Mechanical finger, manipulator and robot

Abstract

The embodiment of the invention relates to the technical field of manipulators, and particularly discloses a mechanical finger, a manipulator and a robot, a first knuckle group comprises a first knuckle, a rotating part and a swinging part, the first knuckle is arranged on the swinging part, the swinging part is rotatably connected to the rotating part, and the swinging part is configured to swing in a first axial direction; the second knuckle set comprises a first driving assembly and a second driving assembly, the second driving assembly is connected with the rotating part, drives the rotating part to rotate in the second axial direction and drives the first knuckles to rotate, and the first driving assembly is arranged on the second driving assembly and connected with the swing part; the first driving assembly is used for driving the swing part to swing in the first axial direction and driving the first knuckle to swing, and the first axial direction is perpendicular to the second axial direction. By means of the mode, the mechanical fingers can provide enough power output when bending action occurs through cooperation of the first driving assembly and the second driving assembly, and the grabbing capacity of the mechanical arm is improved.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of robotic arm technology, and in particular to a robotic finger, a robotic hand, and a robot. Background Technology

[0002] Robotic hands, also known as dexterous hands, are used to mimic human hands to perform actions such as grasping, carrying, and manipulating. There are two ways to provide the power required for robotic hands to perform the above actions: one is to rely on a drive mechanism hidden inside the palm to drive the tendons to move, and the other is to use multiple independently controllable motors to drive the fingers of the robotic hand to perform the above actions.

[0003] In the process of realizing this invention, the inventors discovered that: currently, when a robotic hand performs a grasping action, the magnitude of its grasping force is limited by the power provided by the drive components at the base of the fingers. Whether it is a tendon-driven method or a method in which multiple independent motors drive the movement of the finger joints, the power output capability at the base of the robotic hand has become a key factor restricting the overall grasping performance of the robotic hand. Summary of the Invention

[0004] This invention provides a mechanical finger, a mechanical hand, and a robot. The main technical problem it solves is that the power output capability at the base of existing mechanical fingers restricts the overall gripping performance of the mechanical hand. Neither tendon-driven methods nor methods using a single independent motor at the base of the finger can meet the ever-increasing demand for high gripping force in mechanical hands.

[0005] To solve the above-mentioned technical problems, one technical solution adopted by the present invention is: providing a mechanical finger, including: a first phalanx group and a second phalanx group. The first phalanx group includes a first phalanx, a rotating member, and a swinging member. The first phalanx is disposed on the swinging member, and the swinging member is rotatably connected to the rotating member. The swinging member is configured to swing along a first axis. The second phalanx group includes a first driving component and a second driving component. The second driving component is connected to the rotating member and is used to drive the rotating member to rotate along a second axis, thereby causing the first phalanx to rotate along the second axis. The first driving component is disposed on the second driving component and is connected to the swinging member. The first driving component is used to drive the swinging member to swing along the first axis, thereby causing the first phalanx to swing along the first axis. The first axis and the second axis are perpendicular.

[0006] In some embodiments, the oscillating member has a first end and a second end opposite to each other. The first end of the oscillating member is fixed to the first knuckle, and the second end of the oscillating member is provided with a mating groove. The mating groove is circumferentially arranged around the first axis. The first driving assembly includes a sliding member and a first driving member. The sliding member includes a sliding portion and a push rod. The sliding portion is slidably disposed on the second driving assembly. One end of the push rod is fixed to the sliding portion, and the other end of the push rod is inserted into the mating groove. The push rod is configured to rotate within the mating groove around the second axis and to restrict the push rod from sliding relative to the mating groove along the first axis. The first driving member is connected to the sliding portion and is used to drive the sliding portion to slide along the first axis to drive the push rod to slide.

[0007] In some embodiments, the rotating member is provided with a swing groove and a clearance hole, the clearance hole is connected to the swing groove, the second end of the swing member extends into the swing groove, the swing member is rotatably connected to the side wall of the swing groove, the swing groove is connected to the docking groove, and the end of the push rod away from the sliding part extends from the clearance hole into the swing groove and is inserted into the docking groove.

[0008] In some embodiments, the sliding part is provided with a rack, the first driving member includes a first motor and a first driving tooth, the first motor is fixed to the second driving assembly, the first motor is connected to the first driving tooth, and the first driving tooth meshes with the rack.

[0009] In some embodiments, the second driving assembly includes a second driving member and a bracket, the bracket being fixed to the housing of the second driving member, the rotating member being rotatably disposed on the bracket, the second driving member being connected to the rotating member, the second driving member being used to drive the rotating member to rotate relative to the bracket, and the sliding part being slidably disposed on the bracket.

[0010] In some embodiments, the bracket is provided with a slide groove that extends along the first axial direction, and the sliding part is provided with a slide platform that is slidably disposed in the slide groove.

[0011] In some embodiments, the second drive assembly further includes a second drive tooth and a driven tooth, the driven tooth being rotatably disposed on the bracket and connected to the rotating member, the second drive tooth being connected to the second drive member and meshing with the driven tooth, and the second drive member being used to drive the second drive tooth.

[0012] In some embodiments, the bracket is provided with a limit groove, the second drive tooth is provided with a limit portion, the limit portion is inserted into the limit groove, the limit portion is configured to slide within the limit groove, and the limit groove is used to limit the stroke of the second drive tooth.

