Mechanical fingers, dexterous hands, and robots
By using a snap-fit structure and a limiting shaft rotation axis, the problems of time-consuming, labor-intensive, and weight-increasing mechanical finger assembly are solved, achieving a highly efficient, lightweight, and reliable mechanical finger design.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- ZHUHAI ENPOWER ELECTRIC
- Filing Date
- 2026-04-23
- Publication Date
- 2026-06-05
AI Technical Summary
The assembly process of the mechanical finger joints requires the use of additional tools to tighten screws, which makes the assembly time-consuming and laborious, and increases the weight. At the same time, it is easy to slip and damage objects when grasping them, and the routing of tendons and wires is inconvenient.
The snap-fit structure, through the snap-fit between the first snap-fit part and the second snap-fit part, combined with the engagement of the limiting shaft and the rotating shaft, enables the assembly of the knuckles without the need for screws and additional tools, thus enhancing reliability and aesthetics.
It simplifies the assembly process of robotic fingers, improves production efficiency, reduces weight, lowers the risk of slippage, and enhances reliability and aesthetics.
Smart Images
Figure CN122143091A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of robotics, and more particularly to a mechanical finger, a dexterous hand, and a robot. Background Technology
[0002] The information disclosed in this background section is intended only to enhance the understanding of the general background of this disclosure and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art.
[0003] Mechanical fingers are an important component of a robot's dexterous hand. In related technologies, the knuckles of mechanical fingers are assembled using screws, requiring additional tools to tighten the screws. This makes the assembly process time-consuming and labor-intensive, thus hindering the production efficiency of the dexterous hand. Summary of the Invention
[0004] In view of this, the purpose of this application is to provide a mechanical finger, a dexterous hand, and a robot, in order to solve the technical problem.
[0005] To achieve the above objectives, the technical solution adopted in this application is as follows: In a first aspect, embodiments of this application provide a mechanical finger, comprising: at least one first phalanx, each first phalanx including a first phalanx body and a second phalanx body, the first phalanx body having a first engaging portion, the second phalanx body having a second engaging portion, the first engaging portion engaging with the second engaging portion.
[0006] In some embodiments of the first aspect, one of the first snap-fit portion and the second snap-fit portion is a buckle, and the other of the first snap-fit portion and the second snap-fit portion is provided with a slot, the buckle being inserted into the slot.
[0007] In some embodiments of the first aspect, the buckle has a guide ramp disposed toward the groove wall of the slot.
[0008] In some embodiments of the first aspect, one of the first knuckle body and the second knuckle body is provided with a receiving groove, and at least a portion of the first snap-fit portion is received in the receiving groove, and at least a portion of the second snap-fit portion is received in the receiving groove.
[0009] In some embodiments of the first aspect, one of the first knuckle body and the second knuckle body has a first limiting shaft, and the other of the first knuckle body and the second knuckle body has a first limiting hole, through which the first limiting shaft passes.
[0010] In some embodiments of the first aspect, the first phalanx is provided in a plurality of ways, wherein in any two adjacent first phalanges, the first phalanx body of one of the first phalanges has a first rotation axis, and the first phalanx body of the other first phalanx has a first rotation groove, the first rotation axis passing through the first rotation groove; and / or, the second phalanx body of one of the first phalanges has a second rotation axis, and the second phalanx body of the other first phalanx has a second rotation groove, the second rotation axis passing through the second rotation groove.
[0011] In some embodiments of the first aspect, the mechanical finger further includes a second phalanx, the second phalanx including a third phalanx body, a fourth phalanx body and a first retaining ring, the third phalanx body being rotatably connected to the first phalanx body, the fourth phalanx body being rotatably connected to the second phalanx body, both the third phalanx body and the fourth phalanx body being disposed through the first retaining ring, the first retaining ring being interference-fitted with the third phalanx body and the fourth phalanx body respectively.
[0012] In some embodiments of the first aspect, the second phalanx further includes a second retaining ring, the first retaining ring is located between the second retaining ring and the first phalanx, the third phalanx body and the fourth phalanx body are both disposed through the second retaining ring, and the second retaining ring is respectively press-fitted with the third phalanx body and the fourth phalanx body.
[0013] In some embodiments of the first aspect, one of the third phalanx body and the fourth phalanx body has a second limiting shaft, and the other of the third phalanx body and the fourth phalanx body has a second limiting hole, through which the second limiting shaft passes.
[0014] In some embodiments of the first aspect, one of the third phalanx body and the first phalanx body has a third rotation axis, and the other of the third phalanx body and the first phalanx body has a third rotation groove, through which the third rotation axis passes; and / or, one of the fourth phalanx body and the second phalanx body has a fourth rotation axis, and the other of the fourth phalanx body and the second phalanx body has a fourth rotation groove, through which the fourth rotation axis passes.
