Finger mechanism and robot

Abstract

The utility model discloses a finger mechanism and a robot, relates to the technical field of robots, and solves the technical problems that in the prior art, a finger mechanism hinders bending of a palm of a mechanical arm, and the palm is difficult to be matched with the finger mechanism to grasp the finger mechanism, the finger mechanism comprises a rigid driving assembly, a connecting rod assembly and a knuckle assembly, the connecting rod assembly is connected with the rigid driving assembly and the knuckle assembly, the rigid driving assembly is driven to drive the knuckle assembly to grab an object to be grabbed through the connecting rod assembly, and the rigid driving assembly, the connecting rod assembly and the knuckle assembly are arranged in the first direction and in the second direction. The connecting position of the connecting rod assembly and the rigid driving assembly is higher than the connecting position of the connecting rod assembly and the knuckle assembly so that the rigid driving assembly can be driven to deviate relative to the knuckle assembly in the second direction, the second direction is the direction away from the knuckle assembly, and an included angle is formed between the first direction and the second direction.

Description

Technical Field

[0001] This application relates to, but is not limited to, the field of robotics, and particularly relates to a finger mechanism and a robot. Background Art

[0002] With the improvement of the degree of intelligence, people set a manipulator on a robot to grasp an object to be grasped.

[0003] The manipulator includes a palm and a finger mechanism connected to the palm. However, due to problems in the structure of the finger mechanism itself, the bending of the palm is hindered, resulting in a poor bending degree of the palm and a high difficulty in the cooperation between the palm and the finger mechanism to grasp the object to be grasped. Summary of the Utility Model

[0004] This application provides a finger mechanism and a robot. The finger mechanism improves the bending degree of the palm, thereby reducing the difficulty of the cooperation between the palm and the finger mechanism to grasp the object to be grasped.

[0005] To achieve the above object, the technical solution of the embodiment of this application is realized as follows:

[0006] In a first aspect, this application provides a finger mechanism. The finger mechanism includes a rigid driving component, a link component, and a phalanx component. Among them, the link component is respectively connected to the rigid driving component and the phalanx component. The rigid driving component drives the phalanx component to grasp the object to be grasped through the link component. The rigid driving component, the link component, and the phalanx component are arranged along a first direction. Along a second direction, the connection position of the link component and the rigid driving component is higher than the connection position of the link component and the phalanx component, so that the rigid driving component is offset relative to the phalanx component along the second direction. The second direction is the direction away from the phalanx component, and the first direction and the second direction are perpendicular.

[0007] For the finger mechanism provided by the present application, along the second direction, since the connection position of the link assembly and the rigid drive assembly is higher than the connection position of the link assembly and the phalanx assembly, the driving rigid assembly is offset relative to the phalanx assembly along the second direction. When the phalanx assembly is located on the palm side of the manipulator, the rigid drive assembly is offset in the direction away from the palm side. In other words, along the second direction, there is an offset gap between the rigid drive assembly and the palm. During the process of the palm and the finger mechanism cooperating to grasp the object to be grasped, the rigid drive assembly hinders the bending of the palm to a lesser extent, thereby reducing the difficulty of the palm and the finger mechanism cooperating to grasp. Compared with the related art, in which the rigid drive assembly fits with the palm and hinders the bending of the palm, resulting in difficulty in the palm and the finger mechanism grasping and cooperating, the present application makes the connection position of the link assembly and the rigid drive assembly higher than the connection position of the link assembly and the phalanx assembly along the second direction, and the rigid drive assembly is offset relative to the phalanx assembly along the second direction, thereby achieving the technical effect of increasing the bending degree of the palm and further reducing the difficulty of the palm and the finger mechanism cooperating to grasp the object to be grasped.

[0008] In an implementable manner provided by the present application, the finger mechanism further includes a fixing plate. The protective part of the fixing plate is fixedly connected to the side of the rigid drive assembly close to the phalanx assembly, and the connecting part of the fixing plate is connected to the link assembly. Along the second direction, the phalanx assembly and the side of the protective part close to the phalanx assembly enclose an offset space for placing the target object.

[0009] In an implementable manner provided by the present application, the rigid drive assembly includes a connection seat and a power push rod group. The connection seat is fixed to one side of the protective part along the second direction. A sliding groove group is arranged on the connection seat, and the power push rod group is located in the sliding groove group and slides relative to the sliding groove group to drive the phalanx assembly to grasp the object to be grasped.

[0010] In an implementable manner provided by the present application, the power push rod group includes a first power push rod, and the sliding groove group includes a first sliding groove extending along the first direction arranged on the connection seat. The first power push rod is arranged in the first sliding groove. The link assembly includes a first link and a second link, and the phalanx assembly includes a proximal phalanx. The first link is connected to the first power push rod through a first rotating shaft and is connected to both sides of the proximal phalanx along the third direction through a second rotating shaft. The second link is connected to both sides of the proximal phalanx along the third direction through a third rotating shaft, and the second link is connected to the connecting part through a fourth rotating shaft; wherein, the third direction is perpendicular to both the first direction and the second direction, the axial directions of the first rotating shaft, the second rotating shaft, and the third rotating shaft are parallel to the third direction, and the axial direction of the fourth rotating shaft is parallel to the second direction.

[0011] In an implementable manner provided by the present application, the power push rod group includes two first power push rods, the sliding groove group includes first sliding grooves symmetrically arranged on the connecting seat along the third direction, the two first power push rods are respectively arranged in the two first sliding grooves, the two first connecting rods are respectively connected to the two first power push rods through first rotating shafts, and are respectively connected to both sides of the proximal phalanx along the third direction through second rotating shafts, the second connecting rod is connected to both sides of the proximal phalanx along the third direction through a third rotating shaft, and the second connecting rod is connected to the connecting fixing plate through a fourth rotating shaft.

[0012] In an implementable manner provided by the present application, the outer contours of the first rotating shaft and the second rotating shaft are both spherical.

