Manipulator simulating palm of human body

Abstract

The invention discloses a manipulator simulating a human palm and belongs to the technical field of manipulators, the manipulator comprises an integrated skeleton, a driving assembly, a transmission structure and a finger structure, the integrated skeleton is integrally bent towards the palm center side to form an arc-shaped plate, a cavity is formed in the arc-shaped plate, and fist bone parts are arranged at the positions, corresponding to four fingers, of the integrated skeleton. The positions, close to the tail ends of the phalanges, of the fist bone part are specially enlarged, the protruding parts are formed, active intervention is conducted on the grabbing space, when fingers bend towards the palm center for grabbing, the tail ends of the fingertip blocks and the tail ends of the finger head blocks can be tightly attached to or make contact with the protruding parts, the gap between the fingertips and the palm center area in the fist-clenching state is reduced, and therefore the grabbing effect is improved. The small objects are firmly limited in a closed or semi-closed space jointly formed by the bent fingers and the protruding palm face and have no place to slip, so that the small objects are stably and reliably grabbed, and the refined operation scene of the mechanical arm is expanded.

Description

Technical Field

[0001] This invention belongs to the technical field, specifically a robotic hand that mimics the human hand. Background Technology

[0002] With the widespread application of robotics in industrial assembly, service collaboration, medical rehabilitation and other fields, the performance of humanoid robotic hands, as key end effectors for robots to interact with the physical environment, is of paramount importance. An ideal humanoid robotic hand should have a highly human-like appearance and movement posture, stable and reliable grasping ability, and adaptability to objects of different sizes and shapes, especially small objects.

[0003] Currently, common humanoid robotic hands mainly achieve grasping functions through the following technical solutions: One type uses multiple independent drive sources (such as micro servos or linear motors) to directly drive the joints of the fingers, and simulates finger bending through coordinated control. This type of solution can achieve relatively complex finger joint movement sequences, but it has problems such as system complexity, high cost, difficulty in control, and difficulty in optimizing size and weight. Moreover, the movement of the finger root (metacarpophalangeal joint) is usually still limited to simple hinge rotation, which is difficult to simulate the natural arc-shaped closing trajectory of the human hand.

[0004] Another type of solution employs underactuated or linkage mechanisms, using a single or a small number of drive sources to move multiple fingers. This type of solution offers improvements in structural compactness and simplified control.

[0005] However, existing technological solutions still have several obvious shortcomings in pursuing a balance between biomimicry and practicality, specifically:

[0006] First, the degree of biomimicry is limited, and the movement posture is not natural enough. In the design of the palm structure, the existing robotic hands focus more on the arrangement of internal mechanisms. The palm skeleton is often flat or has only a simple arc, which fails to fully simulate the natural physiological curvature (palmar arch) of the human hand. More importantly, the connection between the fingers and the palm (phalanges and metacarpals) generally adopts the traditional shaft-hole hinge, which restricts the bending movement of the fingers to a single plane of rotation. Its movement trajectory is a simple arc. However, the grasping action of the real human hand is the result of the compound movement of the metacarpophalangeal joints in multiple degrees of freedom. When the fingers flex, they are accompanied by a natural, slight arc-shaped adduction trajectory towards the palm. Compared with this, the movement mode of the existing design appears stiff and uncoordinated, which limits the naturalness of the robotic hand when performing anthropomorphic movements and its ability to adaptively wrap around irregular objects.

[0007] Secondly, the stability of grasping small objects is insufficient, which is a common defect of existing humanoid robotic hands. Because the palm surface is usually relatively flat, when the fingers are fully bent into a fist, a noticeable wedge-shaped or triangular gap will be formed between the fingertips (especially the fingertips of the index and middle fingers) and the palm area. When grasping small objects such as pens, screws, and small tools, this gap will become a channel for the object to shake, rotate, or even slip, making the grasp extremely unreliable. It does not fundamentally solve the problem of physical gap caused by the mismatch between the palm shape and the movement trajectory of the fingers, thus limiting its application in precision operation scenarios.