[0015] In some embodiments of the first aspect, the mechanical finger further includes at least one flexor tendon cord, one flexor tendon cord corresponding to one first phalanx, the first phalanx body, the second phalanx body, the third phalanx body and the fourth phalanx body together forming a wiring channel, the flexor tendon cord passing through the wiring channel and connected to the second phalanx body or the first phalanx body, the flexor tendon cord being used to drive the first phalanx to rotate relative to the second phalanx.
[0016] In some embodiments of the first aspect, each of the first phalanges further includes a pressure sensor and a first wire, the pressure sensor being disposed circumferentially along the first phalange and connected to the body of the first phalange and the body of the second phalange respectively, and the first wire passing through the wiring channel and connected to the pressure sensor.
[0017] In some embodiments of the first aspect, each of the first knuckles further includes a pad, the pressure sensor being disposed between the first knuckle and the pad, the pad being connected to the body of the first knuckle and the body of the second knuckle, respectively.
[0018] Secondly, embodiments of this application provide a dexterous hand, including a mechanical palm and a mechanical finger as described in any of the embodiments of the first aspect above. The mechanical finger further includes a second phalanx and a flat rotation tendon cord. The second phalanx is rotatably connected to the mechanical palm, the first phalanx body, and the second phalanx body, respectively. The flat rotation tendon cord is connected to the second phalanx and is used to drive the second phalanx to rotate relative to the mechanical palm. The rotation direction of the second phalanx is different from the rotation direction of the first phalanx.
[0019] Thirdly, embodiments of this application provide a robot including the dexterous hand described in any of the embodiments of the second aspect above.
[0020] The beneficial effects of this application are as follows: In the robotic finger provided in this application, the first phalanx of each first phalanx has a first engaging portion, and the second phalanx of each first phalanx has a second engaging portion, with the first engaging portion engaging with the second engaging portion. This eliminates the need for screws and additional tools during the assembly of each first phalanx, simplifying the assembly process and improving the production efficiency of the dexterous hand, while also reducing its weight.
[0021] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description
[0022] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.
[0023] Figure 1 A three-dimensional structural diagram of the mechanical finger in an embodiment of this application is shown. Figure 1 ; Figure 2 A three-dimensional structural diagram of the mechanical finger in an embodiment of this application is shown. Figure 2 ; Figure 3 A three-dimensional structural diagram of the mechanical finger in an embodiment of this application is shown. Figure 3 ; Figure 4 A schematic diagram of the disassembled structure of the mechanical finger in an embodiment of this application is shown. Figure 1 ; Figure 5 A schematic diagram of the disassembled structure of the mechanical finger in an embodiment of this application is shown. Figure 2 ; Figure 6 This illustration shows a three-dimensional structural diagram of the mechanical finger when the second phalanx is hidden in an embodiment of this application. Figure 7 This illustration shows an exploded structure diagram of the mechanical finger when the second knuckle is hidden in an embodiment of this application. Figure 1 ; Figure 8 This illustration shows an exploded structure diagram of the mechanical finger when the second knuckle is hidden in an embodiment of this application. Figure 2 ; Figure 9 It shows Figure 8 Enlarged structural diagram of region A in the middle; Figure 10 This illustration shows an exploded structure diagram of the mechanical finger when the second knuckle is hidden in an embodiment of this application. Figure 3 ; Figure 11 This illustration shows an exploded structure diagram of the mechanical finger when the second knuckle is hidden in an embodiment of this application. Figure 4 ; Figure 12 This illustration shows a three-dimensional structural diagram of the mechanical finger when the first phalanx is hidden in an embodiment of this application. Figure 13 This illustration shows an exploded structure diagram of the mechanical finger when the first phalanx is hidden in an embodiment of this application. Figure 1 ; Figure 14This illustration shows an exploded structure diagram of the mechanical finger when the first phalanx is hidden in an embodiment of this application. Figure 2 ; Figure 15 A three-dimensional structural schematic diagram of the dexterous hand in an embodiment of this application is shown.
