Finger structure and manipulator

Abstract

The utility model provides a finger structure, and relates to the field of machinery. According to the specific implementation scheme, the finger structure comprises a finger body; the tendon rope is bent at least once within the length range of the finger body, one bending point in the at least one bending is located at the first end of the finger body, the first end of the tendon rope is fixed to the second end of the finger body, and the second end of the tendon rope is connected with the driving device. And the driving device drives the finger body to bend or stretch.

Description

Technical Field

[0001] The present application relates to the field of mechanics, and in particular to a finger structure and a robotic arm. Background Art

[0002] The drive system of a robot finger consists of two parts: the driver and the transmission system. The driver is the core component of the drive system, used to generate motion and force; the transmission system transmits motion and force from the driver to the joints of the robot finger.

[0003] The driving modes of robot fingers are divided into flexible drive and rigid drive. Among them, flexible drive includes: pneumatic type, hydraulic type, tendon type, etc., and rigid drive includes: gear connecting rod drive type, connecting rod drive type, joint motor drive type, etc.

[0004] Among them, the tendon-type robot fingers control the movement of a single finger through tendon ropes. The tendon-driven humanoid five-fingered dexterous hand adopts a bending joint and hinged structure design, and is formed using 3D printing technology. The finger drive system consists of five DC motors. Each motor controls the movement of the finger through a tendon rope fixed to it. The force of each finger of the robot is determined by the driving force of the motor.

[0005] Furthermore, the driving system of the tendon-type robot fingers can adopt at least two tendon control structures. One is that each finger uses two tendons. The first tendon has one end fixed at the tip of the finger, and pulling the other end of the tendon achieves the action of bending the finger; the second tendon has one end fixed at the tip of the finger, and pulling the other end of the tendon achieves the action of extending the finger.

[0006] Another method is to combine the two tendons into one, fix the middle point of the tendon at the tip of the finger, pull one end of the tendon to flex the finger, and pull the other end of the tendon to extend the finger.

[0007] Another drive system is to set pulleys at the joints of each finger, and pull the pulleys by tendons wrapped around them to achieve bending and straightening of each finger joint. Due to the movable nature of the finger joints, the pulleys generally need to be stably fixed at the joints.

[0008] Another driving system is to set a pulley in the palm of the robot, and transmit force to the joints of the robot's fingers by driving the tendon rope wrapped around the pulley, but it is impossible to precisely control each finger.

[0009] The driving systems of the above-mentioned robot fingers all achieve the purpose of driving the fingers to flex or extend by driving tendons. The force on each tendon is determined by the magnitude of the force applied by the motor. When the gripping force of the robot fingers needs to be increased, a high-power motor needs to be replaced, which will correspondingly increase the design cost of the robot fingers. Utility Model Content

[0010] The present application provides a finger structure and a robotic arm.

[0011] According to a first aspect, a finger structure is provided, which includes: a finger body; at least one tendon rope, which is bent at least once within the length of the finger body, and one bending point in the at least one bend is located at the first end of the finger body, the first end of the tendon rope is fixed to the second end of the finger body, and the second end of the tendon rope is connected to a driving device, which pulls the tendon rope to make the first end of the finger body approach or move away from the second end of the finger body.

[0012] According to a second aspect, a manipulator is provided, comprising: at least one finger structure, each finger structure being a finger structure as described in any implementation of the first aspect; and a driving device connected to each finger structure in the at least one finger structure, for driving each finger structure to flex or extend.

[0013] The finger structure provided by the embodiment of the present application includes: a finger body, and at least one tendon rope; the tendon rope is bent at least once within the length of the finger body, and one bending point in the at least one bend is located at the first end of the finger body. The first end of the tendon rope is fixed to the second end of the finger body, and the second end of the tendon rope is connected to the driving device. The driving device pulls the tendon rope to make the first end of the finger body approach or move away from the second end of the finger body. The first end of the tendon rope that is bent at least once within the length of the finger body is fixed on the finger body, and the second end of the tendon rope is connected to the driving device, so that both ends of the tendon rope can generate the same driving force of the driving device. For this reason, through the structure of the present application, the effect of doubling the finger grip can be achieved without replacing a high-power driving device, which is more energy-saving and saves the design cost of the robot finger.

