A robot

Abstract

The application discloses a mechanical hand and belongs to the technical field of robots. The mechanical hand comprises a palm base and at least one finger, the finger comprises a plurality of telescopic power devices, the telescopic power devices are arranged in series from head to tail in sequence, each telescopic power device simultaneously serves as a main structural member of a corresponding knuckle, is used for outputting telescopic driving force, is used for bearing external load, can also have a measuring function, and can measure the size of output force. The application further comprises a tactile perception skin wrapped outside the telescopic power devices, which can detect the force size of external force and the uniformity of force of each knuckle in real time and can control the output force of the knuckle in real time. Through the fusion of the power device and the structure, distributed tactile feedback and knuckle-level control, the motion dexterity of the mechanical hand is improved, the structure is simplified, the force control precision is enhanced, fine actions can be completed, and the degree of freedom of the hand can be achieved. The application is suitable for humanoid robots, artificial limbs and precise automatic equipment.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a robotic hand. Background Technology

[0002] With the rapid development of industrial automation and robotics, robotic arms, as the core execution components of robots, are widely used in industrial production, humanoid robots, medical prostheses, and precision operation automation equipment.

[0003] Currently, robotic arms on the market are mainly divided into the following types: motor-driven with tendon cables, external hydraulic hand-supply type, pneumatic soft-body driven type, and hydraulic-electric hybrid driven type. However, the above-mentioned existing robotic arms still have the following technical defects in practical applications: 1) The joint degrees of freedom of existing robotic arms are far less than those of human hands. They can usually only perform basic actions such as simple grasping and carrying, and it is difficult to achieve complex and delicate hand movements, thus failing to meet the requirements of high-precision operation.

[0004] 2) Existing robotic arms have a compact and complex internal component layout, with transmission mechanisms (such as connecting rods, tendons, reducers, etc.) separated from structural components. This results in a large self-weight, high transmission loss, and insufficient flexibility in movement, which limits the dynamic response capability and energy consumption of the robotic arm.

[0005] 3) Weak tactile perception and force control capabilities. Existing robotic arms generally lack a complete tactile feedback mechanism, making it impossible to accurately perceive the magnitude and distribution of external forces during the grasping process. This results in difficulty in precisely adjusting the grasping force, which can easily lead to objects slipping or being damaged, especially when grasping fragile items or performing precision operations.

[0006] To address the aforementioned technical problems, there is an urgent need in this field for a robotic hand that is simple in structure, highly dexterous, and possesses tactile perception and precise force control capabilities, in order to overcome the shortcomings of existing technologies. Summary of the Invention

[0007] The present invention aims to propose a robotic hand to solve the technical problems of insufficient dexterity, structural redundancy, and lack of tactile feedback in existing robotic hands.

[0008] To achieve the above objectives, the present invention adopts the following technical solution: A robotic hand includes a palm base and at least one finger, the finger including a plurality of phalanges and a plurality of telescopic power devices; The telescopic power devices are arranged in series from end to end, and each telescopic power device also serves as the main structural component or main main component of the corresponding finger joint. It is used to output telescopic driving force and to bear external load. At the same time, a measuring device can be installed on one side of the telescopic power device, or it can be integrated with the measuring device to form a measuring telescopic power device. The measuring end of the first-stage telescopic power device is connected to the moving end of the second-stage telescopic power device. The movement of the finger joint on the front side is driven by the telescopic power device on the rear side. Through the sequential extension and retraction of the multi-stage telescopic power devices, the extension and bending movements of the fingers are completed.

[0009] As a further improvement, the finger includes a distal phalanx, a middle phalanx, and a proximal phalanx; the telescopic power device includes a first telescopic power device, a second telescopic power device, and a third telescopic power device. The first telescopic power device is located between the distal phalanx and the middle phalanx, the second telescopic power device is located between the middle phalanx and the proximal phalanx, and the third telescopic power device is located between the proximal phalanx and the base of the palm.

[0010] As a further improvement, each measuring telescopic power device includes a power cylinder and a force measuring cylinder, wherein the power cylinder and the force measuring cylinder are fixedly connected or integrated; The power cylinder is used to provide the extension and retraction driving force required for the flexion and extension of the finger joint; the force measuring cylinder is used to measure the load force or external contact force of the joint in real time during movement or under force, and feed the force signal back to the control system.

