Mechanical finger and robot hand

Abstract

This application relates to the field of robotic hand technology, disclosing a robotic finger and a robotic hand. The robotic finger includes: a distal phalanx; a proximal phalanx, drivenly connected to the distal phalanx; and a driving connection portion disposed at the connection between the root of the proximal phalanx and the palm base, for forming the metacarpophalangeal joint of the robotic finger. The driving connection portion includes an avoidance connection mechanism and a driving device unit, the driving device unit being drivenly connected to the proximal phalanx via the avoidance connection mechanism. The driving device unit enables the metacarpophalangeal joint to perform multi-degree-of-freedom movements within its normal range of motion, thereby realizing the swinging and flexion / extension movements of the robotic finger. Furthermore, when the metacarpophalangeal joint exceeds its normal range of motion due to overextension or external force, the avoidance connection mechanism absorbs part of the impact force and allows the proximal phalanx to move an additional distance.

Description

Technical Field

[0001] This application relates to the field of robotic arm technology, specifically to a robotic finger and robotic arm. Background Technology

[0002] Currently, a robotic arm is an automated device that can simulate some of the movements of a human hand and arm, and can perform tasks such as grasping, moving, or operating tools according to a preset program. A robotic arm can be programmed to control multiple mechanical fingers to achieve grasping and releasing actions similar to human fingers, thereby completing various preset tasks. It combines the advantages of both human hands and robotic arms in terms of structure and performance.

[0003] In the process of implementing the embodiments of this disclosure, at least the following problems were found in the related art: In the robotic arm structure of related technologies, when the actuator is in a locked state, the thumb knuckle of the robotic arm is restricted to a locked posture where it cannot move. If an external force is applied directly to the thumb knuckle at this time, the thumb will be easily damaged due to the lack of buffer and avoidance space.

[0004] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of this application, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0005] To provide a basic understanding of some aspects of the disclosed embodiments, a brief summary is given below. This summary is not intended as a general commentary, nor is it intended to identify key / important components or describe the scope of protection of these embodiments, but rather as a prelude to the detailed description that follows.

[0006] This disclosure provides a robotic finger and robotic hand to reduce structural damage to the thumb of the robotic hand when subjected to direct external force.

[0007] In some embodiments, the mechanical finger includes: a distal phalanx; a proximal phalanx, drivenly connected to the distal phalanx; and a drive connection portion disposed at the junction of the root of the proximal phalanx and the palm base, for forming the metacarpophalangeal joint of the mechanical finger. The drive connection portion includes an avoidance connection mechanism and a drive unit, the drive unit being drivenly connected to the proximal phalanx via the avoidance connection mechanism. The drive unit enables the metacarpophalangeal joint to perform multi-degree-of-freedom movements within its normal range of motion, thereby realizing the swinging and flexion / extension movements of the mechanical finger. Furthermore, when the metacarpophalangeal joint exceeds its normal range of motion due to overextension or external force, the avoidance connection mechanism absorbs part of the impact force and allows the proximal phalanx to move an additional distance.

[0008] Optionally, the avoidance connection mechanism is provided with an elastic reset member. After the proximal phalanx moves an additional distance due to overextension or external force of the metacarpophalangeal joint, the elastic reset member drives the avoidance connection mechanism to elastically reset so that the proximal phalanx returns to its original position.

[0009] Optionally, the avoidance connection mechanism includes: a first connecting member, which is hinged to the driving device unit via a rotating shaft and has a first fixing part fixedly connected to one end of the elastic reset member; a second connecting member, which is hinged to the first connecting member, and has a limit shaft, a third connecting member and a fourth connecting member respectively hinged to the second connecting member, and has a second fixing part fixedly connected to the other end of the elastic reset member; and a blocking member, which is hinged to the first connecting member and abuts against the limit shaft.