[0013] To solve the above-mentioned technical problems, another technical solution adopted by the present invention is to provide a robotic hand, including a palm assembly and a plurality of the above-mentioned robotic fingers, wherein the plurality of robotic fingers are spaced apart on the palm assembly.

[0014] To solve the above-mentioned technical problems, another technical solution adopted by the present invention is to provide a robot, including a body unit, an arm unit, a leg unit and the above-mentioned manipulator, wherein the arm unit and the leg unit are movably connected to the body unit, and the manipulator is electrically connected to the arm unit.

[0015] The beneficial effects of the embodiments of the present invention are as follows: Through the above structure, the embodiments of the present invention can use the second phalanx group composed of the first driving component and the second driving component to jointly drive the first phalanx group to achieve two degrees of freedom in two directions. Compared with the prior art, which uses a driving mechanism to pull the tendon rope or a single motor to drive, the second phalanx group of the present application relies on the first driving component and the second driving component to enable the mechanical finger to achieve independent driving of the mechanical finger's two degrees of freedom at its base, thereby making the mechanical finger output stronger and improving the gripping force of the mechanical hand. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on the drawings without creative effort.

[0017] Figure 1 This is an exploded structural diagram of a mechanical finger provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the assembly structure of a mechanical finger provided in an embodiment of the present invention; Figure 3 This is an exploded structural diagram of a mechanical finger from another perspective, provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of a swinging component of a mechanical finger provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of a sliding component of a mechanical finger provided in an embodiment of the present invention; Figure 6 This is a schematic diagram of the structure of a rotating component of a mechanical finger provided in an embodiment of the present invention; Figure 7 This is an exploded structural diagram of a mechanical finger provided in another embodiment of the present invention; Figure 8 yes Figure 7 Enlarged view of part A in the middle; Figure 9 This is a schematic diagram of the structure of a second drive assembly for a mechanical finger provided in an embodiment of the present invention; Figure 10 yes Figure 9 Enlarged view of part B in the middle; Figure 11 This is a schematic diagram of a robotic hand with mechanical fingers provided in an embodiment of the present invention.

[0018] Icon labels: 100. Mechanical fingers; 1. First knuckle assembly; 11. First knuckle; 11a. Finger tip knuckle; 11b. First driving knuckle; 11c. Second driving knuckle; 111. Mounting mating part; 1111. Mounting groove; 11111. Screw hole; 12. Rotating component; 121. Swing groove; 1211. Second arc-shaped surface; 1212. Rotating hole; 122. Clearance hole; 13. Swing component; 131. First end; 132. Second end; 1321. Butt groove; 1322. Insertion through hole; 13a. Mounting part; 13a1. Through hole; 13b. Support rod part; 13c. Side wall part; 13c1. First arc-shaped surface; 13d. Rotating shaft part; 2. Second knuckle assembly; 21. First drive assembly; 211. Slider; 2111. Sliding part; 21111. Rack; 21112. Slide table; 2112. Push rod; 21121. Spherical part; 212. First drive member; 2121. First motor; 2122. First drive tooth; 213. Fixing frame; 22. Second drive assembly; 221. Second drive member; 222. Bracket; 2221. Rotation space; 2222. Slide groove; 2223. Stroke limiting groove; 223. Second drive tooth; 224. Driven tooth; 2241. Stroke limiting part; 222a. Base plate; 222b. Side plate; 1000, robotic arm; 200, hand assembly; X, first axis; Y, second axis; Z, third axis. Detailed Implementation

[0019] To facilitate understanding of the present invention, a more detailed description is provided below with reference to the accompanying drawings and specific embodiments. It should be noted that when an element is described as being "fixed to" another element, it can be directly on the other element, or one or more intermediate elements may exist between them. When an element is described as being "connected to" another element, it can be directly connected to the other element, or one or more intermediate elements may exist between them. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this specification are for illustrative purposes only.

[0020] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. The term "and / or" as used in this specification includes any and all combinations of one or more of the associated listed items.

[0021] This application provides a mechanical finger 100; please refer to [link / reference]. Figure 1 and Figure 2The mechanical finger 100 includes a first phalanx group 1 and a second phalanx group 2, which are rotatably connected. The first phalanx group 1 includes a first phalanx 11, a rotating member 12, and a swing member 13. The first phalanx 11 is disposed on the swing member 13, which is rotatably connected to the rotating member 12. The swing member 13 is configured to swing along a first axis X, that is, the swing member 13 can reciprocate along the first axis X relative to the rotating member 12, thereby driving the first phalanx 11 to reciprocate along the first axis X. The second phalanx assembly 2 includes a first drive assembly 21 and a second drive assembly 22. The second drive assembly 22 is connected to the rotating member 12 and is used to drive the rotating member 12 to rotate along the second axis Y, thereby causing the first phalanx 11 to rotate along the second axis Y. The first drive assembly 21 is disposed on the second drive assembly 22 and is connected to the swing member 13. The first drive assembly 21 is used to drive the swing member 13 to swing along the first axis X, thereby causing the first phalanx 11 to swing along the first axis X, wherein the first axis X and the second axis Y are perpendicular. Through the above method, the mechanical finger 100 of this application can be driven by the second drive component 22 to rotate the first phalanx group 1 along the second axis Y, and by the first drive component 21 to rotate the first phalanx group 1 along the first axis X. This allows the mechanical finger 100 to achieve its degrees of freedom in both directions independently, respectively, through the first drive component 21 and the second drive component 22. The first drive component 21 is only responsible for driving the swing member 13 to swing along the first axis X (also referred to as left-right, lateral, or lateral swing direction parallel to the palm plane, etc.), with a relatively small load. The second drive component 22 is responsible for driving the first phalanx group 1 to rotate along the second axis Y, enabling the mechanical finger 100 to achieve high-load movements such as bending. By avoiding the complex situation where a single drive component needs to handle loads in multiple directions simultaneously, the power output becomes more efficient and focused. This allows the mechanical finger 100 of this application to achieve decoupling of the drive and distribution of the load. Compared with the prior art where the mechanical finger 100 relies on a motor placed in the palm to drive the tendon ligament to move or relies on a single motor to drive the first phalanx 11 to move, this application improves the power output of the mechanical finger 100 when rotating along the first axis X and along the second axis Y by relying on the dual-power drive method composed of the first drive component 21 and the second drive component 22. This enhances the gripping ability of the mechanical hand using the mechanical finger 100 of this application, while also maintaining the compactness of the mechanical finger 100 structure.

