Finger mechanism and robot hand

Abstract

This invention discloses a finger mechanism, comprising a finger root assembly, a first phalanx, and a second phalanx connected sequentially. Its transmission assembly includes first and second transmission members and a connecting rod. Both the first and second transmission members are installed within the finger root assembly. The first transmission member is connected to and coaxially arranged with the output end of a drive assembly. The connecting rod is located within the first phalanx, and its two ends are rotatably connected to the finger root assembly and the second phalanx, respectively. The second transmission member has a connecting portion and a pushing portion. The connecting portion is connected to the first transmission member, and the connecting rod has a pushed portion that cooperates with the pushing portion. When the drive assembly drives the second transmission member to rotate via the first transmission member, the second transmission member pushes the pushed portion via the pushing portion, causing the connecting rod to rotate relative to the finger root assembly, thereby achieving flexion and extension of the finger mechanism. This invention also discloses a robotic hand with a finger mechanism.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a high-torque, high-stability robotic hand and its finger mechanism suitable for dexterous hands. Background Technology

[0002] With the rapid development of robotics technology, robots are increasingly being used in industrial manufacturing, medical surgery, home services, space exploration, and other fields. As an important end effector for robot interaction with the environment, dexterous hands are receiving increasing attention. Compared with simple grippers, five-fingered dexterous hands have multiple degrees of freedom and high flexibility, enabling them to mimic the complex movements of the human hand and achieve adaptive grasping and manipulation of objects of different shapes and sizes.

[0003] In existing dexterous hand finger mechanisms, the drive structure often employs a small DC motor paired with a planetary gearbox or harmonic reducer. However, due to the limited installation space of the fingers (typically less than 20mm in diameter), the rated power of the drive motor and the reduction ratio of the reducer are strictly constrained. This results in insufficient output torque of the drive structure to overcome the load torque in scenarios requiring high gripping force, leading to joint "stalling" or inability to maintain the desired posture. Furthermore, in multi-finger collaborative operations, minor instabilities in each finger can couple and amplify, reducing the dynamic stability and reliability of the entire grasping system. Summary of the Invention

[0004] To achieve the above objectives, the technical solution of the present invention is as follows: A finger mechanism is provided, comprising a finger root assembly, a first phalanx, a second phalanx, a driving assembly, and a transmission assembly. The first phalanx is rotatably connected to the finger root assembly, and the second phalanx is rotatably connected to the first phalanx. The transmission assembly includes a first transmission member, a second transmission member, and a connecting rod. The first transmission member is mounted on the finger root assembly and connected to the output end of the driving assembly, and is coaxially arranged with the driving assembly. The second transmission member is mounted on the finger root assembly and has a connecting portion and a pushing portion. The connecting portion is connected to the first transmission member. The connecting rod is disposed within the first phalanx and is rotatably connected to both the finger root assembly and the second phalanx. The connecting rod has a pushed portion that cooperates with the pushing portion. The driving assembly drives the first transmission member to rotate, and the first transmission member drives the second transmission member to rotate through the connecting portion. The second transmission member pushes the pushed portion through the pushing portion, causing the connecting rod to rotate relative to the finger root assembly, thereby realizing the flexion and extension of the finger mechanism.

[0005] Preferably, the rotation axis of the first transmission member is perpendicular to the rotation axis of the second transmission member and is not parallel to the rotation axis of the first finger joint.

[0006] Preferably, the push-receiving part is disposed at one end of the linkage rod, extends out of the first phalanx, and is rotatably connected to the finger root assembly; the other end of the linkage rod extends out of the first phalanx, extends into the second phalanx, and is rotatably connected to the second phalanx.

[0007] Preferably, the pushing part is provided with a first pushing surface, and the pushed part is provided with a first pushed surface that cooperates with the pushing surface. When the second transmission member rotates, the first pushing surface can push against the first pushed surface to drive the connecting rod to rotate.