[0010] Optionally, the first connector includes: a main body; a side portion disposed on one side of the main body, with a guide groove formed along the side portion that slides with the limiting shaft; and a first connecting end, a second connecting end, and an extended connecting portion, wherein the first connecting end is hingedly connected to the second connector via a pivot shaft, the second connecting end is rotatably connected to the rotating shaft, and the extended connecting portion protrudes from the bottom of the main body and is drively connected to the driving device unit.

[0011] Optionally, the second connector includes: a first groove, in which the main body is located; a second groove, in which the blocking member and the guide groove are located, and the limiting shaft is disposed between the first groove and the second groove; and a third connecting end, a fourth connecting end, and a fifth connecting end, wherein the third connecting end is hingedly connected to the fourth connector via a pivot shaft, the fourth connecting end is hingedly connected to the third connector via a pivot shaft, and the fifth connecting end is hingedly connected to the first connecting end via a pivot shaft.

[0012] Optionally, the blocking member includes: a rotating part, hinged to the main body via a pivot shaft, so that the blocking member is limited to rotating about the rotating part; a protruding part, disposed at the end of the blocking member away from the rotating part and located within the guide groove; an arc-shaped guide part, disposed at the end of the blocking member near the rotating part, wherein when the metacarpophalangeal joint is overextended or subjected to external force, the arc-shaped guide part interferes with the limiting shaft to absorb part of the impact force; and when the metacarpophalangeal joint exceeds its normal range of motion, the limiting shaft drives the rotating part to rotate via the arc-shaped guide part, so that the protruding part rotates about the rotating part to the outside of the guide groove; simultaneously, the limiting shaft moves an additional distance along the guide groove in the direction of the rotating part.

[0013] Optionally, the drive unit includes: a first drive mechanism, driven to the avoidance connection mechanism via a first drive link, to cause the proximal phalanx to swing; a second drive mechanism, driven to the avoidance connection mechanism via a second drive link, to cause the proximal phalanx to flex and extend; and the proximal phalanx includes: a phalanx shell, within which a third drive mechanism and a fourth drive mechanism are disposed; wherein the third drive mechanism is driven to the avoidance connection mechanism via the third drive link, and the fourth drive mechanism is driven to the distal phalanx via the fourth drive link.

[0014] In some embodiments, the robotic hand includes: a palm base, a wrist connection portion, and a robotic finger as described in this application, wherein the wrist connection portion is fixedly connected to the end of the palm base to form a detachable wrist connection structure, and a drive connection portion of the robotic finger is fixedly connected to the surface of the palm base to form the thumb of the robotic finger.

[0015] Optionally, the wrist connection includes: a first mating part, which is fixedly connected to the end of the palm base via a base connection part; and a second mating part, which is detachably connected to the first mating part via an intermediate connection part.

[0016] Optionally, the first docking portion includes a first docking base plate, on which a protrusion is formed, and a plurality of docking grooves are spaced apart along the sidewall of the protrusion, and a first docking hole is formed in each docking groove; the second docking portion includes a second docking base plate, on which a plurality of bosses are spaced apart, and a second docking hole is formed in each boss. The mating groove and the boss are respectively arranged in a one-to-one correspondence, so that the first mating hole and the second mating hole form a mating through hole structure for accommodating the limiting pin. The intermediate connecting part is connected between the first mating part and the second mating part by the pin limiting connection.

[0017] The robotic finger and robotic hand provided in this disclosure can achieve the following technical effects: By incorporating a drive connection at the junction of the proximal phalanx and the hand base, a buffer connection mechanism and a drive unit are provided. When the drive unit is locked, the proximal phalanx is in a locked state and cannot move. When the metacarpophalangeal joint exceeds its normal range of motion due to overextension or external force, the buffer connection mechanism can absorb some of the impact force and allow the proximal phalanx to move an additional distance. This avoids direct rigid interference between the proximal phalanx and the drive unit, and also reduces the direct transmission of impact force from the proximal phalanx to the drive unit, achieving a buffering and buffering function for the robotic finger and improving the reliability of the robotic hand's working structure.