[0022] It should be noted that during the process of the second drive assembly 22 driving the rotating component 12 to rotate the first phalanx 11 along the second axis Y, the first drive assembly 21 always maintains a connection with the swing component 13, so that the mechanical finger 100 of this application can rotate synchronously along the first axis X during the rotation along the second axis Y, thereby enabling the robotic hand using the mechanical finger 100 of this application to perform a variety of complex actions (such as pinching, clamping, hooking, supporting, etc.), and improving the performance of the robotic hand in complex motion scenarios.

[0023] Understandably, the number of first phalanges 11 in the first phalanx group 1 is a positive integer greater than or equal to one. For example, when the number of first phalanges 11 is one, the first phalanx 11 is a fingertip-like structure that can realize touch feedback; when the number of first phalanges 11 is two or more, the first phalanx 11 includes a fingertip-like structure for realizing touch feedback and at least one joint driving structure for driving the movement of the fingertip-like structure.

[0024] For example, in this application, please refer to Figure 1 There are three first knuckles 11, which are rotatably connected in sequence. Specifically, the three first knuckles 11 are: a fingertip knuckle 11a with touch feedback function, a first driving knuckle 11b, and a second driving knuckle 11c. The fingertip knuckle 11a is rotatably disposed at the output end of the first driving knuckle 11b so that the first driving knuckle 11b can drive the fingertip knuckle 11a to rotate. The end of the first driving knuckle 11b opposite to its output end is rotatably disposed at the output end of the second driving knuckle 11c so that the second driving knuckle 11c can drive the second driving knuckle 11c to rotate, thereby driving the fingertip knuckle 11a to rotate. The end of the second driving knuckle 11c opposite to its output end is fixedly connected to the swing member 13. The first drive assembly 21 drives the swing member 13 to swing along the first axis X, thereby driving the fingertip knuckle 11a, the first drive knuckle 11b and the second drive knuckle 11c to swing along the first axis X, and / or the second drive assembly 22 drives the rotating member 12 to rotate along the second axis Y, thereby driving the fingertip knuckle 11a, the first drive knuckle 11b and the second drive knuckle 11c to rotate along the second axis Y.

[0025] It should be noted that when the fingertip phalanx 11a, the first driving phalanx 11b, and the second driving phalanx 11c rotate and / or swing under the drive of the first driving component 21 and the second driving component 22, relative rotation can occur between the fingertip phalanx 11a, the first driving phalanx 11b, and the second driving phalanx 11c. In particular, during the rotation along the second axis Y under the drive of the second driving component 22, the mechanical finger 100 can perform actions similar to those of a human hand, such as hooking, grasping, and pulling, thereby enhancing the richness of the actions that the mechanical finger 100 can perform.

[0026] In some embodiments, please refer to Figure 3 , Figure 4 and Figure 5 The oscillating member 13 has two opposing ends, namely a first end 131 and a second end 132. The first end 131 of the oscillating member 13 is fixed to the first finger joint 11, and the second end 132 of the oscillating member 13 is provided with a mating groove 1321, which is arranged circumferentially around the first axis X. The first drive assembly 21 includes a sliding member 211 and a first drive member 212. The first drive member 212 is fixed to the housing of the second drive assembly 22. The sliding member 211 includes a sliding part 2111 and a push rod 2112. 11 is slidably disposed on the second drive assembly 22. One end of the push rod 2112 is fixed to the sliding part 2111, and the other end of the push rod 2112 is inserted into the docking groove 1321. The push rod 2112 is configured to rotate around the second axis Y in the docking groove 1321 and restrict the push rod 2112 from sliding relative to the docking groove 1321 along the first axis X. The first drive member 212 is connected to the sliding part 2111 and is used to drive the sliding part 2111 to reciprocate along the first axis X to drive the push rod 2112 to slide. With the above structure, when the second drive assembly 22 drives the rotating member 12 to rotate along the second axis Y and drives the swing member 13 to rotate along the second axis Y, the end of the push rod 2112 away from the sliding part 2111 can always maintain the insertion state with the docking groove 1321 circumferentially arranged along the first axis X. Since the docking groove 1321 is arranged circumferentially along the first axis X, the push rod 2112 can rotate around the second axis Y within the docking groove 1321. This ensures that when the second drive assembly 22 drives the swing member 13 to rotate along the second axis Y and the first drive assembly 21 drives the swing member 13 to rotate along the first axis X, there will be no interference between the push rod 2112 and the swing member 13, ensuring the smoothness of the mechanical finger 100 in the process of rotating along the first axis X and the second axis Y.