[0013] In an implementable manner provided by the present application, the power push rod group includes a second power push rod, the sliding groove group includes a second sliding groove extending along the first direction and arranged between the two first sliding grooves symmetrically on the connecting seat. Along the second direction, the first sliding groove is higher than the first sliding groove. The connecting rod assembly includes a third connecting rod and a fourth connecting rod. The third connecting rod is connected to the second power push rod through a fifth rotating shaft, the third connecting rod is connected to the second connecting rod through a sixth rotating shaft. The outer contours of the fifth rotating shaft and the sixth rotating shaft are both spherical. The third connecting rod is connected to the fourth connecting rod through a seventh rotating shaft. The proximal phalanx forms a first accommodating cavity with an opening arranged along the first direction. The third connecting rod and the fourth connecting rod are located in the first accommodating cavity. The phalanx assembly includes a first middle phalanx, a second middle phalanx and a distal phalanx. The first middle phalanx is connected to both sides of the proximal phalanx along the third direction through an eighth rotating shaft, the first middle phalanx is connected to both sides of the distal phalanx along the third direction through a ninth rotating shaft. The first middle phalanx forms a second accommodating cavity with an opening arranged along the first direction. At least a part of the second middle phalanx is located in the second accommodating cavity. The second middle phalanx is connected to both sides of the proximal phalanx along the third direction through a tenth rotating shaft. The fourth connecting rod is connected to the second middle phalanx through an eleventh rotating shaft. The second middle phalanx is connected to both sides of the distal phalanx along the third direction through a twelfth rotating shaft;

[0014] Wherein, the axial directions of the fifth rotating shaft, the sixth rotating shaft, the seventh rotating shaft, the eighth rotating shaft, the ninth rotating shaft, the tenth rotating shaft, the eleventh rotating shaft and the twelfth rotating shaft are all the same as the third direction.

[0015] In an implementable manner provided by the present application, the first sliding groove includes a first limiting portion arranged towards the phalanx assembly. When the first power push rod slides relative to the first sliding groove, the first limiting portion abuts against one side of the first power push rod towards the phalanx assembly. The second sliding groove includes a second limiting portion arranged along the second direction. When the second power push rod slides relative to the second sliding groove, the second limiting portion abuts against one side of the second power push rod along the second direction.

[0016] In an implementable manner provided by the present application, the finger mechanism further includes an elastic pre-tightening member, the first end of the elastic pre-tightening member is fixed on the third link, and the second end of the elastic pre-tightening member is fixed on the fourth link.

[0017] In a second aspect, the present application provides a robot, which includes the finger mechanism according to any one of the first aspect, a mechanical hand, and a robotic arm. Among them, the mechanical hand forms a receiving cavity, the knuckle assembly of the finger mechanism is located outside the receiving cavity, and the rigid driving assembly is disposed inside the receiving cavity.

[0018] The robot provided by the present application includes the finger mechanism according to any one of the first aspect. Since the driving rigid assembly in the finger mechanism is offset in a direction away from the knuckle assembly relative to the knuckle assembly, and the knuckle assembly and the palm are on the same side. In other words, the driving rigid assembly is offset in a direction away from the palm relative to the knuckle assembly, resulting in an increase in the distance between the driving rigid assembly and the palm. Furthermore, the degree to which the driving rigid assembly hinders the bending of the palm is reduced, making the bending degree of the palm higher. At this time, when the robot controls the mechanical hand to grasp an object to be grasped, the palm can cooperate with the fingers to bend to a greater degree, so as to provide more direction-limiting for the object to be grasped, thereby enabling the robot to grasp the object to be grasped more accurately. Description of the Drawings

[0019] Figure 1 It is a schematic structural diagram of the robot provided by the embodiment of the present application;

[0020] Figure 2 It is a schematic structural diagram of the finger mechanism in the robot provided by the embodiment of the present application without including the proximal phalanx;

[0021] Figure 3 It is a schematic structural diagram of the driving assembly in the finger mechanism of the robot provided by the embodiment of the present application;

[0022] Figure 4 It is a schematic structural diagram of the finger mechanism in the robot provided by the embodiment of the present application in which only the proximal phalanx is bent;

[0023] Figure 5 It is a schematic structural diagram of the finger mechanism in the robot provided by the embodiment of the present application in which only the proximal phalanx deflects and swings;

[0024] Figure 6 It is a schematic structural diagram of the finger mechanism in the robot provided by the embodiment of the present application in which the proximal phalanx, the first middle phalanx, the second middle phalanx, and the distal phalanx are all bent;

[0025] Figure 7 It is a mechanical analysis diagram of the finger mechanism in the robot provided by the embodiment of the present application and the finger mechanism in the related art.

[0026] Reference Signs

[0027] 1 - Manipulator; 11 - Fixed plate; 12 - Finger mechanism; 121 - Rigid drive assembly; 1211 - Connecting seat; 12111 - First sliding groove; 12112 - Second sliding groove; 1212 - Power push rod group; 12121 - First power push rod; 12122 - Second power push rod; 122 - Link assembly; 1221 - First link; 1222 - Second link; 1223 - Third link; 1224 - Fourth link; 123 - Finger joint assembly; 1231 - Proximal finger joint; 1232 - First middle finger joint; 1233 - Second middle finger joint; 1234 - Distal finger joint; 13 - Elastic preloading member; 14 - First rotating shaft; 15 - Second rotating shaft; 16 - Third rotating shaft; 17 - Fourth rotating shaft; 18 - Fifth rotating shaft; 19 - Sixth rotating shaft; 20 - Seventh rotating shaft; 21 - Eighth rotating shaft; 22 - Ninth rotating shaft; 23 - Tenth rotating shaft; 24 - Eleventh rotating shaft; 25 - Twelfth rotating shaft; A - First direction; B - Second direction; C - Third direction. Detailed implementation manners

[0028] It should be noted that, without conflict, the embodiments in the present application and the technical features in the embodiments can be combined with each other. The detailed description in the specific implementation manners should be understood as an explanatory illustration of the gist of the present application and should not be regarded as an improper limitation to the present application.

[0029] To make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the following will further describe the specific technical solutions of the present application in detail with reference to the accompanying drawings in the embodiments of the present application. The following embodiments are used to illustrate the present application but are not used to limit the scope of the present application.

[0030] In the embodiments of the present application, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the embodiments of the present application, unless otherwise specified, the meaning of "a plurality" is two or more.

[0031] In addition, in the embodiments of the present application, orientation terms such as "upper", "lower", "left" and "right" are defined relative to the orientation of the components shown in the accompanying drawings. It should be understood that these directional terms are relative concepts, and they are used for relative description and clarification, and they may change accordingly with the change of the orientation of the components placed in the accompanying drawings.

