robotic fingers, robotic hands and robots

Abstract

This application relates to the field of humanoid robot technology, and discloses a mechanical finger, a mechanical hand, and a robot. The mechanical finger includes: a first driving component, a second driving component, a support, and a finger body; the support is rotatably arranged about a first axis, and the first output end of the first driving component is connected to the support; the finger body includes a root segment, one end of which is rotatably connected to the support about a second axis, the second axis being perpendicular to the first axis; the second output end of the second driving component includes a first thrust block rotatably arranged about a third axis, the third axis being collinear with or parallel to the second axis, and at least one side of the first thrust block along its rotational circumference abuts against the root segment, the first thrust block being used to drive the root segment to rotate relative to the support about the second axis; the side of the first thrust block abutting against the root segment is a convex curved surface. Through the above method, this application can realize a metacarpophalangeal joint structure design with multiple kinematic pairs in parallel, making the movement of the mechanical finger more human-like.

Description

Technical Field

[0001] This application relates to the field of humanoid robot technology, specifically to a mechanical finger, a mechanical hand, and a robot. Background Technology

[0002] In existing humanoid robots, the joints connecting the fingers and palms (i.e., metacarpophalangeal joints) can usually only achieve single-degree-of-freedom movement. Specifically, the fingers rotate around a single axis between a clenched and an extended state. They cannot simultaneously perform movements like the left-right swinging (shaking) of human fingers. This is mainly because the space at the fingers is relatively limited, making it difficult to achieve multi-degree-of-freedom structural designs in a small space. Summary of the Invention

[0003] In view of the above problems, embodiments of this application provide a mechanical finger, a mechanical hand, and a robot that can realize a metacarpophalangeal joint structure design with multiple kinematic pairs in parallel, making the movement of the mechanical finger more human-like.

[0004] According to one aspect of the embodiments of this application, a mechanical finger is provided for use in a robotic hand. The robotic hand has a palm portion, and the mechanical finger includes: a first driving component, a second driving component, a support, and a finger body. Both the first and second driving components are fixedly disposed relative to the palm portion. The support is rotatably disposed about a first axis. A first output end of the first driving component is connected to the support to drive the support to rotate about the first axis. The finger body includes a root segment, one end of which is rotatably connected to the support about a second axis, which is perpendicular to the first axis. A second output end of the second driving component includes a first thrust block rotatably disposed about a third axis, which is collinear with or parallel to the second axis. At least one side of the first thrust block along its rotational circumference abuts against the root segment. The first thrust block is used to drive the root segment to rotate about the second axis relative to the support. The side of the first thrust block that abuts against the root segment is a convex curved surface.

[0005] In one alternative configuration, the support is U-shaped, with one end of the root node rotatably connected to the two free ends of the support about a second axis. A first thrust block is positioned between the two free ends, extending into the interior of the root node and abutting against the inner wall of the root node.

[0006] In one alternative embodiment, the first thrust block abuts against the root segment only on one side along its rotational circumference, and the first thrust block is used to push the root segment to rotate in a first direction; a first elastic element is connected between the root segment and the support, and the first elastic element is used to provide elastic force to the root segment to rotate in a second direction, which is opposite to the first direction.

[0007] In one alternative embodiment, the second drive assembly includes a second motor, a second driving member, and a second driven wheel; the second drive shaft of the second motor rotates about a fourth axis, which is perpendicular to both the first and second axes; the second driven wheel is rotatably arranged about a third axis, and a first thrust block is formed by a protrusion on one radial side of the second driven wheel; the second driving member is sleeved and fixed on the second drive shaft and meshes with the second driven wheel for transmission; a protective cover is provided on the second motor, which covers the second driving member, and the first thrust block is located between the protective cover and the root section, with the side of the protective cover facing the first thrust block forming a limiting surface that restricts the rotational stroke of the first thrust block.

[0008] In one alternative embodiment, the support has a transmission block on one side of the first axis, and the first output end of the first drive assembly includes a transmission wheel rotatably disposed about the first axis. The transmission wheel has a strip-shaped hole extending circumferentially along its rotation on one side of the first axis. The transmission block is inserted into the strip-shaped hole and can slide within the stroke limited by the strip-shaped hole. The mechanical finger also includes a second elastic element, one end of which is connected to the support at a position off the first axis, and the other end is fixed relative to the palm. The second elastic element is used to provide the support with an elastic force that causes the transmission block to abut against the inner wall of one side of the strip-shaped hole.

[0009] In one alternative embodiment, the finger body further includes a first phalanx, one end of which is rotatably connected to the end of the root phalanx away from the support about a fifth axis, the fifth axis being parallel to the second axis; a third drive assembly is provided on the root phalanx, the third output end of which is connected to the first phalanx and is used to drive the first phalanx to rotate about the fifth axis relative to the root phalanx.

[0010] In one alternative embodiment, the third drive assembly includes a third motor, a third driving member, and a third driven wheel. The third drive shaft of the third motor rotates about a sixth axis, which is perpendicular to the fifth axis. The third driving member is sleeved and fixed to the third drive shaft, and the third driven wheel is sleeved and fixed to a transmission shaft rotating about the fifth axis. The third driving member and the third driven wheel are connected in a driving connection. The third output end includes a second thrust block, which is sleeved and fixed to the transmission shaft. One end of the first finger joint is rotatably connected to the transmission shaft. One side of the first finger joint connected to the transmission shaft is bent to form a force-bearing part. The second thrust block abuts against the force-bearing part on one side along its rotational circumference. A third elastic member is connected between the first finger joint and the root joint. The third elastic member provides elastic force to the first finger joint to make the force-bearing part abut against the second thrust block. The first finger joint has a clearance notch at a position opposite to the third driven wheel along its rotational circumference.

[0011] In one alternative embodiment, the finger body further includes a second phalanx, which is rotatably connected to the end of the first phalanx away from the root joint about a seventh axis, the seventh axis being parallel to the fifth axis; the mechanical finger also includes a fourth drive assembly, which is fixed relative to the palm, and a fourth output end of the fourth drive assembly is connected to the second phalanx via a tendon cord, the fourth output end being used to pull the second phalanx to rotate in a third direction via the tendon cord; a fourth elastic element is connected between the second phalanx and the first phalanx, the fourth elastic element being used to provide elastic force to the second phalanx to rotate in a fourth direction, the fourth direction being opposite to the third direction.