[0027] Understandably, the first drive component 212 may be fixed to the housing of the second drive assembly 22 in ways including but not limited to: direct welding, fixing via a transfer component, etc.

[0028] For example, in this application, the first driving component 212 is fixed by means of a transfer component. For details, please refer to [link to relevant documentation]. Figure 3 The first drive assembly 21 also includes a fixing frame 213, which is cantilevered and fixed to the housing of the second drive assembly 22. The first drive member 212 is fixed to the cantilever of the fixing frame 213, so that there is a gap between the first motor 2121 and the housing of the second drive assembly 22 for the first drive member 212 to transmit power to the sliding part 2111.

[0029] In some embodiments, please refer to Figure 3 and Figure 4 The swing member 13 includes a mounting part 13a, a support rod part 13b, and two side wall parts 13c. The mounting part 13a is fixed to one end of the support rod part 13b, and the two side wall parts 13c are fixed at intervals to the other end of the support rod part 13b. The interval between the two side wall parts 13c forms the aforementioned docking groove 1321. It should be noted that the position of the mounting part 13a forms the first end 131 of the swing member 13, and the position of the two side wall parts 13c forms the second end 132 of the swing member 13. The first phalanx 11 is provided with a mounting engagement part 111, that is, the end of the second drive phalanx 11c away from its own output end is provided with a mounting engagement part 111. The mounting part 13a cooperates with the mounting engagement part 111 so that the swing member 13 can be detachably fixed to the first phalanx 11. In order to achieve a detachable connection between the first drive phalanx 11b and the second drive phalanx 11c, and to improve the versatility and high degree of freedom of combination of the various parts of the mechanical finger 100, the fingertip phalanx 11a and the first drive phalanx 11b, as well as the first drive phalanx 11b and the second drive phalanx 11c, are also detachably connected by a mounting part 13a and a mounting engagement part 111 as described above.

[0030] It is understandable that the mounting part 13a and the mounting mating part 111 can be detachably connected in ways including but not limited to: screw connection, snap connection, tenon joint, etc. For example, in this application, the mounting part 13a and the mounting mating part 111 are connected by a screw connection. The mounting mating part 111 includes a screw connector (not shown) and a mounting groove 1111. The mounting part 13a is inserted into the mounting groove 1111. The mounting groove 1111 can limit the position of the mounting part 13a. The mounting part 13a and the mounting groove 1111 can improve the efficiency of the swing member 13 being installed on the first finger joint 11. Furthermore, the mounting part 13a is provided with a through hole 13a1, and the bottom of the mounting groove 1111 is provided with a screw hole 11111. The screw connector passes through the through hole 13a1 and is screwed into the screw hole 11111. Of course, the swing member 13 can also be directly fixed to the first finger joint 11.

[0031] It should be noted that, based on the premise that the multiple first phalanges 11 in the first phalanx group 1 are detachably connected using the same structure as the mounting part 13a and the mounting mating part 111, when the number of first phalanges 11 in the first phalanx group 1 needs to be increased or decreased, it can be quickly increased or decreased by relying on the same structure as the mounting part 13a and the mounting mating part 111, thereby improving the versatility of the first phalanges 11 and making it convenient for users to customize the number of first phalanges 11 of the mechanical finger 100 according to their own needs.

[0032] In some embodiments, please refer to Figure 5The push rod 2112 has a spherical part 21121 at the end away from the sliding part 2111. The spherical part 21121 is housed in the mating groove 1321 and can rotate omnidirectionally within the mating groove 1321. The spherical part 21121 changes the contact between the push rod 2112 and the inner wall of the mating groove 1321 from "line contact or surface contact" to "point contact", reducing the friction between the push rod 2112 and the inner wall of the mating groove 1321, improving the smoothness of the push rod 2112's rotation within the mating groove 1321, and further reducing the wear of the sliding part 2111.

[0033] In some embodiments, the push rod 2112, the ball portion 21121, and the slider 211 are integrally formed, thereby improving the structural strength of the slider 211 and enhancing the durability of the robotic finger 100. It should be noted that the push rod 2112, the ball portion 21121, and the slider 211 can also be detachably connected. The ball portion 21121 can also be made of a wear-resistant material, thereby extending the service life of the slider 211. Furthermore, the detachable design reduces the maintenance cost of the robotic finger 100. Especially for the ball portion 21121, which is the main load-bearing structure, when it wears out, replacing the ball portion 21121 allows for low-cost maintenance of the robotic finger 100.

[0034] Understandably, the rotating member 12 needs to be driven by the second drive assembly 22 to rotate along the second axis Y and drive the swing member 13 (and the entire first finger joint group 1) to rotate along the second axis Y. Therefore, the structure that the rotating member 12 can use includes, but is not limited to, cantilever frame support structure, plate frame support structure, etc.