[0018] The above general description and the description below are exemplary and illustrative only and are not intended to limit this application. Attached Figure Description

[0019] One or more embodiments are illustrated by way of example with reference to the accompanying drawings. These illustrations and drawings do not constitute a limitation on the embodiments. Elements having the same reference numerals in the drawings are shown as similar elements. The drawings are not to be scaled. And wherein: Figure 1 This is a schematic diagram of the structure of a robotic arm provided in an embodiment of this disclosure; Figure 2 This is a schematic diagram of the structure of a mechanical finger provided in an embodiment of this disclosure; Figure 3 This is a schematic diagram of the structure of an obstacle avoidance connection mechanism provided in an embodiment of this disclosure; Figure 4 This is a schematic diagram of the structure of a first connector provided in an embodiment of this disclosure; Figure 5 This is a schematic diagram of the structure of a second connector provided in an embodiment of this disclosure; Figure 6 This is a partial schematic diagram of an obstacle avoidance connection mechanism provided in an embodiment of this disclosure; Figure 7 This is a partial schematic diagram of another obstacle avoidance connection mechanism provided in an embodiment of this disclosure; Figure 8 This is a schematic diagram of the structure of a wrist connector provided in an embodiment of this disclosure; Figure 9 This is a schematic diagram of the structure of a first docking portion provided in an embodiment of this disclosure; Figure 10 This is a schematic diagram of the structure of a second docking part provided in an embodiment of this disclosure.

[0020] Figure label: 1-Hand base; 2-Drive connection part; 21-First drive mechanism; 22-First drive linkage; 23-Second drive mechanism; 24-Second drive linkage; 3-Avoidance connection mechanism; 31-First connector; 311-Main body; 312-Side part; 313-Guide groove; 314-First fixing part; 315-First connecting end; 316-Second connecting end; 317-Extension connection part; 32-Second connector; 321-First groove; 322-Second groove; 323-Second fixing part; 324-Third connecting end; 325-Fourth connecting end; 326-Fifth connecting end; 33-Blocking member; 331-Rotating part; 332-Extension 333-Arc-shaped guide part; 34-Limiting shaft; 35-Third connecting piece; 36-Fourth connecting piece; 37-Rotating shaft; 4-Proximal phalanx; 41-Pulse shell; 42-Third drive mechanism; 43-Third drive linkage; 44-Fourth drive mechanism; 45-Fourth drive linkage; 5-Elastic reset piece; 6-Wrist connection part; 61-First docking part; 611-First docking base plate; 612-Protrusion; 613-Dating groove; 614-First docking hole; 62-Second docking part; 621-Second docking base plate; 622-Boss; 623-Second docking hole; 63-Intermediate connection part; 64-Base connection part; 7-Elastic reset piece. Detailed Implementation

[0021] To provide a more detailed understanding of the features and technical content of the embodiments of this disclosure, the implementation of the embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. The accompanying drawings are for illustrative purposes only and are not intended to limit the embodiments of this disclosure. In the following technical description, for ease of explanation, several details are used to provide a full understanding of the disclosed embodiments. However, one or more embodiments may still be implemented without these details. In other cases, well-known structures and devices may be simplified in their depiction to simplify the drawings.

[0022] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this disclosure described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion.

[0023] In this disclosure, the terms "upper," "lower," "inner," "middle," "outer," "front," and "rear," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for better description of the embodiments of this disclosure and their implementations, and are not intended to limit the indicated devices, elements, or components to having a specific orientation, or to require them to be constructed and operated in a specific orientation. Furthermore, some of the aforementioned terms may be used to indicate other meanings besides orientation or positional relationship; for example, the term "upper" may in some cases indicate a dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in the embodiments of this disclosure according to the specific circumstances.

[0024] Furthermore, the terms "set up," "connect," and "fix" should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this disclosure according to the specific circumstances.

[0025] Unless otherwise stated, the term "multiple" means two or more.