[0032] In the embodiments of the present application, unless otherwise clearly specified and limited, the term "connection" should be understood in a broad sense. For example, "connection" may be a fixed connection, a detachable connection, or integrated; it may be directly connected or indirectly connected through an intermediate medium.

[0033] In the embodiments of the present application, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising a..." does not exclude the presence of additional identical elements in the process, method, article or device comprising that element.

[0034] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be construed as being more preferred or having more advantages than other embodiments or designs. Rather, the use of words such as "exemplary" or "for example" is intended to present relevant concepts in a specific manner.

[0035] With the rapid development of technology, intelligent robots that replace humans in performing complex and repetitive tasks have emerged as the times require. The embodiments of the present application provide a robot, which can be a humanoid robot simulating a human form, or a plant robot simulating a plant, such as a radish robot. Here, it should be added that the embodiments of the present application do not limit the types of robots.

[0036] Specifically, referring to Figure 1 and Figure 2 , the embodiments of the present application provide a robot, which may include a robotic arm and a robotic hand 1 connected to the robotic arm. At the same time, the robot may further include a finger mechanism 12. The robotic hand 1 forms a receiving cavity, the phalanx assembly 123 of the finger mechanism 12 is located outside the receiving cavity, and a rigid drive assembly 121 is disposed in the receiving cavity to grasp an object to be grasped to meet various requirements in the application scenario.

[0037] On this basis, an embodiment of the present application further provides a finger mechanism 12. The finger mechanism 12 includes a rigid driving component 121, a connecting rod component 122, and a phalanx component 123. Among them, the connecting rod component 122 is respectively connected to the rigid driving component 121 and the phalanx component 123. The rigid driving component 121 drives the phalanx component 123 to grip an object to be gripped through the connecting rod component 122. The rigid driving component 121, the connecting rod component 122, and the phalanx component 123 are arranged along a first direction A. Along a second direction B, the connection position of the connecting rod component 122 and the rigid driving component 121 is higher than the connection position of the connecting rod component 122 and the phalanx component 123, so that the rigid driving component 121 is offset relative to the phalanx component 123 along the second direction B. The second direction B is the direction away from the phalanx component 123, and the first direction A and the second direction B form an angle.

[0038] In an embodiment of the present application, the rigid driving component 121, the connecting rod component 122, and the phalanx component 123 are arranged along the first direction A. Here, if the first direction A is the same as the extension direction of the plane where the palm is located, the finger mechanism 12 can also be called a metacarpophalangeal mechanism. Then, the second direction B away from the phalanx component 123 can be the direction from the palm to the back of the hand; if the first direction A is perpendicular to the extension direction of the plane where the palm is located, the finger mechanism 12 can also be called a thumb mechanism. Then, the direction away from the phalanx component 123 can be the direction from the palm to the wrist. Here, it should be added that the finger mechanism 12 can be a metacarpophalangeal mechanism or a thumb mechanism.

[0039] On this basis, only one finger mechanism 12 can be provided on the manipulator 1, or multiple finger mechanisms 12 can be provided. In the case of providing multiple finger mechanisms 12, each finger mechanism 12 can be of the same type, such as a metacarpophalangeal mechanism, or of different types, such as a metacarpophalangeal mechanism and a thumb mechanism. In this regard, the embodiments of the present application do not make any restrictions. Further, if multiple finger mechanisms 12 are provided, one of the finger mechanisms 12 can be a thumb mechanism, and the rest are metacarpophalangeal mechanisms. In an implementable manner provided by the embodiment of the present application, four finger mechanisms 12 are provided on the manipulator 1, one of the finger mechanisms 12 is a thumb mechanism, and the other three finger mechanisms 12 are metacarpophalangeal mechanisms. Similarly, for the case of providing five finger mechanisms 12, the example of providing four finger mechanisms 12 can also be referred to, so that one finger mechanism 12 is a thumb mechanism, and the other four finger mechanisms 12 are metacarpophalangeal mechanisms.

[0040] In the embodiment of the present application, the link assembly 122 is respectively connected to the rigid driving assembly 121 and the knuckle assembly 123. The rigid driving assembly 121 drives the knuckle assembly 123 to grasp an object to be grasped through the link assembly 122. Here, the knuckle assembly 123 can have one degree of freedom. For example, the knuckle assembly 123 can be bent; of course, the knuckle assembly 123 can also have multiple degrees of freedom. For example, the knuckle assembly 123 can be bent and can swing. In this regard, the embodiment of the present application does not make any restrictions. In an implementable manner provided by the embodiment of the present application, the knuckle assembly 123 can have three degrees of freedom, including the bendability and swingability of the proximal knuckle 1231 in the knuckle assembly 123 and the bendability of the distal knuckle 1234.

[0041] In the embodiment of the present application, the link assembly 122 is respectively connected to the rigid driving assembly 121 and the knuckle assembly 123. The rigid driving assembly 121 drives the knuckle assembly 123 to grasp an object to be grasped through the link assembly 122. Here, the driving manner in which the rigid driving assembly 121 drives the knuckle assembly 123 to grasp an object to be grasped through the link assembly 122 can be hydraulic driving. Correspondingly, the rigid driving assembly 121 can be a hydraulic cylinder; the driving manner in which the rigid driving assembly 121 drives the knuckle assembly 123 to grasp an object to be grasped through the link assembly 122 can also be electric driving. Correspondingly, the rigid driving assembly 121 can be a power push rod. Here, it should be added that the power of the power push rod is electricity. Of course, the rigid driving assembly 121 can also drive the knuckle assembly 123 to grasp an object to be grasped in other driving manners. In this regard, the embodiment of the present application does not make any restrictions.

[0042] In the embodiment of the present application, the link assembly 122 is respectively connected to the rigid driving assembly 121 and the knuckle assembly 123. The rigid driving assembly 121 drives the knuckle assembly 123 to grasp an object to be grasped through the link assembly 122. Here, the link assembly 122 can be a two-link, a three-link, etc. In this regard, the embodiment of the present application does not make any restrictions. In an implementable manner provided by the embodiment of the present application, the link assembly 122 is a six-link.