[0024] Explanation of key component symbols: 1000 - Dexterous hand; 100 - Mechanical finger; 110 - First knuckle; 111 - First knuckle body; 1111 - First engaging part; 1112 - Buckle; 1113 - Guide slope; 1114 - First limiting hole; 1115 - First rotating shaft; 1116 - First rotating groove; 1117 - Third rotating groove; 112 - Second knuckle body; 1121 - Second engaging part; 1122 - Slot; 1123 - First limiting shaft; 1124 - Second rotating shaft; 1125 - Second rotating groove; 1126 - Fourth rotating groove; 113 - Receiving groove; 114 - Pressure sensor; 115 - Soft pad; 120 - Second phalanx; 121 - Third phalanx body; 1211 - Second limiting shaft; 1212 - Third rotating shaft; 122 - Fourth phalanx body; 1221 - Second limiting hole; 1222 - Fourth rotating shaft; 123 - First retaining ring; 124 - Second retaining ring; 130 - Wiring channel; 140 - Flexion-extension tendon rope; 150 - Flat rotation tendon rope; 160 - Angle sensor; 200 - Mechanical hand. Detailed Implementation
[0025] The embodiments of this application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.
[0026] In the description of this application, the terms "center", "longitudinal", "lateral", "length", "width", "height", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application 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. Therefore, they should not be construed as limitations on this application.
[0027] Furthermore, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first and second features are in direct contact, or that they are in indirect contact through an intermediate medium. Moreover, "above" or "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below" or "below" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.
[0028] In the description of this application, the terms "first," "second," etc., are used to distinguish different objects and should not be construed as indicating or implying a specific order or hierarchy, or implicitly specifying the number of technical features indicated. Therefore, a feature marked "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, the term "multiple" means two or more, unless otherwise explicitly defined.
[0029] In the description of this application, unless otherwise explicitly specified, the terms "installation," "connection," "attachment," etc., should be interpreted broadly. For example, they can refer to non-detachable connections (e.g., welding, riveting, casting, chemical reaction connections, etc.), detachable connections (e.g., snap-fit connections, threaded connections, magnetic connections, plug-in connections, etc.), or integrally formed structures (e.g., stamped structures, injection molded structures, 3D printed structures, die-casting structures, extruded structures, blow-molded structures, etc.); they can refer to mechanical connections or electrical connections (e.g., welding, snap-fit connections, adhesive connections, threaded connections, etc.); they can refer to direct connections or indirect connections through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.
[0030] In the description of this application, the term "and / or" can be understood to mean three possibilities. For example, A and / or B can represent: A alone; A and B simultaneously; or B alone. Additionally, the character " / " generally indicates that the preceding and following objects have an "or" relationship.
[0031] In the description of this application, "parallel" includes not only the case of absolute parallelism, but also the case of approximate parallelism as commonly understood in engineering; similarly, "perpendicular" also includes not only the case of absolute perpendicularity, but also the case of approximate perpendicularity as commonly understood in engineering. For example, if the angle between two directions is 80° to 90°, the two directions can be considered perpendicular; if the angle between two directions is 0° to 10°, the two directions can be considered parallel.
[0032] Mechanical fingers are an important component of a robot's dexterous hand. In related technologies, the knuckles of mechanical fingers are assembled using screws, requiring additional tools to tighten them. This makes the assembly process time-consuming and labor-intensive, thus reducing assembly efficiency and increasing the weight of the mechanical finger. Furthermore, mechanical fingers suffer from the following problems: they are prone to slipping and damaging objects when grasping; the tendons connecting the knuckles and the wires connecting the sensors are inconvenient to route, hindering the mechanical finger from performing human-like movements and maintaining its aesthetic appearance.
[0033] like Figure 1 and Figure 15 As shown, in order to solve the above-mentioned technical problems, the embodiments of this application provide a mechanical finger 100, which relates to the field of robot technology and is mainly applied to dexterous hand 1000.
[0034] like Figure 1 and Figure 6 As shown, the mechanical finger 100 provided in this embodiment includes at least one first phalanx 110. Each first phalanx 110 includes a first phalanx body 111 and a second phalanx body 112. The first phalanx body 111 has a first engaging portion 1111, and the second phalanx body 112 has a second engaging portion 1121. The first engaging portion 1111 engages with the second engaging portion 1121.
[0035] It is understood that in the mechanical finger 100 provided in this embodiment, the first phalanx body 111 of each first phalanx 110 has a first snap-fit portion 1111, and the second phalanx body 112 of each first phalanx 110 has a second snap-fit portion 1121, with the first snap-fit portion 1111 and the second snap-fit portion 1121 snapping together. This eliminates the need for screws and additional tools in the assembly process of each first phalanx 110, which not only simplifies the assembly process of the mechanical finger 100 and improves the production efficiency of the dexterous hand 1000, but also helps to reduce the weight of the dexterous hand 1000.
[0036] like Figures 6 to 8 As shown, in some embodiments, one of the first snap-fit portion 1111 and the second snap-fit portion 1121 is a buckle 1112, and the other of the first snap-fit portion 1111 and the second snap-fit portion 1121 is provided with a slot 1122. The buckle 1112 passes through the slot 1122 to realize the snap-fit of the first snap-fit portion 1111 and the second snap-fit portion 1121.
