Manipulator and robot

Abstract

The embodiment of the invention relates to the technical field of manipulators, and particularly discloses a manipulator and a robot, the manipulator comprises a palm assembly and a finger assembly, the finger assembly comprises a plurality of mechanical fingers, the plurality of mechanical fingers are arranged on the palm assembly at intervals, the plurality of mechanical fingers comprise at least three palm-facing fingers and two side-sway fingers, the number of interphalangeal joints of each mechanical finger is not less than four, and each of the palmar finger and the side-sway finger has at least four degrees of freedom. Through the mode, according to the embodiment of the invention, through the at least four degrees of freedom of the palmar fingers and the at least four degrees of freedom of the side-sway fingers, the manipulator with at least three palmar fingers and two side-sway fingers can have at least twenty degrees of freedom, so that the flexibility of the manipulator is improved; therefore, the manipulator can complete complex actions, and application of the manipulator, especially a manipulator similar to a human hand, in a robot is facilitated.

Description

Technical Field

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

[0002] Robotic hands, also known as dexterous hands, are used to mimic human hands in grasping, carrying, and manipulating. Robotic hands need to have sufficient degrees of freedom so that they can achieve a high level of dexterity and movement similar to that of human hands.

[0003] Currently, the degrees of freedom of robotic arms are generally less than or equal to 17, resulting in low degrees of freedom. When robotic arms perform complex actions, the low degrees of freedom make it difficult to complete complex actions, which affects the application of robotic arms in robots. Summary of the Invention

[0004] This invention provides a robotic arm and robot, which mainly solves the technical problem that existing robotic arms lack flexibility and cannot effectively complete complex actions.

[0005] To solve the above-mentioned technical problems, one technical solution adopted by the present invention is to provide a palm assembly and a finger assembly. The finger assembly includes a plurality of mechanical fingers, which are spaced apart on the palm assembly. The plurality of mechanical fingers include at least three opposing fingers and two lateral fingers. Each of the mechanical fingers has at least four interphalangeal joints, and both the opposing fingers and the lateral fingers have at least four degrees of freedom.

[0006] In some embodiments, the mechanical finger includes a plurality of drive units connected in sequence. Each drive unit includes a drive motor and a rotating part. The rotating part is connected to the output end of the drive motor, and the rotating part of one drive unit is connected to the housing of another drive unit.

[0007] In some embodiments, the housing of the drive motor is provided with a plurality of first mating parts at one end away from the output end, and the rotating part is provided with a plurality of second mating parts; when two drive units are stacked and assembled, the second mating part of one drive unit is connected to the first mating part of the other drive unit.

[0008] In some embodiments, the opposing fingers include a first fingertip component, a first knuckle module, a second knuckle module, and a third knuckle module that are rotatably connected in sequence; the first fingertip component is rotatably connected to one end of the first knuckle module about a first direction, the other end of the first knuckle module is rotatably connected to one end of the second knuckle module about a first direction, the other end of the second knuckle module is rotatably connected to one end of the third knuckle module about a first direction and a second direction, and the third knuckle module is fixed to the palm assembly, wherein the first direction and the second direction are perpendicular.

[0009] In some embodiments, the first knuckle module includes a first drive unit, the first drive unit including a first drive motor and a first rotating part rotatably connected, the first rotating part being rotatably disposed at the output end of the first drive motor about a first direction, and the first fingertip component being fixed to the first rotating part; the second knuckle module includes two second drive units symmetrically arranged along a third direction, the second drive unit including a second drive motor and a second rotating part rotatably connected, one second rotating part being rotatably disposed at the output end of one second drive motor about a first direction and the second rotating part being fixedly connected to the first drive motor, and the other second rotating part being rotatably disposed at the output end of the other second drive motor about a first direction; the third knuckle module includes a third drive unit, the third drive unit including a third drive motor and a third rotating part rotatably connected, the third rotating part being rotatably disposed at the output end of the third drive motor about a second direction, the third rotating part being fixedly connected to the other second rotating part, and the third drive motor being fixed to the palm assembly; the first direction, the second direction, and the third direction are mutually perpendicular.

[0010] In some embodiments, the first knuckle module includes a first drive motor and a first rotating part rotatably connected, the first rotating part being rotatably disposed at the output end of the first drive motor about a first direction, and the first fingertip component being fixed to the first rotating part; the second knuckle module includes a second drive unit disposed along a third direction and another second drive unit disposed along a second direction, each second drive unit including a second drive motor and a second rotating part rotatably connected, one second rotating part being rotatably disposed at the output end of one second drive motor about the first direction, the other second rotating part being rotatably disposed at the output end of the other second drive motor about the first direction, and one second drive motor being fixed to the other second rotating part; the third knuckle module includes a third drive motor and a third rotating part, the third rotating part being rotatably disposed at the output end of the third drive motor about the second direction, the third rotating part being fixedly connected to the other second drive motor, and the third drive motor being fixed to the palm assembly; the first direction, the second direction, and the third direction are mutually perpendicular.

[0011] In some embodiments, the two lateral fingers are respectively a first lateral finger and a second lateral finger, and a plurality of opposing fingers are spaced apart between the first lateral finger and the second lateral finger.

[0012] In some embodiments, the first lateral finger includes a second fingertip component, a fourth phalanx module, a fifth phalanx module, a sixth phalanx module, and a seventh phalanx module that are rotatably connected in sequence. The second fingertip component is rotatably disposed at one end of the fourth phalanx module about a second direction. The other end of the fourth phalanx module is rotatably disposed at one end of the fifth phalanx module about the second and first directions. The other end of the fifth phalanx module is rotatably disposed at one end of the sixth phalanx module about an axis that forms an angle with the first direction. The other end of the sixth phalanx module is rotatably disposed on one side of the seventh phalanx module about an axis that forms an angle with the third direction. The seventh phalanx module is fixed to the palm assembly.

[0013] In some embodiments, the fourth phalanx module includes two fourth drive units symmetrically arranged along a third direction. Each of the two fourth drive units includes a fourth drive motor and a fourth rotating part. One fourth rotating part is rotatably disposed at the output end of one fourth drive motor, and the second fingertip member is fixed to the fourth rotating part. The other fourth rotating part is rotatably disposed at the output end of the other fourth drive motor. The fifth phalanx module includes a fifth drive unit. The fifth drive unit includes a fifth rotating part and a fifth drive motor rotatably connected. The fifth rotating part is rotatably connected to the output end of the fifth drive motor about an axis forming an angle with a first direction, and the second fingertip member is fixed to the fourth rotating part. The fifth rotating part is fixedly connected to another fourth rotating part; the sixth finger joint module includes a sixth driving unit, the sixth driving unit includes a sixth rotating part and a sixth driving motor rotatably connected, the sixth rotating part is rotatably connected to the output end of the sixth driving motor about an axis forming an angle around a first direction, and the sixth rotating part is fixedly connected to the fifth driving motor; the seventh finger joint module includes a seventh driving unit, the seventh driving unit includes a seventh driving motor and a seventh rotating part rotatably connected, the seventh rotating part is rotatably disposed on one side of the output end of the seventh driving motor about an axis forming an angle around a third direction, and the sixth driving motor is fixed to the seventh rotating part.

[0014] In some embodiments, the fourth finger joint module includes a fourth drive unit, which includes a fourth rotating part and a fourth drive motor rotatably connected. The fourth rotating part is rotatably connected to the output end of the fourth drive motor about a second direction and is fixedly connected to the second fingertip member. The fifth finger joint module includes a fifth drive unit arranged along an axis at an angle to a third direction and another fifth drive unit arranged along an axis at an angle to a first direction. Each fifth drive unit includes a fifth drive motor and a fifth rotating part. One fifth rotating part is rotatably disposed at the output end of one fifth drive motor, and the fourth drive motor is fixed to the fifth rotating part. Another fifth rotating part is rotatably disposed at the output end of another fifth drive motor; the sixth finger joint module includes a sixth drive unit, the sixth drive unit includes a sixth rotating part and a sixth drive motor rotatably connected, the sixth rotating part is rotatably connected to the output end of the sixth drive motor about an axis forming an angle around a first direction and the sixth rotating part is fixedly connected to another fifth drive motor; the seventh finger joint module includes a seventh drive unit, the seventh drive unit includes a seventh drive motor and a seventh rotating part rotatably connected, the seventh rotating part is rotatably disposed on one side of the output end of the seventh drive motor about an axis forming an angle around a third direction and the sixth drive motor is fixed to the seventh rotating part.