[0008] Third, the reliability, efficiency, and overall coordination of the transmission structure need to be improved. To achieve multi-finger movement, existing designs may use complex multiple independent transmission systems, resulting in a bulky structure and an increase in failure points. Some linkage transmission schemes may cause motion interference or dead points due to too many joints, resulting in unsmooth force transmission and difficulty in ensuring the output efficiency and control precision of gripping force. In addition, how to efficiently and synchronously convert the output of the actuator into a coordinated bionic gripping action of the fingers, and how to enable each finger to effectively cooperate with the palm at the end of the grip, remains a challenge for existing transmission designs.

[0009] The purpose of this invention is to provide a robotic hand that mimics the human hand, in order to solve the problems mentioned in the background art. Summary of the Invention

[0010] The purpose of this invention is to provide a robotic hand that mimics the human hand, in order to solve the problems mentioned in the background art.

[0011] To achieve the above objectives, the present invention provides the following technical solution: a robotic hand that mimics the human hand, the robotic hand comprising an integrated skeleton, a drive assembly, a transmission structure, and a finger structure:

[0012] The integrated skeleton is bent towards the palm side to form an arc plate with a cavity inside. The integrated skeleton has a fist bone part corresponding to the four fingers, and a protrusion is provided on the fist bone part corresponding to the middle finger and ring finger.

[0013] The integrated frame has a fist-shaped block at the top corresponding to the four finger positions. The fist-shaped block has a support hole at the top and a lower cover hole at the bottom.

[0014] The transmission structure includes a power rod connected to the top of the threaded push rod. The top of the power rod is connected in sequence to a bending member and a pulling member via a double-axis hinge. A sliding rod passes through the top of the pulling member.

[0015] The finger structure includes an outer sleeve, a finger bone pull rod, a fingertip block, and a finger tip block;

[0016] The outer cover is connected to the lower cover hole of the fist block, and an arc-shaped groove is provided on its outer wall, with the sliding rod located in the arc-shaped groove;

[0017] One end of the finger bone pull rod is connected to the support hole of the fist block, and the other end of the finger bone pull rod is connected to the pull rod protrusion provided on the fingertip block. The fingertip block is connected to the outer cover cylinder through the upper cover holes on both sides.

[0018] The drive motor drives the power rod to move downward, which in turn drives the sliding rod to slide and pull down along the arc groove through the bending and pulling components. The sliding rod drives the outer cover and finger bone pull rod to move towards the palm, causing the fingertip block to bend the finger block inward.

[0019] Further: The drive assembly is installed in the cavity of the integrated skeleton, and includes a drive motor, a gear set driven by the drive motor, and a threaded push rod connected to and driven by the gear set to rotate.

[0020] Furthermore: the finger block engages with the surface of the fingertip block, and the finger block and the fingertip block are detachably connected by an engaging mechanism.

[0021] Furthermore, the gap between the fist bone and its protrusions and the finger structure in the bent state can clamp small objects.

[0022] Furthermore, the sliding rod moves along the arc-shaped groove under the drive of the pulling member, thereby converting the linear downward motion into the arc-shaped swing of the outer cover and the finger bone pull rod.

[0023] Furthermore, the curved shape of the integrated skeleton's arc plate is adapted to the natural curvature of the human hand.

[0024] Furthermore, the fist-shaped block is positioned on the integrated frame in a manner corresponding to the metacarpophalangeal joint of the human hand.

[0025] Further: the fist-shaped blocks located at the ring and middle finger positions are deflected 2-3° toward the palm, and the finger structures located at the index and middle finger positions are deflected 4-5° compared to the ring finger in the open state.

[0026] Compared with the prior art, the present invention has the following beneficial effects:

[0027] In this invention, when the human hand performs grasping actions, especially fine grasping or force grasping, the ring and middle fingers usually play a leading and positioning role. Their movement trajectory and final position are slightly different from those of the ring and little fingers. The centripetal deflection of the fist block provides a slightly stronger inward driving force component for the ring and middle fingers in advance, simulating the characteristic of these two fingers to actively move towards the palm when grasping. When all fingers bend towards the palm synchronously from the open state, the index and middle fingers have an additional outward deflection angle at the starting position. During the bending process, they will sweep across a spatial trajectory slightly different from that of the ring finger. Combined with the inward tendency of the fist block, when grasping cylindrical or spherical objects, the index and middle fingers can make contact with the object earlier and more closely. They also work together with the protrusion of the knuckle and the index and middle fingers to form an envelope surface with a higher degree of fit, reducing the ineffective gaps between each finger and the object, as well as between the fingers and the protrusion of the palm.