[0014] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present application, nor is it intended to limit the scope of the present application. Other features of the present application will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The accompanying drawings are provided to facilitate a better understanding of the present invention and do not constitute a limitation of the present application.

[0016] Figure 1 is a structural diagram of an embodiment of a finger structure according to the present application;

[0017] Figure 2 is a structural schematic diagram of another embodiment of the finger structure according to the present application;

[0018] Figure 3 yes Figure 2 Exploded view of the middle finger structure;

[0019] Figure 4 is a structural diagram of yet another embodiment of the finger structure according to the present application;

[0020] Figure 5 yes Figure 4 Exploded view of the middle finger structure. DETAILED DESCRIPTION

[0021] The following description of exemplary embodiments of the present application is made in conjunction with the accompanying drawings, including various details of the embodiments of the present application to facilitate understanding. These details should be considered as merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present application. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0022] Aiming at the defect of weak gripping force of fingers under the same driving device in the traditional technology, the present application provides a finger structure, which can improve the gripping force of the manipulator, such as Figure 1 , which is a schematic structural diagram of an embodiment of a finger structure according to the present application, the finger structure includes: a finger body 1 and at least one tendon 2.

[0023] In this embodiment, the tendon rope 2 is bent at least once within the length of the finger body 1, and one bending point of the at least one bend is located at the first end a of the finger body 1. The first end 21 of the tendon rope is fixed to the second end b of the finger body, and the second end 22 of the tendon rope is connected to the driving device, which pulls the tendon rope to make the first end a of the finger body 1 close to or away from the second end b of the finger body 1.

[0024] In this embodiment, the driving device drives the finger body to flex or extend.

[0025] In this embodiment, the finger body 1 is the main body of the robot's finger. By configuring various components on the finger body, the finger body can be driven. For different types of robotic hands, the finger body 1 can be a single unit. For example, for a flexible robot finger, the finger body can be constructed from an elastic material such as rubber. For a rigid robot finger, the finger body 1 can be a component assembled using multiple joints.

[0026] like Figure 1As shown, the finger body 1 includes: a first joint 11, a second joint 12, a third joint 13 and a fourth joint 14, wherein the first joint 11 is also called the fingertip joint, the second joint 12 and the third joint 13 are both middle finger joints, and the fourth joint 14 is a fixed seat.

[0027] In this embodiment, the tendon 2 is a transmission rope that bears the force of the drive device and transmits the force to the pulley. The material of the tendon 2 can be a steel wire rope. Furthermore, for a rigid structure of the robot finger, the tendon 2 can also serve to connect the various joints in the finger body.

[0028] In this embodiment, the driving device is a device that outputs force to the object, such as a motor, a hydraulic pump, etc. The second end of the tendon cord is connected to the driving device to drive the tendon cord to extend and retract, thereby achieving movement of the entire finger structure.

[0029] In this embodiment, the driving device pulls the tendon rope to move the first end of the finger body closer to or away from the second end of the finger body, thereby driving the finger body to flex or extend.

[0030] In this optional implementation, the driving device is connected to the tendon rope, so that the driving device can directly pull the tendon rope; based on the different setting positions of the tendon rope, for example, the tendon rope is set on one side of the finger body (such as the finger body is an elastic structure, the tendon rope is set on one side along the contour of the finger body), when the driving device pulls the tendon rope, the finger body can bend, thereby achieving the flexion action of the finger body; optionally, when the tendon rope is set on the other side of the finger body, when the driving device pulls the tendon rope, the finger body can be stretched, thereby achieving the extension action of the finger body.