[0012] According to another aspect of the embodiments of this application, a robotic hand is provided, including a palm portion and robotic fingers as described in any of the preceding claims, the robotic fingers being disposed on the palm portion.

[0013] According to another aspect of the embodiments of this application, a robot is provided, including a robot body and the aforementioned manipulator, wherein the manipulator is disposed on the robot body.

[0014] In the mechanical finger provided in this application embodiment, a support is rotatably mounted around a first axis, and the root segment is rotatably connected to the support around a second axis perpendicular to the first axis. A first driving assembly drives the support to rotate around the first axis, causing the support to synchronously rotate the root segment around the first axis, thus achieving a left-right swaying finger-shaking action. Furthermore, a first thrust block at the second output end of the second driving assembly is rotatably mounted around a third axis that coincides with or is parallel to the second axis, and at least one side of the first thrust block along its rotational circumference abuts against the root segment, allowing the first thrust block to rotate around the third axis and bend the root segment. Since the first thrust block and the support are not connected and are separated, the left-right swaying of the root segment driven by the support and the bending of the root segment driven by the first thrust block are in parallel. They can not only act independently, but also simultaneously because the first thrust block abuts against the root segment through a convex curved surface. Using a drive mechanism where the first thrust block bends the root segment allows for a compact structure and smaller size at the metacarpophalangeal joint (i.e., the connection between the end of the root segment and the palm).

[0015] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, specific embodiments of this application are given below. Attached Figure Description

[0016] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1 This is a partial structural schematic diagram of the robot provided in an embodiment of this application; Figure 2 A frontal structural diagram of the robotic hand provided in the embodiment of this application with the robotic fingers extended; Figure 3 A side view of the robotic arm provided in the embodiment of this application with the robotic fingers bent. Figure 4A and Figure 4B A schematic diagram of the front structure of the robotic arm provided in this application embodiment after the robotic fingers have swung left and right; Figure 5 A schematic diagram of the front structure of the mechanical finger provided in an embodiment of this application; Figure 6 A three-dimensional structural diagram of the root segment of a mechanical finger provided in an embodiment of this application; Figure 7 for Figure 6 Schematic diagram of the structure under explosive conditions; Figure 8 A three-dimensional structural diagram of the root segment of the mechanical finger provided in an embodiment of this application; Figure 9 This is a schematic diagram of the structure of the support in the mechanical finger provided in the embodiment of this application; Figure 10 A schematic cross-sectional view of the support structure when the root joint of the mechanical finger is in an extended state, as provided in an embodiment of this application. Figure 11 A schematic cross-sectional view of the support structure when the root segment of the mechanical finger is in a bent state, as provided in the embodiments of this application; Figure 12 This is a schematic diagram of the structure of the first thrust block in the mechanical finger provided in an embodiment of this application; Figure 13 A schematic diagram illustrating an application scenario where the dorsal side of the root segment of the mechanical finger collides with the bottom of a table, as provided in this embodiment of the application. Figure 14 A schematic diagram illustrating an application scenario where the side of the mechanical finger facing the thumb collides with the bottom of a table, as provided in this embodiment of the application. Figure 15 A schematic cross-sectional view of the transmission connection between the first drive component and the support in the mechanical finger provided in an embodiment of this application; Figure 16A three-dimensional structural diagram of the transmission connection between the first drive component and the support in the mechanical finger provided in an embodiment of this application; Figure 17 A schematic diagram illustrating an application scenario where the side of the mechanical finger away from the thumb collides with the bottom of a tabletop, as provided in this embodiment of the application. Figure 18 A schematic diagram of the exploded structure of the root segment and the first phalanx of the mechanical finger provided in an embodiment of this application; Figure 19 A schematic cross-sectional view of the root segment and the first phalanx of a mechanical finger provided in an embodiment of this application; Figure 20 A schematic diagram illustrating an application scenario where the back of the first phalanx of the mechanical finger provided in this embodiment collides with the bottom of a table. Figure 21 A schematic diagram of the structure of the second phalanx and the fourth drive assembly in the mechanical finger provided in the embodiments of this application; Figure 22 This is a schematic diagram illustrating an application scenario where the back of the second phalanx of the mechanical finger provided in this embodiment collides with the bottom of the table.

[0017] The reference numerals in the detailed embodiments are as follows: 500, Robot; 400, Robot Body; 300. Robotic arm; 200. Palm part; 100. Mechanical fingers; 110. First drive assembly; 111. First output terminal; 112. First motor; 113. First driving element; 114. First driven wheel; 115. Transmission wheel; 1151. Strip hole; 120. Second drive assembly; 121. First thrust block; 1211. Curved surface; 122. Second motor; 1221. Second drive shaft; 123. Second driving component; 124. Second driven wheel; 125. Protective cover; 1251. Limiting surface; 130. Bracket; 131. Free end; 132. Transmission block; 140. Finger body; 141. Root joint; 142. First phalanx; 1421. Force-bearing part; 1422. Alternating notch; 143. Second phalanx; 150. Mounting bracket; 161. First elastic element; 162. Second elastic element; 163. Third elastic element; 164. Fourth elastic element; 170. Third drive assembly; 171. Third motor; 1711. Third drive shaft; 172. Third driving component; 173. Third driven wheel; 1731. Transmission shaft; 174. Second thrust block; 180. Fourth drive assembly; 181. Cord; 182. Fourth motor; 183. Drive wheel; 184. Tensioner wheel; 600. Tabletop. Detailed Implementation

[0018] The embodiments of the technical solution of this application will now be described in detail with reference to the accompanying drawings. These embodiments are only used to more clearly illustrate the technical solution of this application and are therefore merely examples, and should not be used to limit the scope of protection of this application.

[0019] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0020] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.