[0037] For example, taking the first snap-fit portion 1111 as the snap fastener 1112 and the second snap-fit portion 1121 as having a slot 1122, the slot 1122 can be a through slot (i.e., the slot 1122 passes through the second snap-fit portion 1121) or a blind slot (i.e., the slot 1122 does not pass through the second snap-fit portion 1121), and no specific limitation is made here.
[0038] In other embodiments, the first snap-fit portion 1111 is a first snap-fit, and the second snap-fit portion 1121 is a second snap-fit. The first snap-fit and the second snap-fit are engaged with each other, which can also achieve the snap-fit of the first snap-fit portion 1111 and the second snap-fit portion 1121. Here, the structure of the first snap-fit portion 1111 and the second snap-fit portion 1121 is not specifically limited.
[0039] like Figure 6 , Figure 8 and Figure 9 As shown, the latch 1112 further includes a guide ramp 1113, which is positioned towards the groove wall of the slot 1122. Thus, when each first finger joint 110 is assembled, the guide ramp 1113 guides the latch 1112, facilitating its insertion into the slot 1122 and reducing the assembly difficulty of the mechanical finger 100.
[0040] like Figures 6 to 8 As shown, in some embodiments, one of the first phalanx body 111 and the second phalanx body 112 is provided with a receiving groove 113. At least a portion of the first snap-fit portion 1111 (i.e., a part or all of the first snap-fit portion 1111) is received in the receiving groove 113, and at least a portion of the second snap-fit portion 1121 (i.e., a part or all of the second snap-fit portion 1121) is received in the receiving groove 113. In this way, at least a portion of the first snap-fit portion 1111 and at least a portion of the second snap-fit portion 1121 can be received by the receiving groove 113, thereby improving the structural compactness of each first phalanx 110 and thus contributing to the miniaturization design of the dexterous hand 1000.
[0041] It should be noted that when one of the first snap-fit portion 1111 and the second snap-fit portion 1121 is a snap fastener 1112, and the other of the first snap-fit portion 1111 and the second snap-fit portion 1121 is provided with a slot 1122, the snap fastener 1112 is received in the receiving groove 113, and the slot 1122 is connected to the receiving groove 113.
[0042] like Figure 7 and Figure 8As shown, in some embodiments, one of the first phalanx body 111 and the second phalanx body 112 has a first limiting shaft 1123, and the other of the first phalanx body 111 and the second phalanx body 112 has a first limiting hole 1114, with the first limiting shaft 1123 passing through the first limiting hole 1114. Thus, the engagement between the first limiting shaft 1123 and the first limiting hole 1114 not only serves a positioning function, facilitating precise engagement between the first engaging portion 1111 and the second engaging portion 1121, thereby reducing the assembly difficulty of the robotic finger 100, but also serves a limiting function, restricting the relative movement between the first phalanx body 111 and the second phalanx body 112, reducing the risk of loosening of the first phalanx body 111 and the second phalanx body 112, and helping to enhance the reliability of the robotic finger 100.
[0043] like Figure 6 , Figure 10 and Figure 11 As shown, in some embodiments, multiple first phalanges 110 are provided. In any two adjacent first phalanges 110, the first phalanx body 111 of one first phalanx 110 has a first rotation shaft 1115, and the first phalanx body 111 of the other first phalanx 110 has a first rotation groove 1116, with the first rotation shaft 1115 passing through the first rotation groove 1116. In this way, the engagement between the first rotation shaft 1115 and the first rotation groove 1116 not only enables the rotational connection between two adjacent first phalanx bodies 111 to facilitate the flexion and extension movements of the robotic finger 100, but also limits the risk of loosening between adjacent first phalanx bodies 111, thus enhancing the reliability of the robotic finger 100.
[0044] like Figure 6 , Figure 10 and Figure 11 As shown, in some embodiments, multiple first phalanges 110 are provided. In any two adjacent first phalanges 110, the second phalanx body 112 of one first phalanx 110 has a second rotation shaft 1124, and the second phalanx body 112 of the other first phalanx 110 has a second rotation groove 1125, through which the second rotation shaft 1124 passes. In this way, through the engagement between the second rotation shaft 1124 and the second rotation groove 1125, not only can the rotational connection between two adjacent second phalanx bodies 112 be realized, so that the mechanical finger 100 can complete flexion and extension movements, but it can also limit the risk of the two adjacent second phalanx bodies 112 becoming loose, which helps to enhance the reliability of the mechanical finger 100.