[0008] Preferably, the pushed part has a mounting groove, the first pushed surface is located in the mounting groove, the second transmission member is installed in the mounting groove, and the second transmission member and the pushed part are rotatably connected to the finger root assembly through the same rotating shaft.

[0009] Preferably, the second transmission member is further provided with a second pushing surface, and the pushed part is further provided with a second pushing surface; when the second transmission member rotates, the second pushing surface can abut against the second pushing surface, thereby forming a limiting and reverse pushing on the connecting rod.

[0010] Preferably, the second pushing surface, the connecting portion, and the first pushing surface are arranged sequentially along the rotation direction of the second transmission member, and the second pushing surface and the first pushing surface are staggered.

[0011] Preferably, the angle between the second pushing surface and the first pushing surface is less than 90°.

[0012] Preferably, the linkage further includes a pivot portion and a rod-shaped portion. The pivot portion is located in the second phalanx and is rotatably connected to the second phalanx. One end of the rod-shaped portion is connected to the pivot portion. The pushed portion includes a transition portion, a protrusion portion, and two extension portions. The two ends of the transition portion are respectively connected to the rod-shaped portion and the protrusion portion. The two extension portions are arranged side by side on the protrusion portion to form the mounting groove. The two extension portions are rotatably connected to the finger root assembly. The first pushed surface is disposed in the mounting groove. Both the first pushed surface and the second pushed surface are disposed on the protrusion portion and located on adjacent sides.

[0013] Preferably, the line connecting the pivot points at both ends of the linkage and the line connecting the pivot points at both ends of the first phalanx intersect, so that the two form a seesaw effect, realizing the bending of the first phalanx relative to the second phalanx.

[0014] Preferably, the connecting rod and the finger root assembly are pivotally connected to a first rotation axis, and the finger root assembly and the first finger joint are pivotally connected to a second rotation axis. The first rotation axis is lower than the second rotation axis, and the first rotation axis and the second rotation axis are offset from each other in a direction that intersects the axial direction of the connecting rod, which helps to reduce the rotational stroke required by the connecting rod.

[0015] Preferably, the connecting rod and the second knuckle are pivotally connected to the third rotation axis, the second knuckle and the first knuckle are pivotally connected to the fourth rotation axis, and the third rotation axis is lower than the fourth rotation axis, which helps to reduce the rotational stroke required by the connecting rod.

[0016] Preferably, a first receiving groove and a second receiving groove are respectively provided on opposite sides of the finger root assembly. The first receiving groove penetrates the bottom of the finger root assembly, and the second receiving groove penetrates the top of the finger root assembly. The first receiving groove and the second receiving groove are connected. The first transmission member is installed in the first receiving groove and extends out of the bottom of the finger root assembly to connect with the drive assembly. The second transmission member is installed in the second receiving groove. The pushed part is located in the second receiving groove. The other end of the linkage rod extends out from the top of the finger root assembly and is rotatably connected to the second knuckle.

[0017] Preferably, a first pivot ear and a second pivot ear are respectively provided at both ends of the first phalanx. The first pivot ear is engaged with and pivotally connected to the finger root assembly, and the second pivot ear is engaged with and pivotally connected to the second phalanx.

[0018] Preferably, the drive assembly includes a drive member and a reducer connected to the output end of the drive member, the reducer being connected to the first transmission member.

[0019] The present invention also provides a robotic hand, which includes a palm mechanism and a finger mechanism as described above, wherein the finger root assembly is mounted on the end of the palm mechanism and the drive assembly is housed within the palm mechanism.

[0020] Preferably, the finger root assembly further includes a connecting portion protruding from its bottom, the connecting portion being used to connect with the palm mechanism.