[0035] For example, in this application, the rotating member 12 is a plate-like frame-type support structure; please refer to [link / reference]. Figure 6The rotating component 12 is provided with a swing groove 121 and a clearance hole 122. The clearance hole 122 is connected to the swing groove 121. The second end 132 of the swing component 13 extends into the swing groove 121 and is rotatably connected to the side wall of the swing groove 121. The swing groove 121 is connected to the docking groove 1321. The end of the push rod 2112 away from the sliding part 2111 extends from the clearance hole 122 into the swing groove 121 and is inserted into the docking groove 1321. With the above structure, the first drive assembly 21 and the second drive assembly 22 are assembled and connected to the first finger group 1 by means of the rotating component 12. The swing groove 121 of the rotating component 12 provides a place and support for the swing component 13, and the swing groove 121 and the clearance hole 122 guide the end of the push rod 2112 away from the sliding part 2111, ensuring that the dual-power drive structure composed of the first drive assembly 21 and the second drive assembly 22 can achieve smooth operation. Furthermore, this application integrates the multi-component motion relationship of the first drive assembly 21, the second drive assembly 22 and the first phalanx group 1 by means of the rotating member 12, which saves the space required by the rotating member 12 and the sliding member 211 in the space between the first phalanx group 1 and the second phalanx group 2 of the mechanical finger 100, which is conducive to the compactness and miniaturization of the mechanical finger 100.

[0036] It should be noted that the swing groove 121 and the docking groove 1321 are connected, and the clearance hole 122 provides a channel for the push rod 2112 to extend into the swing groove 121 and then be inserted into the docking groove 1321. This allows the first drive assembly 21 to directly transmit the force through the side wall of the docking groove 1321 to the swing member 13 during the process of driving the push rod 2112 to slide along the first axis X, thereby driving the swing member 13 to swing along the first axis X. This method has a short and direct power transmission path, which reduces the power loss of the first drive assembly 21 and further ensures the load capacity of the first drive assembly 21. Furthermore, since the oscillating member 13 is rotatably connected to the side wall of the oscillating groove 121, when the mechanical finger 100 performs a grasping action, the reaction force received by the first phalanx group 1 from the object can be transmitted through the oscillating member 13 to the side wall of the oscillating groove 121, and then through the side wall of the oscillating groove 121 to the second drive assembly 22. In this situation, the force transmitted to the side wall of the oscillating groove 121 is borne by the entire side wall. Compared with the "cantilever beam structure" commonly used in the prior art, the "cantilever beam structure" will, due to its own structural limitations, exhibit [a certain behavior] when subjected to the force transmitted by the oscillating member 13. The tendency to twist generates bending moment, affecting the overall structural strength of the mechanical finger 100, and the tendency to twist also affects the stability of the mechanical finger 100's ability to grasp objects. In contrast, the sidewall of the swing groove 121 in this application has a plate-like structure, and the sidewall of the swing groove 121 wraps around the structure of the swing member 13 swinging along the first axis X. As a result, the reaction force from the object received by the swing member 13 is transmitted to the sidewall of the swing groove 121, and the reaction force is dispersed to the rotating member 12, which improves the structural strength of the mechanical finger 100 and also ensures the stability of the mechanical finger 100 when grasping objects, reducing the wobbling of the fingertip.

[0037] In some embodiments, please refer to Figure 4 and Figure 6 In order to ensure that the swing member 13 rotates smoothly in the swing groove 121 of the rotating member 12, the side wall portion 13c is constructed as a plate-like structure with a first arc-shaped surface 13c1 on its outer contour. The corresponding swing groove 121 has a second arc-shaped surface 1211 corresponding to the first arc-shaped surface 13c1. There is a gap between the first arc-shaped surface 13c1 and the second arc-shaped surface 1211 so that the swing member 13 and the rotating member 12 can rotate smoothly relative to each other.

[0038] Understandably, the length of the swing groove 121 along the first axis X restricts the maximum swing amplitude of the first finger joint 1 along the first axis X, while the stroke of the first drive assembly 21 driving the slider 211 along the first axis X determines the design requirements of the first finger joint 1. Therefore, the user can select the length of the swing groove 121 along the first axis X according to actual needs, and select the stroke of the first drive assembly 212 driving the slider 211 along the first axis X according to actual needs. Specific data selections will not be illustrated here. It is only necessary to ensure that the stroke of the first drive assembly 21 driving the slider 211 along the first axis X is less than the length of the swing groove 121 along the first axis X.

[0039] It should be noted that the swing member 13 is rotatably disposed on the inner wall of the rotating groove in the following ways: relying on the rotating shaft as the intermediate component to make the swing member 13 rotatably disposed on the inner wall of the rotating groove, or providing an integrally formed rotating part at the second end 132 of the swing member 13 and rotatably disposed on the inner wall of the rotating groove, etc.

[0040] For example, in this application, the swing member 13 is rotatably disposed on the inner wall of the swing groove 121 by means of a rotating shaft. For details, please refer to Figure 4 and Figure 6 The swing member 13 includes a pivot shaft 13d. The second end 132 of the swing member 13 is provided with a through hole 1322, which communicates with the mating groove 1321. The through hole 1322 is located at the end of the support rod 13b facing the side wall 13c. The pivot shaft 13d is interference-fitted into the through hole 1322. The two opposing inner walls of the swing groove 121 are respectively provided with rotating holes 1212. The two ends of the pivot shaft 13d are rotatably disposed in the rotating holes 1212. The above structure allows the swing member 13 to swing within the swing groove 121; or the two ends of the pivot shaft 13d are interference-fitted into the two rotating holes 1212, and the pivot shaft 13d is rotatably disposed within the rotating holes 1212. The above structure allows the swing member 13 to swing within the swing groove 121.

