanism 9 and the second driving mechanism 10 are synchronously jacked up or retracted, since the second joint 2 is hinged to the base 8, the second joint 2 is bent or stretched with the base 8 as the axis under the action of the first driving mechanism 9 and the second driving mechanism 10. When the first driving mechanism 9 and the second driving mechanism 10 are asynchronously jacked up or retracted, the second joint 2 is deflected left and right. Therefore, through the cooperative driving of the first driving mechanism 9 and the second driving mechanism 10, the second joint 2 can rotate, the gripping angle can be adjusted in the scenario of gripping an object, the gripping stability can be improved, and the object can be prevented from falling off.

[0041] Please refer to Figures 2-3 In some embodiments, the first joint 1 further comprises a connecting rod mechanism 11. The connecting rod mechanism 11 comprises a first connecting rod 12, a second connecting rod 13, and a crossbar 14. The crossbar 14 is connected to one side of the second joint 2 near the first joint 1 of the mechanical finger, and the extension direction of the crossbar 14 is parallel to the horizontal direction. The middle position of the crossbar 14 is fixed to the second active joint 2. One end of the first connecting rod 12 is connected to the output end of the first driving mechanism 9 and can rotate relative to the output end, and the other end is connected to the first end of the crossbar 14 and can rotate relative to the crossbar 14. One end of the second connecting rod 13 is connected to the output end of the second driving mechanism 10 and can rotate relative to the output end, and the other end is connected to the second end of the crossbar 14 and can rotate relative to the crossbar 14. The arrangement of the first connecting rod 12 and the second connecting rod 13 avoids the direct action of the first driving mechanism 9 and the second driving mechanism 10 on the second joint 2, reduces the possibility of structural jamming of the second joint 2 when moving to a certain angle, and is beneficial to improving the smoothness during gripping, picking up, and pinching.

[0042] The two ends of the crossbar 14 are generally smooth curved surfaces, facilitating the rotation of the first connecting rod 12 and the second connecting rod 13 relative to the crossbar 14. In some embodiments, the two ends of the crossbar 14 are completely symmetrical, improving the foolproof performance of the crossbar 14 during installation. A first fixing part is arranged at the middle position of the crossbar 14 and is fixed with the second joint 2. The second joint 2 is provided with a second fixing part matched with the first fixing part. The first fixing part and the second fixing part can be determined according to the connection mode of the crossbar 14 and the second joint 2. For example, in some embodiments, the crossbar 14 can be fixedly connected with the second joint 2 by welding, and the first fixing part and the second fixing part are welding points arranged on the crossbar 14 and the second joint 2 respectively. In some other embodiments, the crossbar 14 is fixedly connected with the second joint 2 by a screw, and the first fixing part and the second fixing part can be corresponding threaded holes. The fixing mode of the crossbar 14 and the second joint 2 is not limited in the embodiments of the present application.

[0043] In some embodiments, the first driving mechanism 9 and the second driving mechanism 10 are arranged side by side in a flush manner, and the shape and size of the first connecting rod 12 are consistent with the shape and size of the second connecting rod 13. Through the side-by-side flush arrangement of the first driving mechanism 9 and the second driving mechanism 10 and the consistent shape and size of the first connecting rod 12 and the second connecting rod 13, the first connecting rod 12 and the second connecting rod 13 at the two ends of the crossbar 14 move consistently when the first driving mechanism 9 and the second driving mechanism 10 simultaneously lift or retract the crossbar 14, avoiding the distortion of the mechanical finger structure, so that the blocking and interference of the fingers during movement are less likely to occur when multiple mechanical finger structures are arranged side by side, which is conducive to reducing the probability of product damage.

[0044] Please refer to Figures 4-5 . The first connecting rod 12 includes a first rod 15, a first universal ball 16 and a second universal ball 17. The two ends of the first rod 15 are provided with accommodating structures 18, and the accommodating structures 18 are provided with accommodating spaces 19 matched with the first universal ball 16 and the second universal ball 17. The first universal ball 16 and the second universal ball 17 are accommodated in the accommodating spaces 19 of the accommodating structures 18 and are constrained by the accommodating structures 18. A first through hole 20 matched with the radial length of the crossbar 14 is formed in the first universal ball 16, and the first rod 15 is sleeved on the crossbar 14 through the first through hole 20. The accommodating structure 18 at one end of the first rod 15 constrains the first universal ball 16, so that the first rod 15 can rotate relative to the first universal ball 16, thereby providing a force to the crossbar 14 in real time. At the same time, when the first connecting rod 12 is stuck, the second joint 2 can move normally in a normal state.