[0015] In some embodiments, the second lateral finger includes a third fingertip component, an eighth finger joint module, a ninth finger joint module, a tenth finger joint module, and an eleventh finger joint module that are rotatably connected in sequence. The third fingertip component is rotatably disposed at one end of the eighth finger joint module about a first direction. The other end of the eighth finger joint module is rotatably disposed at one end of the ninth finger joint module about a first direction. The other end of the ninth finger joint module is rotatably disposed at one end of the tenth finger joint module about a first direction and a second direction. The other end of the tenth finger joint module is rotatably connected to the eleventh finger joint module about an axis that forms an angle with the first direction. The eleventh finger joint module is fixed to the palm assembly.

[0016] In some embodiments, the second lateral finger includes a first adapter; the eighth phalanx module includes an eighth drive unit, the eighth drive unit including an eighth rotating part and an eighth drive motor rotatably connected, the eighth rotating part being rotatably connected to the output end of the eighth drive motor about a first direction, and the third fingertip member being fixed to the eighth rotating part; the ninth phalanx module includes two ninth drive units symmetrically arranged along a third direction, the ninth drive unit including a ninth rotating part and a ninth drive motor rotatably connected, one of the ninth rotating parts being rotatably connected to the output end of the ninth drive motor about a first direction and the ninth rotating part being fixedly connected to the eighth drive motor, and the other ninth rotating part being rotatably connected to the other ninth drive motor about a first direction; The tenth phalanx module includes a tenth drive unit, which includes a tenth rotating part and a tenth drive motor rotatably connected. The tenth rotating part is rotatably disposed at the output end of the tenth drive motor about a second direction, and another ninth rotating part is fixedly connected to the tenth rotating part. The first adapter includes a first fixing part and a second fixing part arranged at an angle, and the first fixing part is fixedly connected to the tenth drive motor. The eleventh phalanx module includes an eleventh drive unit, which includes an eleventh rotating part and an eleventh drive motor rotatably connected. One end of the eleventh rotating part is fixed to the second fixing part, and the other end of the eleventh rotating part is rotatably disposed at the output end of the tenth drive motor about an axis that is at an angle to the first direction.

[0017] In some embodiments, the second lateral finger includes a first adapter; the eighth phalanx module includes an eighth drive unit, the eighth drive unit including an eighth rotating part and an eighth drive motor rotatably connected, the eighth rotating part being rotatably connected to the output end of the eighth drive motor about a first direction, and the third fingertip member being fixed to the eighth rotating part; the ninth phalanx module includes a ninth drive unit arranged along a third direction and another ninth drive unit arranged along a second direction, each of the ninth drive units including a ninth rotating part and a ninth drive motor rotatably connected, one ninth rotating part being rotatably connected to the output end of one ninth drive motor about a first direction and the ninth rotating part being fixedly connected to the eighth drive motor, and the other ninth rotating part being rotatably connected to the output end of the other ninth drive motor about a first direction and the ninth rotating part being fixedly connected to the eighth drive motor, and the other ninth rotating part being rotatably connected to the output end of the other ninth drive motor about a first direction and the ninth driving unit being fixedly connected to the eighth drive motor. The ninth rotating part is fixedly connected to a ninth drive motor; the tenth finger joint module includes a tenth drive unit, the tenth drive unit includes a tenth rotating part and a tenth drive motor rotatably connected, the tenth rotating part is rotatably disposed at the output end of the tenth drive motor about a second direction, and another ninth drive motor is fixedly connected to the tenth rotating part; the first adapter includes a first fixing part and a second fixing part arranged at an angle, the first fixing part is fixedly connected to the tenth drive motor; the eleventh finger joint module includes an eleventh drive unit, the tenth drive unit includes an eleventh rotating part and an eleventh drive motor rotatably connected, one end of the eleventh rotating part is fixed to the second fixing part, and the other end of the eleventh rotating part is rotatably disposed at the output end of the tenth drive motor about an axis at an angle to the first direction.

[0018] To solve the above-mentioned technical problems, another technical solution adopted by the present invention is to provide a robot, including a main body and the above-mentioned manipulator, wherein the manipulator is electrically connected to the main body.

[0019] The beneficial effects of this invention are as follows: Unlike existing technologies, this invention provides a robotic hand and robot, comprising a hand assembly and a finger assembly. The finger assembly includes a plurality of robotic fingers spaced apart from the hand assembly. Each robotic finger includes at least three opposing fingers and two lateral fingers. Each robotic finger has at least four interphalangeal joints, and both the opposing and lateral fingers have at least four degrees of freedom, resulting in the robotic hand having at least twenty independently movable joints. Through this structure, this invention enables the robotic hand to have at least twenty degrees of freedom, compared to the seventeen degrees of freedom of existing robotic hands. This provides a more flexible robotic hand with more degrees of freedom. Attached Figure Description

[0020] 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.

[0021] Figure 1 This is an exploded structural diagram of a robotic arm provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the assembly structure of a robotic arm provided in an embodiment of the present invention; Figure 3 This is an enlarged structural schematic diagram of the mechanical finger of a robotic hand provided in an embodiment of the present invention; Figure 4 This is an enlarged structural schematic diagram of a drive unit for a robotic arm provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of the opposing fingers of a robotic hand provided in an embodiment of the present invention; Figure 6 This is a schematic diagram of the structure of the opposing fingers of another robotic hand provided in an embodiment of the present invention; Figure 7 This is a schematic diagram of the structure of the first lateral swing finger of a robotic hand provided in an embodiment of the present invention; Figure 8 This is a schematic diagram of the structure of the first side swing finger of another robotic hand provided in an embodiment of the present invention; Figure 9 This is a schematic diagram of the structure of the second side swing finger of a robotic hand provided in an embodiment of the present invention; Figure 10 This is a schematic diagram of the structure of the second side swing finger of another robotic hand provided in an embodiment of the present invention; Figure 11 This is a schematic diagram of the structure of the opposing fingers of a robotic hand provided in an embodiment of the present invention; Figure 12 yes Figure 11 Enlarged view of part A in the image; Figure 13 This is a schematic diagram of the structure of the hand assembly of a robotic hand provided in an embodiment of the present invention.

[0022] Icon labels: 100. Robotic arm; 1. Hand assembly; 11. Receiving cavity; 111. First cavity opening; 112. Second cavity opening; 113. Third cavity opening; 2. Finger assembly; 21. Mechanical finger; 21a. Opposite finger; 21b. Laterally swinging finger; 211. Interphalangeal joint; 211a. First interphalangeal joint; 211b. Second interphalangeal joint; 211c. Third interphalangeal joint; 211d. Fourth interphalangeal joint; 212. Drive unit; 2121. Drive motor; 21211. First mating part; 21211a. Insertion slot; 21211b. First screw hole; 21211c. Clearance slot; 2122. Rotating part; 21221. Second mating part; 21221a. Insertion part; 21221b. Second screw hole; 21221c. Threaded connector; 21221d. Reinforcing rib; 21a1, First fingertip component; 21a2, First knuckle module; 21a21, First drive unit; 21a211, First drive motor; 21a212, First rotating part; 21a3, Second knuckle module; 21a31, Second drive unit; 21a311, Second drive motor; 21a312, Second rotating part; 21a4, Third knuckle module; 21a41, Third drive unit; 21a411, Third drive motor; 21a412, Third rotating part; 21b1, First lateral finger; 21b11, Second fingertip component; 21b12, Fourth knuckle module; 21b121, Fourth drive unit; 21b1211, Fourth drive motor; 21b1212, Fourth rotating part; 21b13, Fifth knuckle module; 21b131, Fifth drive unit; 21b1311, Fifth drive motor; 21b1312, Fifth rotating part; 21b14, Sixth knuckle module; 21b141, Sixth drive unit; 21b1411, Sixth drive motor; 21b1412, Sixth rotating part; 21b15, Seventh knuckle module; 21b151, Seventh drive unit; 21b1511, Seventh drive motor; 21b1512, Seventh rotating part; 21b2, Second lateral finger; 21b21, Third fingertip component; 21b22, Eighth phalanx module; 21b221, Eighth drive unit; 21b2211, Eighth drive motor; 21b2212, Eighth rotating part; 21b23, Ninth phalanx module; 21b231, Ninth drive unit; 21b2311, Ninth drive motor; 21b2312, Ninth rotating part; 21b24, Tenth phalanx module; 21b241, Tenth drive unit; 21b2411, Tenth drive motor; 21b2412, Tenth rotating part; 21b25, Eleventh phalanx module; 21b251, Eleventh drive unit; 21b2511, Eleventh drive motor; 21b2512, Eleventh rotating part; 21b26, First adapter; 21b261, First fixing part; 21b262, Second fixing part; 213. Second connector; 2131. Connecting plate; 2132. Mounting part; 21321. Third screw hole; 214. Screw; X, first direction; Y, second direction; Z, Third-party orientation. Detailed Implementation

[0023] 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.