[0031] The finger structure provided by the embodiment of the present application includes: a finger body, and at least one tendon rope; the tendon rope is bent at least once within the length of the finger body, and one bending point in the at least one bend is located at the first end of the finger body. The first end of the tendon rope is fixed to the second end of the finger body, and the second end of the tendon rope is connected to the driving device. The driving device pulls the tendon rope to make the first end of the finger body approach or move away from the second end of the finger body. The first end of the tendon rope that is bent at least once within the length of the finger body is fixed on the finger body, and the second end of the tendon rope is connected to the driving device, so that both ends of the tendon rope can generate the same driving force of the driving device. For this reason, through the structure of the present application, the effect of doubling the finger grip can be achieved without replacing a high-power driving device, which is more energy-saving and saves the design cost of the robot finger.

[0032] like Figure 2 , which is a schematic structural diagram of another embodiment of a finger structure according to the present application, the finger structure includes: a finger body 1, at least one tendon rope 2, and at least one pulley 3.

[0033] like Figure 2 As shown, the pulley 3 is fixed to the first end a of the finger body 1, the tendon 2 is wrapped around the pulley 3, the first end 31 of the tendon 2 is fixed to the second end b of the finger body 1, and the second end 32 of the tendon 2 is connected to the driving device (not shown in the figure). The driving device pulls the tendon to make the first end a of the finger body 1 close to or away from the second end b of the finger body 1.

[0034] In this embodiment, the number of pulleys 3 can be determined based on the force requirements of the finger structure. For example, there is one pulley 3, or the pulley 3 can be Figure 2 The two shown are shown. In actual application, the pulleys can be three or more. When the number of pulleys changes, the routing of the tendon rope will also change accordingly, and such changes should be within the scope of protection of this application.

[0035] like Figure 2 and Figure 3 As shown, when the at least one pulley is two pulleys 31 and 32, both pulleys 31 and 32 are located at the top of the first joint 11 and stacked. The first end 21 of the tendon cord 2 is fixed to the fourth joint 14. The second end 22 of the tendon cord 2 includes a first sub-end 221 and a second sub-end 222. Applying a pulling force to the first sub-end 221 by the driving device causes the finger body 1 to extend; applying a pulling force to the second sub-end 222 by the driving device causes the finger body 1 to bend.

[0036] Since a pulley is used at the first joint, applying a pulling force at the first sub-end 21 can double the pulling force at the pulley 31. Similarly, applying a pulling force at the second sub-end 22 can double the pulling force at the pulley 32.

[0037] exist Figure 2 and Figure 3 In the present application, a finger with four joints is used as an example. However, fingers with two, three, or other numbers of joints can also adopt the finger structure of this case. Therefore, finger structures with other numbers of joints that have this finger structure should also fall within the scope of protection of this application.

[0038] The finger structure provided by the embodiment of the present application includes: a finger body, at least one pulley and at least one tendon rope; the pulley is fixed to the first end of the finger body, the tendon rope is wrapped around the pulley, the first end of the tendon rope is fixed to the second end of the finger body, the second end of the tendon rope is connected to the driving device, and the driving device drives the finger body to flex or extend. The pulley is arranged at one end of the finger body, which can effectively reduce the friction between the tendon rope and the finger body. When the pulley is a movable pulley, the force of the driving device can be further amplified by the movable pulley. Compared with the solution without a pulley, the friction with the finger body is reduced while the finger structure is increased. Grip strength; when the pulley is set on the finger body, especially when the pulley is not at the joint of the finger, the wear of the finger can be reduced and the durability of the finger structure is improved; the pulley located on the finger body and the tendon rope work together to achieve precise control of the finger body and improve the flexibility of the finger body in flexion and extension; when it is necessary to increase the grip strength of the robot finger, the pulley of the present application is set as a movable pulley, which can double the tension of the tendon rope wrapped around both sides of the movable pulley. For this reason, the structure of the present application can achieve the effect of doubling the finger grip strength without replacing a high-power drive device, which is more energy-saving and saves the design cost of the robot finger.