[0011] As a further improvement, the power cylinder and the force measuring cylinder are arranged in series.

[0012] As a further improvement, the installation configurations of the two ends of the telescopic power device can be interchanged, with the first end serving as the power end and the second end as the non-power end, or the second end serving as the power end and the first end as the non-power end; different knuckles can adopt different configuration methods.

[0013] As a further improvement, the telescopic power device adopts a single-cylinder structure, that is, a single cylinder independently provides a set of telescopic power to meet the driving needs of a single finger joint; a measuring device can be installed on the single cylinder. Alternatively, the telescopic power device adopts a multi-cylinder fusion structure, that is, two or more independent hydraulic cylinders are integrated into a composite cylinder. The composite cylinder integrates multiple independent piston chambers and independent piston rods. Each piston rod is an independent moving end, used to provide independent driving force for multiple adjacent phalanges in the same installation space. Several independent measuring devices are installed on the composite cylinder.

[0014] As a further improvement, the piston installation position inside the cylinder of the telescopic power device can be any one of central arrangement, eccentric arrangement or inclined arrangement, so that the driving force generated when the piston extends or retracts can be accurately applied to the knuckle rotation part.

[0015] As a further improvement, a connector is provided between each adjacent phalanx of the finger and between the phalanx and the base of the palm, the connector being used to realize the movable connection between the components; The connector is any one or more combinations of small bearings, rotatable rivets, rotatable hinges, spherical connections or hinged types, and track connections.

[0016] As a further improvement, a tactile sensing epidermis is also included, which covers the outside of the finger; The skin has multiple independent, sealed small holes or honeycomb-like grids, and each small hole or honeycomb has a conduit connected to a pressure sensor; each phalanx has at least one small hole or honeycomb, or multiple small holes or honeycombs on a phalanx share a conduit connected to the same pressure sensor.

[0017] As a further improvement, the pressure sensor is used to detect the magnitude and distribution of external force in real time. The control system adjusts the output force of the extension and retraction power device of the corresponding finger joint according to the detected external force data. It can also combine the measurement data of the force measuring cylinder to comprehensively control the output force of the extension and retraction power device of the corresponding finger joint, so that the finger joint produces appropriate flexion, extension, swinging or tightening actions, forming local closed-loop control of each finger joint.

[0018] Compared with the prior art, the present invention provides a robotic arm with the following beneficial effects.

[0019] 1. This invention achieves multi-level independent drive and control by arranging multiple telescopic power devices in series end to end, with each power device simultaneously serving as the main structural component of a mechanical finger joint. The joint on the front side is driven by the power device on the rear side, forming a step-by-step transmission, which can complete step-by-step bending and extending movements similar to those of a human finger, solving the problem of insufficient degrees of freedom in existing robotic hands.

[0020] 2. In this invention, each telescopic power cylinder not only provides driving force but also serves as a structural support, directly functioning as the main component of the finger joint, eliminating redundant components such as linkages and tendons found in traditional robotic hands. The power units are connected in series, eliminating the need for additional structural supports, resulting in a more compact overall design. This effectively reduces the robotic hand's weight, minimizes energy loss from multi-stage transmission, improves power transmission efficiency, and lowers manufacturing and maintenance costs. Simultaneously, to enhance finger dexterity, a measuring device is fixedly installed on one side of the power cylinder or integrated with it; one side provides power, while the other measures the power. This measurement data differs from that of the skin sensor: the measuring device focuses on monitoring the output of the joint driving force, while the skin sensor focuses on sensing the magnitude of external contact force, the degree of force on each finger, and the average force on each finger joint. By acquiring this multi-dimensional measurement data, the control system can more accurately regulate the gripping force of the entire hand, the gripping force of each finger, and the bending force of each finger joint. In short, the richer and more accurate the measurement data, the better the control over hand dexterity.

[0021] 3. This invention features a honeycomb-shaped outer layer covering the robotic arm. Each honeycomb is an independent, sealed space connected to a pressure sensor. Each phalanx is equipped with at least one independent honeycomb, or all independent honeycombs of a phalanx can share a single pressure sensor. When the fingertip touches an object, the sensor detects the external force in real time. The control system can independently adjust the output force of the corresponding phalanx—tightening when the external force is less than a target value, forming a local closed-loop control to achieve progressive gripping and effectively prevent objects from slipping or being damaged.