[0024] 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.

[0025] This application provides a robotic arm 100; please refer to [link / reference]. Figure 1 and Figure 2 The robotic arm 100 includes a palm assembly 1 and a finger assembly 2. The palm assembly 1 is used to support the finger assembly 2 and to be assembled on automated equipment such as robots that can use the robotic arm 100. The finger assembly 2 includes a plurality of mechanical fingers 21, which are spaced apart on the palm assembly 1. Each mechanical finger 21 includes at least three opposing fingers 21a and two lateral fingers 21b. Each mechanical finger 21 has at least four interphalangeal joints 211, and both the opposing fingers 21a and the lateral fingers 21b have at least four degrees of freedom. This structural design enables the robotic hand 100, which includes at least three opposing fingers 21a and two lateral fingers 21b, to possess more than twenty degrees of freedom by relying on at least four degrees of freedom of the opposing fingers 21a and at least four degrees of freedom of the lateral fingers 21b. This makes the robotic hand 100 more flexible than existing robotic hands 100 with a maximum of seventeen degrees of freedom. The structural design of this application allows the robotic hand 100 to simulate more complex and precise human hand movements, exhibiting excellent flexibility in grasping, manipulation, and adaptive operation, which is beneficial to the application and development of the robotic hand 100 in the field of robotics.

[0026] Among them, the three opposing fingers 21a and the two lateral fingers 21b make the layout of the robotic hand 100 form a layout structure similar to the five fingers of a human hand. The opposing fingers 21a are mechanical fingers 21 that can bend toward the palm assembly 1, and the lateral fingers 21b are mechanical fingers 21 that can bend toward the palm assembly 1 and the two lateral fingers 21b can move in opposite directions or toward each other.

[0027] It should be noted that the interphalangeal joints 211 mentioned above represent the phalanges (or phalanges) of a human hand. In this application, at least four interphalangeal joints 211 are included, and adjacent interphalangeal joints 211 can rotate relative to each other (i.e., achieve unidirectional rotation) to provide a degree of freedom. Furthermore, to ensure that the mechanical finger 21 has at least four degrees of freedom, two adjacent interphalangeal joints 211 can rotate in two directions (i.e., achieve bidirectional rotation) to provide two degrees of freedom. Further, the positions of the two adjacent interphalangeal joints 211 with two degrees of freedom are selected according to the actual situation.

[0028] For ease of understanding, let's take an example where there are four interphalangeal joints 211. Please refer to [link / reference]. Figure 3 According to their distance from the palm component 1, they are named as the first interphalangeal joint 211a, the second interphalangeal joint 211b, the third interphalangeal joint 211c, and the fourth interphalangeal joint 211d. The first interphalangeal joint 211a, the second interphalangeal joint 211b, the third interphalangeal joint 211c, and the fourth interphalangeal joint 211d are connected by rotation in sequence.

[0029] In some embodiments, the bidirectional rotation function is located between the third interphalangeal joint 211c and the fourth interphalangeal joint 211d. In this case, the rotation between the first interphalangeal joint 211a and the second interphalangeal joint 211b, and between the second interphalangeal joint 211b and the third interphalangeal joint 211c, is unidirectional, each providing one degree of freedom. The rotation between the third interphalangeal joint 211c and the fourth interphalangeal joint 211d provides two degrees of freedom, for a total of four degrees of freedom for the entire mechanical finger 21. This arrangement gives the first interphalangeal joint 211a additional directional capability, making it suitable for precise pinching and twisting operations.

[0030] In other embodiments, the bidirectional rotation function is provided between the first interphalangeal joint 211a and the second interphalangeal joint 211b, or between the second interphalangeal joint 211b and the third interphalangeal joint 211c. For example, if the rotation is bidirectional between the first interphalangeal joint 211a and the second interphalangeal joint 211b, it provides two degrees of freedom. The second interphalangeal joint 211b and the third interphalangeal joint 211c, and the third interphalangeal joint 211c and the fourth interphalangeal joint 211d each provide one degree of freedom. The mechanical finger 21 also has four degrees of freedom. This allows the mechanical finger 21 to meet the usage requirements in specific usage scenarios (for example, when performing grasping and manipulation tasks in narrow or structurally complex unstructured spaces, obstacles surround the second interphalangeal joint 211b and the third interphalangeal joint 211c, in which case the first interphalangeal joint 211a needs to be rotated in two directions).

[0031] It should be noted that multiple bidirectional rotation functions can be set (for example, bidirectional rotation between the second interphalangeal joint 211b and the third interphalangeal joint 211c, and between the third interphalangeal joint 211c and the fourth interphalangeal joint 211d), thereby obtaining higher degrees of freedom (e.g., five or six degrees of freedom). Furthermore, the degrees of freedom of the mechanical finger 21 can be further increased by increasing the number of interphalangeal joints 211. Specific arrangements and the corresponding total number of degrees of freedom will not be illustrated here.

[0032] Understandably, the power source of the mechanical finger 21 includes, but is not limited to: relying on the drive component embedded in the palm component 1 or embedded in the robot's arm to pull the tendon rope to move the mechanical finger 21, or relying on a separate drive unit to drive the finger directly connected to its output end to rotate, etc.

[0033] For example, in this application, the mechanical finger 21 is rotated by a drive unit. For details, please refer to [link to relevant documentation]. Figure 4The robotic finger 21 includes multiple drive units 212 connected in sequence. Each drive unit 212 includes a drive motor 2121 and a rotating part 2122. The rotating part 2122 is connected to the output end of the drive motor 2121, and the rotating part 2122 of one drive unit 212 is connected to the housing of another drive unit 212. This structure allows the length and degrees of freedom of the robotic finger 21 to be controlled according to the number of stacked drive units 212, thus enabling the customization of the degrees of freedom and length of the robotic finger 21 according to actual needs. This improves the degrees of freedom and flexibility of the robotic hand 100. The stacked drive units 212 realize the modular design of the robotic finger 21, which also facilitates maintenance and upgrades, improving the adaptability and economy of the product. The drive units 212 directly drive the rotation of each joint (the connection position between two adjacent drive units 212), avoiding the friction loss, lag, and complex maintenance problems common in traditional tendon cable drives, thus improving the response speed, positioning accuracy, and overall reliability of the robotic finger 21.

[0034] In some embodiments, please refer to Figure 4 The drive motor 2121 has multiple first mating parts 21211 at the end of its housing facing away from the output end, and the rotating part 2122 has multiple second mating parts 21221. When two drive units 212 are stacked and assembled, the second mating part 21221 of one drive unit 212 connects with the first mating part 21211 of the other drive unit 212. The mutual cooperation of the first mating parts 21211 and the second mating parts 21221 enables rapid assembly and disassembly of the multiple drive units 212. If a drive unit 212 is damaged, it can be replaced by connecting the first mating parts 21211 and the second mating parts 21221. This facilitates the assembly and maintenance of the robot arm 100, improves the assembly and disassembly efficiency of the robotic finger 21, and is beneficial for the mass production of the robotic finger 21.

[0035] Understandably, the structures that can be selected for the first mating part 21211 and the second mating part 21221 include, but are not limited to, combinations of at least one or more of the following: snap-fit ​​and slot, screw and screw hole, key and keyway, pin and socket.

[0036] For example, in some embodiments, a connection method combining protrusions and grooves with screws and screw holes is used; for details, please refer to [link to relevant documentation]. Figure 4The first mating part 21211 includes a insertion groove 21211a and a first screw hole 21211b, the first screw hole 21211b being located on the side wall of the insertion groove 21211a; the second mating part 21221 includes an insertion part 21221a, a second screw hole 21221b, and a screw connector 21221c, the second screw hole 21221b being disposed in the insertion part 21221a, the insertion part 21221a being received within the insertion groove 21211a, and when inserted... When the connector 21221a is received within the insertion slot 21211a, the second screw hole 21221b communicates with the first screw hole 21211b. The screw connector 21221c passes through the second screw hole 21221b and is screwed into the first screw hole 21211b, so that the rotating part 2122 of one drive unit 212 can be locked to the end of another drive unit 212 stacked with it, away from the output end of its housing. The connector 21221a and the insertion slot 21211a work together to provide initial radial and circumferential positioning for the two stacked drive units 212, ensuring coaxiality and phase alignment between the drive units 212. The screw connector 21221c performs axial locking, forming a rigid connection, effectively transmitting torque and resisting working load, ensuring the stability and accuracy of the mechanical finger 21 during movement.