[0041] It should be noted that the axis of the rotating shaft 13d is oriented towards the second axis Y to ensure that the first finger group 1 can swing along the first axis X.

[0042] Understandably, the transmission structure that can be selected when the first driving member 212 drives the sliding part 2111 includes, but is not limited to, gear and rack meshing, linkage mechanism, screw drive, belt drive, etc. For example, when using belt drive, the first driving assembly also includes a synchronous pulley, the sliding part is fixed on the synchronous belt, and the first driving member drives the synchronous pulley to rotate, thereby causing the sliding part to move with the synchronous belt; for example, when using linkage mechanism for transmission, the first driving assembly also includes linkage mechanism, crank or eccentric wheel, the first driving member drives crank or eccentric wheel to rotate, and the crank or eccentric wheel is connected to the sliding part through linkage mechanism, thereby causing the sliding part to slide.

[0043] For example, in this application, the transmission structure for the first driving member 212 to drive the sliding part 2111 to slide is a gear and rack. For details, please refer to [link to application]. Figure 7 and Figure 8 The sliding part 2111 is provided with a rack 21111. The first driving member 212 includes a first motor 2121 and a first driving tooth 2122. The first motor 2121 drives the first driving tooth 2122 to rotate. The first motor 2121 is fixed to the second driving assembly 22. The first motor 2121 is connected to the first driving tooth 2122. The first driving tooth 2122 meshes with the rack 21111. Through the above structure, when the first motor 2121 drives the first drive gear 2122 to rotate, the first drive gear 2122 can drive the rack 21111 to move along the first axis X, thereby realizing the sliding part 2111 relative to the second drive assembly 22. The rigid contact between the teeth of the first drive gear 2122 and the rack 21111 makes the first drive member 212 have a higher load-bearing capacity and transmission rigidity than the synchronous belt drive structure when transmitting force to the sliding part 211. In order to realize the transmission of force, the material of the gear and rack 21111 should preferably be a material with sufficient hardness (such as metal material, high-performance composite material, etc.), so that the teeth of the first drive gear 2122 and the rack 21111 will not undergo significant deformation and wear during long-term use, ensuring the positioning accuracy of the first drive assembly 21 driving the first finger group 1 to swing along the first axis X. In addition, the high hardness material also ensures the stability and reliability of the mechanical finger 100 under high load conditions.

[0044] In some embodiments, please refer to Figure 7 and Figure 8The second drive assembly 22 includes a second drive member 221 and a bracket 222. The bracket 222 is fixed to the housing of the second drive member 221. The rotating member 12 is rotatably disposed on the bracket 222, that is, the bracket 222 is provided with a rotation space 2221. The sliding part 2111 is slidably disposed on the bottom wall of the rotation space 2221, and the rotating member 12 can rotate within the rotation space 2221. The second drive member 221 is connected to the rotating member 12 and is used to drive the rotating member 12 to rotate relative to the bracket 222, that is, the second drive member 221 drives the rotating member 12 to rotate relative to the bracket 222. 22 rotates along the second axis Y. Since the pivot of the swing member 13 is set along the second axis Y, the rotating member 12 limits the swing member 13 along the second axis Y. That is, the swing member 13 is only allowed to swing relative to the rotating member 12 along the first axis X in the swing groove 121, and is not allowed to rotate relative to the rotating member 12 along the second axis Y. Thus, when the second driving member 221 drives the rotating member 12 to rotate, the rotating member 12 drives the swing member 13 to rotate along the second axis Y, thereby realizing the rotation of the first finger joint group 1 along the second axis Y. The sliding part 2111 is slidably disposed on the bracket 222.

[0045] In some embodiments, please refer to Figure 7 and Figure 8 The bracket 222 is provided with a sliding groove 2222, which communicates with the rotation space 2221. The sliding groove 2222 extends along the first axial direction X. The sliding part 2111 is provided with a sliding platform 21112, which is slidably disposed in the sliding groove 2222. The sliding groove 2222 limits the sliding platform 21112 when the sliding part 2111 slides relative to the bracket 222, thus preventing the sliding part 2111 from undergoing unexpected displacement during sliding along the first axial direction X.

[0046] It should be noted that the length of the slide groove 2222 extending along the first axis X determines the path length of the sliding part 2111 that can slide on the bracket 222, and further determines the angle at which the sliding part 2111 can swing along the first axis X by driving the first finger group 1 through the push rod 2112. Therefore, the length of the slide groove 2222 along the first axis X needs to be determined in combination with the required swing angle of the first finger group 1, the width of the rotation space 2221 formed by the bracket 222 along the first axis X, etc., which will not be explained in detail here.

[0047] In some embodiments, the cross-sectional shape of the slide 2222 is trapezoidal along the first axial direction X. Furthermore, the cross-sectional shape of the slide 21112 is adapted to the cross-sectional shape of the slide 2222, and the width of the bottom of the slide 2222 is greater than the width of the opening of the slide 2222, so that the cross-sectional shape of the slide 2222 presents the trapezoidal shape described above.

[0048] It should be noted that the trapezoidal cross-section of the slide 21112 and the trapezoidal cross-section of the groove 2222, when the slide 21112 slides within the groove 2222, allows the inner wall of the groove 2222 to apply forces along the first axis X and the third axis Z to the slide 21112. This forces limit the slide 21112, preventing it from dislodging from the groove 2222. The first axis X, the second axis Y, and the third axis Z are all perpendicular to each other.