[0022] 4. The telescopic power device of this invention is not limited to hydraulic cylinders; electric cylinders, pneumatic cylinders, etc., can be flexibly selected. In terms of cylinder structure, a single cylinder can independently drive a single finger joint, or a multi-cylinder fusion composite cylinder can simultaneously drive multiple adjacent fingers joints. The piston can be centrally, eccentrically, or inclined, and the connecting parts can be in various forms such as bearings, rivets, hinges, or fixed rails. The modular design allows this invention to be flexibly configured according to different application scenarios.

[0023] 5. This invention adopts a modular series design and a universal power unit interface. Its manufacturing process is highly compatible with existing hydraulic cylinder, electric cylinder, and pneumatic cylinder production lines, allowing for mass production without major adjustments. It can be widely used in high-precision industrial assembly robots, humanoid robot dexterous hands, medical prostheses, remote-controlled robots for hazardous environments, and laboratory sample processing equipment, possessing significant market potential.

[0024] Other advantages, objectives and features of the invention will be set forth in part in the description which follows; and in part will be apparent to those skilled in the art upon examination of the following description; or may be learned from practice of the invention. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the structure of the robotic arm body of the present invention.

[0026] Figure 2 This is a schematic diagram of the structure of the finger of the present invention.

[0027] Figure 3 This is a schematic diagram of the telescopic power device of the present invention.

[0028] Figure 4 This is a schematic diagram of the connector of the present invention.

[0029] Figure 5 This is one of the structural schematic diagrams of the telescopic power device of the present invention with an eccentric arrangement.

[0030] Figure 6 This is a schematic diagram of the multi-cylinder telescopic power device of the present invention.

[0031] Figure 7 This is a schematic diagram of the single-cylinder telescopic power device of the present invention.

[0032] Figure 8 This is one of the structural schematic diagrams of the single-cylinder inclined arrangement of the present invention.

[0033] Figure 9 This is one of the structural schematic diagrams of the eccentric arrangement of a single cylinder block according to the present invention.

[0034] Figure 10 This is a schematic diagram of the power cylinder and force measuring cylinder of the present invention.

[0035] Figure 11 This is the second schematic diagram of the single-cylinder inclined arrangement of the present invention.

[0036] Figure 12 This is the second schematic diagram of the eccentric arrangement of the single cylinder block of the present invention.

[0037] Figure 13 This is one of the structural schematic diagrams of the mechanical watch leather of the present invention.

[0038] Figure 14 This is the second schematic diagram of the structure of the mechanical watch leather of the present invention.

[0039] Figure 15 The third schematic diagram shows the structure of the mechanical watch leather of the present invention.

[0040] Figure 16 This is a schematic diagram of the structure of a single layer of skin for the robotic arm of the present invention.

[0041] Figure 17 This is a schematic diagram of the double-layered skin structure of the robotic arm of the present invention.

[0042] In the picture: 1. Palm base; 2. Fingers; 201. Distal phalanx; 202. Middle phalanx; 203. Proximal phalanx; 3. Telescopic power device; 301. First telescopic power device; 3011. Power cylinder; 3012. Force measuring cylinder; 302. Second telescopic power device; 303. Third telescopic power device; 4. Connectors. Detailed Implementation

[0043] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0044] Please see Figure 1 This embodiment provides a robotic hand, including a robotic hand body, which includes a palm base 1 and fingers 2.

[0045] like Figure 2 and Figure 3 As shown, finger 2 includes distal phalanx 201, middle phalanx 202 and proximal phalanx 203.

[0046] Continue reading Figure 3 Telescopic power devices 3 are provided between the distal phalanx 201 and the middle phalanx 202, and between the middle phalanx 202 and the proximal phalanx 203.

[0047] The telescopic power device 3 includes a first telescopic power device 301, a second telescopic power device 302, and a third telescopic power device 303; the first telescopic power device 301, the second telescopic power device 302, and the third telescopic power device 303 have the same basic structure.

[0048] Each telescopic power device preferably includes a power cylinder 3011 and a measuring device, wherein the measuring device may be a force measuring cylinder 3012.