[0043] The finger mechanism 12 provided in the embodiment of the present application, along the second direction B, since the connection position of the link assembly 122 and the rigid drive assembly 121 is higher than the connection position of the link assembly 122 and the phalanx assembly 123, so that the driving rigid assembly is biased relative to the phalanx assembly 123 along the second direction B. When the phalanx assembly 123 is located on the palm side of the manipulator 1, the rigid drive assembly 121 is biased in the direction away from the palm side, that is, along the second direction B, there is a biasing gap between the rigid drive assembly 121 and the palm. During the process of the palm and the finger mechanism 12 cooperating to grasp the object to be grasped, the rigid drive assembly 121 hinders the bending of the palm to a lesser extent, thereby reducing the difficulty of the palm and the finger mechanism 12 cooperating to grasp. Here, it should be added that the bending of the palm means that with the extension plane of the palm plane as the reference plane, a part of the palm bends in the direction away from the reference plane, and the direction of a part of the palm away from the reference plane is opposite to the direction of the palm towards the back of the hand. Compared with the related art, in which the rigid drive assembly 121 is in contact with the palm and hinders the bending of the palm, resulting in difficulty in the cooperation between the palm and the finger mechanism 12 for grasping, in this application, by making the connection position of the link assembly 122 and the rigid drive assembly 121 higher than the connection position of the link assembly 122 and the phalanx assembly 123 along the second direction B, the rigid drive assembly 121 is biased relative to the phalanx assembly 123 along the second direction B, thereby achieving the technical effect of increasing the bending degree of the palm and further reducing the difficulty of the palm and the finger mechanism 12 cooperating to grasp the object to be grasped.

[0044] Referring to Figure 1 、 Figure 2 and Figure 3 In addition, the embodiment of the present application also provides a finger mechanism 12. The finger mechanism 12 further includes a fixing plate 11. The protective part of the fixing plate 11 is fixedly connected to the side of the rigid drive assembly 121 close to the phalanx assembly 123, and the connecting part of the fixing plate 11 is connected to the link assembly 122. Along the second direction B, the phalanx assembly 123 and the side of the protective part close to the phalanx assembly 123 enclose a biasing space for placing the target object.

[0045] In the embodiment of the present application, the protective part of the fixing plate 11 is fixedly connected to the side of the rigid drive assembly 121 close to the phalanx assembly 123, and the connecting part of the fixing plate 11 is connected to the link assembly 122. And the rigid drive assembly 121 is also connected to the link assembly 122. At this time, the fixing plate 11, the link assembly 122 and the rigid drive assembly 121 are adjacent to each other in pairs, making the finger mechanism 12 more stable.

[0046] In the embodiment of the present application, the protective part of the fixing plate 11 is fixedly connected to the side of the rigid driving assembly 121 close to the finger joint assembly 123. Here, "fixedly connected" means fixed connection, that is, the relative position does not change. The fixedly connected manner can be non-detachable connection, such as welding, such as bonding. Of course, the fixedly connected manner can also be detachable connection, such as screw connection, such as snap connection. In this regard, the embodiment of the present application does not limit. In an implementable manner provided by the embodiment of the present application, the protective part of the fixing plate 11 is welded to the side of the rigid driving assembly 121 close to the finger joint assembly 123.

[0047] In the embodiment of the present application, the connecting part of the fixing plate 11 is connected to the connecting rod assembly 122. Here, the connection manner between the connecting part of the fixing plate 11 and the connecting rod assembly 122 is not limited. In other words, the position between the connecting part and the connecting rod assembly 122 can change. For example, the connecting rod assembly 122 can rotate relative to the connecting part. For example, the connecting rod assembly 122 can translate relative to the connecting part. In this regard, the embodiment of the present application does not limit. In an implementable manner provided by the embodiment of the present application, the connecting rod assembly 122 can rotate relative to the connecting part.

[0048] In the embodiment of the present application, the offset space is also for placing a target object. Here, the target object can be a sensor that can enable the manipulator 1 to interact and feedback more and more intelligently with the outside world, facilitating the manipulator 1 to grasp the object to be grasped more accurately, thereby improving the intelligent level of the manipulator 1. Of course, the target object can also be other components. In this regard, the embodiment of the present application does not limit. In an implementable manner provided by the embodiment of the present application, the offset space is used to place an information acquisition device for acquiring the information to be grasped of the object to be grasped.

[0049] The finger mechanism 12 provided by the embodiment of the present application forms an offset space by surrounding the side of the finger joint assembly 123 close to the protective part with the finger joint assembly 123. The offset space is used to place a target object to meet the different needs of users.

[0050] Refer to Figure 1 、 Figure 2 and Figure 3 , the embodiment of the present application provides a finger mechanism 12. The rigid driving assembly 121 includes a connecting seat 1211 and a power push rod group 1212. The connecting seat 1211 is fixed to the side of the protective part along the second direction B. A sliding groove group is provided on the connecting seat 1211. The power push rod group 1212 is located in the sliding groove group and slides relative to the sliding groove group to drive the finger joint assembly 123 to grasp the object to be grasped.

[0051] In the embodiment of the present application, the rigid driving assembly 121 may further include a feedback sensor. The feedback sensor may be provided on the power push rod group 1212 to obtain the specific and accurate position of the power push rod group 1212 in the sliding groove group.

[0052] In the finger mechanism 12 provided by the embodiment of the present application, by arranging the power push rod group 1212 in the sliding groove and sliding relative to the sliding groove group, during the process of the finger joint assembly 123 grasping the object to be grasped, it has higher stiffness and bending resistance, improving the durability of the power push rod group 1212 and the stability and accuracy of the finger joint assembly 123. In an implementable manner provided by the embodiment of the present application, the finger joint assembly 123 can achieve a horizontal fingertip contact force of 15.3 N.