[0028] This invention actively intervenes in the gripping space by deliberately enlarging and forming protrusions near the ends of the finger bones on the knuckles. When the fingers bend towards the palm to grasp, the ends of the fingertips and fingertips will closely approach or contact these protrusions, reducing the gap between the fingertips and the palm area when the fist is clenched. This ensures that small objects are firmly confined within the closed or semi-closed space formed by the bent fingers and the protruding palm surface, preventing them from slipping out. This achieves stable and reliable gripping of small objects and expands the precision operation scenarios of the robotic hand.

[0029] This invention utilizes the linkage between the transmission structure and the finger structure. The transmission structure smoothly converts the linear power of the drive component into the coordinated arc-shaped closing motion of the fingers. During this process, the knuckles act as a stable fulcrum, ensuring effective force transmission and precise control of the direction of movement, while the protruding part of the knuckles serves as the final physical limit and contact surface. The coordinated work of the transmission structure and the finger structure allows the robotic hand to adaptively adjust the gripping force and envelope angle according to the shape and size of the object, ensuring a firm, close, and non-loose gripping effect whether grasping small or large objects, thus systematically improving the overall gripping performance. Attached Figure Description

[0030] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0031] Figure 1 This is a schematic diagram of the overall external structure of the present invention;

[0032] Figure 2 This is a schematic diagram of the internal structure of the mechanical hand in this invention;

[0033] Figure 3 This is a schematic diagram of the integrated skeleton and fist bone structure in this invention;

[0034] Figure 4 This is a schematic diagram of the integrated skeleton and driving component structure in this invention;

[0035] Figure 5 This is a schematic diagram of the ring finger structure in this invention;

[0036] Figure 6 This is a schematic diagram of the little finger structure in this invention;

[0037] Figure 7 This is a top view of the integrated skeleton structure in this invention;

[0038] Figure 8 This is a schematic diagram of the irregular structure of the bending and pulling parts in this invention.

[0039] Explanation of reference numerals in the attached figures:

[0040] In the picture:

[0041] Mechanical hand;

[0042] Integrated frame; 21. Fist bone section; 211. Protrusion; 212. Arc plate; 22. Fist blade block; 23. Support hole; 24. Lower cover hole;

[0043] Transmission structure; 31. Power rod; 32. Bending component; 33. Pulling component; 34. Sliding rod;

[0044] Finger structure; 41. Outer sleeve; 42. Arc groove; 43. Finger bone pull rod; 44. Finger tip block; 441. Pull rod protrusion; 442. Upper cover hole; 45. Finger block;

[0045] 5. Drive assembly; 51. Drive motor; 52. Threaded push rod; 53. Gear set. Detailed Implementation

[0046] In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the invention. However, it will be apparent to those skilled in the art that the invention can be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described in order to avoid obscuring the invention.

[0047] Unless otherwise defined, the directions mentioned herein, such as up, down, left, right, front, back, inside, and outside, are based on the directions shown in the figures of this invention, and are explained here together.

[0048] The connection method can be any existing method, such as bonding, welding, or bolting, depending on the actual needs.

[0049] Please see Figure 1 As shown in the figure, this embodiment provides a robotic hand that mimics the shape of a human hand. The robotic hand 1 has an integrated skeleton 2 built into it. The integrated skeleton 2 is made of high-strength engineering plastic or lightweight metal. The knuckle part 21 of the integrated skeleton 2 is a single piece of arc-shaped plate 212 that naturally curves towards the palm. This arc simulates the natural curvature of a relaxed human hand. The specific angle can be adjusted according to the user's actual situation, making it closer to the effect of a real human limb and further improving the biomimicry.