[0021] Compared with the prior art, the finger mechanism of the present invention installs the connecting rod of the transmission component inside the first finger joint. One end of the connecting rod extends into the finger root component and is rotatably connected to the second transmission component via the same rotating shaft and the finger root component, while the other end extends into the second finger joint and is rotatably connected thereto. This makes the assembly of the transmission component compact and occupies little space. At the same time, the drive component is installed outside the finger mechanism and connected to the first transmission component. In this way, on the one hand, the installation space inside the finger mechanism is increased, solving the problem of insufficient driving torque inside the finger mechanism, which is conducive to increasing the gripping space and to the thinner design of the finger mechanism 1. On the other hand, the use of rigid first transmission component, second transmission component, and connecting rod to form a transmission chain significantly improves the overall rigidity of the transmission component, reduces energy loss and nonlinear factors in the force transmission process, and enables the output torque of the drive component to be transmitted more accurately to the output end of the finger mechanism, improving the accuracy of force control and improving the dynamic stability of the gripping system.

[0022] Correspondingly, the robotic hand equipped with the finger mechanism of the present invention also possesses the aforementioned technical effects. Furthermore, since the drive component of the finger mechanism is installed within the palm mechanism, the installation space within the finger mechanism is increased, thus solving the problem of insufficient internal driving torque in the finger mechanism. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the structure of the robotic arm mechanism for removing the outer shell of the hand in this invention.

[0024] Figure 2 yes Figure 1 A schematic diagram of the structure of the middle finger mechanism.

[0025] Figure 3 yes Figure 2 A structural diagram from another angle.

[0026] Figure 4 It is a sectional view of 2.

[0027] Figure 5 yes Figure 2 A schematic diagram of the transmission components in the diagram.

[0028] Figure 6 yes Figure 5 Side view.

[0029] Figure 7 yes Figure 5 A sectional view.

[0030] Figure 8 yes Figure 5 The structural diagram of the second transmission component and the connecting rod.

[0031] Figure 9 yes Figure 8A structural diagram from another angle.

[0032] Figure 10 yes Figure 8 A sectional view.

[0033] Figure 11 yes Figure 2 A cross-sectional view after bending. Detailed Implementation

[0034] Embodiments of the present invention will now be described with reference to the accompanying drawings, in which similar element reference numerals represent similar elements. It should be noted that the directional descriptions involved in the present invention, such as up, down, left, right, front, and rear, indicating directions or positional relationships, are based on the directions or positional relationships shown in the drawings and are only for the convenience of describing the technical solutions of this application or / and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. The terms "first," "second," etc., described are only used to distinguish technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the sequential relationship of the indicated technical features.

[0035] First combine Figure 1-4 , Figure 11 As shown, in one embodiment of the present invention, the provided finger mechanism 1 includes a finger root assembly 10, a first phalanx 20, a second phalanx 30, a transmission assembly 40, and a drive assembly 50. The first phalanx 20 is rotatably connected to the finger root assembly 10, and the second phalanx 30 is rotatably connected to the first phalanx 20. The transmission assembly 40 is installed within the finger root assembly 10 and the first phalanx 20, and is connected to the output ends of the second phalanx 30 and the drive assembly 50, respectively. The drive assembly 50 drives the transmission assembly 40 to move, thereby pivoting the first phalanx 20 and the second phalanx 30, thus realizing the flexion and extension of the finger mechanism 1. In this embodiment, the drive assembly 50 is installed outside the finger root assembly 10, with only its output end extending into the finger root assembly 10 and connected to the transmission assembly 40, as shown below. Figure 5 As shown, this arrangement of mounting the drive component 50 outside the finger mechanism 1 increases the installation space inside the finger mechanism 1, which is beneficial for increasing the gripping space and solves the problem of insufficient driving torque inside the finger mechanism 1.

[0036] The following is combined Figures 2-10 As shown, in one embodiment of the present invention, the transmission assembly 40 includes a first transmission member 41, a second transmission member 42, and a connecting rod 43. The first transmission member 41 is mounted on the finger root assembly 10 and connected to the output end of the drive assembly 50, and the first transmission member 41 is coaxially arranged with the drive assembly 50, as shown. Figure 4 , Figure 7As shown. The second transmission member 42 is rotatably connected to the finger root assembly 10, and the rotation axis of the second transmission member 42 is perpendicular to the rotation axis of the first transmission member 41, as shown. Figure 4 , Figure 7 As shown. The linkage 43 is disposed inside the first phalanx 20, and the two ends of the linkage 43 are rotatably connected to the finger root assembly 10 and the second phalanx 30, respectively.