[0045] Please refer to Figure 3 and Figure 6In some embodiments, the crossbar 14 is a hollow structure, and the two ends of the crossbar 14 are provided with limiters 21 matched with the hollow structure. In some embodiments, the limiter 21 comprises a column 22 and a cap 23 located at one end of the column 22. The shape and size of the column 22 are matched with the shape and size of the inner diameter of the crossbar 14. After the first rod 15 is sleeved on the crossbar 14 through the first through hole 20, the column 22 of the limiter 21 is placed in the crossbar 14 to realize the connection of the first connecting rod 12 and the crossbar 14. The first universal ball 16 is sleeved on the crossbar 14 through the first through hole 20, and the crossbar 14 at the sleeving end of the first through hole 20 is sealed by interference fit, realizing the relative fixation of the first connecting rod 12 at the crossbar 14. The cap 23 of the limiter 21 can limit one end of the first universal ball 16 to prevent it from being separated from the crossbar 14. A stopper 24 is arranged at the other end of the first universal ball 16, and the distance between the stopper 24 and the cap 23 is consistent with the length of the first universal ball 16 in the extension direction of the crossbar 14, which can effectively prevent the first universal ball 16 from sliding in the extension direction of the crossbar 14, and is conducive to further ensuring that the second joint 2 can move in the normal state and improving the service life of the product. It can be understood that in some embodiments, the limiter 21 can be a non-threaded bolt, which increases the convenience of installation and is conducive to improving the installation efficiency. In some other embodiments, the limiter 21 can also be a threaded bolt, which is connected with the crossbar 14 through threads to limit the first connecting rod 12, facilitating installation and disassembly.

[0046] Please refer to Figure 7The output end of the first driving mechanism 9 comprises a first connecting seat and a first rotating shaft 27 arranged on the first connecting seat. The first connecting seat is a structural member connected with the output shaft of the first driving mechanism 9, and is used for mounting the first rotating shaft 27. When the output shaft moves linearly, the linear motion of the first driving mechanism 9 is converted into the rotary motion of the first joint through the first rotating shaft 27. In some embodiments, the first connecting seat is a U-shaped curved surface structure, and the first rotating shaft 27 is arranged on the curved surface structure. In other embodiments, the first connecting seat comprises a first bottom plate 25, two first side plates 26 connected on both sides of the first bottom plate 25, and the first rotating shaft 27. The second universal ball 17 is located between the two first side plates 26, and a second through hole 28 matched with the shape and size of the outer diameter of the first rotating shaft 27 is arranged on the second universal ball 17. The first rotating shaft 27 passes through the second through hole 28 and is fixed with the two first side plates 26 respectively. The distance between the two first side plates 26 is consistent with the length of the second universal ball 17 in the extension direction of the first rotating shaft 27, which can effectively prevent the second universal ball 17 from sliding in the extension direction of the first rotating shaft 27, and is conducive to further ensuring that the second joint 2 can move in a normal state. By arranging the two first side plates 26 and the first rotating shaft 27, the structure connected with the second universal ball 17 is more stable, which is conducive to realizing stable transmission of one end of the first connecting rod 12, avoiding the situation that the structure is loose and falls off due to unstable transmission, and improving the service life of the product and saving maintenance cost.

[0047] In the embodiment of the application, the first driving mechanism 9 and the second driving mechanism 10 are consistent in structure, and the first connecting rod 12 and the second connecting rod 13 are consistent in shape and size. The specific description of the second connecting rod 13 can be referred to the specific description of the first connecting rod 12, and the specific structure of the second connecting rod 13 will not be described here.