[0050] Corresponding to the metacarpal bone positions of the four fingers, a slightly raised knuckle portion 21 is integrally formed. Among them, two protrusions 211 are added to the knuckle portion 21 corresponding to the middle and ring fingers. These two protrusions 211 play a role in blocking and fitting when gripping.

[0051] At the front edge of the knuckle 21, corresponding to the metacarpophalangeal joint, there are four knuckle fragments 22 integrally formed.

[0052] Each fist-shaped block 22 has a circular support hole 23 at the top and a lower cover hole 24 at the bottom for connecting to the outer cover cylinder 41.

[0053] A cavity for mounting the drive assembly 5 is machined inside the integrated skeleton 2, and the drive assembly 5 is arranged inside the cavity of the integrated skeleton 2.

[0054] The drive motor 51 can be a micro stepper motor or a servo motor. Its output shaft is connected to the drive gear. The drive gear meshes with the driven gear to form a gear set 53. The center of the driven gear is coaxially fixed with a vertically placed threaded push rod 52. When the drive motor 51 rotates, it eventually drives the threaded push rod 52 to rotate around its axis.

[0055] The lower end of the power rod 31 of the transmission structure 3 is connected to the top end of the threaded push rod 52. Therefore, the rotational motion of the threaded push rod 52 is converted into the precise vertical linear motion of the power rod 31. The top end of the power rod 31 is connected to the bending member 32 through a double-axis hinge. The top end of the bending member 32 is then connected to a vertical pulling member 33 through another double-axis hinge.

[0056] A sliding rod 34 extends laterally through the top of the pulling member 33. A return spring can also be installed at an appropriate position on the power rod 31 or the bending member 32, with one end fixed to the integrated frame 2 and the other end acting on the moving part to provide a return force.

[0057] Each finger structure has a separate set of transmission components.

[0058] The outer cover 41 is usually an arc-shaped tube, the upper end of which is inserted into and fixed in the lower cover hole 24 of the fist block 22. On the side wall of the outer cover 41, an arc-shaped guide groove is precisely machined along its arc-shaped contour. The two ends of the sliding rod 34 in the transmission structure 3 are precisely embedded in this arc-shaped groove 42 and can slide freely in the groove.

[0059] The finger bone pull rod 43 is a slender rod. One end of it is hinged to the support hole 23 of the fist block 22 through a pin, and the other end is hinged to the pull rod protrusion 441 fixed on the back of the fingertip block 44.

[0060] The fingertip block 44 is connected to the outer cover cylinder 41 through the upper cover holes 442 on both sides and can rotate around it. The outermost finger block 45 is tightly engaged with the fingertip block 44 by an elastic buckle, which facilitates replacement or maintenance.

[0061] Furthermore, in order to more accurately simulate the natural grasping posture of the human hand and improve its adaptability to objects, this embodiment has optimized the deflection design of the relevant structures of the ring and middle fingers.

[0062] The fist block 22 located at the position of the ring finger and middle finger has its mounting plane or structure set to be deflected 2-3° towards the palm. This angle adjustment causes the initial force direction of the finger bone pull rod 43 connected to it and the initial mounting angle of the outer cover 41 to change accordingly, thereby kinematically presupposing a more palm-oriented contraction tendency.

[0063] A 3° angle is preferably used, which sets an initial force direction towards the palm for the finger bone lever 43 and the outer sleeve 41. When the grip drive is activated, this preset angle ensures that a component of the driving force acts directly to cause the fingers to adduct, so that the ring and middle fingers actively embrace the object in the early stage of gripping, rather than simply bending downwards. This optimizes the vector distribution of the gripping force, allowing these two dominant fingers to apply stable pressure from the side earlier when gripping cylindrical or spherical objects. This, in conjunction with the protrusion 211 of the knuckle 21, forms a better three-point force closed loop.

[0064] From a manufacturing and assembly perspective, 2-3° is a tolerance range that is easily achievable and cost-effective within conventional machining precision (such as CNC machining and mold forming). A preferred 3° ensures that, within permissible manufacturing deviations, its functional performance (contraction trend) remains significant and stable, and it will not fail due to minor angular losses, demonstrating the engineering feasibility and robustness of the design.