[0026] In this embodiment of the disclosure, the character " / " indicates that the objects before and after it are in an "or" relationship. For example, A / B means: A or B.

[0027] The term "and / or" describes an association between objects, indicating that three relationships can exist. For example, A and / or B means: A or B, or A and B.

[0028] It should be noted that, unless otherwise specified, the embodiments and features described in the present disclosure can be combined with each other.

[0029] Combination Figures 1 to 2 As shown, this embodiment of the present disclosure provides a mechanical finger, including a palm base 1, a wrist connection 6, and a mechanical finger. The wrist connection 6 is fixedly connected to the end of the palm base 1 to form a detachable wrist connection structure. The drive connection 2 of the mechanical finger is fixedly connected to the surface of the palm base 1 to form the thumb of the mechanical finger.

[0030] Furthermore, the mechanical finger of this application includes a distal phalanx (not shown in the figure), a proximal phalanx 4, and a drive connection portion 2. The proximal phalanx 4 is driven to the distal phalanx, and the drive connection portion 2 is located at the junction of the root of the proximal phalanx 4 and the palm base 1, forming the metacarpophalangeal joint of the mechanical finger. Specifically, the drive connection portion 2 includes a clearance connection mechanism 3 and a drive unit (not shown in the figure), which is driven to the proximal phalanx 4 via the clearance connection mechanism 3.

[0031] The aforementioned palm base 1 supports the drive connection 2, which drives the proximal phalanx 4, and the proximal phalanx 4 also drives the distal phalanx, enabling the robotic finger to perform flexion and extension movements. The drive unit provides a pivot point for the proximal phalanx 4, and the avoidance connection mechanism 3 provides cushioning and avoidance for the proximal phalanx 4, ensuring the reliability of the robotic finger. Specifically, the drive unit enables the metacarpophalangeal joint to perform multi-degree-of-freedom movements within its normal range of motion, thereby realizing the swinging and flexion / extension movements of the robotic finger. Furthermore, when the metacarpophalangeal joint exceeds its normal range of motion due to overextension or external force, the avoidance connection mechanism 3 absorbs part of the impact force and causes the proximal phalanx 4 to move an additional distance, thus performing an avoidance action.

[0032] The robotic finger and robotic hand provided in this embodiment utilize a drive connection part 2 at the connection between the root of the proximal phalanx 4 and the palm base 1. The drive connection part 2 includes an avoidance connection mechanism 3 and a drive unit. When the drive unit is locked, the proximal phalanx 4 is in a locked state and cannot move. When the metacarpophalangeal joint exceeds its normal range of motion due to overextension or external force, the avoidance connection mechanism 3 can absorb some of the impact force and allow the proximal phalanx 4 to move an additional distance. This avoids direct rigid interference between the proximal phalanx 4 and the drive unit, and also reduces the direct transmission of impact force from the proximal phalanx 4 to the drive unit, achieving the buffering and avoidance function of the robotic finger and improving the reliability of the robotic hand's working structure.

[0033] In one embodiment of this application, combined with Figure 2 As shown, the avoidance connection mechanism 3 of this application is provided with an elastic reset member 5. After the proximal phalanx 4 moves an additional distance due to overextension of the metacarpophalangeal joint or the action of external force, the elastic reset member 5 drives the avoidance connection mechanism 3 to elastically reset, so that the proximal phalanx 4 returns to its original position. Specifically, the two ends of the elastic reset member 5 along its reset direction are respectively connected to the two ends of the avoidance connection mechanism 3. When the elastic reset member 5 moves, the avoidance connection mechanism 3 moves synchronously, thereby avoiding interference between the avoidance connection mechanism 3 and the transmission mechanism of the drive unit, ensuring a stable connection and smooth operation between the two.