[0048] Please refer to Figures 8-10A vertical rod 29 is arranged on the side of the base 8 close to the second joint 2, the fixed end of the vertical rod 29 is fixed to the base 8, and the free end of the vertical rod 29 is provided with a second connecting seat and a second rotating shaft 32 arranged on the second connecting seat. In some embodiments, the second connecting seat is a U-shaped curved surface structure, and the second rotating shaft 27 is arranged on the curved surface structure. In other embodiments, the second connecting seat includes a second bottom plate 30, two second side plates 31 connected to the two sides of the second bottom plate 30, and the second rotating shaft 32. The two ends of the second rotating shaft 32 are respectively fixed to the two second side plates 31. A connecting cylinder 33 is arranged on the side of the second bottom plate 30 away from the second rotating shaft 32, the first joint 1 further includes a bearing 34, a connecting circular hole 39 is formed in the horizontal direction of the vertical rod 29, the inner diameter of the connecting circular hole 39 is consistent with the outer diameter of the bearing 34, the inner hole diameter of the bearing 34 is consistent with the outer diameter of the connecting cylinder 33, the outer ring of the bearing 34 is connected to the connecting circular hole 39 by interference fit, and the inner ring is connected to the connecting cylinder 33 by interference fit, and the second joint 2 is hinged to the second rotating shaft 32. When the first driving mechanism 9 is lifted or retracted alone, the second driving mechanism 10 is lifted or retracted alone, or one of the first driving mechanism 9 and the second driving mechanism 10 is lifted and the other is retracted, the second joint 2 will be deflected by a certain angle, the second joint 2 will drive the second rotating shaft 32 to rotate, the second rotating shaft 32 will drive the second side plate 31, the second bottom plate 30 and the connecting cylinder 33 to rotate, and the connecting cylinder 33 will drive the inner ring of the bearing 34 to rotate. Through the arrangement of the second bottom plate 30, the second side plate 31, the second rotating shaft 32, the connecting cylinder 33 and the bearing 34, when the first driving mechanism 9 and / or the second driving mechanism 10 drives the second joint 2 to rotate, the second joint 2 as a whole cannot rotate and the structure is damaged due to the second rotating shaft 32 being hinged only to the second joint 2 and being unable to rotate, which is beneficial to the smooth realization of the second joint 2 to be pressed down or lifted up while also smoothly realizing a certain angle of rotation.

[0049] Please refer to Figures 11-12 In some embodiments, the second joint 2 further includes a first housing 35 and a third driving mechanism 36 arranged in the first housing 35. The first housing 35 is hinged to the side of the third joint 3 close to the second joint 2, and the output end of the third driving mechanism 36 is hinged to the other side of the third joint 3 close to the second joint 2. The first housing 35 is hinged to the second rotating shaft 32, and the first housing 35 is fixed to the middle position of the cross rod 14. By lifting or retracting the third driving mechanism 36, the third joint 3 is rotated along the movable direction of the hinged end to realize pressing down or lifting up; the connection mode of the connecting rod structure can also reduce the possibility of structural jamming due to direct driving of the third driving mechanism 36.

[0050] Please refer to Figures 11-12The third joint 3 comprises a second housing 37 and a fourth driving mechanism 38. The fourth driving mechanism 38 is arranged in the second housing 37. The second housing 37 is hinged to the passive joint 4 near one side of the third joint 3. The output end of the fourth driving mechanism 38 is hinged to the passive joint 4 near the other side of the third joint 3. The second housing 37 is hinged to the first housing 35 and the third driving mechanism 36. The fourth driving mechanism 38 is used to lift or retract, so that the passive joint 4 rotates along the movable direction of the hinged end to realize the pressing down or lifting up. The connection mode of the connecting rod structure can also reduce the possibility of structural jamming caused by the direct driving of the fourth driving mechanism 38. The first driving mechanism 9, the second driving mechanism 10, the third driving mechanism 36 and the fourth driving mechanism 38 are hollow cup motors and / or brushless motors.

[0051] Preferably, the passive joint 4 has a shape similar to one segment of the end of a human finger. The passive joint 4 comprises a housing 5, a visual-tactile sensor 6 and a nail structure 7. The visual-tactile sensor 6 is arranged on one side of the housing 5. The nail structure 7 is arranged on the other side of the housing 5 and protrudes from the housing 5 at one end part away from the first joint 1 of the mechanical finger. The visual-tactile sensor 6 and the housing 5 can be connected by buckling or adhesive. The visual-tactile sensor 6 is used to transmit tactile information generated by the material deformation caused by the flexible tactile surface contacting the object. The high-resolution camera captures the slight changes of the flexible tactile surface. Through the color change and the image feature information of the image, the force size, direction and surface characteristics of the object contacted are perceived. The arrangement of the nail structure 7 can protect the structure inside the housing 5 and is also conducive to the grasping of thin objects such as cards. Preferably, the material of the nail structure 7 can be wood, plastic or other materials with a certain hardness. It can be understood that the visual-tactile sensor 6 is partially arranged on one side of the housing 5 and partially arranged inside the housing 5.

[0052] Another embodiment of the present application provides a mechanical hand comprising the mechanical finger in any one of the above embodiments.

[0053] In the above embodiments, the description of each embodiment has its own focus. The parts not described in detail in a certain embodiment can be referred to the related description of other embodiments.