[0039] In some optional implementations of the present application, the above-mentioned driving device drives the finger body to flex or extend, including: the pulley is a movable pulley, and when the driving device pulls the tendon rope, the position of the axis of the movable pulley moves with the movement of the finger body.

[0040] The finger structure provided by this optional implementation method pulls the tendon rope by the driving device so that the first end of the finger body is close to or away from the second end of the finger body. When the driving device pulls the tendon rope, the position of the axis of the movable pulley moves with the finger body, thereby improving the gripping force of the finger structure.

[0041] In some optional implementations of the present application, the driving device pulls the tendon rope to make the first end of the finger body approach or move away from the second end of the finger body, including: the tendon rope is set on the palm side or back side of the finger body, so that the tendon rope drives the first end of the finger body to approach or move away from the second end of the finger body.

[0042] In this optional implementation, the tendon rope can be fixed to the outside of the finger body, for example, fixedly arranged on the outside of the finger body along the contour of the finger body, and the outside can be close to the palm side or close to the back of the hand side. When the outside is close to the palm side, the tendon rope drives the first end of the finger body close to the second end of the finger body; when the outside is close to the back of the hand, the tendon rope drives the first end of the finger body away from the second end of the finger body.

[0043] In this optional implementation, the tendon cord may also be fixed inside the finger body. For example, relative to the central axis of the finger body, the tendon cord passes through the finger body and is on the side of the central axis closer to the palm, i.e., the palm side of the finger body; or relative to the central axis of the finger body, the tendon cord passes through the finger body and is on the side of the central axis closer to the back of the hand, i.e., the back of the hand side of the finger body. When the inner portion is closer to the palm side, the tendon cord drives the first end of the finger body toward the second end of the finger body; when the inner portion is closer to the back of the hand, the tendon cord drives the first end of the finger body away from the second end of the finger body.

[0044] The finger structure provided by this optional implementation method sets the tendon rope on the palm side or the back side of the finger body, which simply and reliably realizes that when the tendon rope is pulled, the first end of the finger body is driven closer to or away from the second end of the finger body, providing a reliable basis for the flexion or extension of the finger structure.

[0045] In some optional implementations of the present application, the above-mentioned tendon rope includes a flexion tendon rope and an extension tendon rope, and the driving device includes a flexion driving device and an extension driving device; the second end of the flexion tendon rope is connected to the flexion driving device, and the flexion driving device drives the finger body to perform a flexion movement; the second end of the extension tendon rope is connected to the extension driving device, and the extension driving device drives the finger body to perform an extension movement.

[0046] In this optional implementation, the first end of the flexion cord and the first end of the extensor cord may be the same end, or the first end of the flexion cord and the first end of the extensor cord may not be the same end, and the first end of the flexion cord and the first end of the extensor cord may both be fixed to the second end of the finger body.

[0047] In this optional implementation, there is at least one tendon rope. When there are two tendon ropes, the two tendon ropes can be implemented by the same rope, and one of the two tendon ropes serves as a flexion tendon rope, and the other of the two tendon ropes serves as an extension tendon rope; when there are multiple tendon ropes, a part of the multiple tendon ropes serves as a flexion tendon rope, and the other part of the multiple tendon ropes serves as an extension tendon rope.

[0048] In this optional implementation, each tendon in the at least one tendon corresponds to a pulley, and for this purpose, the number of tendons in the at least one tendon is the same as the number of pulleys in the at least one pulley.

[0049] In this optional implementation, the flexion rope is wrapped around a pulley, which is called a flexion pulley. The flexion pulley is fixed to the first end of the finger body, the first end of the flexion rope is fixed to the second end of the finger body, and the second end of the flexion rope is fixedly connected to the flexion drive device, which drives the finger body to flex.

[0050] In this optional implementation, the tendon rope is wrapped around a pulley, which is called the stretching pulley. The stretching pulley is fixed to the first end of the finger body, the first end of the tendon rope is fixed to the second end of the finger body, and the second end of the tendon rope is fixedly connected to the stretching drive device, which drives the finger body to straighten.