[0034] Optionally, combined Figure 3 As shown, the avoidance connection mechanism 3 of this application includes a first connecting member 31, a second connecting member 32, and a blocking member 33. The first connecting member 31 is hinged to the drive unit via a rotating shaft 37 and has a first fixing part 314 fixedly connected to one end of the elastic reset member 5. The second connecting member 32 is hinged to the first connecting member 31 via the rotating shaft 37. A limit shaft 34, a third connecting member 35, and a fourth connecting member 36 are respectively hinged to the second connecting member 32, and a second fixing part 323 fixedly connected to the other end of the elastic reset member 5. The blocking member 33 is hinged to the first connecting member 31 via the rotating shaft 37 and abuts against the limit shaft 34.

[0035] The avoidance connection mechanism 3 of this application can adopt a cross-avoidance structure composed of a first connector 31 and a second connector 32. When the mechanical finger performs swinging and flexion-extension movements, the avoidance connection mechanism 3 can rotate at a corresponding angle according to the movement trend, thereby reliably realizing the gripping and opening functions of mechanical fingers such as the thumb. At the same time, during the swinging and flexion-extension process of the finger, the drive unit drives the avoidance connection mechanism 3, so that the inner and outer sides of the proximal phalanx 4 are subjected to opposite forces, thereby achieving smoother movement control of the proximal phalanx.

[0036] Preferably, the elastic reset member 5 of this application can be a reset spring with both ends fixed between the first connecting member 31 and the second connecting member 32, and the elastic reset power is provided by the reset torsion spring. Of course, the reset structure of the elastic reset member 5 can also be a compression spring, spring, leaf spring or rubber elastic band. Correspondingly, a corresponding fixing structure needs to be set between the first connecting member 31 and the second connecting member 32 to ensure the adjustment stability of the avoidance connection mechanism 3.

[0037] Specifically, combined Figure 4 As shown, the first connector 31 of this application includes a main body 311, a side portion 312, a first connecting end 315, a second connecting end 316, and an extension connecting portion 317. The side portion 312 is located on one side of the main body 311, and a guide groove 313 is formed along the side portion 312 to slide against the limiting shaft 34. The first connecting end 315 is hinged to the second connector 32 via a pivot shaft, the second connecting end 316 is rotatably connected to a rotating shaft 37, and the extension connecting portion 317 protrudes from the bottom of the main body 311 and is connected to the drive unit. The second connecting end 316 includes multiple holes formed on the main body 311 for hinged connection. The rotating shaft 37 can be positioned at the bottom of the main body 311, thereby fully utilizing the design space of the top and side walls of the first connector 31 and optimizing the structure of the first connector 31.

[0038] In the above embodiments, combined with Figure 5As shown, the second connecting member 32 of this application includes a first groove 321, a second groove 322, a third connecting end 324, a fourth connecting end 325, and a fifth connecting end 326. The main body 311 is located within the first groove 321, the blocking member 33 and the guide groove 313 are located within the second groove 322, and the limiting shaft 34 is disposed between the first groove 321 and the second groove 322. The third connecting end 324, the fourth connecting end 325, and the fifth connecting end 326 are hinged together via a pivot shaft to the fourth connecting member 36, the fourth connecting end 325 is hinged together with the third connecting member 35 via a pivot shaft, and the fifth connecting end 326 is hinged together with the first connecting end 315 via a pivot shaft. Specifically, the second connector 32 has a cross-triangular support structure to achieve dual cooperation between the second connector 32 and the blocking member 33. In this way, the second connector 32 realizes the linkage between the first connector 31 and the third connector 35, as well as between the drive connection part 2 and the proximal phalanx 4, thereby ensuring the structural stability of the avoidance connection mechanism 3.

[0039] At the same time, combined Figures 4 to 7 As shown, the blocking member 33 of this application includes a rotating portion 331, a protruding portion 332, and an arc-shaped guide portion 333. The rotating portion 331 is hinged to the main body 311 via a pivot shaft, allowing the blocking member 33 to rotate around the rotating portion 331 as a center. The protruding portion 332 is located at the end of the blocking member 33 away from the rotating portion 331 and within the guide groove 313. The arc-shaped guide portion 333 is located at the end of the blocking member 33 near the rotating portion 331.