[0021] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0022] In the description of the embodiments in this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent three cases: A exists, A and B exist simultaneously, and B exists. In addition, the character " / " in this document generally indicates that the related objects before and after it have an "or" relationship.

[0023] In the description of the embodiments of this application, the term "multiple" refers to two or more (including two), similarly, "multiple sets" refers to two or more (including two sets), and "multiple pieces" refers to two or more (including two pieces).

[0024] In the description of the embodiments of this application, the technical terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and are not intended to 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 the embodiments of this application.

[0025] In the description of the embodiments of this application, unless otherwise expressly specified and limited, technical terms such as "installation," "connection," "joining," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.

[0026] In order to achieve multi-degree-of-freedom movement of the metacarpophalangeal joints and make the mechanical fingers more human-like, the inventors of this application have considered designing a metacarpophalangeal joint structure with multiple kinematic pairs so that the fingers can bend and extend (i.e., rotate between a clenched state and an extended state) and also swing left and right (shaking the fingers).

[0027] The design of multiple kinematic pairs typically includes series and parallel configurations. The series configuration refers to multiple kinematic pairs being connected sequentially to form an open kinematic chain structure. For the structure of the metacarpophalangeal joint, if the kinematic pairs corresponding to finger bending and extension are connected in series with the kinematic pairs corresponding to finger lateral swinging, on the one hand, the starting point of finger bending and extension (which can also be understood as the position of the axis of rotation) will be different from the starting point of finger lateral swinging. This is inconsistent with the human metacarpophalangeal joint's bending, extension, and lateral swinging movements from the same starting point. On the other hand, the starting point of the kinematic pair closer to the fingertip will change with the movement of the other kinematic pair, thus causing the bending and extension movements of the finger and the lateral swinging movements to affect each other, which violates the actual movement of the human metacarpophalangeal joint.

[0028] When designing kinematic pairs for finger bending and extension in parallel with kinematic pairs for finger lateral swinging, the main challenge lies in ensuring that the actuators corresponding to the two kinematic pairs do not constrain each other. That is, when one actuator drives the finger to bend and extend, the other actuator connected to the root joint of the hand and responsible for driving the finger to swing left and right can be smoothly decoupled from the finger (the second actuator can move relative to the finger) to avoid interfering with the bending and extension of the finger. When the finger needs to swing left and right, it can be smoothly coupled with the finger to drive the finger to swing left and right normally. At this time, the actuator responsible for driving the bending and extension of the finger needs to be decoupled from the finger.

[0029] To address this, one approach is to connect the actuator to the finger via a ball joint and / or linkage mechanism to achieve drive in the desired direction and decoupling in other directions. However, practical experience has shown that this approach results in a larger metacarpophalangeal joint structure, affecting the anthropomorphic design of the overall hand shape, and makes it difficult to achieve left and right swinging of the fingers in a bent state.

[0030] In order to achieve the design goals of multiple kinematic pairs in parallel, small size, and the ability of the finger to swing left and right in a bent state, this application has made an improved design for the mechanical finger.

[0031] According to a first aspect of the embodiments of this application, a robot is provided, as detailed in [reference needed]. Figure 1 The figure shows a partial structure of robot 500. Robot 500 includes robot body 400 and robotic arm 300, which is connected to the arm of robot body 400.

[0032] According to a second aspect of the embodiments of this application, a robotic arm is also provided, for details please refer to Figure 2 The figure shows the front structure of the robotic hand 300, which includes, but is not limited to, the robot 500 provided in the above embodiments. The robotic hand 300 includes a palm portion 200 and robotic fingers 100, with the robotic fingers 100 disposed on the palm portion 200. The robotic fingers 100 can be bent relative to the palm portion 200 (e.g., ...). Figure 3 (as shown) and stretch (as shown) Figure 2 As shown in the image), it can also swing about 200 degrees relative to the palm (as shown in the image). Figure 4A and Figure 4B As shown in the diagram, the two movements are in parallel, meaning they can move independently or simultaneously.

[0033] According to a third aspect of the embodiments of this application, a mechanical finger is also provided, for details please refer to Figure 5The figure shows the front structure of the mechanical finger 100. The mechanical finger 100 includes, but is not limited to, the mechanical hand 300 provided in the above embodiments. The mechanical finger 100 can be any one of the five fingers of the mechanical hand 300. In the specific embodiments below, the mechanical finger 100 is mainly described using any one of the four fingers other than the thumb as an example.

[0034] Please combine further Figure 6 and Figure 7 , Figure 6 The mechanical finger 100 is shown in part of its structure. Figure 7 It shows Figure 6 The exploded state of the structure shown in the figure is as follows: the mechanical finger 100 includes: a first drive assembly 110, a second drive assembly 120, a support 130, and a finger body 140.

[0035] The first drive assembly 110 and the second drive assembly 120 are both fixedly mounted relative to the palm portion 200. Specifically, the first drive assembly 110 and the second drive assembly 120 can be directly installed within the palm portion 200. Alternatively, the robotic finger 100 can be pre-assembled into a separate module and further installed onto the palm portion 200 to achieve modular assembly of the robotic hand 300, thereby simplifying the assembly operation of the robotic hand 300. For such modular assembly, a mounting bracket 150 can be further configured for the robotic finger 100. The first drive assembly 110 and the second drive assembly 120 are both mounted on the mounting bracket 150, which is used to fixably connect to the palm portion 200 to achieve the installation of the robotic finger 100 on the palm portion 200.

[0036] The bracket 130 is rotated around the first axis ( Figure 7 The dotted line Q1) can be rotated. For example, a bearing can be mounted on the mounting bracket 150, and the bracket 130 can be rotatably connected to the bearing via a rotating shaft to achieve rotation around the first axis Q1. Of course, in an embodiment without mounting bracket 150, a bearing seat can be fixedly mounted on the first drive assembly 110, with the bearing mounted on the bearing seat, and the bracket 130 rotatably connected to the bearing via a rotating shaft. Other movable components, such as transmission components, can be installed and configured in a similar manner, and will not be described in detail below.