[0051] The finger structure provided by this optional implementation method sets the driving device as a flexion driving device and an extension driving device, and sets the tendon rope to include a flexion tendon rope and an extension tendon rope. The second end of the flexion tendon rope is connected to the flexion driving device, and the second end of the extension tendon rope is connected to the extension driving device, so that the flexion and extension of the finger body are controlled by independent driving devices and tendon ropes, thereby improving the flexibility of controlling the finger body.

[0052] In some optional implementations of the present application, the first ends of the flexion cord and the extensor cord are connected to each other to form a tendon cord and are fixed at the same position of the finger body.

[0053] In this optional implementation, if Figure 2 and Figure 3 As shown, the tendon rope 2 is the same rope, the first ends of the flexion rope and the extensor rope are connected to each other to form a tendon rope, and the first ends of the flexion rope and the extensor rope are both fixed to the second end of the finger body and fixed at the same position of the second end.

[0054] The finger structure provided by this optional implementation method connects the flexion tendon rope and the extension tendon rope into one tendon rope, and fixes it at the same position of the finger body. The flexion and extension control of the finger body is achieved through one tendon rope, thereby improving the convenience of tendon rope control.

[0055] In some optional implementations of the present application, the first end of the finger body is the fingertip.

[0056] In this optional implementation, the fingertip is the end of the finger body away from the palm, the finger base is the end of the finger body connected to the palm, and the finger mid-end is the area between the fingertip and the finger base.

[0057] In this optional implementation, the second end of the finger body may be located at the base end of the finger body, or the second end of the finger body may be located at the middle end of the finger body.

[0058] The finger structure provided by this optional implementation fixes at least one pulley at the tip of the finger body, so that when the driving device drives the finger body, the fingertip of the finger body can be moved closer to or away from other areas of the finger body, thereby expanding the range of the flexion or extension gripping area of ​​the finger body.

[0059] Optionally, the first end of the finger body may also be the middle end, and the second end of the finger body may be the base end.

[0060] In some optional implementations of the present application, the finger body includes: at least one accommodating groove; each pulley of the at least one pulley is located in one accommodating groove of the at least one accommodating groove.

[0061] In this optional implementation, the accommodating groove is located at the first end of the finger body. For example, the first end may be the tip of the finger body, or the first end may be the middle end of the finger body.

[0062] In this optional implementation, the pulley is located in the accommodating groove, and when the tendon rope passes through the groove wall of the accommodating groove and is wrapped around the pulley, the pulley is fixed on the finger body.

[0063] In this optional implementation, the cross-sectional shape and groove depth of the accommodating groove can be set based on the shape and thickness of the pulley. For example, the cross-sectional shape of the accommodating groove is circular, and the groove depth of the accommodating groove is the thickness of the pulley.

[0064] The finger structure provided in this embodiment is provided with a receiving groove for each pulley of at least one pulley, so that each pulley can apply force to the finger body through its own receiving groove, thereby improving the flexibility of the flexion and extension control of the finger structure.

[0065] In some optional implementations of this application, such as Figure 3 As shown, the finger body 1 in the finger structure includes: a fingertip knuckle 11, at least one middle knuckle 12, 13 and a fixing seat 14; at least one middle knuckle 12 is movably connected to the fingertip knuckle 11, one middle knuckle in at least one middle knuckle is movably connected to the fingertip knuckle 11, and each middle knuckle in at least one middle knuckle is movably connected to the adjacent middle knuckle; the fixing seat 14 is movably connected to the middle knuckle 13 close to the palm; the first end a of the finger body 1 is located on the fingertip knuckle 11, and the second end of the finger body is located on the fixing seat 14.

[0066] In this embodiment, the middle phalanx of the finger closest to the palm refers to the middle phalanx of the finger farthest from the fingertip phalanx. Figure 2 As shown, the fixing seat 14 can be a fixing seat with a mounting groove, one end of the middle phalanx 13 of the finger close to the palm is located in the mounting groove, and the fixing axis on the middle phalanx of the finger close to the palm cooperates with the mounting hole on the groove wall of the mounting groove to realize the movable connection between the middle phalanx of the finger close to the palm and the fixing seat.