[0053] Referring to Figure 1 、 Figure 2 、 Figure 3 and Figure 4 ,the embodiment of the present application provides a finger mechanism 12. The power push rod group 1212 includes a first power push rod 12121. The sliding groove group includes a first sliding groove 12111 arranged on the connecting seat 1211 and extending along the first direction A. The first power push rod 12121 is arranged in the first sliding groove 12111. The link assembly 122 includes a first link 1221 and a second link 1222. The finger joint assembly 123 includes a proximal finger joint 1231. The first link 1221 is connected to the first power push rod 12121 through a first rotating shaft 14, and is connected to both sides of the proximal finger joint 1231 along the third direction through a second rotating shaft 15. The second link 1222 is connected to both sides of the proximal finger joint 1231 along the third direction through a third rotating shaft 16. The second link 1222 is connected to the connecting portion through a fourth rotating shaft 17. Wherein, the third direction is perpendicular to both the first direction A and the second direction B. The axial directions of the first rotating shaft 14, the second rotating shaft 15, and the third rotating shaft 16 are parallel to the third direction, and the axial direction of the fourth rotating shaft 17 is parallel to the second direction B.

[0054] In the embodiment of the present application, two first sliding grooves 12111 can be symmetrically arranged on the connecting seat 1211 along the third direction. The power push rod group 1212 includes two first power push rods 12121, and the two first power push rods 12121 are respectively arranged in the first sliding grooves 12111 one by one to improve the sliding stability.

[0055] In the embodiment of the present application, the connection referred to by the first rotating shaft 14 means connecting through the first rotating shaft and the first rotating shaft hole. Of course, it can also be connected through the first rotating shaft and the first bearing hole. The explanations for the connection methods of the corresponding second rotating shaft 15, third rotating shaft 16, and fourth rotating shaft 17 are the same. In an implementable manner provided by the embodiment of the present application, only the connection method of the fourth rotating shaft 17 selects the method of equipping the fourth rotating shaft with the fourth rotating shaft hole.

[0056] Specifically, when the two first power push rods 12121 are pushed out simultaneously in the same direction at the same speed, the third rotating shaft 16 can rotate clockwise or counterclockwise, thereby driving the proximal phalanx 1231 to bend, similar to the bending of the first phalanx of a human, so as to achieve the degree of freedom of bending of the proximal phalanx 1231 in the finger mechanism 12. In an implementable manner provided by the present application, the rotation angle is from 0 degrees to 90 degrees.

[0057] In an example, the two first power push rods 12121 are pushed out simultaneously in the direction close to the proximal phalanx 1231 at the same speed. At this time, the proximal phalanx 1231 rotates clockwise around the axis of the third rotating shaft 16, thereby driving the proximal phalanx 1231 to bend along the side close to the finger part.

[0058] An embodiment of the present application provides a finger mechanism 12. The power push rod group 1212 includes two first power push rods 12121. The sliding groove group includes first sliding grooves 12111 symmetrically arranged along the third direction on the connecting seat 1211. The two first power push rods 12121 are respectively arranged in the two first sliding grooves 12111. The two first connecting rods 1221 are respectively connected to the two first power push rods 12121 through the first rotating shaft 14, and are respectively connected to both sides of the proximal phalanx 1231 along the third direction through the second rotating shaft 15. The second connecting rod 1222 is connected to both sides of the proximal phalanx 1231 along the third direction through the third rotating shaft 16. The second connecting rod 1222 is connected to the fixing plate 11 through the fourth rotating shaft 17.

[0059] Refer to Figure 1 、 Figure 2 、 Figure 3 and Figure 5 According to, an embodiment of the present application provides a finger mechanism 12. The outer contours of the first rotating shaft 14 and the second rotating shaft 15 are both spherical.

[0060] As can be seen from the above embodiments, the connection of the first rotating shaft 14 refers to the connection by means of the first rotating shaft mating with the first rotating shaft hole. The outer contour of the first rotating shaft 14 being spherical means that the outer contour of the first rotating shaft 14 adapted to the first rotating shaft hole is spherical, so that the two first connecting rods 1221 are respectively spherically hinged to the two first power push rods 12121. For example, when the first power push rod 12121 is provided with the first rotating shaft 14 and the first connecting rod 1221 is provided with the first rotating shaft hole, and the spherical shape means that the diameter in any direction is the same, the first connecting rod 1221 provided with the first rotating shaft hole can deflect in any direction of the spherical shape.

[0061] Similarly, as can be seen from the above embodiments, the connection of the second rotating shaft 15 refers to the connection by means of the second rotating shaft 15 mating with the second rotating shaft hole. The outer contour of the second rotating shaft 15 being spherical means that the outer contour of the second rotating shaft 15 adapted to the second rotating shaft hole is spherical, so that the two first link rods 1221 are respectively spherically hinged to the proximal phalanx 1231. Exemplarily, when the second rotating shaft hole is provided on the first link rod 1221 and the second rotating shaft 15 is provided on the proximal phalanx 1231, and being spherical means that the diameter in any direction is the same, resulting in the proximal phalanx 1231 provided with the second rotating shaft hole being deflectable in any direction of the sphere.

[0062] Exemplarily, the first link rod 1221 can deflect and swing relative to the first power push rod 12121 along the axial direction of the first rotating shaft 14. Correspondingly, the first link rod 1221 can also deflect and swing relative to the proximal phalanx 1231 along the axial direction of the second rotating shaft 15 to achieve the degree of freedom of deflectable swing of the proximal phalanx 1231 in the finger mechanism 12. When the two first power push rods 12121 are pushed out at the same speed and in opposite directions simultaneously, the proximal phalanx 1231 rotates relative to the fourth rotating shaft 17, and the rotation angle is plus or minus 27 degrees.

[0063] In one example, when one of the first power push rods 12121 moves in the direction close to the proximal phalanx 1231 and the other power push rod moves in the direction away from the proximal phalanx 1231, the first link rod 1221 connected to the first power push rod 12121 moving in the direction close to the proximal phalanx 1231 deflects and swings towards the other first link rod 1221, and the other first link rod 1221 also biases and swings in the same direction. At this time, the proximal phalanx 1231 rotates axially relative to the fourth rotating shaft 17, thereby realizing its deflection. Here, it should be supplemented that the direction of deflecting swing always faces the side where the first power push rod 12121 moves in the direction away from the proximal phalanx 1231.