[0037] It should be noted that the rotating part 2122 of one drive unit 212 can also be connected to the housing of another drive unit 212 by welding, screwing, or other methods.

[0038] Understandably, the number of insertion slots 21211a and the number of first screw holes 21211b are positive integers greater than or equal to one. Correspondingly, the number of insertion parts 21221a, second screw holes 21221b and screw connectors 21221c are also positive integers greater than or equal to one. Furthermore, the number of insertion slots 21211a and the number of first screw holes 21211b are equal to the number of insertion parts 21221a, second screw holes 21221b and screw connectors 21221c. For example, in this application, there are four insertion slots 21211a and four first screw holes 21211b. The four insertion slots 21211a are respectively located at the four corners of the housing of the drive unit 212. Correspondingly, there are also four insertion parts 21221a, four second screw holes 21221b, and four screw connectors 21221c. The insertion parts 21221a are respectively located at the four corners of the rotating part 2122 so that one insertion part 21221a can be inserted into one insertion slot 21211a. The screw connectors 21221c screw the insertion part 21221a and the insertion slot 21211a together. This structural design ensures a stable connection between the rotating part 2122 of one drive unit 212 and the housing of another drive unit 212.

[0039] In some embodiments, please refer to Figure 4 A reinforcing rib 21221d is provided between two adjacent plug-in portions 21221a to improve the structural strength between the two adjacent plug-in portions 21221a, thereby improving the load capacity of the mechanical finger 21. Furthermore, a clearance groove 21211c is provided between the plug-in grooves 21211a corresponding to the plug-in portion 21221a, and the reinforcing rib 21221d is housed in the clearance groove 21211c, thereby increasing the contact area between the rotating part 2122 and the housing of the drive motor 2121 connected to the rotating part 2122, thereby further improving the connection strength between the two adjacent drive units 212.

[0040] It should be noted that in this application, the mechanical finger 21 has four interphalangeal joints 211. The term "interphalangeal joint 211" is used to describe the kinematic function and number. To facilitate further description of the specific mechanical structure and assembly relationship, the interphalangeal joints 211 that are sequentially rotatably connected are further described as fingertip components and knuckle modules. Here, "fingertip components" and "knuckle modules" are essentially names used to distinguish the different structures and forms of the interphalangeal joints 211. The subsequent descriptions of the palmar finger 21a and the lateral finger 21b are also based on fingertip components and knuckle modules.

[0041] In some embodiments, please refer to Figure 5 and Figure 6 The palm and fingers 21a include a first fingertip component 21a1, a first knuckle module 21a2, a second knuckle module 21a3, and a third knuckle module 21a4, which are rotatably connected in sequence. The first fingertip component 21a1 is rotatably connected to one end of the first knuckle module 21a2 about a first direction X. The other end of the first knuckle module 21a2 is rotatably connected to one end of the second knuckle module 21a3 about a first direction X. The other end of the second knuckle module 21a3 is rotatably connected to one end of the third knuckle module 21a4 about a first direction X and a second direction Y. The third knuckle module 21a4 is fixed to the palm assembly 1, and the first direction X and the second direction Y are perpendicular. The third knuckle module 21a4 is used in conjunction with the second knuckle module 21a3 to drive the second knuckle module 21a3 to rotate around the first direction X and around the second direction Y, thereby causing the first knuckle module 21a2 and the fingertip component to rotate around the first direction X and around the second direction Y, so as to achieve a pitching and swaying motion similar to a human hand. Furthermore, the second knuckle module 21a3 can drive the first knuckle module 21a2 to rotate, and the first knuckle module 21a2 can drive the first fingertip component 21a1 to rotate, thus enabling the mechanical finger 21 to have a highly biomimetic motion mode and perform a variety of dexterous operations such as grasping, holding, pinching, and hooking.

[0042] It should be noted that the structure for the other end of the second knuckle module 21a3 to rotate around the first direction X and the second direction Y and be connected to one end of the third knuckle module 21a4 includes, but is not limited to: two symmetrically arranged drive units, two vertically arranged drive units, etc.

[0043] In some embodiments, please refer to Figure 5The first finger joint module 21a2 includes a first drive unit 21a21, which includes a first drive motor 21a211 and a first rotating part 21a212 rotatably connected. The first rotating part 21a212 is rotatably disposed at the output end of the first drive motor 21a211 about a first direction X. The first fingertip member 21a1 is fixed to the first rotating part 21a212 to provide one degree of freedom. The second finger joint module 21a3 includes two second drive units 21a31 symmetrically arranged along a third direction Z, which together form a strong load-bearing frame for the second finger joint module 21a3. This design enhances the bending and torsional rigidity of the second finger joint module 21a3, provides a more stable motion foundation for the first finger joint module 21a2 and the first fingertip member 21a1, and ensures the efficient and precise transmission of driving force. The second drive unit 21a31 includes a second drive motor 21a311 and a second rotating part 21a312 rotatably connected. One second rotating part 21a312 is rotatably disposed at the output end of the second drive motor 21a311 about a first direction X, and the second rotating part 21a312 is fixedly connected to the housing of the first drive motor 21a211 to provide one degree of freedom. Another second rotating part 21a312 is rotatably disposed at the output end of another second drive motor 21a311 about a first direction X to provide one degree of freedom. The third knuckle module 2 1a4 includes a third drive unit 21a41, which includes a third drive motor 21a411 and a third rotating part 21a412 rotatably connected. The third rotating part 21a412 is rotatably disposed at the output end of the third drive motor 21a411 about the second direction Y to provide one degree of freedom. The third rotating part 21a412 is fixedly connected to another second rotating part 21a312. The third drive motor 21a411 is fixed to the palm assembly 1. The first direction X, the second direction Y and the third direction Z are mutually perpendicular. By using two second drive units 21a31 symmetrically arranged along the third direction Z, the length of the second phalanx module 21a3 of the mechanical finger 21 can be increased, clearly distinguishing it from the first phalanx module 21a2 and the third phalanx module 21a4. This makes the length ratio of the first phalanx module 21a2 to the second phalanx module 21a3 closer to the actual ratio of the middle phalanx to the proximal phalanx of a human finger, significantly improving the anthropomorphism of the mechanical finger 21 in terms of visual morphology and kinematic proportions. Furthermore, this structural design allows for a balanced arrangement of the opposing fingers 21a within the cross-section, avoiding the formation of bulky or abrupt bulges on one side to accommodate multiple drive units 212. The entire finger presents a smooth, symmetrical, and slender biomorphic form, which is not only more aesthetically similar to a human hand but also reduces the risk of accidental snagging or interference in complex environments.

[0044] In other embodiments, please refer to Figure 6The first finger joint module 21a2 includes a first drive motor 21a211 and a first rotating part 21a212 rotatably connected. The first rotating part 21a212 is rotatably disposed at the output end of the first drive motor 21a211 about a first direction X. The first fingertip member 21a1 is fixed to the first rotating part 21a212. The second finger joint module 21a3 includes a second drive unit 21a31 disposed along a third direction Z and another second drive unit 21a31 disposed along a second direction Y, such that the two second drive units 21a31 are orthogonally connected. Each second drive unit 21a31 includes a second drive motor 21a311 and a second rotating part 21a312 rotatably connected. One second rotating part 21a312 is rotatably disposed at the output end of a second drive motor 21a311 about a first direction X. The other second rotating part 21a312 is rotatably disposed at the output end of the first drive motor 21a311 about a first direction X. The X-direction is rotatably mounted on the output end of another second drive motor 21a311, and one second drive motor 21a311 is fixed to another second rotating part 21a312, so that the two second drive motors 21a311 form an orthogonal rigid connection, constituting a stable three-dimensional support frame, which enhances the bending and torsional stiffness of the second knuckle module 21a3 and improves the load capacity of the mechanical finger 21; the third knuckle module 21a4 includes a third drive motor 21a411 and a third rotating part 21a412, the third rotating part 21a412 is rotatably mounted on the output end of the third drive motor 21a411 around the second direction Y, the third rotating part 21a412 is fixedly connected to another second drive motor 21a311, and the third drive motor 21a411 is fixed to the palm assembly 1; the first direction X, the second direction Y and the third direction Z are mutually perpendicular.