[0049] The power cylinder 3011 provides the extension and retraction driving force required for the flexion and extension of the finger joint; the force measuring cylinder 3012 is fixedly connected to the power cylinder 3011, forming a measuring extension and retraction power device, used to measure the load force or external contact force of the joint in real time during movement or under force, and feed the force signal back to the control system. Figure 4 As shown, the power cylinder 3011 and the force measuring cylinder 3012 are connected in series, and are preferably fixedly welded or cast into one piece.

[0050] It should be noted that the telescopic power device can also be constructed without the force measuring cylinder 3012, consisting solely of the power cylinder 3011, while still achieving basic telescopic drive function. Regardless of whether the force measuring cylinder 3012 is included, the telescopic power device in this solution can adopt various structural forms such as inclined cylinder, off-center cylinder, double cylinder, or multi-cylinder to adapt to the freedom requirements and output force requirements of different finger joints.

[0051] Specifically, the first telescopic power device 301 is located between the distal phalanx 201 and the middle phalanx 202, the second telescopic power device 302 is located between the middle phalanx 202 and the proximal phalanx 203, and the third telescopic power device 303 is located between the proximal phalanx 203 and the palm base 1.

[0052] Please continue reading. Figure 4 and Figure 5 A connector 4 is also provided between the distal phalanx 201, the middle phalanx 202, the proximal phalanx 203 and the palm base 1; the connector 4 is used for the movable connection between the distal phalanx 201, the middle phalanx 202, the proximal phalanx 203 and the palm base 1.

[0053] The distal phalanx 201, the middle phalanx 202, the proximal phalanx 203 and the palm base 1 are connected in series via a telescopic power device 3 and a connector 4.

[0054] In use, when it is necessary to bend finger 2, the first telescopic power device 301 between the distal phalanx 201 and the middle phalanx 202 first extends, pushing the distal phalanx 201 to flex; then the second telescopic power device 302 extends, causing the middle phalanx 202 to flex further; finally, the third telescopic power device 303 extends, completing the entire gripping action of finger 2. The extension action is the reverse.

[0055] In practical use, the installation configurations of the two ends of the telescopic power device are interchangeable: either the first end can be the power end and the second end the unpowered end, or vice versa. This is as long as the series transmission relationship is satisfied. Different finger joints can use different configurations. Preferably, the lower end of the telescopic power device is the power end, and the upper end is the unpowered end, with the telescopic device connected to the unpowered end.

[0056] The control method in this embodiment involves: covering each phalanx with a single-layer honeycomb-shaped outer skin, and preferably providing a pressure sensor within each honeycomb; such as... Figures 13 to 15 .

[0057] When the fingertip, i.e., the distal phalanx 201, touches an object, the sensor on the distal phalanx 201 detects the external force. The control system adjusts the output force of the first telescopic power device 301 (tightening or maintaining) according to the magnitude of the external force. If the external force continues to increase, the second and third power devices are triggered in sequence to adjust, achieving progressive gripping. When gripping fragile items (such as eggs), each sensor will maintain a low output force threshold to prevent damage.

[0058] This structure employs a series-connected integrated drive method for multiple telescopic power devices. Based on the required number of finger joints for the robotic arm, these devices are arranged sequentially end-to-end. Each set of telescopic power cylinders 3011 not only provides driving force but also serves as a structural load-bearing component, directly acting as the main structural member of the robotic finger joint. The power units are interconnected, forming a hierarchical transmission structure. Movements of the joints on the front side are driven by the telescopic power devices connected to the rear side. Through the sequential extension and retraction of multiple power units, the bending and extension movements of the entire finger 2 are completed.

[0059] In summary, in this design, the finger, composed of multiple telescopic power devices connected in series, can have either a power cylinder 3011 (near the fingertip) or a force-measuring cylinder 3012 (near the palm base 1) at its first and last ends, depending on actual needs. For example, the distal phalanx 201 can have only one force-measuring cylinder 3012 for sensing external force, without a power cylinder 3011; the proximal phalanx 203, at its connection with the palm base 1, can have only one power cylinder 3011 to provide driving force, without a force-measuring cylinder 3012. This flexible configuration further simplifies the structure, reduces costs, and simultaneously meets the specific functional requirements of different phalanges.