[0037] The first output terminal 111 of the first drive assembly 110 is connected to the bracket 130 to drive the bracket 130 to rotate about the first axis Q1. The finger body 140 includes a root joint 141, one end of which rotates around a second axis ( Figure 7The midpoint line Q2) is rotatably connected to the bracket 130. The second axis Q2 is perpendicular to the first axis Q1. Based on this, when the first output terminal 111 drives the bracket 130 to rotate around the first axis Q1, the bracket 130 will drive the root segment 141 to rotate around the first axis Q1 together, realizing that the finger body 140 is like... Figure 4A and Figure 4B The left and right swings are shown.

[0038] The first drive component 110 functions like a muscle in the human hand, driving finger movement. To make the design position of the first drive component 110 more closely resemble the distribution of the corresponding muscles in the palm of the human hand, the first drive component 110 can be configured in the same direction as the extension of the finger body 140.

[0039] Specifically, please combine further Figure 8 and Figure 9 , Figure 8 The structure at the connection between the root node 141 and the support 130 is shown from a three-dimensional view from the rear. Figure 9 The connection structure between the first drive assembly 110 and the bracket 130 is shown with root node 141 omitted, as shown in the figure. The first drive assembly 110 may include a first motor 112, a first driving member 113, and a first driven wheel 114. The first drive shaft of the first motor 112 revolves around the eighth axis ( Figure 9 Rotating the midpoint line Q8, the eighth axis Q8 is perpendicular to both the first axis Q1 and the second axis Q2. This makes the first motor 112 have a shape that is consistent with the extension direction of the finger body 140 in the extended state. This not only closely resembles the actual muscle distribution of the human hand, but also, when multiple such mechanical fingers 100 are configured in the robotic hand 300, this arrangement of the first motor 112 allows the palm part 200 to accommodate the first motor 112 of each mechanical finger 100 within a relatively small size, thereby making the robotic hand 300 closer to the actual shape of the human hand.

[0040] The first driven wheel 114 constitutes the first output end 111 mentioned above. The first driven wheel 114 is rotatably arranged around the first axis Q1 and connected to the bracket 130. The first driving member 113 is sleeved and fixed on the first drive shaft and meshes with the first driven wheel 114 for transmission. The transmission between the first driving member 113 and the first driven wheel 114 can be a worm gear and a worm wheel meshing transmission, or it can be a transmission between two bevel gears. The specific transmission is not limited here. Other driving members and driven wheels mentioned below (such as the second driving member and the second driven wheel) can adopt the same method, and will not be described in detail hereafter.

[0041] When the first motor 112 is running, the first drive shaft drives the first driving member 113 to rotate around the eighth axis Q8. The first driving member 113 drives the first driven wheel 114 to rotate around the first axis Q1. The bracket 130 rotates accordingly with the first driven wheel 114 around the first axis Q1, thereby causing the root section 141 to swing left and right.

[0042] Please continue reading. Figure 6 and Figure 7 and further combine Figure 10 ,in Figure 10 It shows Figure 6 The cross-sectional structure shown indicates that the second output end of the second drive assembly 120 includes a first thrust block 121 rotatably disposed about a third axis. In the specific embodiment shown in the figures, the third axis Q3 is collinear with the second axis Q2. Of course, in other embodiments, the third axis Q3 may also be parallel to the second axis Q2. The first thrust block 121 rotates circumferentially ( Figure 10 At least one side of the finger body 141 (in the direction indicated by the arc-shaped arrow M) abuts against the root segment 141. The first thrust block 121 is used to drive the root segment 141 to rotate relative to the support 130 about the second axis Q2 under the drive of the second drive assembly 120, so as to realize that the finger body 140 is as follows: Figure 11 The rotation and bending shown.

[0043] Since the first thrust block 121 is only in contact with the root node 141 along its circumferential rotation, therefore, in Figure 10 In the state shown, the first drive assembly 110 drives the root segment 141 to rotate around the first axis Q1, so that when the finger body 140 swings left and right, the root segment 141 can slide and rub against the first thrust block 121, thereby rotating normally around the first axis Q1, thereby achieving the decoupling of the root segment 141 around the first axis Q1 from the first thrust block 121.

[0044] exist Figure 10 In the state shown, the extension direction of root node 141 ( Figure 10 (View from the top and bottom) is perpendicular to the first axis Q1. The rotation trajectory of the root node 141 around the first axis Q1 is a circular plane. The contact position between the first thrust block 121 and the root node 141 will not cause mutual compression or interference.

[0045] When the root node 141 bends at a certain angle under the action of the first thrust block 121, it forms... Figure 11 In the state shown, at this time, due to the extension direction of root node 141 ( Figure 11(The viewing angle is tilted from the lower left to the upper right) and is not perpendicular to the first axis Q1. At this time, the rotation trajectory of the root segment 141 around the first axis Q1 is a conical surface. Correspondingly, the motion trajectory of the position on the root segment 141 that contacts the first thrust block 121 is also a conical surface. Therefore, if the first thrust block 121 and the root segment 141 adopt a planar contact form, it will cause the root segment 141 and the first thrust block 121 to squeeze and interfere with each other when the root segment 141 swings around the first axis Q1 in a bent state, causing the root segment 141 to be unable to swing around the first axis Q1 normally.

[0046] In this regard, such as Figure 12 As shown, the side of the first thrust block 121 that abuts against the root segment 141 is set as an outwardly convex curved surface 1211. Considering that, like a human finger, the stroke of the root segment 141 swinging around the first axis Q1 is relatively small, the specific surface shape of the curved surface 1211 is not limited. It can form point contact, line contact or a very small area of ​​surface contact with the root segment 141, as long as it does not interfere with the left and right swinging of the root segment 141 in the bent state.

[0047] In summary, in the mechanical finger 100 provided in this application embodiment, the bracket 130 is rotatably set around the first axis Q1, and the root segment 141 is rotatably connected to the bracket 130 around the second axis Q2 perpendicular to the first axis Q1. The bracket 130 is driven to rotate around the first axis Q1 by the first drive assembly 110, so that the bracket 130 drives the root segment 141 to rotate synchronously around the first axis Q1, thereby realizing the left and right swinging finger shaking action.