[0067] In this optional implementation, at least one accommodating groove can be set on the fingertip joint, and the first end of the finger body is the position of the accommodating groove in the fingertip joint. The force exerted by the tendon rope on the pulley can fix the pulley in the accommodating groove, thereby achieving the purpose of applying force to the finger body.

[0068] The finger structure provided by this optional implementation method includes a finger body including: a fingertip knuckle, a middle knuckle and a fixing seat. Through the fixed connection of the fingertip knuckle, the middle knuckle and the fixing seat, a reliable implementation method is provided for the implementation of the finger body; through the movable connection of any two middle knuckles of at least one middle knuckle, the flexibility of the finger structure is achieved.

[0069] Optionally, the finger body in the finger structure includes: a fingertip knuckle and at least one middle knuckle; at least one accommodating groove is arranged on the fingertip knuckle; each middle knuckle in at least one middle knuckle is movably connected to the adjacent middle knuckle; the first end of the finger body is located on the fingertip knuckle, and the second end of the finger body is located on the fingertip knuckle away from the fingertip knuckle in at least one middle knuckle.

[0070] Optionally, in some embodiments of the present application, the finger body can be an elastic column, and the pulley and tendon rope are arranged inside or outside the finger body. The pulley is connected to the finger body, and the pulley is driven by a driving device to achieve the purpose of driving the finger body to flex or extend.

[0071] In some optional implementations of the present application, the above-mentioned middle phalanx includes: a phalanx body, a fixed shaft fixed to one end of the phalanx body, and a connecting piece fixed to the other end of the phalanx body, and the connecting piece is provided with a mounting hole matching the fixed shaft.

[0072] In this optional implementation, each middle phalanx of at least one middle phalanx can be the middle phalanx structure described above; optionally, part of the middle phalanx of at least one middle phalanx is the middle phalanx structure described above.

[0073] In this optional implementation, a fixed shaft adapted to the mounting hole may be provided on the fixed seat movably connected to the middle phalanx of at least one finger, and the fixed shaft on the fixed seat may be used to realize the movable connection between the fixed seat and the middle phalanx of the finger close to the palm.

[0074] The finger structure provided by this optional implementation method, each middle phalanx of at least one middle phalanx includes: a phalanx body and a fixed shaft and a connecting piece respectively arranged at both ends of the phalanx body. The movable connection of each middle phalanx of at least one middle phalanx is ensured by the coordinated installation between the connecting piece and the fixed shaft, thereby improving the flexibility of the installation of the finger structure.

[0075] Optionally, at least one middle phalanx of a finger includes: an edge phalanx connected in sequence and at least one middle phalanx; the non-tip portion of the fingertip phalanx is provided with a fixed shaft; both ends of the edge phalanx are provided with edge connectors, each of which has a mounting hole; the fixing seat is provided with a fixed shaft that matches the mounting hole of the edge phalanx; one end of the middle phalanx is fixed with a fixed shaft; the other end of the middle phalanx is fixed with an middle connector, each of which has a mounting hole. In this embodiment, the middle phalanx of a finger may include: an edge phalanx and a middle phalanx, wherein there is at least one middle phalanx.

[0076] Optionally, at least one middle phalanx includes: a first phalanx and at least one second phalanx connected in sequence; a fingertip connector is fixed to the non-tip portion of the fingertip phalanx, and the fingertip connector has a mounting hole; both ends of the first phalanx are provided with a fixed shaft, and the fixing seat is provided with a mounting hole matching the fixed shaft of the first phalanx; one end of the second phalanx is fixed with a fixed shaft, and the other end of the second phalanx is fixed with a middle phalanx connector, and the middle phalanx has a mounting hole. In this embodiment, the middle phalanx may include: a first phalanx and a second phalanx, wherein there is at least one second phalanx.