[0060] In addition, the core requirement of the telescopic power device used in this solution is that it can stably output telescopic driving force. Its type is not limited to the traditional power cylinder 3011. Various power units with telescopic driving functions can be used as alternatives, such as electric telescopic cylinders, pneumatic telescopic cylinders, hydraulic telescopic cylinders, etc. As long as they can meet the power requirements of mechanical finger joint extension, retraction and bending, they can be flexibly selected.

[0061] For the core actuator in the telescopic power unit—the 3011 power cylinder (or deformable hydraulic cylinder)—its structural form is not limited by conventional standard structures. It can be designed in various forms of structural deformation according to the overall size of the robot, the finger joint layout, power requirements, and other actual working conditions. Breaking away from the fixed structural pattern of traditional hydraulic cylinders, by adjusting the cylinder body shape, size, and interface layout, it adapts to the installation space and drive angle of different fingers, ensuring precise matching between power output and finger joint movement trajectory, thus improving the overall flexibility and adaptability of the robot.

[0062] In this design, when the telescopic power unit uses hydraulic cylinders, hydraulic components such as hydraulic pumps, hydraulic valves, and pressure sensors are remotely connected to each power cylinder 3011 and force-measuring cylinder 3012 via hydraulic pipelines. The hydraulic pipelines supply hydraulic oil to each cylinder and transmit pressure signals. The pressure sensors transmit the detected pressure data to the control system via signal lines. The control system then adjusts the oil flow in and out of each cylinder through hydraulic valves, achieving independent remote control and measurement of each telescopic power unit. This remote control method allows the hydraulic power units to be centrally located outside the robot arm or inside the hand base 1.

[0063] like Figure 6 As shown. In terms of cylinder structure, the telescopic power unit can adopt a single-cylinder structure, that is, a single cylinder independently provides a set of telescopic power to adapt to the driving needs of a single finger joint; or it can adopt a multi-cylinder integrated structure, that is, two or more independent hydraulic cylinders are integrated into a single design to form a composite cylinder with multiple independent power outputs.

[0064] This composite cylinder structure can provide independent driving force to multiple adjacent knuckles simultaneously within a limited installation space, simplifying the overall structural layout, reducing redundancy in the connection between components, and improving the coordination and stability of the mechanical knuckle movement.

[0065] Specifically, unlike the embodiments described above, in this embodiment, the proximal phalanx 203 and the mid-phalanx 202 can be driven by a dual-cylinder fusion composite cylinder. Please continue reading. Figure 6 .

[0066] The composite cylinder integrates two independent piston chambers, each containing two independent piston rods: a first piston rod and a second piston rod. The first piston rod serves as the first independent moving end, and the second piston rod serves as the second independent moving end. The oil inlet and outlet ports of the two piston chambers are independent and can be controlled separately.

[0067] The connection relationship is as follows: the power end of the composite cylinder is connected to the palm base 1; One end of the first independent movable end is connected to the distal end of the proximal phalanx 203 via a rotating hinge, which is used to drive the proximal phalanx 203 to perform flexion and extension movements around its root joint. One end of the second independent movable end is connected to the proximal end of the middle phalanx 202 via a rotating hinge, or the second piston rod itself directly serves as the main structural component of the middle phalanx 202, used to drive the middle phalanx 202 to perform flexion and extension movements relative to the proximal phalanx 203. The control method in this embodiment is the same as in the above embodiment.

[0068] In this design, the hand base 1 can also be driven and controlled by a telescopic power device. Specifically, the hand base 1 can be composed of multiple composite telescopic devices arranged in parallel as needed. For example, the drive unit of the hand base 1 can consist of four parallel composite telescopic devices and one independent composite telescopic device. The telescopic devices on the hand base 1 can be selected from various forms, such as those with or without measuring devices, inclined cylinders or off-center cylinders, double cylinders or multi-cylinders, and multi-cylinder composites, depending on actual needs. Different choices will affect the number of degrees of freedom and the magnitude of the output force of the hand part, and designers can flexibly combine them according to specific application scenarios.

[0069] This design does not require the cylinder block to be symmetrically positioned at its center. Depending on the actual requirements of power output direction and knuckle movement angle, non-central arrangements such as tilting or eccentricity can be used. (See figure for reference.) Figures 7 to 12 As shown.