[0045] In some embodiments, please refer to Figure 1 The two lateral fingers 21b are designated as first lateral finger 21b1 and second lateral finger 21b2, respectively, and multiple opposing fingers 21a are spaced apart between the first lateral finger 21b1 and the second lateral finger 21b2. The first lateral finger 21b1 and the second lateral finger 21b2 are capable of moving towards or away from each other.

[0046] In some embodiments, please refer to Figure 7The first lateral finger 21b1 includes a second fingertip component 21b11, a fourth phalanx module 21b12, a fifth phalanx module 21b13, a sixth phalanx module 21b14, and a seventh phalanx module 21b15, which are rotatably connected in sequence. The second fingertip component 21b11 is rotatably disposed at one end of the fourth phalanx module 21b12 about the second direction Y to provide one degree of freedom. The other end of the fourth phalanx module 21b12 is rotatably disposed at one end of the fifth phalanx module 21b13 about the second direction Y and the first direction X to provide two degrees of freedom. The other end of the fifth phalanx module 21b13 is rotatably disposed at one end of the sixth phalanx module 21b14 about an axis that forms an angle with the first direction X to provide one degree of freedom. The other end of the sixth phalanx module 21b14 is rotatably disposed at one side of the seventh phalanx module 21b15 about an axis that forms an angle with the third direction Z to provide one degree of freedom. The seventh phalanx module 21b15 is fixed to the palm assembly 1. The aforementioned structure enables the lateral finger 21b of this application to have at least five degrees of freedom. This redundant configuration of degrees of freedom allows for a wide range of motion capabilities for the first lateral finger 21b1, and the second fingertip component 21b11 can reach designated positions in complex spaces in various postures. In particular, the second fingertip component 21b11 rotates through multiple angled axes, enabling precise posture adjustments that approximate spherical motion, thereby performing tasks requiring extremely high dexterity, such as fine manipulation, screw rotation, or operation of small switches.

[0047] The first lateral finger 21b1, relying on the aforementioned structure, can achieve a biomimetic thumb-like adduction and abduction-adduction compound movement pattern. Specifically, among the sixth and seventh phalanx modules 21b14 and 21b15 near the palm assembly 1, the seventh phalanx module 21b15 can drive the sixth phalanx module 21b14 to rotate around a third direction Z, simulating the carpometacarpophalangeal joint (CMC) movement of the thumb, achieving a large-scale lateral positioning. Meanwhile, the fourth and fifth phalanx modules 21b12 and 21b13 can achieve bidirectional rotation and subsequent joint flexion, thus jointly realizing flexion, extension, and adduction similar to the human thumb phalanx. This biomimetic architecture enables the robotic hand 100 to achieve stable lateral pinching, hooking, and precise palm-like operations in coordination with other robotic fingers 21, greatly expanding the grasping capabilities of the robotic hand 100.

[0048] Understandably, the other end of the fifth phalanx module 21b13 is rotatably disposed at one end of the sixth phalanx module 21b14 about an axis forming an angle around the first direction X, and the other end of the sixth phalanx module 21b14 is rotatably disposed at one side of the seventh phalanx module 21b15 about an axis forming an angle around the third direction Z. The angle between the two is variable, ranging from 0° to 90°. For example, the angle between the sixth phalanx module 21b14 about the axis of rotation and the third direction Z is 30°, and the angle between the fifth phalanx module 21b13 about the axis of rotation and the first direction X is 45°.

[0049] It should be noted that the angle between the sixth phalanx module 21b14 and the third direction Z around the axis of rotation (for ease of description, the axis of rotation of the sixth phalanx module is defined as the first axis and the angle between the first axis and the third direction Z is defined as the first included angle), and the angle between the fifth phalanx module 21b13 and the first direction X around the axis of rotation (for ease of description, the axis of rotation of the fifth phalanx module 21b13 is defined as the second axis and the angle between the second axis and the first direction X is defined as the second included angle), the first included angle needs to be selected according to the installation position of the first lateral finger 21b1 so that the layout structure of the first lateral finger 21b1 can be similar to the layout structure of the thumb of the human hand, while the second included angle is actually related to the first included angle. Specifically, the sixth phalanx module 21b14 and the fifth phalanx module 21b13 are both located on the first axis. Therefore, the second axis must be perpendicular to the first axis in space. The angle between the second axis and the third direction Z, and the angle between the first axis and the third direction Z (i.e., the first included angle) are always complementary angles. In other words, the size of the second included angle is directly determined by the first included angle, and the two together form an orthogonal rotational coordinate system, ensuring the mechanical rationality and motion coordination of the first lateral finger 21b1 in bending motion.

[0050] It should be noted that the structure that enables the other end of the fourth phalanx module 21b12 to rotate around the second direction Y and the first direction X and is set at one end of the fifth phalanx module 21b13 includes, but is not limited to: two drive units symmetrically arranged, two drive units vertically arranged, etc.

[0051] In some embodiments, please refer to Figure 7The fourth finger joint module 21b12 includes two fourth drive units 21b121 symmetrically arranged along the third direction Z. Each fourth drive unit 21b121 includes a fourth drive motor 21b1211 and a fourth rotating part 21b1212. One fourth rotating part 21b1212 is rotatably disposed at the output end of one fourth drive motor 21b1211, and the second fingertip member 21b11 is fixed to this fourth rotating part 21b1212. The other fourth rotating part 21b1212 is rotatably disposed at the output end of the other fourth drive motor 21b1211. The fifth finger joint module 21b13 includes a fifth drive unit 21b131. The fifth drive unit 21b131 includes a fifth rotating part 21b1312 and a fifth drive motor 21b1311 rotatably connected. The fifth rotating part 21b1312 is rotatably connected to the output end of the fifth drive motor 21b1311 about an axis forming an angle around the first direction X, and the fifth rotating part 21b1312 is fixed. The sixth finger joint module 21b14 includes a sixth drive unit 21b141, which includes a rotatably connected sixth rotating part 21b1412 and a sixth drive motor 21b1411. The sixth rotating part 21b1412 is rotatably connected to the output end of the sixth drive motor 21b1411 about an axis forming an angle around the first direction X, and the sixth rotating part 21b1412 is fixedly connected to the housing of the fifth drive motor 21b1311. The seventh finger joint module 21b15 includes a seventh drive unit 21b151, which includes a rotatably connected seventh drive motor 21b1511 and a seventh rotating part 21b1512. The seventh rotating part 21b1512 is rotatably disposed on one side of the output end of the seventh drive motor 21b1511 about an axis forming an angle around the third direction Z, and the sixth drive motor 21b1411 is fixed to the seventh rotating part 21b1512. The fourth phalanx module 21b12 in the above structure consists of two fourth drive units 21b121 symmetrically arranged along the third direction Z, which strengthens the structure of the fourth phalanx module 21b12 and provides stable support for the second fingertip component 21b11.

[0052] In other embodiments, please refer to Figure 8The fourth finger joint module 21b12 includes a fourth drive unit 21b121, which includes a fourth rotating part 21b1212 and a fourth drive motor 21b1211 rotatably connected. The fourth rotating part 21b1212 is rotatably connected to the output end of the fourth drive motor 21b1211 about the second direction Y, and the fourth rotating part 21b1212 is fixedly connected to the second fingertip member 21b11. The fifth finger joint module 21b13 includes an axis that forms an angle along the third direction Z. A fifth drive unit 21b131 is arranged in a linear direction, and another fifth drive unit 21b131 is arranged in an axial direction at an angle to the first direction X. Each fifth drive unit 21b131 includes a fifth drive motor 21b1311 and a fifth rotating part 21b1312. The fifth rotating part 21b1312 is rotatably disposed at the output end of the fifth drive motor 21b1311, and the housing of the fourth drive motor 21b1211 is fixed to the fifth rotating part 21b1312. The rotating part 21b1312 is rotatably mounted on the output end of another fifth drive motor 21b1311; the sixth phalanx module 21b14 includes a sixth drive unit 21b141, which includes a sixth rotating part 21b1412 and a sixth drive motor 21b1411 rotatably connected. The sixth rotating part 21b1412 is rotatably connected to the output end of the sixth drive motor 21b1411 about an axis forming an angle around the first direction X, and the sixth rotating part 21b1412 is fixed. The seventh phalanx module 21b15 is connected to another fifth drive motor 21b1311. It includes a seventh drive unit 21b151, which comprises a rotatably connected seventh drive motor 21b1511 and a seventh rotating part 21b1512. The seventh rotating part 21b1512 is rotatably positioned on one side of the output end of the seventh drive motor 21b1511 about an axis forming an angle with the third direction Z. The sixth drive motor 21b1411 is fixed to the seventh rotating part 21b1512. This structural design allows the fifth phalanx module 21b13, which enables bidirectional rotation, to be closer to the palm assembly 1 when the first lateral finger 21b1 is installed. This results in the fifth phalanx module 21b13 being positioned at the root of the robot hand 100, reducing distal inertia, improving dynamic response, and directly directing the drive source to the proximal joint that generates a large range of motion. This leads to a shorter force transmission path, higher efficiency, and a more stable overall structure.