[0077] In some optional implementations of the present application, the above-mentioned middle phalanx includes: a phalanx body, a fixed shaft fixed to one end of the phalanx body, and a fixing part and a clamping part fixed to the other end of the phalanx body, one end of the fixing part is fixedly connected to the other end of the phalanx body, one end of the clamping part is connected to the other end of the fixing part, and the other end of the clamping part is provided with an opening that matches the fixed shaft.

[0078] This optional implementation provides a finger structure with a fixed shaft at one end of the knuckle body, and a fixed portion and a clamping portion at the other end of the knuckle body. The fixed portion is fixedly connected to the other end of the knuckle body, and one end of the clamping portion is connected to the other end of the fixed portion. The other end of the clamping portion has an opening that mates with the fixed shaft. Thus, the opening of the clamping portion allows one middle knuckle to be quickly detached from the other middle knuckle it is movably connected to, improving the ease of disassembly of the knuckle structure.

[0079] Alternatively, as Figure 4 and Figure 5As shown, the above-mentioned at least one middle phalanx includes: a first phalanx 15 and at least one sub-middle phalanx 16 connected in sequence, the non-finger tip of the fingertip phalanx 11 is fixed with a fixing part m and a clamping part n, the fixing part m is fixedly connected to the non-finger tip of the fingertip phalanx 11, one end of the clamping part n is connected to the other end of the fixing part m, and the other end of the clamping part n is provided with an opening that matches the fixed axis; the sub-middle phalanx 16 includes: a phalanx body (not shown in the figure), a fixed axis (not shown in the figure) fixed to one end of the phalanx body, and a fixing part m and a clamping part n fixed to the other end of the phalanx body, one end of the fixing part m is fixedly connected to the other end of the phalanx body, one end of the clamping part n is connected to the other end of the fixing part m, and the other end of the clamping part n is provided with an opening that matches the fixed axis; both ends of the first phalanx 15 are provided with a fixing axis (not shown in the figure), and the fixing seat (not shown in the figure) is provided with a mounting hole that matches the fixed axis of the first phalanx. In this embodiment, the middle phalanx may include: a first phalanx and a sub-middle phalanx, wherein there is at least one sub-middle phalanx.

[0080] Figure 4 and Figure 5 The provided finger structure is a detachable finger structure, in which the connection between the middle phalanges of the two fingers is in a semi-open state. When the finger structure is subjected to impact force or overload force, the middle phalanges of the two fingers will be detached to avoid damage to the mechanical structure of the finger joints.

[0081] Optionally, the above-mentioned at least one middle phalanx includes: at least one sub-middle phalanx, a fixed shaft is fixed to the non-tip end of the fingertip phalanx; the sub-middle phalanx includes: a phalanx body, a fixed shaft fixed to one end of the phalanx body, and a fixing part and a clamping part fixed to the other end of the phalanx body, one end of the fixing part is fixedly connected to the other end of the phalanx body, one end of the clamping part is connected to the other end of the fixing part, and the other end of the clamping part is provided with an opening matching the fixed shaft; the fixing seat is provided with a mounting hole matching the fixed shaft of the sub-middle phalanx.

[0082] To address the shortcomings of existing robotic arms, which suffer from weak gripping strength, this application provides a robotic arm that, due to its internal finger structures, has a higher gripping strength than conventional robotic arms. The robotic arm comprises: at least one finger structure and a drive device, each of which is a finger structure provided in the above-mentioned embodiment. The drive device is connected to each finger structure in the at least one finger structure and is used to drive each finger structure to flex or extend.

[0083] In this embodiment, the number of finger structures included in the manipulator can be set based on development requirements. For example, there are five finger structures, and all five finger structures are controlled by a driving device.

[0084] The manipulator provided in this embodiment includes a finger structure, and the driving device applies force to the finger body through tendons and pulleys. When the force on the tendons remains unchanged, the finger structure can obtain double the gripping force compared with the solution without pulleys, thereby improving the gripping force of the manipulator.