[0037] The following is combined Figures 4-10 As shown, in one embodiment of the present invention, the second transmission member 42 has a connecting portion 421 and a pushing portion 422. The connecting portion 421 is connected to the first transmission member 41, and the pushing portion 422 cooperates with the connecting rod 43. The first transmission member 41 drives the second transmission member 42 to rotate through the connecting portion 421, and the second transmission member 42 drives the connecting rod 43 to rotate through the pushing portion 422. The connecting rod 43 then drives the first phalanx 20 and the second phalanx 30 to pivot, thereby realizing the flexion and extension of the finger mechanism 1.

[0038] More specifically, one end of the linkage 43 is provided with a pushed part 431 that cooperates with the pushing part 422. The pushed part 431 and the second transmission member 42 are rotatably connected to the finger root assembly 10 via the same rotating shaft. When the first transmission member 41 drives the second transmission member 42 to rotate via the connecting part 421, the second transmission member 42 pushes the pushed part 431 via the pushing part 422, causing the linkage 43 to pivot relative to the finger root assembly 10 and the second finger joint 30. In this embodiment, the second transmission member 42 and the pushed part 431 share the same rotating shaft, ensuring that they rotate around the same axis, thereby avoiding eccentricity errors, resulting in a stable transmission ratio and high motion synchronization.

[0039] In this application, the first transmission component 41 is preferably a worm gear, and the second transmission component 42 is preferably a worm wheel. However, this is not a limitation, and other transmission components may also be used.

[0040] Continue to combine Figures 2-10 As shown, in one embodiment of the present invention, the linkage 43 further includes a rod-shaped portion 432 and a pivot portion 433. The two ends of the rod-shaped portion 432 are respectively connected to the pivot portion 433 and the push portion 431. When the linkage 43 is installed, the rod-shaped portion 432 is housed within the first phalanx 20, the push portion 431 extends out of the first phalanx 20 and is rotatably connected to the finger root assembly 10, and simultaneously, the push portion 431 cooperates with the pushing portion 422, the pivot portion 433 extends out of the first phalanx 20 and extends into the second phalanx 30, and the pivot portion 433 is rotatably connected to the second phalanx 30. Figure 11 As shown, when the push part 431 is subjected to force, it can rotate relative to the finger root assembly 10, thereby causing its pivot part 433 to rotate relative to the second phalanx 30, thereby causing the first phalanx 20 and the second phalanx 30 to pivot, realizing the flexion and extension of the finger mechanism 1.

[0041] The following is combined Figures 5-10 As shown, in one embodiment of the present invention, the pushing part 422 of the second transmission member 42 is provided with a first pushing surface 42221, and the pushing part 431 of the connecting rod 43 is provided with a first pushing surface 4311 that cooperates with the first pushing surface 42221. When the second transmission member 42 rotates, the first pushing surface 42221 can push against the first pushing surface 4311 to drive the connecting rod 43 to rotate.

[0042] In one embodiment of the present invention, the push-receiving part 431 has a mounting groove 4313, and the first push-receiving surface 4311 is disposed within the mounting groove 4313. The second transmission member 42 is mounted within the mounting groove 4313, and the second transmission member 42 and the push-receiving part 431 are rotatably connected to the finger root assembly 10 via the same rotating shaft. This structural arrangement, in which the second transmission member 42 is embedded within the push-receiving part 431, significantly reduces the space occupied by the second transmission member 42 and the push-receiving part 431 in the lateral or radial direction, resulting in high spatial integration and a compact structure. In addition, the first push-receiving surface 4311, disposed within the mounting groove 4313, forms a semi-enclosed constraint, restricting the movement of the second transmission member 42 within the groove, thereby reducing swaying and wobble, and making the force transmission path more direct and stable.