[0053] In some embodiments, please refer to Figure 9The second lateral finger 21b2 includes a third fingertip component 21b21, an eighth phalanx module 21b22, a ninth phalanx module 21b23, a tenth phalanx module 21b24, and an eleventh phalanx module 21b25, which are rotatably connected in sequence. The third fingertip component 21b21 is rotatably disposed at one end of the eighth phalanx module 21b22 about a first direction X, providing one degree of freedom. The other end of the eighth phalanx module 21b22 is rotatably disposed at one end of the ninth phalanx module 21b23 about a first direction X, providing one degree of freedom. The other end of the ninth phalanx module 21b23 is rotatably disposed at one end of the tenth phalanx module 21b24 about a first direction X and a second direction Y, providing two degrees of freedom. The other end of the tenth phalanx module 21b24 is rotatably connected to the eleventh phalanx module 21b25 about an axis that forms an angle with the first direction X, providing one degree of freedom. The eleventh phalanx module 21b25 is fixed to the palm assembly 1. Through the above structure, the second lateral finger 21b2 possesses at least five degrees of freedom, forming a highly redundant kinematic chain. Combined with the bidirectional rotation between the ninth and tenth phalanx modules 21b23 and 21b24 (i.e., around the first direction X and the second direction Y) and the rotation along the inclined axis of the eleventh phalanx module 21b25, the third fingertip component 21b21 gains the ability to perform large-scale pose adjustments and complex trajectory planning in three-dimensional space. Its workspace is significantly expanded, enabling easy access to targets located on the side, behind, or in narrow gaps of the palm, greatly enhancing the operational coverage of the robotic hand 100 in complex environments.

[0054] As the second lateral finger 21b2, one of its core functions is to perform stable lateral gripping and assist the operation of the first lateral finger 21b1. The bidirectional rotational joint (around the first direction X and around the second direction Y) between the ninth knuckle module 21b23 and the tenth knuckle module enables the middle area of ​​the second lateral finger 21b2 (i.e., the ninth knuckle module 21b23) to have the key lateral and bending compound motion capabilities, which can be quickly adjusted to conform to the side edge of the object. The rotation between the tenth knuckle module 21b24 and the eleventh knuckle module 21b25 around the inclined axis (i.e., around the axis at an angle to the first direction X) further endows the third fingertip component 21b21 with the ability to fine adjust around the normal direction of the contact point, so that it can adapt to the contour of the object during lateral gripping, achieve force line alignment, and improve gripping stability and precision control.

[0055] The second lateral finger 21b2 achieves a biomimetic layout of the human little finger through the aforementioned structure. This allows the second lateral finger 21b2 to simulate the non-purely orthogonal rotational relationship between the finger joints during a natural grasping action similar to that of the human little finger. As a result, the second lateral finger 21b2 can produce more natural posture linkage and slight passive twisting when bending as a whole. This allows for better dispersion of contact stress when grasping irregular objects, enabling multiple mechanical finger joints to adaptively fit together and improving the reliability and flexibility of the grasp.

[0056] Understandably, the angle at which the other end of the tenth phalanx module 21b24 is connected to the eleventh phalanx module 21b25 by rotating about an axis that forms an angle with the first direction X is also variable, ranging from 0° to 90°. For example, the angle at which the other end of the tenth phalanx module 21b24 is connected to the eleventh phalanx module 21b25 by rotating about an axis that forms an angle with the first direction X is 30°.

[0057] It should be noted that the structure of the other end of the ninth phalanx module 21b23 rotating around the first direction X and the second direction Y and being disposed at one end of the tenth phalanx module 21b24 includes, but is not limited to: two drive units symmetrically arranged, two drive units vertically arranged, etc.

[0058] In some embodiments, please refer to Figure 9The second lateral finger 21b2 includes a first adapter 21b26; the eighth phalanx module 21b22 includes an eighth drive unit 21b221, which includes an eighth rotating part 21b2212 and an eighth drive motor 21b2211 rotatably connected, the eighth rotating part 21b2212 being rotatably connected to the output end of the eighth drive motor 21b2211 about a first direction X, and the third fingertip component 21b21 being fixed to the eighth rotating part 21b2212; the ninth phalanx module 21b23 includes two ninth drive units symmetrically arranged along a third direction Z. Unit 21b231, each ninth drive unit 21b231 includes a ninth rotating part 21b2312 and a ninth drive motor 21b2311 rotatably connected. One ninth rotating part 21b2312 is rotatably connected to the output end of the ninth drive motor 21b2311 about a first direction X, and the ninth rotating part 21b2312 is fixedly connected to the eighth drive motor 21b2211. Another ninth rotating part 21b2312 is rotatably connected to the output end of another ninth drive motor 21b2311 about a first direction X. The tenth knuckle module 21b24 includes a tenth drive unit. Unit 21b241, the tenth drive unit 21b241 includes a tenth rotating part 21b2412 and a tenth drive motor 21b2411 rotatably connected. The tenth rotating part 21b2412 is rotatably disposed at the output end of the tenth drive motor 21b2411 about the second direction Y. Another ninth rotating part 21b2312 is fixedly connected to the tenth rotating part 21b2412. The first adapter 21b26 includes a first fixing part 21b261 and a second fixing part 21b262 disposed at an included angle. The first fixing part 21b261 is fixedly connected to the tenth drive motor 21b241. The housing of 1; the eleventh phalanx module 21b25 includes an eleventh drive unit 21b251, the eleventh drive unit 21b251 includes an eleventh rotating part 21b2512 and an eleventh drive motor 21b2511 rotatably connected, one end of the eleventh rotating part 21b2512 is fixed to the second fixed part 21b262, and the other end of the eleventh rotating part 21b2512 is rotatably disposed at the output end of the eleventh drive motor 21b2511 about an axis that makes an angle with the first direction X, and the housing of the eleventh drive motor 21b2511 is fixed to the palm assembly 1.Through the above structure, the first adapter 21b26, through its clamping first fixing part 21b261 and second fixing part 21b262, forms an artificial, designable spatial angle between the tenth drive motor 21b2411 of the tenth phalanx module 21b24 (connected via the first fixing part 21b261) and the drive axis of the eleventh phalanx module 21b25 (defined via the second fixing part 21b262 and the eleventh rotating part 21b2512). This achieves the simulation of the human little finger, extending from the side edge of the palm at a natural angle, thus making the spatial layout of the second lateral finger 21b2 of this application more ergonomic in the entire robotic hand 100. Furthermore, the second lateral finger 21b2 of this structure integrates multiple rotational degrees of freedom around the first direction X (bending), the second direction Y (lateral swinging), and at an angle to the first direction X (torsion). In particular, through the cooperation of the tenth phalanx module 21b24 (around the second direction Y) and the eleventh phalanx module 21b25 (around a rotation axis tilted based on the first adapter 21b26), the second lateral finger 21b2 can not only swing laterally, but also rotate adaptively during the lateral swing. This allows the second lateral finger 21b2 to contact the side of the object at a more optimal angle, achieving a more secure lateral grip and more dexterous edge manipulation.