[0048] Based on this, the first thrust block 121 at the second output end of the second drive assembly 120 is rotatably configured around a third axis Q3 that coincides with or is parallel to the second axis Q2, and at least one side of the first thrust block 121 along its rotational circumference abuts against the root segment 141, so that the first thrust block 121 can rotate around the third axis Q3 and drive the root segment 141 to bend. Since the first thrust block 121 and the bracket 130 are not connected and are separated from each other, the left and right swing of the root segment 141 driven by the bracket 130 and the bending of the root segment 141 driven by the first thrust block 121 are in parallel. The two can not only act independently, but also act simultaneously because the first thrust block 121 abuts against the root segment 141 through an outwardly convex curved surface. By adopting the drive form in which the first thrust block 121 drives the bending of the root segment 141, the structure at the metacarpophalangeal joint (i.e., the connection between the end of the root segment 141 and the palm part 200) can be compact and the volume small.

[0049] To further improve the structural compactness of the metacarpophalangeal joints while ensuring their structural stability, such as Figure 6 , Figure 7 and Figure 9As shown, the support 130 is U-shaped, and one end of the root segment 141 is rotatably connected to the two free ends 131 of the support 130 around the second axis Q2, so that the root segment 141 forms a rotatable connection with the support 130 at two points, thereby ensuring the stability of the connection between the root segment 141 and the support 130 and the structural strength when rotating synchronously. The first thrust block 121 is disposed between the two free ends 131. The first thrust block 121 extends into the interior of the root segment 141 and abuts against the inner wall of the root segment 141. This not only ensures the compact structure at the metacarpophalangeal joint, but also ensures that the position of the root segment 141 subjected to the force of the first thrust block 121 is at the two free ends 131, thereby ensuring the overall force balance of the root segment 141 and the structural stability and reliability.

[0050] To enable the finger body 140 to passively bend upon expansion with an external object, thus preventing breakage, this embodiment further designs the first thrust block 121 to abut against the root joint 141 in a unidirectional manner. This allows the root joint 141 to be passively bent without the restriction of the first thrust block 121 when the finger body 140 is subjected to external force. Specifically, as shown... Figure 10 As shown, the first thrust block 121 is only on one side along its rotational circumference ( Figure 10 (View from the right) and abuts against root node 141, the first thrust block 121 is used to push root node 141 along the first direction ( Figure 10 Rotate in the direction indicated by the single arrow M1. Figure 10 The root node 141 is in an extended state. When the root node 141 is subjected to the external force F shown in the figure, the root node 141 can passively move towards the first thrust block 121 without being pushed by it. Figure 11 The object is bent as shown to avoid external objects and prevent breakage under stress.

[0051] like Figure 7 As shown, a first elastic member 161 is connected between the root node 141 and the support 130. The first elastic member 161 is used to provide the root node 141 with force along the second direction ( Figure 10 The elastic force (pointed in the direction of the middle arrow M2, which is opposite to the direction of the arrow M1) allows the root joint 141 to automatically return to its original position under the elastic force of the first elastic element 161 after being bent by an external force. Figure 10 The extended state is shown. Specifically, the first elastic element 161 can be... Figure 7 The tension spring connecting the two shown can also be a torsion spring sleeved on the shaft connecting the two. Other elastic elements mentioned below (such as the second elastic element) can all be implemented in the same way, and will not be elaborated on further in the following text.

[0052] In specific application scenarios, taking the act of picking up an item from a table as an example, such as... Figure 13As shown, when the back of the robotic finger 100 collides with the bottom of the table 600, the root segment 141 can bend relative to the palm part 200 so that the robotic hand 300 can avoid the table 600 and be lifted smoothly above the table 600. The root segment 141 automatically resets and extends after the robotic hand 300 is lifted above the table 600.

[0053] It should be noted that in an implementation scheme where the root node 141 does not need to be passively bent, the first thrust block 121 can abut against the root node 141 on both sides along its rotational circumference, so that the root node 141 can be bent and extended by the forward rotation and flipping of the first thrust block 121. Such a scheme also eliminates the need to set the first elastic element 161.

[0054] Regarding the specific structure of the second drive component 120, this application further proposes an implementation method, which can be found again in the following description. Figure 10 and Figure 11 The second drive assembly 120 includes a second motor 122, a second driving member 123, and a second driven wheel 124. The second drive shaft 1221 of the second motor 122 rotates around a fourth axis (Q4 in the figure). The fourth axis Q4 is perpendicular to both the first axis Q1 and the second axis Q2. With this arrangement, the second motor 122 presents the same arrangement as the first motor 112 mentioned above and produces the same technical effect.

[0055] The second driven wheel 124 is rotatably mounted around the third axis Q3. A first thrust block 121 protrudes from one radial side of the second driven wheel 124. This arrangement, compared to coaxially fixing the first thrust block 121 to the second driven wheel 124, reduces the size of the metacarpophalangeal joint (i.e., the support 130) along the third axis Q3, allowing each mechanical finger 100 to be more compactly and humanoidly connected to the palm 200. The second driving member 123 is sleeved and fixed to the second drive shaft 1221 and meshes with the second driven wheel 124, thereby enabling the second drive shaft 1221 to drive the bending and extension of the root joint 141.

[0056] like Figure 9 and Figure 10 As shown, a protective cover 125 is provided on the second motor 122, covering the second driving member 123. The first thrust block 121 is located between the protective cover 125 and the root section 141. The side of the protective cover 125 facing the first thrust block 121 forms a limiting surface 1251 that restricts the rotational stroke of the first thrust block 121. The first thrust block 121 moves along... Figure 10The maximum rotation angle in the direction indicated by the middle arrow M2 is limited by the limiting surface 1251, and the maximum rotation angle of the root segment 141 in the direction indicated by the arrow M2 is limited by the first thrust block 121. Through the cooperation of these two, the root segment 141 can be accurately kept in a straight state like a human finger without the driving force or external force.