[0040] In practical applications, combined with Figure 6 As shown, when the metacarpophalangeal joint is overextended or subjected to external force, the arc-shaped guide portion 333 interferes with the limiting shaft 34 to absorb part of the impact force. Furthermore, in conjunction with... Figure 7 As shown, when the metacarpophalangeal joint exceeds its normal range of motion, the limiting shaft 34 drives the rotating part 331 to rotate via the arc-shaped guide part 333, causing the protruding part 332 to rotate around the rotating part 331 to the outside of the guide groove 313. At the same time, the limiting shaft 34 moves an additional distance along the guide groove 313 in the direction of the rotating part 331.

[0041] Thus, when the metacarpophalangeal joint of the mechanical finger exceeds its normal range of motion due to overextension or external force, the proximal phalanx rotates under instantaneous impact. The second connecting member 32 then impacts the blocking member 33 via the limiting shaft 34. The blocking member 33 transmits this impact force to its arc-shaped guide portion 333, thereby achieving a certain degree of buffering. Of course, if the impact force is too large, the limiting shaft 34 will drive the rotating part 331 to rotate via the arc-shaped guide portion 333, causing the protruding part 332 to rotate around the rotating part 331 as its axis to the outside of the guide groove 313. Simultaneously, the limiting shaft 34 will move an additional distance along the guide groove 313 towards the rotating part 331, effectively achieving overload avoidance and preventing damage to the mechanical finger structure.

[0042] In another embodiment, combined with Figure 2 As shown, the drive unit of this application includes a first drive mechanism 21 and a second drive mechanism 23. The first drive mechanism 21 is driven to be connected to the avoidance connection mechanism 3 through a first drive link 22 so as to make the proximal phalanx 4 swing. The second drive mechanism 23 is driven to be connected to the avoidance connection mechanism 3 through a second drive link 24 so as to make the proximal phalanx 4 flex and extend.

[0043] Meanwhile, the proximal phalanx 4 of this application includes a phalanx housing 41, and a third drive mechanism 42 and a fourth drive mechanism 44 are provided inside the phalanx housing 41. The third drive mechanism 42 is driven to the avoidance connection mechanism 3 through a third drive link 43, and the fourth drive mechanism 44 is driven to the distal phalanx through a fourth drive link 45.

[0044] In addition, the distal phalanx may include multiple fingertip phalanges (not shown in the figure), with the swing ends of the multiple fingertip phalanges being hinged together in sequence, and the swing end of the distal fingertip phalange being hinged to the proximal phalanx 4.

[0045] In another embodiment, combined with Figure 8 As shown, the wrist connector 6 of this application serves as the core connecting component between the robotic hand and the robotic arm. Its structural design directly determines the stability, convenience, and detachability of the connection. Specifically, it includes a first docking part 61, a second docking part 62, and an intermediate connecting part 63. The first docking part 61 is fixedly connected to the end of the palm base 1 via a base connecting part 64. Similarly, the second docking part is fixedly connected to the end of the palm base 1 via a base connecting part 64. The first and second docking parts are arranged opposite to each other, together forming the main docking structure of the wrist connector 6. Through the reasonable design of this wrist connector 6, a quick and detachable connection between the robotic hand and the robotic arm can be achieved, greatly simplifying the installation and disassembly process of the robotic hand, facilitating subsequent maintenance, repair, and replacement of different robotic hand modules, and improving the flexibility and operational efficiency of the equipment.