[0059] In other embodiments, please refer to Figure 10The second lateral finger 21b2 includes a first adapter 21b26; the eighth phalanx module 21b22 includes an eighth drive unit 21b221, which includes an eighth rotating part 21b2212 and an eighth drive motor 21b2211 rotatably connected around a first direction X. The eighth rotating part 21b2212 is rotatably connected to the output end of the eighth drive motor 21b2211 around a first direction X. The third fingertip component 21b21 is fixed to the eighth rotating part 21b2212; the ninth phalanx module 21b23 includes a ninth drive unit 21b231 arranged along a third direction Z and a second drive unit 21b231 arranged along a third direction Z. Another ninth drive unit 21b231 is configured in the Y direction. Each ninth drive unit 21b231 includes a ninth rotating part 21b2312 and a ninth drive motor 21b2311 rotatably connected. One ninth rotating part 21b2312 is rotatably connected to the output end of a ninth drive motor 21b2311 about the first direction X, and the ninth rotating part 21b2312 is fixedly connected to the housing of an eighth drive motor 21b2211. Another ninth rotating part 21b2312 is rotatably connected to the output end of another ninth drive motor 21b2311 about the first direction X, and the ninth rotating part 21b2312 is fixedly connected to the housing of an eighth drive motor 21b2211. 312 is fixedly connected to a ninth drive motor 21b2311; the tenth knuckle module 21b24 includes a tenth drive unit 21b241, which includes a tenth rotating part 21b2412 and a tenth drive motor 21b2411 rotatably connected. The tenth rotating part 21b2412 is rotatably disposed at the output end of the tenth drive motor 21b2411 about the second direction Y. Another ninth drive motor 21b2311 is fixedly connected to the tenth rotating part 21b2412; the first adapter 21b26 includes a first fixing part 21b261 and a second fixing part arranged at an angle. Part 21b262, the first fixing part 21b261 is fixedly connected to the housing of the tenth drive motor 21b2411; the eleventh finger module 21b25 includes an eleventh drive unit 21b251, the eleventh drive unit 21b251 includes an eleventh rotating part 21b2512 and an eleventh drive motor 21b2511 rotatably connected, one end of the eleventh rotating part 21b2512 is fixed to the second fixing part 21b262, and the other end of the eleventh rotating part 21b2512 is rotatably disposed at the output end of the eleventh drive motor 21b2511 about an axis that makes an angle with the first direction X.

[0060] Through the above structure, the second lateral finger 21b2 can independently rotate around different directions (first direction X, second direction Y, and tilted axis) by relying on the cooperation of the eighth drive unit 21b221, the ninth drive unit 21b231, the tenth drive unit 21b241, and the eleventh drive unit 21b251. This enables the fingertip to perform complex spatial movements and fine posture adjustments, supporting fine operations such as lateral pinching and rotation. Furthermore, the above structure allows the two ninth drive units 21b231 in the ninth knuckle module 21b23 of the second lateral finger 21b2 to be positioned separately along the third direction Z and the second direction Y. This three-dimensional arrangement forms a stable spatial frame structure inside the second lateral finger 21b2, significantly improving the bending and torsional stiffness of the second lateral finger 21b2 in multiple directions. Meanwhile, the tenth drive motor 21b2411 of the tenth drive unit 21b241 (tenth finger joint module 21b24) is directly fixed to another ninth drive motor 21b2311 through its tenth rotating part 21b2412. The tenth drive motor 21b2411 is also connected to the eleventh finger joint module 21b25 through the first adapter 21b26, forming a continuous and rigid force transmission path from the palm to the fingertips, ensuring efficient transmission of drive torque and motion stability under load.

[0061] It should be noted that the included angle between the first fixing part 21b261 and the second fixing part 21b262 in the first adapter 21b26 mentioned above needs to be determined in conjunction with the specific position of the second lateral finger 21b2 in the palm assembly 1.

[0062] It is worth noting that the structures that can be selected for the first fingertip component 21a1, the second fingertip component 21b11 and the third fingertip component 21b21 are, but are not limited to: tactile knuckles that realize touch function, basic finger pads that realize stable gripping, functional tool heads that realize special operations, special configurations that realize adsorption or hooking, micro grippers or multi-knuckle extension structures that realize fine control, etc.

[0063] In some embodiments, please refer to Figure 11 and Figure 12When the aforementioned second phalanx module 21a3, fourth phalanx module 21b12, and ninth phalanx module 21b23 employ two symmetrical drive units 212, the two drive units 212 are fixedly connected by a second connector 213 and screws 214. The second connector 213 includes a connecting plate portion 2131 and mounting portions 2132 disposed at both ends of the connecting plate portion 2131. A portion of the mounting portion 2132 is received in the insertion slot 21211a of one drive unit 212, and the other portion of the mounting portion 2132 is received in the other drive unit. The mounting part 2132 is provided with two spaced third screw holes 21321 in the insertion slot 21211a of 212. One third screw hole 21321 corresponds to the first screw hole 21211b of a drive unit 212, and the other third screw hole 21321 corresponds to the first screw hole 21211b of another drive unit 212. A screw passes through the third screw hole 21321 and is screwed into the first screw hole 21211b of a drive unit. Another screw passes through the other third screw hole 21321 and is screwed into the first screw hole 21211b of another drive unit 212.

[0064] In some embodiments, please refer to Figure 13 The palm assembly 1 is provided with a receiving cavity 11, a first cavity opening 111, a second cavity opening 112, and a third cavity opening 113. The first cavity opening 111, the second cavity opening 112, and the third cavity opening 113 are all connected to the receiving cavity 11. A portion of the first lateral finger 21b1 extends into the receiving cavity 11 through the first cavity opening 111, a portion of the second lateral finger 21b2 extends into the receiving cavity 11 through the second cavity opening 112, and a portion of the three opposing fingers 21a extends into the receiving cavity 11 through the third cavity opening 113. The portions of the first lateral finger 21b1, the second lateral finger 21b2, and the three opposing fingers 21a extending out of the receiving cavity 11 are all capable of bending and swinging.

[0065] This application also provides robot embodiments, the robot including a main body and the aforementioned robotic arm 100, the robotic arm 100 being electrically connected to the main body. For details regarding the specific structure and function of the robotic arm 100, please refer to the above embodiments; further examples will not be provided here.

[0066] This application provides a robotic hand 100 and a robot embodiment. The robotic hand 100 includes a palm assembly 1 and a finger assembly 2. The finger assembly 2 includes a plurality of robotic fingers 21. The plurality of robotic fingers 21 are spaced apart on the palm assembly 1. The plurality of robotic fingers 21 includes at least three opposing fingers 21a and two lateral fingers 21b. Each robotic finger 21 has at least four interphalangeal joints 211, and both the opposing fingers 21a and the lateral fingers 21b have at least four degrees of freedom. The above structure enables the robotic hand 100, which includes at least three opposing fingers 21a and two lateral fingers 21b, to possess more than twenty degrees of freedom by relying on at least four degrees of freedom of the opposing fingers 21a and at least four degrees of freedom of the lateral fingers 21b. This makes the robotic hand 100 more flexible than existing robotic hands 100 with a maximum of seventeen degrees of freedom. The structural design of this application enables the robotic hand 100 to simulate more complex and precise human hand movements, exhibiting excellent flexibility in grasping, manipulation, and adaptive operation, which is beneficial to the application and development of the robotic hand 100 in the field of robotics.

[0067] 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 robotic arm, characterized in that, include: Hand assembly; A finger assembly includes a plurality of mechanical fingers spaced apart from the palm assembly. The plurality of mechanical fingers include at least three opposing fingers and two lateral fingers. Each of the mechanical fingers has at least four interphalangeal joints, and both the opposing fingers and the lateral fingers have at least four degrees of freedom.

2. The robotic arm according to claim 1, characterized in that, The mechanical finger includes multiple drive units connected in sequence. Each drive unit includes a drive motor and a rotating part. The rotating part is connected to the output end of the drive motor, and the rotating part of one drive unit is connected to the housing of another drive unit.

3. The robotic arm according to claim 2, characterized in that, The drive motor housing has a plurality of first mating parts at the end opposite to the output end, and the rotating part has a plurality of second mating parts; When two drive units are stacked and assembled, the second mating part of one drive unit is connected to the first mating part of the other drive unit.

4. The robotic arm according to claim 1, characterized in that, The opposing fingers include a first fingertip component, a first finger joint module, a second finger joint module, and a third finger joint module that are rotatably connected in sequence; The first fingertip component is rotatably connected to one end of the first knuckle module about a first direction, the other end of the first knuckle module is rotatably connected to one end of the second knuckle module about a first direction, the other end of the second knuckle module is rotatably connected to one end of the third knuckle module about a first direction and a second direction, and the third knuckle module is fixed to the palm assembly, with the first direction and the second direction being perpendicular.

5. The robotic arm according to claim 4, characterized in that, The first knuckle module includes a first drive unit, which includes a first drive motor and a first rotating part rotatably connected. The first rotating part is rotatably disposed at the output end of the first drive motor about a first direction, and the first fingertip component is fixed to the first rotating part. The second knuckle module includes two second drive units symmetrically arranged along a third direction. Each second drive unit includes a second drive motor and a second rotating part that are rotatably connected. One second rotating part is rotatably disposed at the output end of one second drive motor about a first direction and is fixedly connected to the first drive motor. The other second rotating part is rotatably disposed at the output end of the other second drive motor about a first direction. The third phalanx module includes a third drive unit, which includes a third drive motor and a third rotating part rotatably connected. The third rotating part is rotatably disposed at the output end of the third drive motor about a second direction. The third rotating part is fixedly connected to another second rotating part. The third drive motor is fixed to the palm assembly. The first direction, the second direction, and the third direction are all perpendicular to each other.