[0049] In some embodiments, please refer to Figure 9 and Figure 10 The second drive assembly 22 also includes a second drive gear 223 and a driven gear 224. The driven gear 224 is rotatably mounted on the bracket 222 and is connected to the rotating member 12. The combination of the driven gear 224 and the second drive gear 223 can reduce the rotational speed output by the second drive member 221. That is, the driven gear 224 and the second drive gear 223 constitute a speed reduction mechanism. The arrangement of the driven gear 224 and the second drive gear 223 enables the small torque of the motor to be converted into a large torque to drive the load. Furthermore, the speed reduction mechanism enables the rotational speed transmitted from the second drive member 221 to the first finger joint group 1 to meet the speed requirements of the mechanical finger 100 when performing various actions. It also enables the rotational inertia of the second drive member 221 to be effectively reduced, making the mechanical finger 100 start, stop, and speed adjustment faster and more precise in actual use. The second drive tooth 223 is connected to the second drive member 221. The second drive tooth 223 meshes with the driven tooth 224. The second drive member 221 is used to drive the second drive tooth 223.

[0050] It should be noted that the gear ratio of the second driving gear 223 and the driven gear 224 can be selected as needed, and will not be listed in detail here. Furthermore, since the second driving component 221 integrates a reduction mechanism to ensure that the rotation direction and speed output by the second driving component 221 meet the requirements, the second driving component 221, in combination with the driven gear 224 and the second driving gear 223, achieves two-stage reduction, thereby jointly realizing precise control of the output speed and torque.

[0051] It is understandable that the methods of controlling the second driving member 221 to drive the second driving tooth 223 to rotate to the angle include, but are not limited to, one or more combinations of the following: controlling by controlling the second driving member 221, constraining by the limiting structure, and controlling by the angle sensor.

[0052] For example, in this application, the second driving element 221 is controlled in conjunction with a limiting structure to achieve this; please refer to 9 and Figure 10The bracket 222 is provided with a limit groove 2223, which is arc-shaped. The driven tooth 224 is provided with a limit part 2241, which is inserted into the limit groove 2223 and configured to slide within the limit groove 2223. The limit groove 2223 is used to limit the stroke of the driven tooth 224. Through the cooperation of the limit groove 2223 and the limit part 2241, when the second drive member 221 drives the second drive tooth 223 to rotate the driven tooth 224, the limit groove 2223 can limit the limit part 2241, thereby constraining the angle that the driven tooth 224 can rotate.

[0053] It should be noted that the above structure needs to be implemented in conjunction with the control of the second driving component 221. The control strategy of the second driving component 221 includes, but is not limited to: open-loop time control (powering the motor for a preset time to allow it sufficient time to move from one position to the next); limit switch feedback (installing microswitches at each target position point; when the microswitches are triggered, a signal is transmitted to the controller, and the controller cuts off the motor power); current detection (when the motor drives the corresponding limit structure to the corresponding preset position, the limiting action of the limit structure is triggered, the motor resistance increases, resulting in a rise in current; after the controller detects the current peak, it delays for a short period of time (to ensure the position is reached) and then shuts off the motor). For example, in this application, current detection is used in conjunction with the limit section 2241 and the limit slot 2223 to achieve this. The specific operating mechanisms will not be described in detail here.

[0054] In some embodiments, please refer to Figure 10 The bracket 222 includes a base plate 222a and two spaced-apart side plates 222b. The two side plates 222b are respectively disposed at both ends of the base plate 222a. The two side plates 222b and the base plate 222a together form the aforementioned rotation space 2221. The rotating component 12 is rotatably disposed on the two side plates 222b to improve the stability of the rotating component 12 during rotation, thereby improving the stability of the robotic finger 100 during operation. The aforementioned limit groove 2223 is disposed on the aforementioned side plate 222b. Both side plates 222b are provided with the aforementioned limit groove 2223 so that the installation direction can be adjusted according to actual needs when assembling the driven tooth 224, thereby improving the applicability of the robotic finger 100.

[0055] In some embodiments, the number of first drive components 21 is not limited to one; there can also be two. The two first drive components 21 are arranged opposite each other along the first axis X, and are jointly configured to drive the oscillating member 13 to oscillate along the first axis X, thereby causing the first phalanx 11 to oscillate along the first axis X, thus improving the load capacity of the robotic finger 100 when performing oscillating movements along the first axis X. The main application scenarios include, but are not limited to, cleaning or moving objects using the oscillating movements of the robotic finger 100 along the first axis X.

[0056] This application also provides a robotic arm 1000, please refer to [link / reference needed]. Figure 11 The robotic hand 1000 includes a palm assembly 200 and a plurality of the aforementioned robotic fingers 100, which are spaced apart on the palm assembly 200. Furthermore, a portion of the second knuckle group 2 of any one of the robotic fingers 100 is disposed on the finger assembly 200, so that the palm assembly 200 can provide support for the robotic finger 100 when the second knuckle group 2 drives the first knuckle group 1 to rotate along the first axis X and along the second axis Y.

[0057] It should be noted that the number of mechanical fingers 100 includes, but is not limited to, positive integers greater than or equal to two. For example, in this application, the number of mechanical fingers 100 is five.