[0065] Correspondingly, the finger structure 4 located at the index and middle finger positions, in its fully open (i.e. extended) initial state, has its overall posture (based on the central axis of the phalangeal pull rod 43 or the outer casing 41) deflected outward by an additional 4-5° compared to the finger structure 4 where the ring finger is located. This simulates the natural state in the human hand where the index and middle fingers are usually more spread out than the ring and little fingers.

[0066] The preferred angle is 5°. The 5° difference in the outer deflection angle means that the endpoint of the movement trajectory of the index and middle fingers during the synchronous closing process will be slightly different from that of the ring and little fingers.

[0067] This differentiated trajectory design allows the four fingers to achieve a progressively tight fit when closed. The index and middle fingers, due to their larger initial outward angle, require a longer adduction stroke to contact the object or palm, ensuring they can apply more pressure at the end of the grip. When grasping small objects, this design allows the fingertips of the index and middle fingers to press precisely against the protrusion 211 of the knuckle bone 21 at a better angle and with greater force, thus working in conjunction with the ring and little fingers to form a stable, restraining space that tightens from all sides towards the center, with virtually no blind spots, completely eliminating the possibility of the object wobbling or slipping.

[0068] Optimization of angle value: If the angle is less than 4°, the effect of differentiated movement is not obvious and the improvement of grip performance is limited; if the angle is greater than 5°, the structure of the fingers may be too dispersed when the fingers are open, occupying a lot of space, and may produce unnecessary internal dynamic interference or a sense of incoordination in appearance when they are quickly closed.

[0069] The preferred angle of 5° is the optimal balance point achieved between maximizing the gripping envelope performance and maintaining the overall structural compactness and motion coordination.

[0070] Compared to existing robotic arm structures:

[0071] The palm of existing robotic arms is usually designed as a flat or smooth shallow arc surface. When the fingers are bent and the fist is clenched, a noticeable triangular or wedge-shaped gap is formed between the fingertips and the palm. This gap makes it easy for small objects to slip or wobble, making it impossible to achieve stable gripping and severely limiting its application in precision work scenarios.

[0072] Transmission designs that achieve multi-finger coordination are often complex in structure and occupy a lot of space, or use cable transmission which has problems such as easy wear, poor force feedback and difficult maintenance. Simple linkage mechanisms may cause the force transmission to be unsmooth due to motion interference, and the control accuracy and reliability of grip force are insufficient.

[0073] This solution references the human hand. Since the bending of human fingers is not on a single plane, but is accompanied by slight adduction and protrusion of the metacarpophalangeal joints, the integrated skeleton 2 of this solution provides an ergonomic static contour basis for the entire hand.

[0074] In the transmission structure 3, the cooperation between the sliding rod 34 and the arc groove 42 pulls the power rod 31 straight down. Through the constraint of the sliding rod 34 in the arc groove 42, it is forcibly transformed into the arc swing of the outer cover 41 and the finger bone pull rod 43 around the fulcrum of the fist block 22. This swing trajectory naturally integrates the two components of bending and adduction, thus generating a natural closing action that is extremely close to that of a real finger.

[0075] Advantages compared to existing methods: It breaks away from the complex mode of multiple servos directly driving multiple joints and avoids the rigid movement of a single hinge. By using a drive motor 51 in conjunction with a set of ingenious linkage and sliding mechanism, the entire finger unit (multiple joints are regarded as a whole) is driven to make biomimetic arc movements, which simplifies the drive and control while ensuring a high degree of biomimicry.

[0076] A protrusion 211 is provided on the knuckle bone 21 corresponding to the middle and index fingers. Next, the knuckle block 22 of the ring and middle fingers and the initial posture of the fingers are set with different angles (the knuckle block 22 is deflected towards the palm by 2-3°, and the initial posture of the fingers is deflected outward by 4-5°).

[0077] Why is protrusion 211 and a specific angle needed?