[0085] In some optional implementations of the present application, the driving device is a motor or a hydraulic device.

[0086] The manipulator provided by this optional implementation drives the flexion or extension of the finger body by means of a motor or a hydraulic device, thereby improving the diversity of the manipulator control.

Claims

1. A finger structure, characterized in that: The finger structure comprises: Finger body (1); At least one tendon rope (2), the tendon rope (2) undergoes at least one bend within the length of the finger body (1), one bending point in the at least one bend is located at the first end (a) of the finger body, the first end (21) of the tendon rope is fixed to the second end (b) of the finger body, the second end (22) of the tendon rope is connected to a driving device, and the driving device causes the first end (a) of the finger body to approach or move away from the second end (b) of the finger body by pulling the tendon rope.

2. The finger structure according to claim 1, characterized in that: The finger structure further comprises: at least one pulley (3), the pulley (3) being fixed to the first end (a) of the finger body (1); The tendon rope (2) is wound around the pulley (3).

3. The finger structure according to claim 2, characterized in that: The pulley (3) is a movable pulley. When the driving device pulls the tendon rope (2), the position of the axis of the movable pulley moves along with the movement of the finger body (1).

4. The finger structure according to claim 1, characterized in that: The driving device causes the first end of the finger body to move closer to or farther away from the second end of the finger body by pulling the tendon rope, comprising: The tendon rope is arranged on the palm side or the back side of the finger body (1), so that the tendon rope (2) drives the first end (a) of the finger body (1) to move closer to or away from the second end (b) of the finger body.

5. The finger structure according to claim 1, characterized in that: The tendon ropes include flexion tendon ropes and extension tendon ropes, and the driving device includes a flexion driving device and an extension driving device; The second end of the flexion cord is connected to a flexion drive device, and the flexion drive device drives the finger body to flex; The second end of the extension cord is connected to an extension drive device, and the extension drive device drives the finger body to perform an extension action.

6. The finger structure according to claim 5, characterized in that: The first ends of the flexion cord and the extension cord are connected to each other to form a tendon cord and are fixed at the same position of the finger body.

7. The finger structure according to claim 1, characterized in that: The first end (a) of the finger body (1) is the finger tip.

8. The finger structure according to claim 2, characterized in that: The finger body (1) comprises: at least one accommodating groove; each pulley of the at least one pulley (3) is respectively located in one accommodating groove of the at least one accommodating groove.

9. The finger structure according to claim 1, characterized in that: The finger body (1) comprises: a fingertip knuckle (11); at least one middle knuckle (12, 13) movably connected to the fingertip knuckle, and each middle knuckle of the at least one middle knuckle is movably connected to an adjacent middle knuckle; A fixing seat (14) is movably connected to the middle phalanx of the finger near the palm; The first end (a) of the finger body is located on the fingertip joint (11), and the second end (b) of the finger body is located on the fixing seat (14).

10. The finger structure according to claim 9, characterized in that: The middle phalanx includes: a phalanx body, a fixed shaft fixed to one end of the phalanx body, and a connecting piece fixed to the other end of the phalanx body, wherein the connecting piece is provided with a mounting hole matching the fixed shaft.

11. The finger structure according to claim 9, characterized in that: The middle phalanx of the finger includes: a phalanx body, a fixed shaft fixed to one end of the phalanx body, and a fixing part and a clamping part fixed to the other end of the phalanx body, one end of the fixing part is fixedly connected to the other end of the phalanx body, one end of the clamping part is connected to the other end of the fixing part, and the other end of the clamping part is provided with an opening that cooperates with the fixed shaft.

12. A robot, characterized in that: The manipulator comprises: At least one finger structure, each finger structure being a finger structure according to any one of claims 1 to 11; A driving device is connected to each finger structure of the at least one finger structure, and is used to drive each finger structure to flex or extend.

13. The robot according to claim 12, characterized in that: The driving device is a motor or a hydraulic device.

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