[0070] By optimizing the installation angle and position of the piston, the driving force generated during piston extension and retraction can be applied more precisely to the knuckle rotation parts, reducing power loss, improving power transmission efficiency, better meeting the power requirements of precise bending and flexible extension and retraction of mechanical knuckles, and adapting to different operating conditions.

[0071] In this design, the connection method of the connectors 4 between the joints of the robotic hand's fingers 2 is not limited to a single type. It can be flexibly selected according to actual movement requirements. Specifically, it can adopt various forms such as small bearings, rotatable rivets, rotating hinges, ball joints, hinge-type connections, or even fixed tracks, while taking into account both structural stability and movement flexibility. The connection methods of different forms of connectors 4 all revolve around "ensuring flexible joint movement and power transmission," ensuring smooth power transmission, adapting to the flexion and extension requirements of the fingers 2, and conforming to the installation space of the finger joints to achieve natural and smooth joint movement, without being limited by fixed connection forms.

[0072] Please continue reading. Figures 13 to 15 In this design, the robot's skin can utilize various structural forms, such as single-layer or double-layer designs, with a honeycomb structure being the preferred choice. Each small honeycomb is an independent, sealed space, connected to a pressure sensor to ensure that each finger joint is equipped with at least one independent honeycomb. Alternatively, a single pressure sensor can be shared across all finger joints for precise detection of external force, thereby controlling the flexion, extension, and swinging movements of the corresponding finger joint. This design is compatible with various parts of the robotic hand and robot body.

[0073] Specifically, a single layer of epidermis is selected, which consists of individual honeycomb-like or other closed-cell pores connected together to form a skin with smooth upper and lower surfaces; such as Figure 16As shown; or, there are two flat skins, with a honeycomb or small-hole-shaped sealed space in the middle. A single-layer honeycomb structure is preferred. Each independent sealed space is connected to a pressure sensor to meet the requirements of external force detection and motion control. The material can be flexible and low-elasticity (or non-elastic). The fluid filling the honeycomb is not limited and can be liquid or air.

[0074] like Figure 17 As shown, double-layered skin consists of two single-layered skins bonded together, one on top of the other, or manufactured as a single layer. If a double-layered epidermis is chosen, the first layer (outer layer) can be filled with gas, and the second layer (inner layer) with liquid. Both layers are independent, sealed spaces, each connected to a pressure sensor. The outer gas layer maintains the same pressure as the external environment, accurately detecting pressure data when subjected to external force. The inner liquid layer maintains a stable pressure, matching the pressure when the outer layer is compressed, further improving the accuracy of external force detection and motion control.

[0075] As a supplement, the entire skin layer must be flexible, and materials that are "flexible but inelastic or have very little elasticity" should be preferred to avoid excessive elasticity affecting the accuracy of the test.

[0076] Meanwhile, regarding the layering requirements, the outer layer of the double-layered skin is suitable for gas storage and is made of breathable and well-sealed materials; the inner layer is suitable for liquid storage and is made of leak-proof and flexible materials; the outermost layer of the skin can be reinforced with rigid materials as needed to protect the skin or to fit special areas such as the soles of the feet.

[0077] The aforementioned skin structure can be applied to any part of the robot's hand and body. The skin material and structure can be adjusted according to the needs of different parts (such as the foot and hand), taking into account both practicality and adaptability. The fluid inside the honeycomb can be flexibly selected (such as gas or liquid), without being limited to a single type, to adapt to different working conditions.

[0078] Depending on the usage requirements, cable management channels or reserved openings can be provided on the finger joints for cable installation and connection, or the cable finger joints can be embedded in the finger joints so that joint movement is not affected by the cable.

[0079] In summary, this invention can be widely applied to high-precision industrial assembly robots, dexterous hands of humanoid service robots, medical prostheses (bionic hands), and remote-controlled robots or precision operation automation equipment (such as laboratory sample processing) for hazardous environments.

[0080] Thanks to its modular series design and universal power unit interface, the manufacturing process of this invention is compatible with existing hydraulic / electric / pneumatic component production lines, making it easy to industrialize. It has significant potential for widespread application.