[0078] The function of the protrusion 211 is essentially an active stop and contact platform.

[0079] When grasping, it intervenes in advance, filling the gap between the fingertips and the flat palm, providing a solid support surface and limiting point for the fingertips, thus trapping small objects in the space formed by the fingertips and the protrusion 211.

[0080] The effect of a specific angle: This is an active optimization of the grasp envelope.

[0081] The ring and middle fingers, as the main operating fingers, have a slightly larger initial outward deflection angle (4-5°), which gives them a greater range of motion and adjustment when closing.

[0082] Combined with the slight centripetal pre-deflection (2-3°) of its fist block 22, it ensures that the two fingers can press more forcefully against the object and the protrusion 211 of the palm at the end of the grip.

[0083] When the four fingers are closed, they can form a progressive fit from the index finger, middle finger to the ring finger and little finger, creating a better force-sealing envelope, which is especially suitable for grasping cylinders, spheres and the like.

[0084] The advantage over existing designs is that they change from having gaps to actively eliminating them.

[0085] The protrusion 211 provides physical barrier, while the differentiated angle ensures that the main fingers can effectively utilize this structure.

[0086] The combination of these two features significantly improves the stability and anti-drop capability when gripping small objects, which is something that traditional smooth palm designs cannot achieve.

[0087] The motion flow of the finger structure 4 and transmission structure 3 in this scheme is as follows: power rod 31 → double-axis hinge → bending member 32 → double-axis hinge → pulling member 33 → sliding rod 34 (in the arc groove 42), and a return spring can be optionally provided.

[0088] Dual-axis hinge: Provides the necessary degrees of freedom of motion, allowing the bending member 32 and the pulling member 33 to adapt to the spatial position changes caused by the complex trajectory movement of the sliding rod 34 in the arc groove 42 under the drive of the linear motion of the power rod 31, thus avoiding the mechanism from jamming.

[0089] The lever effect of the bending member 32 and the pulling member 33: This structure can effectively transmit and convert the stroke and force of the power rod 31, driving the finger to complete a large angle of bending with a small motor stroke. The bending member 32 and the pulling member 33 are made with special arc shapes to prevent reverse rotation of the bending member 32 and the pulling member 33. (See reference...) Figure 8 .

[0090] Return spring: It provides passive return force, which not only helps to open quickly when the motor reverses, but more importantly, it can provide a certain amount of cushioning and adaptive force when grasping objects, making the grasping action smoother.

[0091] The entire movement tightly couples the drive, transmission, and execution (finger structure 4). When the power rod 31 pulls down, it synchronously drives the outer cover 41 to swing and the finger bone pull rod 43 to pull, thereby realizing the rotation of the fingertip block 44. The movements are highly coordinated and consistent.

[0092] Currently, most existing robotic arms can only perform simple grasping functions, and the precision and quality of their movements are not high. This solution provides ideas and technical routes for robotic arms to further achieve more precise movements, starting with grasping small objects and further adjusting the coordination between multiple fingers for grasping.

[0093] Working principle: When the control system issues a gripping command, the drive motor 51 rotates forward, driving the threaded push rod 52 to rotate through the gear set 53, which in turn drives the power rod 31 to move downward. The power rod 31 pushes the bending member 32 through the double-axis hinge, and the bending member 32 then pulls the pulling member 33. Since the sliding rod 34 is confined within the arc-shaped groove 42 of the outer cover 41, the downward pull of the pulling member 33 forces the sliding rod 34 to move along the trajectory of the arc-shaped groove 42. This movement acts simultaneously on the outer cover 41 and the finger bone pull rod 43 system indirectly connected to the sliding rod 34, causing the entire finger structure 4—including the outer cover 41, the finger bone pull rod 43, and the fingertip block 44—to function as a single unit, rotating around the hinge point at the knuckle block 22, and naturally oscillating towards the palm to tighten.

[0094] As the finger bone lever 43 swings, it is gradually straightened and generates a pulling force. This pulling force acts on the lever protrusion 441 of the fingertip block 44, forcing the fingertip block 44 to rotate inward around the upper cover hole 442 of the outer cover cylinder 41, thereby driving the finger block 45 to complete the bending action and achieve grasping.