[0054] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" and the like indicate the orientation or positional relationship shown in the drawings based on the orientation or positional relationship, and are only for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0055] In addition, the terms "first", "second" are only for descriptive purpose, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise explicitly specified and limited.

[0056] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood broadly, for example, it can be connected, or detachable, or integrated; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through intermediate medium, or internal communication of two elements or 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.

[0057] In the present application, unless otherwise explicitly specified and limited, 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 "on" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "under", "below" and "under" the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0058] In the description of the application, reference to "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" means that a particular feature, structure, material, or characteristic being described is included in at least one embodiment or example of the application. The appearances of the above expressions in various places in the description are not necessarily all referring to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples. Moreover, the terms "first", "second", "third", etc. are used herein merely as identifiers that identify a particular order or pattern, rather than to denote a physical, logical, and / or chronological order or pattern. Furthermore, the terms "comprise", "comprising", "include", "including", and the like, specify the presence of stated features, structures, materials, and / or characteristics, but do not preclude the presence or addition of one or more other features, structures, materials, and / or characteristics.

[0059] Obviously, various modifications and changes can be made to the present application by those skilled in the art without departing from the spirit and scope of the application. Accordingly, such modifications and changes are intended to fall within the scope of the application as defined by the appended claims and their equivalents.

[0060] The above descriptions are specific embodiments of the present application, but the protection scope of the present application is not limited to this. Any skilled person in the art can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present application, and these modifications or replacements should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A mechanical finger, the mechanical finger comprising a first joint and an adjacent second joint; characterized in that: The first joint includes a base, a first drive mechanism, and a second drive mechanism; the first drive mechanism and the second drive mechanism are disposed on one side of the base; The base is hinged to the side of the second joint closest to the first joint; the output end of the first drive mechanism and the output end of the second drive mechanism are respectively hinged to the side of the second joint closest to the first joint. The first drive mechanism and the second drive mechanism drive the second joint to rotate.

2. The mechanical finger according to claim 1, characterized in that: The first joint further includes a linkage mechanism; the linkage mechanism includes a first link, a second link, and a crossbar; The crossbar is connected to the side of the second joint closest to the first joint, and the extension direction of the crossbar is parallel to the horizontal direction. One end of the first connecting rod is connected to the output end of the first driving mechanism and can rotate relative to the output end, and the other end is connected to the first end of the crossbar and can rotate relative to the crossbar; One end of the second connecting rod is connected to the output end of the second drive mechanism and can rotate relative to the output end, while the other end is connected to the second end of the crossbar and can rotate relative to the crossbar.

3. The mechanical finger according to claim 2, characterized in that: The first drive mechanism and the second drive mechanism are arranged side by side and flush; the shape and size of the first link are the same as those of the second link.

4. The mechanical finger according to claim 2 or 3, characterized in that: The first link includes a first member, a first omnidirectional ball, and a second omnidirectional ball; Both ends of the first rod are provided with receiving structures. The receiving structures are provided with receiving spaces that match the first universal ball and the second universal ball. The first universal ball and the second universal ball are received in the receiving spaces and constrained by the receiving structures. The first universal ball is provided with a first through hole that matches the radial length of the crossbar. The first rod is sleeved on the crossbar through the first through hole.

5. The mechanical finger according to claim 4, characterized in that: The crossbar is a hollow structure, and limiting members matching the hollow structure are provided at both ends of the crossbar. The limiting members are inserted into the crossbar.

6. The mechanical finger according to claim 4, characterized in that: The output end of the first drive mechanism includes a first connecting seat and a first rotating shaft disposed on the first connecting seat; The second universal ball has a second through hole that matches the first rotating shaft, and the first rotating shaft passes through the second through hole.

7. The mechanical finger according to claim 6, characterized in that: The first connecting seat includes a first base plate and two first side plates connected to both sides of the first base plate; the two ends of the first rotating shaft are respectively fixed to the first side plates on both sides.

8. The mechanical finger according to claim 1, characterized in that: A vertical rod is provided on the side of the base near the second joint. A second connecting seat and a second rotating shaft are provided on the free end of the vertical rod. The second rotating shaft is hinged to the second joint.

9. The mechanical finger according to claim 8, characterized in that: The second connecting seat includes a second base plate and two second side plates connected to both sides of the second base plate; the second base plate is fixed to the free end of the vertical rod, and the two ends of the second rotating shaft are respectively fixed to the second side plates.

10. A robotic arm, characterized in that: Including the mechanical finger as described in any one of claims 1-9.

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