[0064] Refer to Figure 1 、 Figure 2 、 Figure 3 and Figure 6, an embodiment of the present application provides a finger mechanism 12. The power push rod group 1212 includes a second power push rod 12122. The sliding groove group includes a second sliding groove 12112 extending along the first direction A and provided between two symmetric first sliding grooves 12111 on the connecting seat 1211. Along the second direction B, the first sliding groove 12111 is higher than the first sliding groove 12111. The link assembly 122 includes a third link 1223 and a fourth link 1224. The third link 1223 is connected to the second power push rod 12122 through a fifth rotating shaft 18. The third link 1223 is connected to the second link 1222 through a sixth rotating shaft 19. The outer contours of the fifth rotating shaft 18 and the sixth rotating shaft 19 are both spherical. The third link 1223 is connected to the fourth link 1224 through a seventh rotating shaft 20. The proximal phalanx 1231 forms a first receiving cavity with an opening provided along the first direction A. The third link 1223 and the fourth link 1224 are located in the first receiving cavity. The phalanx assembly 123 includes a first middle phalanx 1232, a second middle phalanx 1233, and a distal phalanx 1234. The first middle phalanx 1232 is connected to the proximal phalanx 1231 on both sides along the third direction through an eighth rotating shaft 21. The first middle phalanx 1232 is connected to the distal phalanx 1234 on both sides along the third direction through a ninth rotating shaft 22. The first middle phalanx 1232 forms a second receiving cavity with an opening provided along the first direction A. At least a part of the second middle phalanx is located in the second receiving cavity. The second middle phalanx 1233 is connected to the proximal phalanx 1231 on both sides along the third direction through a tenth rotating shaft 23. The fourth link 1224 is connected to the second middle phalanx 1233 through an eleventh rotating shaft 24. The second middle phalanx 1233 is connected to the distal phalanx 1234 on both sides along the third direction through a twelfth rotating shaft 25;

[0065] Wherein, the axial directions of the fifth rotating shaft 18, the sixth rotating shaft 19, the seventh rotating shaft 20, the eighth rotating shaft 21, the ninth rotating shaft 22, the tenth rotating shaft 23, the eleventh rotating shaft 24, and the twelfth rotating shaft 25 are all the same as the third direction.

[0066] In the embodiment of the present application, the third link 1223 is connected to the second power push rod 12122 through the fifth rotating shaft 18, and the third link 1223 is connected to the second link 1222 through the sixth rotating shaft 19. The outer contours of the fifth rotating shaft 18 and the sixth rotating shaft 19 are both spherical. In other words, the third link 1223 is spherically hinged to the second power push rod 12122, and the third link 1223 is spherically hinged to the second link 1222. At this time, when the first link 1221 deflects and swings along the axial direction of the first rotating shaft 14 relative to the first power push rod 12121 and the first link 1221 deflects and swings relative to the proximal phalanx 1231, the third link 1223 can achieve synchronous deflection and swing, reducing the phenomenon that the finger mechanism 12 jams due to only the deflection and swing of the first link 1221.

[0067] In the embodiment of the present application, the proximal phalanx 1231 forms a first receiving cavity with openings on both sides along the first direction A. The third link 1223 and the fourth link 1224 are located in the first receiving cavity, hiding the third link 1223 and the fourth link 1224 in the first receiving cavity, and integrating the link assembly 122 and the proximal phalanx 1231 can increase the ornamental value. At the same time, when the movement of the third connection and the fourth link 1224 gets out of control, the proximal phalanx 1231 can also provide mechanical limitation, with high reliability. At the same time, the cable for setting the sensor on the phalanx assembly 123 can also pass through the first receiving cavity, which can improve the overall safety. Similarly, the first middle phalanx 1232 forms a second receiving cavity with openings on both sides along the first direction A. At least part of the second middle phalanx is located in the second receiving cavity. The first middle phalanx can provide mechanical limitation for the second middle phalanx, with high reliability. At the same time, the cable for setting the sensor on the phalanx assembly 123 can also pass through the second receiving cavity, which can improve the overall safety.

[0068] In the embodiment of the present application, the connection of the fifth rotating shaft 18 refers to the connection by matching the fifth rotating shaft with the fifth rotating shaft hole. Of course, it can also be connected by matching the fifth rotating shaft with the fifth bearing hole. The explanations for the connection methods of the second rotating shaft 15, the third rotating shaft 16, and the fourth rotating shaft 17 are the same. In an implementable manner provided by the embodiment of the present application, only the connection methods of the eighth rotating shaft 21, the eleventh rotating shaft 24, and the twelfth rotating shaft 25 select the way of matching the rotating shaft with the bearing hole. In this way, the friction coefficient can be reduced.

[0069] In the embodiment of the present application, the first middle phalanx 1232 and the second middle phalanx 1233 can not only simulate the joints of humans but also play the role of link transmission. Therefore, the first middle phalanx 1232 can be called the fifth link, and the second middle phalanx 1233 can be called the sixth link, realizing the integration of the phalanx assembly 123 and the link assembly 122.

[0070] Specifically, when the second power push rod 12122 slides along the second sliding groove 12112, the end phalanx 1234 drives the first middle phalanx 1232, the second middle phalanx 1233, and the end phalanx 1234 to rotate clockwise or counterclockwise under the rotation of the fifth rotating shaft 18, the sixth rotating shaft 19, the seventh rotating shaft 20, the eighth rotating shaft 21, the ninth rotating shaft 22, the tenth rotating shaft 23, the eleventh rotating shaft 24, and the second rotating shaft 15, thereby driving the end phalanx 1234 to bend, similar to the bending of the second phalanx of humans, to realize the bendable degree of freedom of the end phalanx 1234 in the finger mechanism 12. In an implementable manner provided by the embodiment of the present application, the bending angle of the end phalanx 1234 is from 0 degree to 76.3 degrees.

[0071] In one example, when the second power push rod 12122 moves in a direction away from the knuckle assembly 123, the third connecting rod 1223 moves in a direction away from the knuckle assembly 123. At this time, the third connecting rod 1223 moves counterclockwise around the third rotating shaft 16. At this time, the fourth connecting rod 1224 moves in a direction away from the knuckle assembly 123. The first middle-end knuckle 1232 rotates clockwise around the axial direction of the eighth rotating shaft 21, and the second middle-end knuckle 1233 rotates clockwise around the axial direction of the tenth rotating shaft 23, thereby driving the terminal knuckle 1234 to rotate clockwise around the axial direction of the ninth rotating shaft 22 and the twelfth rotating shaft 25 to achieve bending of the terminal knuckle 1234.