[0045] like Figure 1 , Figure 12 and Figure 13As shown, in some embodiments, the mechanical finger 100 further includes a second phalanx 120, which includes a third phalanx body 121, a fourth phalanx body 122, and a first retaining ring 123. The third phalanx body 121 is rotatably connected to the first phalanx body 111, and the fourth phalanx body 122 is rotatably connected to the second phalanx body 112. Both the third phalanx body 121 and the fourth phalanx body 122 are passed through the first retaining ring 123, which is press-fitted with both the third phalanx body 121 and the fourth phalanx body 122. Thus, the press-fitting with the first retaining ring 123 reliably secures the third phalanx body 121 and the fourth phalanx body 122, thereby enhancing the reliability of the mechanical finger 100.
[0046] For example, the materials of the first phalanx body 111, the second phalanx body 112, the third phalanx body 121, and the fourth phalanx body 122 can be plastic, stainless steel, aluminum, aluminum alloy, etc., and no specific limitation is made here.
[0047] like Figure 1 , Figure 12 and Figure 13 As shown, the second phalanx 120 further includes a second retaining ring 124. A first retaining ring 123 is located between the second retaining ring 124 and the first phalanx 110. The third phalanx body 121 and the fourth phalanx body 122 are both inserted through the second retaining ring 124, and the second retaining ring 124 is press-fitted with the third phalanx body 121 and the fourth phalanx body 122, respectively. In this way, the press-fitting with the second retaining ring 124 can more reliably fix the third phalanx body 121 and the fourth phalanx body 122, thereby helping to further enhance the reliability of the mechanical finger 100.
[0048] For example, the material of the first retaining ring 123 / the material of the second retaining ring 124 can be stainless steel, aluminum alloy, aluminum, etc., and no specific limitation is made here.
[0049] like Figures 12 to 14As shown, further, one of the third phalanx body 121 and the fourth phalanx body 122 has a second limiting shaft 1211, and the other of the third phalanx body 121 and the fourth phalanx body 122 has a second limiting hole 1221, with the second limiting shaft 1211 passing through the second limiting hole 1221. Thus, the engagement between the second limiting shaft 1211 and the second limiting hole 1221 not only serves a positioning function to facilitate the installation of the first retaining ring 123 and the second retaining ring 124, thereby reducing the assembly difficulty of the robotic finger 100, but also serves a limiting function to restrict the relative movement between the third phalanx body 121 and the fourth phalanx body 122, reducing the risk of the third phalanx body 121 and the fourth phalanx body 122 becoming loose, and helping to enhance the reliability of the robotic finger 100.
[0050] like Figures 4 to 6 as well as Figure 14 As shown, further, one of the third phalanx body 121 and the first phalanx body 111 has a third rotation shaft 1212, and the other of the third phalanx body 121 and the first phalanx body 111 has a third rotation groove 1117, with the third rotation shaft 1212 passing through the third rotation groove 1117. Thus, the engagement between the third rotation shaft 1212 and the third rotation groove 1117 not only enables a rotational connection between the second phalanx 120 and the first phalanx body 111, facilitating the flexion and extension movements of the robotic finger 100, but also limits the risk of loosening between the second phalanx 120 and the first phalanx body 111, thus enhancing the reliability of the robotic finger 100.
[0051] like Figures 4 to 6 as well as Figure 13 As shown, further, one of the fourth phalanx body 122 and the second phalanx body 112 has a fourth rotation shaft 1222, and the other of the fourth phalanx body 122 and the second phalanx body 112 has a fourth rotation groove 1126, through which the fourth rotation shaft 1222 passes. Thus, the engagement between the fourth rotation shaft 1222 and the fourth rotation groove 1126 not only enables a rotational connection between the second phalanx 120 and the second phalanx body 112, facilitating the flexion and extension movements of the robotic finger 100, but also limits the risk of loosening between the second phalanx 120 and the second phalanx body 112, thereby enhancing the reliability of the robotic finger 100.
[0052] like Figure 1 , Figure 3 and Figure 10As shown, the robotic finger 100 further includes at least one flexor tendon 140, with each flexor tendon 140 corresponding to a first phalanx 110. The first phalanx body 111, the second phalanx body 112, the third phalanx body 121, and the fourth phalanx body 122 together form a wiring channel 130. The flexor tendon 140 passes through the wiring channel 130 and is connected to either the second phalanx body 112 or the first phalanx body 111. The flexor tendon 140 is used to drive the first phalanx 110 to rotate relative to the second phalanx 120. In this way, the wiring channel 130 formed by the first phalanx body 111, the second phalanx body 112, the third phalanx body 121, and the fourth phalanx body 122 facilitates the inward arrangement of the flexor tendon 140, which not only helps the robotic finger 100 to perform anthropomorphic movements but also reduces the possibility of the flexor tendon 140 being exposed, thus improving the aesthetics of the robotic finger 100. In addition, the first phalanx 110 is rotated by the flexor tendon 140 so that the mechanical finger 100 can complete the flexion and extension movements.