[0043] Continue to combine Figures 5-10 As shown, in one embodiment of the present invention, the pushing part 422 of the second transmission member 42 is further provided with a second pushing surface 4222. The second pushing surface 4222, the connecting part 421, and the first pushing surface 42221 are arranged sequentially along the rotation direction of the second transmission member 42, that is, the second pushing surface 4222 and the first pushing surface 42221 are adjacent to each other, and the second pushing surface 4222 and the first pushing surface 42221 are intersecting. See reference. Figure 7 , Figure 10 As shown. More preferably, the included angle between the second pushing surface 4222 and the first pushing surface 42221 is less than 90°, but this is not a limitation.

[0044] Continue to combine Figures 5-10As shown, the push portion 431 of the linkage 43 is also provided with a second push surface 4312. The second push surface 4312 is located on the side of the push portion 431. The second push surface 4312 and the first push surface 4311 are also arranged at an angle, and the angle between the two is preferably less than 90°, but it is not limited to this. When the second transmission member 42 rotates, the second push surface 4312 can abut against the second push surface 4222, thereby limiting and reversing the linkage 43. This structural arrangement of the push portion 431 and the second transmission member 42 can achieve bidirectional and spatially interlaced complex motion output through a single second transmission member 42. While ensuring a compact structure, it can obtain precise motion control and force transmission. It is especially suitable for situations such as the finger mechanism 1 where space is limited but complex motion and force transmission are required, and it can also achieve a thin design for the finger mechanism 1.

[0045] Continue to combine Figures 5-10 As shown, in one embodiment of the present invention, the push-receiving portion 431 includes a transition portion 431a, a protrusion 431b, and two protrusions 431c. The transition portion 431a is connected at both ends to a rod-shaped portion 432 and a protrusion 431b, respectively. The two protrusions 431c are arranged side-by-side on the protrusion 431b, forming the aforementioned mounting groove 4313 between them. A first push-receiving surface 4311 and a second push-receiving surface 4312 are both disposed on the protrusion 431b and located on adjacent sides. More specifically, the first push-receiving surface 4311 is located at the bottom of the protrusion 431b and between the two protrusions 431c, thus situated within the mounting groove 4313. The second push-receiving surface 4312 is located on the side of the protrusion 431b, thereby forming an included angle between the second push-receiving surface 4312 and the first push-receiving surface 4311. When the linkage 43 is installed, the two protrusions 431c are rotatably connected to the finger root assembly 10. That is, the second transmission member 42 is embedded between the two protrusions 431c and is rotatably connected to the finger root assembly 10 through the same rotating shaft.

[0046] The following is combined Figures 2-4 As shown, in one embodiment of the present invention, the line L1 connecting the pivot points at both ends of the linkage 43 and the line L2 connecting the pivot points at both ends of the first finger joint 20 intersect, as shown in the figure. Figure 4 As shown, this creates a seesaw effect between the two, thereby enabling the first phalanx 20 to bend relative to the second phalanx 30.

[0047] The following is combined Figures 2-10 As shown, in one embodiment of the present invention, the linkage 43 and the finger root assembly 10 are pivotally connected to the first rotation axis P1, while the finger root assembly 10 and the first phalanx 20 are pivotally connected to the second rotation axis P2. In the axial direction of the linkage 43 or in the height direction of the finger mechanism 1, the first rotation axis P1 is lower than the second rotation axis P2. Figure 4As shown, the first rotation axis P1 and the second rotation axis P2 are offset from each other in directions that intersect the axial direction of the connecting rod 43, that is, the first rotation axis P1 and the second rotation axis P2 are spaced apart along the radial direction of the second transmission member 42. This structural arrangement helps to reduce the rotational stroke required by the connecting rod 43, thereby making the structure of the finger mechanism 1 more compact and facilitating the thinner design of the finger mechanism 1.