[0081] The above are merely preferred embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

[0082] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, 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.

Claims

1. A robotic hand, comprising a palm base (1) and at least one finger (2), characterized in that, The finger (2) includes several telescopic power devices (3); The telescopic power devices (3) are arranged in series from end to end, and each telescopic power device (3) serves as the main structural component or main main component of the corresponding finger joint. It is used to output telescopic driving force and to bear external load. At the same time, a measuring device can be installed on one side of the telescopic power device (3), or it can be integrated with the measuring device to form a measuring telescopic power device. The measuring end of the first-level telescopic power device (3) is connected to the moving end of the second-level telescopic power device (3). The movement of the finger joint on the front side is driven by the telescopic power device (3) on the rear side. The bending and stretching of the finger (2) is completed by the telescopic power device (3) extending and retracting in sequence through the multi-level telescopic power device (3).

2. The robotic arm according to claim 1, characterized in that, The finger (2) includes a distal phalanx (201), a middle phalanx (202), and a proximal phalanx (203); the telescopic power device (3) includes a first telescopic power device (301), a second telescopic power device (302), and a third telescopic power device (303). The first telescopic power device (301) is located between the distal phalanx (201) and the middle phalanx (202), the second telescopic power device (302) is located between the middle phalanx (202) and the proximal phalanx (203), and the third telescopic power device (303) is located between the proximal phalanx (203) and the palm base (1).

3. The robotic arm according to claim 2, characterized in that, Each telescopic power measuring device includes a power cylinder (3011) and a force measuring cylinder (3012), wherein the power cylinder (3011) and the force measuring cylinder (3012) are fixedly connected; The power cylinder (3011) is used to provide the extension and retraction driving force required for the flexion and extension of the finger joint; the force measuring cylinder (3012) is used to measure the load force or external contact force of the joint in real time during movement or under force, and feed the force signal back to the control system.

4. The robotic arm according to claim 3, characterized in that, The power cylinder (3011) and the force measuring cylinder (3012) are integrated in series.

5. The robotic arm according to claim 1, characterized in that, The telescopic power device (3) can be installed in interchangeable configurations at both ends, with the first end serving as the power end and the second end as the non-power end, or the second end serving as the power end and the first end as the non-power end; different finger joints can adopt different configuration methods.

6. The robotic arm according to claim 1, characterized in that, The telescopic power device (3) adopts a single cylinder structure, that is, a single cylinder independently provides a set of telescopic power to meet the driving needs of a single finger joint; a measuring device can be installed on the single cylinder. Alternatively, the telescopic power device (3) adopts a multi-cylinder fusion structure, that is, two or more independent hydraulic cylinders are integrated into a composite cylinder. The composite cylinder integrates multiple independent piston chambers and independent piston rods. Each piston rod serves as an independent moving end, used to provide multiple independent driving forces to adjacent phalanges within the same installation space. Several independent measuring devices are installed on the composite cylinder.

7. The robotic arm according to claim 1, characterized in that, The piston in the cylinder of the telescopic power device (3) can be installed in any of the following ways: centrally arranged, eccentrically arranged, or inclined, so that the driving force generated when the piston extends or retracts can be accurately applied to the knuckle rotation part.

8. The robotic arm according to claim 1, characterized in that, Connectors (4) are provided between each adjacent phalanx of the finger (2) and between the phalanx and the palm base (1). The connectors (4) are used to realize the movable connection between the components.

9. The robotic arm according to claim 1, characterized in that, It also includes a tactile sensing epidermis, which covers the outside of the finger (2); The skin has multiple independent, sealed small holes or honeycomb-like grids, and each small hole or honeycomb has a conduit connected to a pressure sensor; each phalanx has at least one small hole or honeycomb, or multiple small holes or honeycombs on a phalanx share a conduit connected to the same pressure sensor.

10. The robotic arm according to claim 9, characterized in that, The pressure sensor is used to detect the magnitude and distribution of external force in real time. The control system adjusts the output force of the corresponding finger joint extension power device (3) according to the detected external force data. It can also combine the measurement data of the force measuring cylinder (3012) to comprehensively control the output force of the corresponding finger joint extension power device (3), so that the finger joint produces appropriate flexion, extension, swing or tightening action, forming a local closed-loop control of each finger joint.

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