[0053] like Figure 2 , Figure 3 and Figure 6 As shown, each first phalanx 110 further includes a pressure sensor 114 and a first wire. The pressure sensor 114 is arranged circumferentially along the first phalanx 110 and is connected to the first phalanx body 111 and the second phalanx body 112 respectively. The first wire passes through the wiring channel 130 and is connected to the pressure sensor 114. In this way, the wiring channel 130 formed by the first phalanx body 111, the second phalanx body 112, the third phalanx body 121, and the fourth phalanx body 122 also facilitates the inward arrangement of the first wire connected to the pressure sensor 114.
[0054] like Figure 2 and Figure 6 As shown, each first phalanx 110 further includes a soft pad 115, and a pressure sensor 114 is disposed between the first phalanx 110 and the soft pad 115. The soft pad 115 is connected to the first phalanx body 111 and the second phalanx body 112, respectively. In this way, when the mechanical finger 100 grasps an object, the contact between the soft pad 115 and the object not only makes the gripping force more uniform, reducing the risk of damage to the object, but also increases the friction, reducing the risk of the object slipping.
[0055] For example, the material of the pad 115 can be silicone rubber, polyurethane, nitrile rubber, etc., without specific limitations.
[0056] like Figure 1 , Figure 5 and Figure 11As shown, the mechanical finger 100 further includes multiple angle sensors 160 and multiple second wires. Each angle sensor 160 corresponds to one first phalanx 110. The angle sensor 160 is disposed on the first phalanx body 111 or the second phalanx body 112. The second wires pass through the wiring channel 130 and are connected to the angle sensor 160. In this way, the wiring channel 130, which is formed by the first phalanx body 111, the second phalanx body 112, the third phalanx body 121, and the fourth phalanx body 122, also facilitates the inward arrangement of the second wires connected to the angle sensors 160.
[0057] It should be noted that the angle sensor 160 in the robotic finger 100 is used to detect the rotation angle of the first phalanx 110. The pressure sensor 114 in the robotic finger 100 is used to detect the gripping force of the first phalanx 110.
[0058] In summary, the assembly method of the entire mechanical finger 100 is shown in S01~S04.
[0059] S01, assemble one half (first half) of the mechanical finger 100: pass multiple first rotating shafts 1115 through multiple first rotating slots 1116 one by one so that multiple first phalanx bodies 111 are rotatably connected in sequence, and pass a third rotating shaft 1212 through multiple third rotating slots 1117 so that the third phalanx body 121 is rotatably connected to the first phalanx body 111.
[0060] S02, assembling the other half (second half) of the mechanical finger 100: passing multiple second rotating shafts 1124 one by one through multiple second rotating slots 1125 so that multiple second phalanx bodies 112 are rotatably connected in sequence, and passing a fourth rotating shaft 1222 through multiple fourth rotating slots 1126 so that the fourth phalanx body 122 is rotatably connected to the second phalanx body 112.
[0061] S03, assembling the first half and the second half: passing the first limiting shaft 1123 through the first limiting hole 1114 and the second limiting shaft 1211 through the second limiting hole 1221, and passing multiple buckles 1112 one by one through multiple slots 1122, thereby fixing the first half and the second half.
[0062] S04, Assemble the first retaining ring 123 and the second retaining ring 124: Pass both the third phalanx body 121 and the fourth phalanx body 122 through the first retaining ring 123, and pass both the third phalanx body 121 and the fourth phalanx body 122 through the second retaining ring 124, thereby fixing the third phalanx body 121 and the fourth phalanx body 122. This completes the assembly of the entire mechanical finger 100.
[0063] like Figure 1 , Figure 6 and Figure 15 As shown, to solve the above-mentioned technical problems, embodiments of this application also provide a dexterous hand 1000, including a robotic palm 200 and a robotic finger 100 as described in any of the above embodiments. The robotic finger 100 further includes a second phalanx 120 and a horizontal rotation tendon rope 150. The second phalanx 120 is rotatably connected to the robotic palm 200, the first phalanx body 111, and the second phalanx body 112, respectively. The horizontal rotation tendon rope 150 is connected to the second phalanx 120 and is used to drive the second phalanx 120 to rotate relative to the robotic palm 200. The rotation direction of the second phalanx 120 is different from the rotation direction of the first phalanx 110. In this way, the second phalanx 120 is rotated by the horizontal rotation tendon rope 150, so that the robotic finger 100 can complete the horizontal rotation action.