[0048] Continue reading Figure 4 As shown, in this embodiment, the linkage 43 and the second phalanx 30 are pivotally connected to the third rotation axis P3, and the second phalanx 30 and the first phalanx 20 are pivotally connected to the fourth rotation axis P4. Furthermore, the third rotation axis P3 is lower than the fourth rotation axis P4 in the axial direction of the linkage 43 or in the height direction of the finger mechanism 1, thereby further reducing the required rotational stroke of the linkage 43.

[0049] The following is combined Figure 2-5 , Figure 11 As shown, in one embodiment of the present invention, a first receiving groove 11 and a second receiving groove 12 are respectively provided on opposite sides of the finger root assembly 10. The first receiving groove 11 penetrates the bottom of the finger root assembly 10, and the second receiving groove 12 penetrates the top of the finger root assembly 10. The first receiving groove 11 and the second receiving groove 12 are connected. Figure 4 As shown. The first transmission member 41 is installed in the first receiving groove 11 and extends through the bottom of the finger root assembly 10 to connect to the output end of the drive assembly 50. The second transmission member 42 is installed in the second receiving groove 12. The pushed part 431 of the linkage rod 43 is located in the second receiving groove 12. Its rod-shaped part 432 and pivot part 433 extend through the top of the finger root assembly 10, so that the rod-shaped part 432 is accommodated in the first finger joint 20, while the pivot part 433 is rotatably connected to the second finger joint 30.

[0050] In this embodiment, the finger root assembly 10 further includes a connecting portion 421, which protrudes downward from its bottom. The connecting portion 421 is used to install the finger root assembly 10, for example, to connect the finger root assembly 10 to the palm mechanism of a robotic hand through the connecting portion 421, etc., which is not limited in this application.

[0051] Continue to combine Figures 2-4As shown, in one embodiment of the present invention, a first pivot lug 21 and a second pivot lug 22 are respectively provided at both ends of the first phalanx 20. Specifically, two first pivot lugs 21 are spaced apart at the bottom end of the first phalanx 20, and two second pivot lugs 22 are spaced apart at the top end of the first phalanx 20. During installation, the two first pivot lugs 21 are engaged with and pivotally connected to the finger root assembly 10, and the two second pivot lugs 22 are engaged with and pivotally connected to the second phalanx 30. Of course, the pivoting method of the first phalanx 20, the finger root assembly 10, and the second phalanx 30 is not limited to the aforementioned pivoting method; other structural forms can also be used to achieve pivoting.

[0052] Recombined Figures 2-10 As shown, in one embodiment of the present invention, the drive assembly 50 includes a drive member 51 and a reducer 52 connected to the output end of the drive member 51. The reducer 52 is connected to the first transmission member 41, and the drive member 51 drives the first transmission member 41 to rotate through the reducer 52. The drive member 51 is preferably a motor, but is not limited thereto. In this application, the structure and principle of the drive member 51 and the reducer 52 are conventional in the art, and therefore will not be described in detail.

[0053] Recombined Figures 1-11 As shown, in one embodiment of the present invention, a robotic hand is also provided, which includes a finger mechanism 1 and a palm mechanism 2. The palm mechanism 2 has a conventional structure in the art and will not be described in detail. Four finger mechanisms 1 are provided, each mounted on the end of the palm mechanism 2, and the four finger mechanisms 1 have identical structures, differing only in their length. The structure of each finger mechanism 1 is as described above and will not be repeated.

[0054] More specifically, the root component 10 of each finger mechanism 1 is installed in the palm mechanism 2, and the drive component 50 is housed in the palm mechanism 2, so as not to occupy the internal space of the finger mechanism 1, thereby increasing the installation space inside the finger mechanism 1, solving the problem of insufficient internal drive torque of the finger mechanism 1, and facilitating the increase of gripping space.