[0057] Considering that during actual operation, the robotic arm 300 of Robot 500 will also be raised with the thumb pointing upwards to grasp objects such as water glasses on the table, in this regard, if Figure 14 As shown, in order to prevent the index finger from breaking due to collision with the bottom of the table 600, this embodiment of the application further incorporates a passive swing design for the lateral swing (i.e., the left and right swing mentioned above) of the mechanical finger 100.

[0058] Specifically, please refer to Figure 15 and Figure 16 The figure shows the structure of the transmission connection between the first drive assembly 110 and the bracket 130 from both cross-sectional and three-dimensional perspectives. As shown in the figure, the bracket 130 has a transmission block 132 on one side of the first axis Q1. The first output end 111 of the first drive assembly 110 includes a transmission wheel 115 that is rotatably arranged around the first axis Q1. The transmission wheel 115 can be the first driven wheel 114 mentioned above, which is driven by the first motor 112 through the first driving member 113, or it can be a wheel directly driven by the first motor 112.

[0059] The transmission wheel 115 has a strip-shaped hole 1151 extending circumferentially along its rotational direction on one side located on the first axis Q1. The transmission block 132 is inserted into the strip-shaped hole 1151 and can slide within the stroke limited by the strip-shaped hole 1151. Specifically, in Figure 15 When the inner left side of the strip-shaped hole 1151 is in contact with the transmission block 132, and the side of the finger body 140 facing the thumb is subjected to pressure from the bottom of the tabletop 600, the support 130 generates... Figure 15 When the torque is applied clockwise from a certain perspective, the transmission block 132 can slide a certain distance in the slot 1151 in the clockwise direction, so the finger body 140 can be passively swung at a certain angle to release more of the external force and prevent breakage.

[0060] like Figure 15 and Figure 16 As shown, the mechanical finger 100 also includes a second elastic element 162. One end of the second elastic element 162 is connected to a position on the bracket 130 offset from the first axis Q1, and the other end is fixedly disposed relative to the palm portion 200. In an embodiment where the mechanical finger 100 is configured with a mounting bracket 150, the other end of the second elastic element 162 can be connected to the mounting bracket 150.

[0061] exist Figure 15 From the perspective of the figure, the second elastic element 162 provides a spring force to the bracket 130 to rotate counterclockwise, so that the transmission block 132 can abut against and remain against the left inner wall of the slot 1151 when the bracket 130 is not subject to other external forces. In this state, when the root segment 141 needs to swing clockwise, the transmission wheel 115 is driven to rotate clockwise accordingly, and the transmission block 132 rotates clockwise under the push of the left inner wall of the slot 1151, and the bracket 130 and the root segment 141 swing clockwise together with the transmission block 132. When the root segment 141 needs to swing counterclockwise, the transmission wheel 115 is driven to rotate counterclockwise accordingly, so that the transmission block 132, no longer restricted by the left inner wall of the slot 1151, rotates counterclockwise under the spring force of the second elastic element 162, and the bracket 130 and the root segment 141 swing counterclockwise together with the transmission block 132.

[0062] In addition, such as Figure 14 As shown in the scene, when the finger body 140 is subjected to pressure from the bottom of the tabletop 600, it is mapped to... Figure 15 From the perspective shown, the bracket 130 generates a clockwise rotational torque, and the transmission block 132 correspondingly slides clockwise in the slot 1151, causing the finger body 140 to passively swing under the action of external force. When the external force disappears, the second elastic element 162 will correspondingly drive the finger body 140 to return to its original position. Figure 15 The state shown.

[0063] When the robotic hand 300 uses the robotic finger 100 provided in the embodiments of this application for its four fingers other than the thumb, such as Figure 14 As shown, the index and middle fingers can be configured to passively swing in the direction indicated by the arrows at the corresponding fingertips, so that when the index and middle fingers collide with the bottom of the tabletop 600 or other objects while the thumb is pointing upwards, they can passively swing downwards. Figure 17 As shown, the ring finger and little finger can be set to passively swing in the direction indicated by the corresponding fingertip in the figure, so that when they collide with the bottom of the tabletop 600 above or other objects while the thumb is pointing downwards, the ring finger and little finger can passively swing downwards.

[0064] Regarding the specific structure of the finger body 140, this application further proposes an implementation method; please refer to it again. Figure 5 and further combine Figure 18 and Figure 19 The figures show the exploded structure and cross-sectional structure of the finger body 140, respectively. As shown in the figure, the finger body 140 also includes a first phalanx 142, one end of which is wrapped around a fifth axis ( Figure 18The midpoint line Q5 is rotatably connected to the end of the root segment 141 away from the support 130, and the fifth axis Q5 is parallel to the second axis Q2. A third drive assembly 170 is provided on the root segment 141, and the third output end of the third drive assembly 170 is connected to the first finger segment 142 to drive the first finger segment 142 to rotate relative to the root segment 141 around the fifth axis Q5.

[0065] exist Figure 18 and Figure 19 In the specific embodiment shown, the third drive assembly 170 includes a third motor 171, a third driving member 172, and a third driven wheel 173. The third drive shaft 1711 of the third motor 171 revolves around a sixth axis ( Figure 19 The sixth axis Q6 is perpendicular to the fifth axis Q5 when the midpoint line Q6 rotates. The third driving member 172 is sleeved and fixed to the third drive shaft 1711, and the third driven wheel 173 is sleeved and fixed to the transmission shaft 1731 that rotates around the fifth axis Q5. The third driving member 172 and the third driven wheel 173 are connected in a transmission manner. When the third motor 171 is running, the power of the third drive shaft 1711 is transmitted to the third driven wheel 173 through the third driving member 172, so that the third driven wheel 173 rotates around the fifth axis Q5.

[0066] The third output end includes a second thrust block 174, which is sleeved and fixed on the transmission shaft 1731. The second thrust block 174 and the third driven wheel 173 are coaxially fixed. The second thrust block 174 and the transmission shaft 1731 will rotate synchronously around the fifth axis Q5 with the second thrust block 174.