[0095] In this state, the protrusion 211 on the knuckle 21 is close to the inside of the bent finger, filling the gap that exists in the traditional design.

[0096] When it is necessary to release, the drive motor 51 reverses or is de-energized. With the assistance of the reset spring, the aforementioned transmission chain moves in the opposite direction, and the finger structure 4 smoothly returns to its extended state under its own structural constraints.

[0097] It should be noted that, in this document, relational terms such as "one" and "two" are used merely 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 terms "comprising," "including," or any other variations thereof are 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, the phrase "comprising an element defined as..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0098] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A robotic hand that mimics the human hand, the robotic hand (1) comprising an integrated skeleton (2), a drive assembly (5), a transmission structure (3), and a finger structure (4), characterized in that: The integrated skeleton (2) is bent towards the palm side to form an arc plate (212), which has a cavity inside. The integrated skeleton (2) has a fist bone part (21) corresponding to the four fingers, and a protrusion (211) is provided on the fist bone part (21) corresponding to the middle finger and ring finger. The integrated frame (2) has a fist block (22) at the top corresponding to the four fingers. The fist block (22) has a support hole (23) at the top and a lower cover hole (24) at the bottom. The transmission structure (3) includes a power rod (31) connected to the top of the threaded push rod (52). The top of the power rod (31) is connected to a bending member (32) and a pulling member (33) in sequence via a double-axis hinge. A sliding rod (34) passes through the top of the pulling member (33). The finger structure (4) includes an outer sleeve (41), a finger bone pull rod (43), a fingertip block (44), and a fingertip block (45); The outer cover (41) is connected to the lower cover hole (24) of the fist block (22), and an arc groove (42) is provided on its outer wall. The sliding rod (34) is located in the arc groove (42). One end of the finger bone pull rod (43) is connected to the support hole (23) of the fist block (22), and the other end of the finger bone pull rod (43) is connected to the pull rod protrusion (441) provided on the fingertip block (44). The fingertip block (44) is connected to the outer cover cylinder (41) through the upper cover holes (442) on both sides. The drive motor (51) drives the power rod (31) to move downward, and then drives the sliding rod (34) to slide and pull down along the arc groove (42) through the bending member (32) and the pulling member (33). The sliding rod (34) drives the outer cover (41) and the finger bone pull rod (43) to move towards the palm, so that the fingertip block (44) drives the finger block (45) to bend inward.

2. The robotic hand that mimics the human hand according to claim 1, characterized in that: The drive assembly (5) is installed in the cavity of the integrated frame (2), and includes a drive motor (51), a gear set (53) driven by the drive motor (51), and a threaded push rod (52) connected to and driven by the gear set (53).

3. The robotic hand that mimics the human hand according to claim 1, characterized in that: The finger block (45) engages with the surface of the fingertip block (44), and the finger block (45) and the fingertip block (44) are detachably engaged.

4. The robotic hand that mimics the human hand according to claim 1, characterized in that: The gap between the fist bone (21) and its protrusion (211) and the finger structure (4) in the bent state can clamp small objects.

5. A robotic hand resembling a human hand according to claim 2, characterized in that: The sliding rod (34) moves along the arc groove (42) under the drive of the pulling member (33), thereby converting the linear downward motion into the arc swing of the outer cover (41) and the finger bone pull rod (43).

6. The robotic hand that mimics the human hand according to claim 1, characterized in that: The curved shape of the arc plate (212) of the integrated skeleton (2) is adapted to the curvature of the natural curve of the human hand.

7. A robotic hand resembling a human hand according to claim 1, characterized in that: The fist-shaped block (22) is positioned on the integrated frame (2) in a manner corresponding to the metacarpophalangeal joint of the human hand.

8. The robotic hand that mimics the human hand according to claim 1, characterized in that: The fist block (22) located on the ring and middle fingers is deflected 2-3° toward the palm, and the finger structure (4) located on the index and middle fingers is deflected 4-5° relative to the ring finger in the open state.

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