[0046] Specifically, combined Figure 9 and Figure 10 As shown, the first docking part 61 of this application adopts an integrated molding structure, which includes a first docking base plate 611. The first docking base plate 611 is a flat plate structure, and its size is adapted to the connection surface of the end of the palm base 1 to ensure the fit and stability after connection. A protrusion 612 is integrally formed on one side surface of the first docking base plate 611. The protrusion 612 extends along the length direction of the first docking base plate 611, and its cross-section has a regular shape adapted to docking, providing a positioning reference for subsequent precise docking with the second docking part 62. Along the two side walls of the protrusion 612, a plurality of docking grooves 613 are evenly spaced. The size and spacing of each docking groove 613 are consistent, and the groove opening faces the direction of the second docking part 62. A first docking hole 614 is formed through the bottom of each docking groove 613. The axis of the first docking hole 614 is perpendicular to the surface of the first docking base plate 611, providing a channel for the insertion of the limiting pin.

[0047] Correspondingly, the second docking part 62 also adopts a structural design adapted to the first docking part 61, including a second docking base plate 621. The specifications of the second docking base plate 621 are consistent with those of the first docking base plate 611 to ensure flatness and coordination when the two are docked. On the side surface of the second docking base plate 621 facing the first docking part 61, a plurality of protrusions 622 are evenly spaced. The number and spacing of the protrusions 622 correspond one-to-one with the docking grooves 613 on the first docking part 61, and the size of the protrusions 622 matches the cavity size of the docking grooves 613, so that they can be accurately embedded into the corresponding docking grooves 613, realizing the pre-positioning of the first docking part 61 and the second docking part 62 and avoiding displacement during docking. Each boss 622 has a second mating hole 623 formed through its center. The diameter of the second mating hole 623 is exactly the same as the diameter of the first mating hole 614. When the boss 622 is embedded in the mating groove 613, the first mating hole 614 and the second mating hole 623 can be precisely aligned to form a mating through hole structure for accommodating the limiting pin.

[0048] The intermediate connecting part 63 serves as a transitional component connecting the robotic hand and the robotic arm. Its two ends are respectively connected to the first docking part 61 and the second docking part for limiting connection. Specifically, the limiting pin is inserted into the docking through hole structure to firmly lock the intermediate connecting part 63, the first docking part 61 and the second docking part 62, ensuring the stability of the connection. At the same time, when disassembly is required, the intermediate connecting part 63 can be quickly separated from the first and second docking parts simply by pulling out the limiting pin, thereby realizing the separation of the robotic hand and the robotic arm. The operation is convenient and efficient.

[0049] The foregoing description and accompanying drawings fully illustrate embodiments of the present disclosure to enable those skilled in the art to practice them. Other embodiments may include structural and other changes. The embodiments represent only possible variations. Individual components and functions are optional unless explicitly required, and the order of operation may vary. Parts and features of some embodiments may be included or substituted for parts and features of other embodiments. Embodiments of the present disclosure are not limited to the structures described above and shown in the accompanying drawings, and various modifications and changes may be made without departing from its scope. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A mechanical finger, characterized in that, include: Distal phalanx; The proximal phalanx is driven to connect with the distal phalanx; A drive connection part is disposed at the connection between the root of the proximal phalanx and the palm base, and is used to form the metacarpophalangeal joint of the mechanical finger. The drive connection part includes an avoidance connection mechanism and a drive device unit, and the drive device unit is drivenly connected to the proximal phalanx through the avoidance connection mechanism. The drive unit is used to enable the metacarpophalangeal joint to perform multi-degree-of-freedom movements within its normal range of motion, thereby realizing the swinging and flexion / extension movements of the mechanical finger; and, When the metacarpophalangeal joint exceeds its normal range of motion due to overextension or external force, the avoidance connection mechanism is used to absorb part of the impact force and allow the proximal phalanx to move an additional distance.

2. The mechanical finger according to claim 1, characterized in that, The avoidance connection mechanism is provided with an elastic reset member. After the proximal phalanx moves an additional distance due to overextension of the metacarpophalangeal joint or external force, the elastic reset member drives the avoidance connection mechanism to elastically reset so that the proximal phalanx returns to its original position.