6. The robotic arm according to claim 4, characterized in that, The first finger joint module includes a first drive motor and a first rotating part that are rotatably connected. The first rotating part is rotatably disposed at the output end of the first drive motor about a first direction, and the first fingertip component is fixed to the first rotating part. The second knuckle module includes a second drive unit arranged along a third direction and another second drive unit arranged along a second direction. Each second drive unit includes a second drive motor and a second rotating part rotatably connected. A second rotating part is rotatably disposed at the output end of a second drive motor about a first direction, and another second rotating part is rotatably disposed at the output end of another second drive motor about a first direction, and a second drive motor is fixed to the other second rotating part. The third phalanx module includes a third drive motor and a third rotating part. The third rotating part is rotatably disposed at the output end of the third drive motor about a second direction. The third rotating part is fixedly connected to another second drive motor. The third drive motor is fixed to the palm assembly. The first direction, the second direction, and the third direction are all perpendicular to each other.

7. The robotic arm according to claim 1, characterized in that, The two lateral fingers are the first lateral finger and the second lateral finger, and the plurality of opposing fingers are spaced apart between the first lateral finger and the second lateral finger.

8. The robotic arm according to claim 7, characterized in that, The first lateral finger includes a second fingertip component, a fourth finger joint module, a fifth finger joint module, a sixth finger joint module, and a seventh finger joint module that are rotatably connected in sequence. The second fingertip component is rotatably disposed at one end of the fourth finger joint module about a second direction. The other end of the fourth finger joint module is rotatably disposed at one end of the fifth finger joint module about the second and first directions. The other end of the fifth finger joint module is rotatably disposed at one end of the sixth finger joint module about an axis that forms an angle around the first direction. The other end of the sixth finger joint module is rotatably disposed on one side of the seventh finger joint module about an axis that forms an angle around a third direction. The seventh finger joint module is fixed to the palm assembly.

9. The robotic arm according to claim 8, characterized in that, The fourth finger joint module includes two fourth drive units symmetrically arranged along a third direction. Each of the two fourth drive units includes a fourth drive motor and a fourth rotating part. One fourth rotating part is rotatably disposed at the output end of one fourth drive motor and the second fingertip member is fixed to the fourth rotating part. The other fourth rotating part is rotatably disposed at the output end of the other fourth drive motor. The fifth phalanx module includes a fifth drive unit, which includes a fifth rotating part and a fifth drive motor that are rotatably connected. The fifth rotating part is rotatably connected to the output end of the fifth drive motor about an axis that forms an angle around a first direction, and the fifth rotating part is fixedly connected to another fourth rotating part. The sixth phalanx module includes a sixth drive unit, which includes a sixth rotating part and a sixth drive motor that are rotatably connected. The sixth rotating part is rotatably connected to the output end of the sixth drive motor about an axis that forms an angle around a first direction, and the sixth rotating part is fixedly connected to the fifth drive motor. The seventh phalanx module includes a seventh drive unit, which includes a seventh drive motor and a seventh rotating part that are rotatably connected. The seventh rotating part is rotatably disposed on one side of the output end of the seventh drive motor about an axis that forms an angle around a third direction, and the sixth drive motor is fixed to the seventh rotating part.

10. The robotic arm according to claim 8, characterized in that, The fourth finger joint module includes a fourth drive unit, which includes a fourth rotating part and a fourth drive motor that are rotatably connected. The fourth rotating part is rotatably connected to the output end of the fourth drive motor about a second direction, and the fourth rotating part is fixedly connected to the second fingertip member. The fifth knuckle module includes a fifth drive unit arranged along an axis at an angle to a third direction and another fifth drive unit arranged along an axis at an angle to a first direction. Each fifth drive unit includes a fifth drive motor and a fifth rotating part. One fifth rotating part is rotatably disposed at the output end of one fifth drive motor and the fourth drive motor is fixed to the fifth rotating part. The other fifth rotating part is rotatably disposed at the output end of the other fifth drive motor. The sixth phalanx module includes a sixth drive unit, which includes a sixth rotating part and a sixth drive motor that are rotatably connected. The sixth rotating part is rotatably connected to the output end of the sixth drive motor about an axis that forms an angle around a first direction, and the sixth rotating part is fixedly connected to another fifth drive motor. The seventh phalanx module includes a seventh drive unit, which includes a seventh drive motor and a seventh rotating part that are rotatably connected. The seventh rotating part is rotatably disposed on one side of the output end of the seventh drive motor about an axis that forms an angle around a third direction, and the sixth drive motor is fixed to the seventh rotating part.

11. The robotic arm according to any one of claims 7-10, characterized in that, The second lateral finger includes a third fingertip component, an eighth finger joint module, a ninth finger joint module, a tenth finger joint module, and an eleventh finger joint module that are rotatably connected in sequence. The third fingertip component is rotatably disposed at one end of the eighth finger joint module about a first direction. The other end of the eighth finger joint module is rotatably disposed at one end of the ninth finger joint module about a first direction. The other end of the ninth finger joint module is rotatably disposed at one end of the tenth finger joint module about a first direction and a second direction. The other end of the tenth finger joint module is rotatably connected to the eleventh finger joint module about an axis that forms an angle with the first direction. The eleventh finger joint module is fixed to the palm assembly.

12. The robotic arm according to claim 11, characterized in that, The second lateral finger includes a first adapter; The eighth finger joint module includes an eighth drive unit, which includes an eighth rotating part and an eighth drive motor that are rotatably connected. The eighth rotating part is rotatably connected to the output end of the eighth drive motor about a first direction, and the third fingertip component is fixed to the eighth rotating part. The ninth phalanx module includes two ninth drive units symmetrically arranged along a third direction. Each ninth drive unit includes a ninth rotating part and a ninth drive motor that are rotatably connected. One of the ninth rotating parts is rotatably connected to the output end of the ninth drive motor about a first direction and is fixedly connected to the eighth drive motor. The other ninth rotating part is rotatably connected to the other ninth drive motor about the first direction. The tenth phalanx module includes a tenth drive unit, which includes a tenth rotating part and a tenth drive motor that are rotatably connected. The tenth rotating part is rotatably disposed at the output end of the tenth drive motor about a second direction, and the other ninth rotating part is fixedly connected to the tenth rotating part. The first adapter includes a first fixing part and a second fixing part arranged at an angle, and the first fixing part is fixedly connected to the tenth drive motor; The eleventh phalanx module includes an eleventh drive unit, which includes an eleventh rotating part and an eleventh drive motor that are rotatably connected. One end of the eleventh rotating part is fixed to the second fixed part, and the other end of the eleventh rotating part is rotatably disposed at the output end of the tenth drive motor about an axis that forms an angle with the first direction.

13. The robotic arm according to claim 11, characterized in that, The second lateral finger includes a first adapter; The eighth finger joint module includes an eighth drive unit, which includes an eighth rotating part and an eighth drive motor that are rotatably connected. The eighth rotating part is rotatably connected to the output end of the eighth drive motor about a first direction, and the third fingertip component is fixed to the eighth rotating part. The ninth phalanx module includes a ninth drive unit arranged along a third direction and another ninth drive unit arranged along a second direction. Each ninth drive unit includes a ninth rotating part and a ninth drive motor rotatably connected. One ninth rotating part is rotatably connected to the output end of the ninth drive motor about the first direction and is fixedly connected to the eighth drive motor. The other ninth rotating part is rotatably connected to the output end of the other ninth drive motor about the first direction and is fixedly connected to the ninth drive motor. The tenth phalanx module includes a tenth drive unit, which includes a tenth rotating part and a tenth drive motor rotatably connected. The tenth rotating part is rotatably disposed at the output end of the tenth drive motor about a second direction, and another ninth drive motor is fixedly connected to the tenth rotating part. The first adapter includes a first fixing part and a second fixing part arranged at an angle, and the first fixing part is fixedly connected to the tenth drive motor; The eleventh phalanx module includes an eleventh drive unit, which includes an eleventh rotating part and an eleventh drive motor that are rotatably connected. One end of the eleventh rotating part is fixed to the second fixed part, and the other end of the eleventh rotating part is rotatably disposed at the output end of the tenth drive motor about an axis that forms an angle with the first direction.

14. A robot, characterized in that, It includes a main body and a robotic arm as described in any one of claims 1-13, wherein the robotic arm is electrically connected to the main body.

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