[0064] To address the aforementioned technical problems, embodiments of this application also provide a robot, including a robotic arm and a dexterous hand 1000 as described in any of the above embodiments. The robotic arm is rotatably connected to a robotic hand 200. The dexterous hand 1000 further includes at least one first driving device and a second driving device. Each first driving device corresponds to a first phalanx 110. The first driving device is connected to a flexor tendon 140 and is used to drive the flexor tendon 140 to perform a pull-release motion, so that the flexor tendon 140 drives the first phalanx 110 to complete a flexion-extension action. The second driving device is connected to a lateral tendon 150 and is used to drive the lateral tendon 150 to perform a pull-release motion, so that the lateral tendon 150 drives the second phalanx 120 to complete a lateral rotation action.
[0065] In some embodiments, the first drive device and / or the second drive device includes a driver, a lead screw, a first nut, and a second nut. The driver is connected to one end of the lead screw and is used to drive the lead screw to rotate. The outer peripheral side of the lead screw has a first thread and a second thread. The helical direction of the first thread and the helical direction of the second thread are opposite. The first nut is connected to the first thread, and the second nut is connected to the second thread. The first nut of the first drive device is connected to one end of the flexor tendon cord 140, and the second nut of the first drive device is connected to the other end of the flexor tendon cord 140. The first nut of the second drive device is connected to one end of the lateral tendon cord 150, and the second nut of the second drive device is connected to the other end of the lateral tendon cord 150.
[0066] Thus, for the flexor tendon cable 140, the drive screw is rotated by the driver to move the first nut along the first direction and the second nut along the second direction opposite to the first direction, thereby causing the flexor tendon cable 140 to perform a pull-release motion; for the lateral tendon cable 150, the drive screw is rotated by the driver to move the first nut along the first direction and the second nut along the second direction opposite to the first direction, thereby causing the lateral tendon cable 150 to perform a pull-release motion.
[0067] In other embodiments, the first driving device and / or the second driving device includes a first driver, a second driver, a first winding reel, and a second winding reel. The first driver is connected to the first winding reel and drives the first winding reel to rotate in a first direction. The second driver is connected to the second winding reel and drives the first winding reel to rotate in a second direction opposite to the first direction. The outer periphery of the first winding reel of the first driving device is connected to one end of the flexor-extensor tendon rope 140, and the outer periphery of the second winding reel of the first driving device is connected to the other end of the flexor-extensor tendon rope 140. The outer periphery of the first winding reel of the second driving device is connected to one end of the lateral tendon rope 150, and the outer periphery of the second winding reel of the second driving device is connected to the other end of the lateral tendon rope 150. This also enables the lateral tendon rope 150 to perform a pull-release motion.
[0068] For example, the driver / first driver / second driver can be selected from devices capable of outputting torque, such as rotary motors, drive motors, and servo motors, without specific limitations.
[0069] Furthermore, both the first and second drive devices are located on the robotic arm, which reduces the space occupied by the dexterous hand 1000 and helps to miniaturize the design of the dexterous hand 1000.
[0070] It should be noted that robots include, but are not limited to, humanoid robots, medical robots (such as surgical robots, prosthetic robots, etc.), special robots, logistics and warehousing robots, educational robots, industrial robots, etc. No specific type of robot is specified here.
[0071] It is understood that since the robot provided in this embodiment includes the mechanical finger 100 in any of the above embodiments, it has all the beneficial effects of the mechanical finger 100, which will not be described in detail here.
[0072] In the description of this application, the terms "some embodiments," "one embodiment," "example," "specific example," "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In the description of this application, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Furthermore, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.
[0073] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.
Claims
1. A mechanical finger, characterized in that, include: At least one first phalanx (110), each first phalanx (110) includes a first phalanx body (111) and a second phalanx body (112), the first phalanx body (111) has a first snap-fit portion (1111), the second phalanx body (112) has a second snap-fit portion (1121), and the first snap-fit portion (1111) snaps into the second snap-fit portion (1121).
2. The mechanical finger according to claim 1, characterized in that, One of the first snap-fit portion (1111) and the second snap-fit portion (1121) is a buckle (1112), and the other of the first snap-fit portion (1111) and the second snap-fit portion (1121) is provided with a slot (1122), and the buckle (1112) passes through the slot (1122).
3. The mechanical finger according to claim 2, characterized in that, The buckle (1112) has a guide slope (1113) which is disposed toward the groove wall of the slot (1122).
4. The mechanical finger according to claim 1, characterized in that, One of the first knuckle body (111) and the second knuckle body (112) is provided with a receiving groove (113), at least a portion of the first snap-fit part (1111) is received in the receiving groove (113), and at least a portion of the second snap-fit part (1121) is received in the receiving groove (113).