[0072] In addition, refer to Figure 1 , Figure 2 and Figure 7 In the embodiment of the present application, the rigid driving assembly 121 is also offset relative to the finger joint assembly 123 along the second direction B through the connecting rod assembly 122, which can also be called an offset connecting rod mechanism; in the related art, the driving assembly is not offset from the finger joint assembly along the second direction, which can also be called a centring connecting rod mechanism, which is implemented by translating the power push rod group 1212 to cause the connecting rod assembly 122 to move, and finally the finger joint assembly 123 is rotated around the rotating axis to achieve the bending of the finger joint assembly 123.

[0073] A brief motion analysis of the described mechanism is performed. The initial angle between the first connecting rod 1221 and / or the third connecting rod 1223 and the first power push rod 12121 or the second power push rod 12122 in the horizontal displacement direction is β1, the initial angle between the proximal finger joint 1231 and the horizontal plane is α1, and the initial angle between the first connecting rod 1221 and / or the third connecting rod 1223 and the proximal finger joint 1231 is Ω1. When the first power push rod 12121 or the second power push rod 12122 moves from the first position to the horizontal position, the initial angle between the first connecting rod 1221 and / or the third connecting rod 1223 and the proximal finger joint 1231 is Ω1. When moving to the second position, the angle between the first connecting rod 1221 and / or the third connecting rod 1223 and the first power push rod 12121 and / or the second power push rod 12122 in the horizontal displacement direction becomes β2, and β2<β1, that is, the angle decreases; the angle between the proximal knuckle 1231 and the horizontal plane increases to α2, that is, the degree of finger bending increases; the angle between the first connecting rod 1221 and / or the third connecting rod 1223 and the proximal knuckle 1231 becomes Ω2, and Ω2>Ω1, that is, the angle increases.

[0074] A brief mechanical analysis is performed on the described mechanism, and the thrust of the first power push rod 12121 and / or the second power push rod 12121 is set to F 动力推杆 , the force acting on the first connecting rod 1221 and / or the third connecting rod 1223 is F along the extension direction of the connecting rod. 偏置连杆机构 =F 动力推杆× cosβ1, and then this force is transmitted by the first link 1221 and / or the third link 1223 to the connection between the first link 1221 and / or the third link 1223 and the proximal phalanx 1231, with the same magnitude and direction as described above. This force can then drive the proximal phalanx 1231 to rotate around the rotation axis, manifested as a change in the magnitude of α. For example, α1 and α2, and the force F that drives the proximal phalanx 1231 偏置近端指节 = F 偏置连杆机构 × sinΩ1. Combining with the motion analysis, when the first power push rod 12121 and / or the second power push rod 12122 move to the left (i.e., the push rod is pushed out), β1 decreases, then Cosβ1 increases, and F 偏置连杆机构 also increases correspondingly; and Ω1 increases, SinΩ1 increases, so F 偏置近端指节 will also increase, that is, the finger bending torque becomes larger, and the fingertip force will gradually increase during the grasping process. Thus, heavier objects can be grasped, and the grasped object can be held more firmly, and the fingertip force can be flexibly controlled through the pressure feedback of the fingertip sensor.

[0075] In the centric link mechanism, its F 对心连杆机构 = F 对心动力推杆 × γ1. When the first power push rod moves from the first position to the second position, γ1 increases to γ2, then Cosγ1 will decrease, corresponding to F 对心连杆机构 will decrease. In the case where the thrust of the first power push rod and / or the second power push rod is equal, the force transmitted by the first link and / or the third link to the connection between the first link and / or the third link and the proximal phalanx will decrease. And since the angle ρ1 between the force transmitted along the first link and / or the third link and the proximal phalanx gradually increases to an obtuse angle ρ2, the force F' that drives the proximal phalanx to rotate = F 对心连杆机构 × Sinρ1 will decrease again, and in this way, the fingertip force will decrease to a large extent.

[0076] It can be found by comparison that the first power push rod 12121 and / or the second power push rod 12122 of the offset link mechanism can achieve the rotation of the proximal phalanx 1231 by an equal angle by moving a relatively small distance.

[0077] Refer to Figure 1 、 Figure 2 and Figure 3, an embodiment of the present application provides a finger mechanism 12. The first sliding groove 12111 includes a first limiting portion arranged towards the finger joint assembly 123. When the first power push rod 12121 slides relative to the first sliding groove 12111, the first limiting portion abuts against one side of the first power push rod 12121 facing the finger joint assembly 123. The second sliding groove 12112 includes a second limiting portion arranged along the second direction B. When the second power push rod 12122 slides relative to the second sliding groove 12112, the second limiting portion abuts against one side of the second power push rod 12122 along the second direction B.

[0078] In the finger mechanism 12 provided by the embodiment of the present application, by arranging the first limiting portion in the direction of the finger joint assembly 123 in the first sliding groove 12111, when the first power push rod 12121 slides relative to the first sliding groove 12111, the first limiting portion abuts against one side of the first power push rod 12121 facing the finger joint assembly 123, reducing the risk of the first power push rod 12121 sliding out of the first sliding groove 12111; similarly, by arranging the second limiting portion along the second direction B in the second sliding groove 12112, when the second power push rod 12122 slides relative to the second sliding groove 12112, the second limiting portion abuts against one side of the second power push rod 12122 along the second direction B, reducing the risk of the second power push rod 12122 sliding out of the second sliding groove 12112.

[0079] Refer to Figure 1 , Figure 2 and Figure 3 , an embodiment of the present application provides a finger mechanism 12. The finger mechanism 12 further includes an elastic preloading member 13. The first end of the elastic preloading member 13 is fixed on the third link 1223, and the second end of the elastic preloading member 13 is fixed on the fourth link 1224.

[0080] In the embodiment of the present application, the elastic preloading member 13 can be a tension spring, a spring flap, etc. In this regard, the embodiment of the present application does not limit it. In an implementable manner provided by the embodiment of the present application, the elastic preloading member 13 is a tension spring.

[0081] In the embodiment of the present application, the tension spring can be exposed outside the proximal finger joint 1231 or hidden in the first receiving cavity of the proximal finger joint 1231. In an implementable manner provided by the embodiment of the present application, the tension spring is hidden in the first receiving cavity to improve the overall aesthetics of the finger mechanism 12. On this basis, in order to facilitate fixation, both ends of the tension spring can be set in a hook shape.