[0055] Recombined Figures 1-11As shown, when the robotic arm of the present invention is working, each finger mechanism 1 moves independently under the control of the control system to achieve coordinated linkage, thereby grasping or releasing objects, or performing other operations. Specifically, when the drive assembly 50 drives the first transmission member 41 of the transmission assembly 40 to rotate in the forward direction, the first transmission member 41 drives the second transmission member 42 to rotate through the connecting part 421. The second transmission member 42 pushes the first push surface 42221 of the pushing part 422 to push the first push surface 4311 of the connecting rod 43, thereby pushing the connecting rod 43 to rotate. During the rotation of the connecting rod 43, the pivot part 433 on it rotates relative to the second phalanx 30 and applies force to the second phalanx 30, pulling the second phalanx 30 to rotate downward relative to the first phalanx 20, while simultaneously driving the first phalanx 20 to pivot, thereby realizing the bending of the finger mechanism 1. The state of the bent finger mechanism 1 is as follows. Figure 11 As shown.

[0056] Continue to refer to, for example Figure 11 As shown, when the finger mechanism 1 is bent into place, the second push surface 4312 on the linkage 43 abuts against the finger root assembly 10, thereby limiting the linkage 43 and thus limiting the first phalanx 20 and the second phalanx 30 after bending.

[0057] When the drive assembly 50 drives the first transmission member 41 of the transmission assembly 40 to rotate in the reverse direction, the first transmission member 41 drives the second transmission member 42 to rotate through the connecting part 421. The second transmission member 42 pushes the second push surface 4312 on the connecting rod 43 through the second push surface 4312 on the pushing part 422, thereby pushing the connecting rod 43 to rotate. During the rotation of the connecting rod 43, the pivot part 433 on it rotates relative to the second phalanx 30 and applies force to the second phalanx 30, pushing the second phalanx 30 to rotate upward relative to the first phalanx 20, while simultaneously driving the first phalanx 20 to pivot, thereby straightening the finger mechanism 1. The state of the straightened finger mechanism 1 is as follows: Figure 2 As shown.

[0058] In summary, the finger mechanism 1 of the present invention installs the connecting rod 43 of the transmission component 40 inside the first finger joint 20, with one end of the connecting rod 43 extending into the finger root component 10 and rotatably connected to the second transmission component 42 via the same rotating shaft, and the other end extending into the second finger joint 30 and rotatably connected thereto. This makes the assembly of the transmission component 40 compact and space-saving. At the same time, the drive component 50 is installed outside the finger mechanism 1 and connected to the first transmission component 41. In this way, on the one hand, the installation space inside the finger mechanism 1 is increased, solving the problem of insufficient driving torque inside the finger mechanism 1, which is conducive to increasing the gripping space and the thinner design of the finger mechanism 1; on the other hand, the use of rigid first transmission component 41, second transmission component 42, and connecting rod 43 to form a transmission chain significantly improves the overall rigidity of the transmission component 40, reduces energy loss and nonlinear factors in the force transmission process, and enables the output torque of the drive component 50 to be transmitted more accurately to the output end of the finger mechanism 1, improving the accuracy of force control and enhancing the dynamic stability of the gripping system.

[0059] Correspondingly, the robotic hand having the finger mechanism 1 of the present invention also has the above-mentioned technical effects. Moreover, since the drive component 50 of the finger mechanism 1 is installed inside the palm mechanism 2, the installation space inside the finger mechanism 1 is increased, thus solving the problem of insufficient internal driving torque of the finger mechanism 1.

[0060] The structures of other parts of the robotic arm involved in this invention are all conventional structures well known to those skilled in the art, and therefore will not be described in detail.

[0061] The above-disclosed embodiments are merely preferred embodiments of the present invention and should not be construed as limiting the scope of the present invention. Therefore, any equivalent variations made in accordance with the claims of the present invention are still within the scope of the present invention.