[0058] Understandably, when the robotic finger 100 is applied to the robotic hand 1000, when the robotic hand 1000 performs actions such as grasping, holding, and pinching, the movement amplitude of the first phalanx group 1 along the first axis X is significantly smaller than the movement amplitude of the first phalanx group 1 along the second axis Y. Therefore, in the second phalanx group 2, the power of the first drive component 21 can be less than the power of the second drive component 22. That is, in the actual installation selection, the volume and power of the first drive component 212 can be less than the volume and power of the second drive component 221, thereby enabling the first drive component 21 and the second drive component 22 to form a significant difference. This is beneficial for controlling the overall size and weight of the second phalanx group 2, achieving an efficient match between the robotic finger 100 and the required space layout, and improving the overall power density and motion performance of the robotic hand.

[0059] This application also provides a robot, which includes a body unit, an arm unit, a leg unit, and the aforementioned manipulator. The arm unit and the leg unit are movably connected to the body unit, and the manipulator is electrically connected to the arm unit.

[0060] This application provides a mechanical finger 100, a robotic hand 1000 using the mechanical finger 100, and a robot using the robotic hand. The dual-power drive method composed of the first drive component 21 and the second drive component 22 of the mechanical finger 100 improves the power output of the mechanical finger 100 in driving the first phalanx group 1 to rotate along the first axis X and along the second axis Y. Compared with the tendon drive method or the single independent motor drive method in the prior art, the mechanical finger 100 of this application achieves decoupling of drive and distribution of load, so that the mechanical finger 100 of this application obtains stronger power output capability while ensuring the structural compactness of the mechanical finger 100.

[0061] It should be noted that while the preferred embodiments of the present invention are given in the specification and accompanying drawings, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. These embodiments are not intended to impose additional limitations on the content of the present invention; their purpose is to provide a more thorough and comprehensive understanding of the disclosure of the present invention. Furthermore, the above-described technical features can be combined with each other to form various embodiments not listed above, all of which are considered to be within the scope of the present invention specification. Moreover, those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A mechanical finger, characterized in that, include: The first phalanx group includes a first phalanx, a rotating member, and a swing member. The first phalanx is disposed on the swing member, and the swing member is rotatably connected to the rotating member. The swing member is configured to swing along a first axis. The second phalanx assembly includes a first drive assembly and a second drive assembly. The second drive assembly is connected to the rotating member and is used to drive the rotating member to rotate along a second axis, thereby causing the first phalanx to rotate along the second axis. The first driving component is disposed on the second driving component, and the first driving component is connected to the swing member. The first driving component is used to drive the swing member to swing along the first axis, so as to drive the first knuckle to swing along the first axis, wherein the first axis and the second axis are perpendicular.

2. The mechanical finger according to claim 1, characterized in that, The swing member has a first end and a second end, the first end of the swing member is fixed to the first finger joint, and the second end of the swing member is provided with a docking groove, which is circumferentially arranged around the first axis. The first drive assembly includes a slider and a first drive member. The slider includes a sliding part and a push rod. The sliding part is slidably disposed on the second drive assembly. One end of the push rod is fixed to the sliding part, and the other end of the push rod is inserted into the mating groove. The push rod is configured to rotate about the second axis within the mating groove and to restrict the push rod from sliding relative to the mating groove along the first axis. The first driving member is connected to the sliding part, and the first driving member is used to drive the sliding part to slide along the first axis to drive the push rod to slide.

3. The mechanical finger according to claim 2, characterized in that, The rotating component is provided with a swing groove and a clearance hole. The clearance hole is connected to the swing groove. The second end of the swing component extends into the swing groove. The swing component is rotatably connected to the side wall of the swing groove. The swing groove is connected to the docking groove. The end of the push rod away from the sliding part extends from the clearance hole into the swing groove and is inserted into the docking groove.

4. The mechanical finger according to claim 2, characterized in that, The sliding part is provided with a rack; The first driving component includes a first motor and a first driving tooth. The first motor is fixed to the second driving assembly, the first motor is connected to the first driving tooth, and the first driving tooth meshes with the rack.

5. The mechanical finger according to claim 2, characterized in that, The second drive assembly includes a second drive element and a bracket; The bracket is fixed to the housing of the second driving member, the rotating member is rotatably disposed on the bracket, the second driving member is connected to the rotating member, the second driving member is used to drive the rotating member to rotate relative to the bracket, and the sliding part is slidably disposed on the bracket.

6. The mechanical finger according to claim 5, characterized in that, The bracket is provided with a sliding groove that extends along the first axial direction, and the sliding part is provided with a sliding platform that is slidably disposed in the sliding groove.

7. The mechanical finger according to claim 5, characterized in that, The second drive assembly further includes a second drive tooth and a driven tooth, the driven tooth being rotatably mounted on the bracket and connected to the rotating member; The second drive tooth is connected to the second drive member, and the second drive tooth meshes with the driven tooth. The second drive member is used to drive the second drive tooth.

8. The mechanical finger according to claim 7, characterized in that, The bracket is provided with a limit groove; The driven tooth is provided with a limit part, which is inserted into the limit groove. The limit part is configured to slide within the limit groove, and the limit groove is used to limit the travel of the driven tooth.

9. A robotic arm, characterized in that, It includes a palm assembly and a plurality of mechanical fingers as described in any one of claims 1-8, wherein the plurality of mechanical fingers are spaced apart on the palm assembly.

10. A robot, characterized in that, It includes a body unit, an arm unit, a leg unit, and a robotic hand as described in claim 9, wherein the arm unit and the leg unit are movably connected to the body unit, and the robotic hand is electrically connected to the arm unit.

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