[0082] In the finger mechanism 12 provided by the embodiment of the present application, since an elastic preloading member 13 is provided between the third link 1223 and the fourth link 1224, when the fourth link 1224 rotates around the third link 1223, the length of the elastic preloading member 13 changes, thereby generating a preloading force, which acts on the entire link assembly 122, making the third link 1223 and the fourth link 1224 always in a taut state, reducing the play in the third link 1223 and the fourth link 1224, and further reducing the play in the entire link assembly 122 and the clearance in the entire finger mechanism 12, achieving higher-precision position control of the phalanx assembly 123.

[0083] The above is only a preferred embodiment of the present application and is not intended to limit the protection scope of the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A finger mechanism, characterized in that, Comprising: A rigid drive assembly; A link assembly; A knuckle assembly, the link assembly is respectively connected to the rigid drive assembly and the knuckle assembly, the rigid drive assembly drives the knuckle assembly to grip an object to be gripped through the link assembly, the rigid drive assembly, the link assembly and the knuckle assembly are arranged along a first direction, along a second direction, the connection position of the link assembly and the rigid drive assembly is higher than the connection position of the link assembly and the knuckle assembly, so that the rigid drive assembly is offset relative to the knuckle assembly along the second direction; Wherein, the second direction is the direction away from the knuckle assembly, and the first direction and the second direction are perpendicular.

2. The finger mechanism according to claim 1, wherein The finger mechanism further includes a fixing plate, the protective part of the fixing plate is fixedly connected to one side of the rigid drive assembly close to the knuckle assembly, the connecting part of the fixing plate is connected to the link assembly, along the second direction, the knuckle assembly and one side of the protective part close to the knuckle assembly enclose a biasing space, and the biasing space is used for placing an object.

3. The finger mechanism according to claim 2, characterized in that, The rigid drive assembly includes a connecting seat and a power push rod group, the connecting seat is fixed to one side of the protective part along the second direction, a sliding groove group is arranged on the connecting seat, the power push rod group is located in the sliding groove group and slides relative to the sliding groove group to drive the knuckle assembly to grip the object to be gripped.

4. The finger mechanism according to claim 3, characterized in that, The power push rod group includes a first power push rod, the sliding groove group includes a first sliding groove arranged on the connecting seat and extending along the first direction, the first power push rod is arranged in the first sliding groove, the link assembly includes a first link and a second link, the knuckle assembly includes a proximal knuckle, the first link is connected to the first power push rod through a first rotating shaft and is connected to both sides of the proximal knuckle along a third direction through a second rotating shaft, the second link is connected to both sides of the proximal knuckle along the third direction through a third rotating shaft, and the second link is connected to the connecting part through a fourth rotating shaft; Wherein, the third direction is perpendicular to both the first direction and the second direction, the axial directions of the first rotating shaft, the second rotating shaft and the third rotating shaft are parallel to the third direction, and the axial direction of the fourth rotating shaft is parallel to the second direction.

5. The finger mechanism according to claim 4, wherein, The power push rod group includes two first power push rods, the sliding groove group includes the first sliding grooves symmetrically arranged on the connecting seat along the third direction, the two first power push rods are respectively arranged in the two first sliding grooves, the two first links are respectively connected to the two first power push rods through first rotating shafts and are respectively connected to both sides of the proximal knuckle along the third direction through second rotating shafts, the second link is connected to both sides of the proximal knuckle along the third direction through third rotating shafts, and the second link is connected to the connecting fixing plate through a fourth rotating shaft.

6. The finger mechanism according to claim 5, wherein The outer contours of the first rotating shaft and the second rotating shaft are both spherical.

7. The finger mechanism according to claim 6, wherein, The power push rod group includes a second power push rod. The sliding groove group includes a second sliding groove extending along the first direction and arranged between two symmetric first sliding grooves on the connecting seat. Along the second direction, the first sliding groove is higher than the first sliding groove. The link assembly includes a third link and a fourth link. The third link is connected to the second power push rod through a fifth rotating shaft. The third link is connected to the second link through a sixth rotating shaft. The outer contours of the fifth rotating shaft and the sixth rotating shaft are both spherical. The third link is connected to the fourth link through a seventh rotating shaft. The proximal phalanx forms a first receiving cavity with an opening arranged along the first direction. The third link and the fourth link are located in the first receiving cavity. The phalanx assembly includes a first middle phalanx, a second middle phalanx, and a distal phalanx. The first middle phalanx is connected to both sides of the proximal phalanx along the third direction through an eighth rotating shaft. The first middle phalanx is connected to both sides of the distal phalanx along the third direction through a ninth rotating shaft. The first middle phalanx forms a second receiving cavity with an opening arranged along the first direction. At least a part of the second middle phalanx is located in the second receiving cavity. The second middle phalanx is connected to both sides of the proximal phalanx along the third direction through a tenth rotating shaft. The fourth link is connected to the second middle phalanx through an eleventh rotating shaft. The second middle phalanx is connected to both sides of the distal phalanx along the third direction through a twelfth rotating shaft; Wherein, the axial directions of the fifth rotating shaft, the sixth rotating shaft, the seventh rotating shaft, the eighth rotating shaft, the ninth rotating shaft, the tenth rotating shaft, the eleventh rotating shaft, and the twelfth rotating shaft are all the same as the third direction.

8. The finger mechanism according to claim 7, characterized in that, The first sliding groove includes a first limiting portion arranged towards the phalanx assembly. When the first power push rod slides relative to the first sliding groove, the first limiting portion abuts against one side of the first power push rod towards the phalanx assembly. The second sliding groove includes a second limiting portion arranged along the second direction. When the second power push rod slides relative to the second sliding groove, the second limiting portion abuts against one side of the second power push rod along the second direction.

9. The finger mechanism according to claim 7, characterized in that The finger mechanism further includes an elastic pre-tightening member. The first end of the elastic pre-tightening member is fixed on the third link, and the second end of the elastic pre-tightening member is fixed on the fourth link.

10. A robot, characterized in that, Comprising: The finger mechanism according to any one of claims 1 to 9; A manipulator, the manipulator forms a receiving cavity, the phalanx assembly of the finger mechanism is located outside the receiving cavity, and the rigid driving assembly is arranged in the receiving cavity; A robotic arm, the robotic arm is connected to the manipulator.

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