[0067] One end of the first finger joint 142 is rotatably connected to the drive shaft 1731, meaning the first finger joint 142 can rotate relative to the drive shaft 1731. A force-bearing portion 1421 is formed by bending one side of the portion of the first finger joint 142 connected to the drive shaft 1731. The second thrust block 174 abuts against the force-bearing portion 1421 along its circumferential rotational direction. Based on this, when the third motor 171 drives the second thrust block 174 to rotate around the fifth axis Q5... Figure 19 When rotating in the direction indicated by the upper arrow, the second thrust block 174 pushes the first phalanx 142 to rotate in that direction through the force-receiving part 1421, thereby driving the first phalanx 142 to bend relative to the root phalanx 141.

[0068] A third elastic element 163 connects the first phalanx 142 and the root phalanx 141. Figure 18The third elastic element 163 is a torsion spring sleeved on the drive shaft 1731. The two free ends of the torsion spring are connected to the first finger joint 142 and the root joint 141, respectively. Of course, in other embodiments, the third elastic element 163 can also be a tension spring or rubber band connected between the first finger joint 142 and the root joint 141. The third elastic element 163 is used to provide force to the first finger joint 142 so that the force-bearing part 1421 moves along the... Figure 19 The elastic force that rotates in the opposite direction of the upper arrow allows the force-bearing part 1421 to abut against the second thrust block 174 and remain there without any other external force, thereby keeping the first phalanx 142 and the root phalanx 141 parallel to each other in the default state.

[0069] like Figure 18 As shown, the first finger joint 142 has a clearance notch 1422 at a position opposite to the third driven wheel 173 along its rotational circumference. The clearance notch 1422 is used to avoid the third driven wheel 173 when the first finger joint 142 rotates around the fifth axis Q5 and the angle between it and the root joint 141 decreases, so that the first finger joint 142 can bend a larger range relative to the root joint 141.

[0070] It should be noted that the way the second thrust block 174 drives the first finger joint 142 to bend and rotate is the same as the way the first thrust block 121 drives the root joint 141 to bend and rotate. In the embodiment shown in the attached drawings, the difference between the second thrust block 174 and the first thrust block 121 is that the second thrust block 174 is fixed coaxially with the third driven wheel 173 to realize the transmission of power from the third driven wheel 173 to the second thrust block 174. Figure 10 As shown, the first thrust block 121 is integrally formed with or fixed to the second driven wheel 124 to realize the transmission of power from the second driven wheel 124 to the first thrust block 121. This difference is mainly based on considerations such as the size of the corresponding joint position and the rotation range.

[0071] In addition, the curved surface 1211 on the first thrust block 121 is preferably mirror-symmetrical with respect to the vertical plane where the first axis Q1 is located, so as to ensure that when the root section 141 is in a bent state, the bracket 130 can drive the root section 141 to swing well around the second axis Q2 in both opposite directions (left and right directions), and the symmetrical surface of the curved surface 1211 is also more convenient to process.

[0072] The first thrust block 121 should also be as close as possible to the first axis Q1 to ensure that when the support 130 drives the root segment 141 to swing, the distance of sliding friction between the root segment 141 and the first thrust block 121 is as small as possible, thereby reducing the resistance encountered by the root segment 141 when it swings.

[0073] It is understandable that, without taking the above conditions into consideration, the first thrust block 121 can also adopt the same setting and transmission method as the second thrust block 174, and vice versa.

[0074] Similar to the passive bending of the root segment 141 under stress mentioned above, since the second thrust block 174 only contacts the force-bearing part 1421 on one side along its rotational circumference, when the back of the first finger segment 142 is bent as described above... Figure 20 When the mechanical finger 100 collides with the bottom of the tabletop 600, the first phalanx 142 can bend downward relative to the root phalanx 141 to avoid the tabletop 600 and prevent the mechanical finger 100 from breaking or being damaged. When the first phalanx 142 is no longer subjected to external force, the third elastic element 163 can drive the first phalanx 142 to automatically return to the straightened state and maintain it.

[0075] Please refer to it again. Figure 5 and further combine Figure 21 The finger body 140 also includes a second phalanx 143, which is oriented around a seventh axis Q7. Figure 21 The midpoint line Q7 is rotatably connected to the end of the first phalanx 142 that is away from the root phalanx 141, and the seventh axis Q7 is parallel to the fifth axis Q5.

[0076] The mechanical finger 100 also includes a fourth drive assembly 180, which is fixedly mounted relative to the palm portion 200. A fourth output end of the fourth drive assembly 180 is connected to a second phalanx 143 via a tendon cord 181. The fourth output end is used to pull the second phalanx 143 along a third direction via the tendon cord 181. Figure 21 Rotates in the direction indicated by the arrow at the top. A fourth elastic element 164 (which can be...) connects the second knuckle 143 and the first knuckle 142. Figure 21 The torsion spring shown could also be a tension spring, etc.), the fourth elastic element 164 is used to provide the second phalanx 143 with a force along the fourth direction (and with). Figure 21 The elastic force that rotates (in the opposite direction of the top arrow).

[0077] The fourth drive component 180 adopts a method of pulling the second phalanx 143 to rotate and bend via the tendon cord 181. On the one hand, considering that the internal space of the first phalanx 142 is not large enough to accommodate the fourth drive component 180, the tendon cord 181 transmission method allows the fourth drive component 180 to be placed in an unrestricted position, and the fourth drive component 180 can be placed within the palm 200. On the other hand, the tendon cord 181 transmission allows the second phalanx 143 to also be passively bent.

[0078] like Figure 22As shown, when the back of the second knuckle 143 collides with the bottom of the tabletop 600, the second knuckle 143 can overcome the elastic force of the fourth elastic member 164 along the... Figure 21 The tendon 181 bends in the direction indicated by the arrow at the top, and the tendon 181 relaxes accordingly, thus avoiding the tabletop 600. After the avoidance is completed, the second phalanx 143 returns to its original straight position under the elastic force of the fourth elastic element 164, and the tendon 181 is tightened again.