Claims

1. A finger mechanism characterized by, It includes a finger root assembly, a first phalanx, a second phalanx, a drive assembly, and a transmission assembly. The first phalanx is rotatably connected to the finger root assembly, and the second phalanx is rotatably connected to the first phalanx. The transmission assembly includes: A first transmission component is installed on the finger root assembly and connected to the output end of the drive assembly, and the first transmission component is arranged coaxially with the drive assembly; A second transmission component is mounted on the finger root assembly. The second transmission component has a connecting portion and a pushing portion, and the connecting portion is connected to the first transmission component. A linkage is disposed within the first phalanx, and the linkage is rotatably connected to the finger root assembly and the second phalanx respectively. The linkage has a pushed portion that cooperates with the pushing portion. The driving component drives the first transmission member to rotate, the first transmission member drives the second transmission member to rotate through the connecting part, and the second transmission member pushes the pushed part through the pushing part, so that the linkage rod rotates relative to the finger root assembly to realize the flexion and extension of the finger mechanism; The pushing part is provided with a first pushing surface, and the pushed part is provided with a first pushed surface that cooperates with the pushing surface. When the second transmission member rotates, the first pushing surface can push against the first pushed surface to drive the connecting rod to rotate. The push-receiving part is provided with a mounting groove, the first push-receiving surface is located in the mounting groove, the second transmission component is installed in the mounting groove, and the second transmission component and the push-receiving part are rotatably connected to the finger root assembly through the same rotating shaft; The second transmission member is also provided with a second pushing surface, and the pushed part is also provided with a second pushing surface; when the second transmission member rotates, the second pushing surface can abut against the second pushing surface, thereby forming a limiting and reverse pushing on the connecting rod; The second pushing surface, the connecting part, and the first pushing surface are arranged sequentially along the rotation direction of the second transmission member; The angle between the second pushing surface and the first pushing surface is less than 90°; The linkage further includes a pivot portion and a rod-shaped portion. The pivot portion is located in the second phalanx and is rotatably connected to the second phalanx. One end of the rod-shaped portion is connected to the pivot portion. The push portion includes a transition portion, a protrusion portion, and two extension portions. The two ends of the transition portion are respectively connected to the rod-shaped portion and the protrusion portion. The two extension portions are arranged side by side on the protrusion portion to form the mounting groove. The two extension portions are rotatably connected to the finger root assembly. The first push surface is disposed in the mounting groove. Both the first push surface and the second push surface are disposed on the protrusion portion and located on adjacent sides of the protrusion portion.

2. The finger mechanism as described in claim 1, characterized in that, The rotation axis of the first transmission component is perpendicular to the rotation axis of the second transmission component and is not parallel to the rotation axis of the first finger joint; And / or, the pushed part is disposed at one end of the linkage rod, extends out of the first phalanx, and is rotatably connected to the finger root assembly; the other end of the linkage rod extends out of the first phalanx, extends into the second phalanx, and is rotatably connected to the second phalanx.

3. The finger mechanism as described in claim 1, characterized in that, The line connecting the pivot points at both ends of the linkage and the line connecting the pivot points at both ends of the first phalanx intersect; or / and, the linkage and the finger root assembly are pivotally connected to a first rotation axis, the finger root assembly and the first phalanx are pivotally connected to a second rotation axis, the first rotation axis is lower than the second rotation axis relative to the drive assembly, and the first rotation axis and the second rotation axis are offset from each other in a direction that intersects the axial direction of the linkage.

4. The finger mechanism as described in claim 1, characterized in that, The finger root assembly has a first receiving groove and a second receiving groove on opposite sides, the first receiving groove penetrates the bottom of the finger root assembly, the second receiving groove penetrates the top of the finger root assembly, and the first receiving groove and the second receiving groove are connected. The first transmission member is installed in the first receiving groove and extends out of the bottom of the finger root assembly to connect with the drive assembly. The second transmission member is installed in the second receiving groove. The pushed part is located in the second receiving groove. The other end of the linkage rod extends out from the top of the finger root assembly and is rotatably connected to the second finger joint.

5. The finger mechanism as described in claim 1, characterized in that, The drive assembly includes a drive element and a reducer connected to the output end of the drive element, the reducer being connected to the first transmission element.

6. A robotic arm, characterized in that, include: Hand mechanism; The finger mechanism as described in any one of claims 1-5, wherein the finger root assembly is mounted at the end of the palm mechanism, and the drive assembly is housed within the palm mechanism.

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