5. The mechanical finger according to claim 1, characterized in that, One of the first knuckle body (111) and the second knuckle body (112) has a first limiting shaft (1123), and the other of the first knuckle body (111) and the second knuckle body (112) is provided with a first limiting hole (1114), and the first limiting shaft (1123) passes through the first limiting hole (1114).
6. The mechanical finger according to any one of claims 1 to 5, characterized in that, The first phalanx (110) is provided in multiple ways. In any two adjacent first phalanxes (110), the first phalanx body (111) of one first phalanx (110) has a first rotating shaft (1115), and the first phalanx body (111) of the other first phalanx (110) has a first rotating groove (1116), and the first rotating shaft (1115) passes through the first rotating groove (1116); and / or, the second phalanx body (112) of one first phalanx (110) has a second rotating shaft (1124), and the second phalanx body (112) of the other first phalanx (110) has a second rotating groove (1125), and the second rotating shaft (1124) passes through the second rotating groove (1125).
7. The mechanical finger according to any one of claims 1 to 5, characterized in that, The mechanical finger also includes a second phalanx (120), which includes a third phalanx body (121), a fourth phalanx body (122), and a first retaining ring (123). The third phalanx body (121) is rotatably connected to the first phalanx body (111), and the fourth phalanx body (122) is rotatably connected to the second phalanx body (112). Both the third phalanx body (121) and the fourth phalanx body (122) are inserted through the first retaining ring (123), and the first retaining ring (123) is press-fitted with the third phalanx body (121) and the fourth phalanx body (122).
8. The mechanical finger according to claim 7, characterized in that, The second phalanx (120) also includes a second retaining ring (124), the first retaining ring (123) is located between the second retaining ring (124) and the first phalanx (110), the third phalanx body (121) and the fourth phalanx body (122) are both inserted through the second retaining ring (124), and the second retaining ring (124) is press-fitted with the third phalanx body (121) and the fourth phalanx body (122) respectively.
9. The mechanical finger according to claim 7, characterized in that, One of the third phalanx body (121) and the fourth phalanx body (122) has a second limiting shaft (1211), and the other of the third phalanx body (121) and the fourth phalanx body (122) is provided with a second limiting hole (1221), and the second limiting shaft (1211) passes through the second limiting hole (1221).
10. The mechanical finger according to claim 7, characterized in that, One of the third phalanx body (121) and the first phalanx body (111) has a third rotating shaft (1212), and the other of the third phalanx body (121) and the first phalanx body (111) has a third rotating groove (1117), through which the third rotating shaft (1212) passes; and / or, one of the fourth phalanx body (122) and the second phalanx body (112) has a fourth rotating shaft (1222), and the other of the fourth phalanx body (122) and the second phalanx body (112) has a fourth rotating groove (1126), through which the fourth rotating shaft (1222) passes.
11. The mechanical finger according to claim 7, characterized in that, The mechanical finger also includes at least one flexor tendon cord (140), one flexor tendon cord (140) corresponds to one first phalanx (110), the first phalanx body (111), the second phalanx body (112), the third phalanx body (121) and the fourth phalanx body (122) together form a wiring channel (130), the flexor tendon cord (140) passes through the wiring channel (130) and is connected to the second phalanx body (112) or the first phalanx body (111), the flexor tendon cord (140) is used to drive the first phalanx (110) to rotate relative to the second phalanx (120).
12. The mechanical finger according to claim 11, characterized in that, Each of the first phalanges (110) further includes a pressure sensor (114) and a first wire. The pressure sensor (114) is arranged circumferentially along the first phalange (110). The pressure sensor (114) is connected to the first phalange body (111) and the second phalange body (112) respectively. The first wire passes through the wiring channel (130) and is connected to the pressure sensor (114).
13. The mechanical finger according to claim 12, characterized in that, Each of the first knuckles (110) also includes a pad (115), and the pressure sensor (114) is disposed between the first knuckle (110) and the pad (115), and the pad (115) is connected to the first knuckle body (111) and the second knuckle body (112) respectively.
14. A dexterous hand, characterized in that, The device includes a mechanical hand (200) and a mechanical finger according to any one of claims 1 to 13. The mechanical finger further includes a second phalanx (120) and a flat rotation tendon cord (150). The second phalanx (120) is rotatably connected to the mechanical hand (200), the first phalanx body (111), and the second phalanx body (112), respectively. The flat rotation tendon cord (150) is connected to the second phalanx (120) and is used to drive the second phalanx (120) to rotate relative to the mechanical hand (200). The rotation direction of the second phalanx (120) is different from the rotation direction of the first phalanx (110).
15. A robot, characterized in that, Including the dexterous hand as described in claim 14.