[0079] To ensure that the fourth drive assembly 180 is arranged along the extension direction of the finger body 140, and to ensure that the palm portion 200 can accommodate the fourth drive assembly 180 of multiple mechanical fingers 100, such as... Figure 21 As shown, the fourth drive assembly 180 may include a fourth motor 182, a drive wheel 183, and at least one tensioning wheel 184. The fourth drive shaft of the fourth motor 182 is arranged around a ninth axis ( Figure 21 The midpoint line Q9 rotates, and the ninth axis Q9 is perpendicular to both the first axis Q1 and the second axis Q2. The drive wheel 183 is sleeved and fixed on the fourth drive shaft. The tension wheel 184 is disposed between the drive wheel 183 and the second phalanx 143. One end of the tendon rope 181 is fixed and wraps around the drive wheel 183, and the other end passes through the tension wheel 184 and is fixed to the second phalanx 143.

[0080] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application. In particular, as long as there is no structural conflict, the various technical features mentioned in the various embodiments can be combined in any way.

Claims

1. A mechanical finger, characterized in that, An application to a robotic hand, the robotic hand having a palm portion, characterized in that the robotic finger comprises: a first driving component, a second driving component, a support, and a finger body; Both the first driving component and the second driving component are fixed relative to the palm portion, the bracket is rotatably disposed about a first axis, and the first output end of the first driving component is connected to the bracket to drive the bracket to rotate about the first axis; The finger body includes a root segment, one end of which is rotatably connected to the bracket about the second axis, and the second axis is perpendicular to the first axis. The second output end of the second drive assembly includes a first thrust block rotatably disposed about a third axis, the third axis being collinear with or parallel to the second axis, and the first thrust block abutting against the root segment on at least one side along its circumferential rotation direction, the first thrust block being used to drive the root segment to rotate relative to the bracket about the second axis; The side of the first thrust block that abuts against the root node is a convex curved surface.

2. The mechanical finger according to claim 1, characterized in that, The support is U-shaped, and one end of the root segment is rotatably connected to the two free ends of the support around the second axis. The first thrust block is disposed between the two free ends and extends into the interior of the root segment, abutting against the inner wall of the root segment.

3. The mechanical finger according to claim 1, characterized in that, The first thrust block abuts against the root segment only on one side along its rotational circumference, and the first thrust block is used to push the root segment to rotate in the first direction; A first elastic element is connected between the root segment and the support. The first elastic element provides a spring force to the root segment, causing it to rotate in a second direction, which is opposite to the first direction.

4. The mechanical finger according to claim 3, characterized in that, The second drive assembly includes a second motor, a second driving element, and a second driven wheel; The second drive shaft of the second motor rotates about a fourth axis, which is perpendicular to both the first axis and the second axis. The second driven wheel is rotatably arranged about the third axis, and the first thrust block is formed by a protrusion on one side of the second driven wheel along the radial direction; The second driving component is sleeved and fixed on the second drive shaft, and meshes with the second driven wheel for transmission; The second motor is provided with a protective cover, which covers the second driving member. The first thrust block is located between the protective cover and the root section. The side of the protective cover facing the first thrust block forms a limiting surface that restricts the rotational stroke of the first thrust block.

5. The mechanical finger according to claim 1, characterized in that, The bracket has a transmission block on one side of the first axis. The first output end of the first drive assembly includes a transmission wheel that is rotatably arranged around the first axis. The transmission wheel has a strip-shaped hole extending along its rotational circumference on one side of the first axis. The transmission block is inserted into the strip-shaped hole and can slide within the stroke limited by the strip-shaped hole. The mechanical finger also includes a second elastic element, one end of which is connected to the bracket at a position off the first axis, and the other end is fixed relative to the palm. The second elastic element is used to provide the bracket with an elastic force that causes the transmission block to abut against the inner wall of one side of the strip hole.

6. The mechanical finger according to claim 1, characterized in that, The finger body also includes a first phalanx, one end of which is rotatably connected to the end of the root phalanx away from the support about a fifth axis, and the fifth axis is parallel to the second axis. A third driving component is provided on the root segment, and the third output end of the third driving component is connected to the first finger joint. The third output end is used to drive the first finger joint to rotate about the fifth axis relative to the root segment.

7. The mechanical finger according to claim 6, characterized in that, The third drive assembly includes a third motor, a third driving member, and a third driven wheel. The third drive shaft of the third motor rotates around a sixth axis, which is perpendicular to the fifth axis. The third driving member is sleeved and fixed to the third drive shaft, and the third driven wheel is sleeved and fixed to a transmission shaft that rotates around the fifth axis. The third driving member and the third driven wheel are connected in a transmission manner. The third output end includes a second thrust block, which is sleeved and fixed on the transmission shaft; One end of the first finger joint is rotatably connected to the drive shaft. One side of the portion of the first finger joint connected to the drive shaft is bent to form a force-bearing part. The second thrust block abuts against the force-bearing part on one side along its rotational circumference. A third elastic element is connected between the first phalanx and the root phalanx. The third elastic element is used to provide elastic force to the first phalanx so that the force-receiving part abuts against the second thrust block. The first phalanx has a clearance notch at a position opposite to the third driven wheel along its rotational circumference.

8. The mechanical finger according to claim 6, characterized in that, The finger body also includes a second phalanx, which is rotatably connected to the end of the first phalanx away from the root phalanx about a seventh axis, and the seventh axis is parallel to the fifth axis; The mechanical finger also includes a fourth drive assembly, which is fixed relative to the palm. The fourth output end of the fourth drive assembly is connected to the second phalanx via a tendon cord, and the fourth output end is used to pull the second phalanx to rotate in a third direction via the tendon cord. A fourth elastic element is connected between the second phalanx and the first phalanx. The fourth elastic element is used to provide the second phalanx with a spring force that rotates in a fourth direction, which is opposite to the third direction.

9. A robotic arm, characterized in that, It includes a palm portion and a mechanical finger as described in any one of claims 1-8, the mechanical finger being disposed on the palm portion.

10. A robot, characterized in that, It includes a robot body and a robotic arm as described in claim 9, wherein the robotic arm is disposed on the robot body.

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