3. The mechanical finger according to claim 2, characterized in that, The avoidance connection mechanism includes: The first connecting member is hinged to the drive unit via a rotating shaft, and is provided with a first fixing part that is fixedly connected to one end of the elastic reset member; The second connector is hinged to the first connector. A limit shaft, a third connector, and a fourth connector are respectively hinged to the second connector, and a second fixing part is provided that is fixedly connected to the other end of the elastic reset member. The blocking member is hinged to the first connecting member and abuts against the limiting shaft.

4. The mechanical finger according to claim 3, characterized in that, The first connector includes: Main components; A side portion, disposed on one side of the main body, has a guide groove formed along the side portion that slides with the limiting shaft; and, The device comprises a first connecting end, a second connecting end, and an extended connecting portion, wherein the first connecting end is hinged to the second connecting member via a pivot shaft, the second connecting end is rotatably connected to the rotating shaft, and the extended connecting portion protrudes from the bottom of the main body and is connected to the driving device unit via transmission.

5. The mechanical finger according to claim 4, characterized in that, The second connector includes: The first groove, wherein the main body is located within the first groove; A second groove, wherein the blocking member and the guide groove are located within the second groove, and the limiting shaft is disposed between the first groove and the second groove; and The system comprises a third connecting end, a fourth connecting end, and a fifth connecting end, wherein the third connecting end is hinged to the fourth connecting member via a pivot shaft, the fourth connecting end is hinged to the third connecting member via a pivot shaft, and the fifth connecting end is hinged to the first connecting end via a pivot shaft.

6. The mechanical finger according to claim 5, characterized in that, The blocking element includes: The rotating part is hinged to the main body via a pivot shaft, so that the blocking part is limited to rotate around the rotating part as the center; The protrusion is located at the end of the blocking member away from the rotating part and within the guide groove; An arc-shaped guide portion is disposed at one end of the blocking member near the rotating part. When the metacarpophalangeal joint is overextended or subjected to external force, the arc-shaped guide portion interferes with the limiting shaft to absorb part of the impact force; and, When the metacarpophalangeal joint exceeds its normal range of motion, the limiting shaft drives the rotating part to rotate through the arc-shaped guide portion, so that the protruding part rotates around the rotating part to the outside of the guide groove; at the same time, the limiting shaft moves an additional distance along the guide groove in the direction of the rotating part.

7. The mechanical finger according to claim 1, characterized in that, The drive unit includes: The first drive mechanism is driven to be connected to the avoidance connection mechanism via a first drive link, so as to make the proximal phalanx swing. The second drive mechanism is driven to connect with the avoidance connection mechanism via a second drive link, so as to cause the proximal phalanx to perform flexion and extension movements; and The proximal phalanx includes: A knuckle housing, within which a third drive mechanism and a fourth drive mechanism are provided; The third drive mechanism is driven to the avoidance connection mechanism via the third drive link, and the fourth drive mechanism is driven to the distal phalanx via the fourth drive link.

8. A robotic arm, characterized in that, The device includes a palm base, a wrist connector, and a mechanical finger as described in any one of claims 1 to 7, wherein the wrist connector is fixedly connected to the end of the palm base to form a detachable wrist connection structure, and the drive connector of the mechanical finger is fixedly connected to the surface of the palm base to form the thumb of the mechanical finger.

9. The robotic arm according to claim 8, characterized in that, The wrist connection includes: The first docking part is fixedly connected to the end of the palm base through the base connecting part; The second docking part is detachably connected to the first docking part via an intermediate connecting part.

10. The robotic arm according to claim 9, characterized in that, The first docking part includes a first docking base plate, a protrusion is formed on the first docking base plate, a plurality of docking grooves are spaced apart along the side wall of the protrusion, and a first docking hole is formed in each docking groove; The second docking part includes a second docking base plate, on which a plurality of protrusions are spaced apart, and a second docking hole is formed in each of the protrusions; The mating groove and the boss are respectively arranged in a one-to-one correspondence, so that the first mating hole and the second mating hole form a mating through hole structure for accommodating the limiting pin. The intermediate connecting part is connected between the first mating part and the second mating part by the pin limiting connection.

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