Reducing mechanism for mechanical finger, mechanical finger and manipulator

Abstract

The utility model relates to the technical field of manipulators, and provides a speed reducing mechanism for a mechanical finger, the mechanical finger and a manipulator. The speed reducing mechanism comprises at least one set of transmission pair, each transmission pair comprises a front-end tooth-shaped component and a rear-end tooth-shaped component, the rear-end tooth-shaped component is at least partially in meshing transmission with the front-end tooth-shaped component, and the diameter of a meshing reference circle of the front-end tooth-shaped component is smaller than that of a meshing reference circle of the rear-end tooth-shaped component; the front-end tooth-shaped component, located at the foremost transmission end, in all the front-end tooth-shaped components is used for being matched with a driving mechanism or a transmission mechanism for controlling knuckles to act in the mechanical finger, and the rear-end tooth-shaped component, located at the rearmost transmission end, in all the rear-end tooth-shaped components is used for being matched with an executing mechanism in the mechanical finger. On the basis, the torque between the adjacent knuckles is increased by arranging the speed reducing mechanism, the force of the mechanical finger can be enhanced, and therefore operation actions such as grabbing, holding, pressing and clicking can be smoothly achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of mechanical hand design, in particular to a speed reduction mechanism for a mechanical finger, a mechanical finger and a mechanical hand. BACKGROUND

[0002] The human hand can complete various tasks such as grasping, touching or clamping with high flexibility. Therefore, in many application scenarios where mechanical devices replace manual processing operations, a bionic mechanical hand that can mimic the human hand to perform corresponding flexible operations is still needed; the flexibility of the mechanical hand is an important performance standard of the mechanical hand.

[0003] The existing bionic mechanical hand currently includes a palm plate structure and at least one bionic finger, and the bionic finger is formed by at least two knuckles. In the prior art, adjacent knuckles are controlled to rotate, bend and stretch relative to each other by setting a motor-driven connecting rod structure or a telescopic rod structure, or a wire-driven structure is set between the knuckles and the palm plate structure to flexibly control the rotation of each knuckle.

[0004] However, these control mechanisms mainly consider the overall rotation control of the finger, and the torque between adjacent knuckles is limited. When the mechanical finger is required to perform grasping, holding, pressing, clicking and other operation actions with great force in the application, the effect of the corresponding operation is easily affected due to the limited torque between adjacent knuckles. CONTENT OF THE INVENTION

[0005] Therefore, the present application provides a speed reduction mechanism for a mechanical finger, a mechanical finger and a mechanical hand, which increases the torque between adjacent knuckles by setting a speed reduction mechanism, and can improve the effect of the mechanical finger in performing grasping, holding, pressing, clicking and other operation actions.

[0006] In a first aspect, the speed reduction mechanism for a mechanical finger provided by the present application adopts the following technical scheme:

[0007] The speed reduction mechanism for a mechanical finger includes at least one set of transmission pairs, each transmission pair including a front-end tooth-shaped component and a rear-end tooth-shaped component, the rear-end tooth-shaped component at least partially engages with the front-end tooth-shaped component for transmission, and the diameter of the engagement division circle of the front-end tooth-shaped component is smaller than the diameter of the engagement division circle of the rear-end tooth-shaped component; the front-end tooth-shaped component at the front end of all the front-end tooth-shaped components is used to cooperate with a driving mechanism or a transmission mechanism for controlling the action of the knuckle in the mechanical finger, and the rear-end tooth-shaped component at the rear end of all the rear-end tooth-shaped components is used to cooperate with an execution mechanism in the mechanical finger.

[0008] By adopting the technical scheme, the actuator is each finger joint of the mechanical hand, and the front end toothed member and the rear end toothed member in each group of transmission pairs are at least partially engaged, so that the position of each finger joint can be normally maintained by the tooth engagement therebetween. When the finger joint is subjected to a reverse force, the force required for the reverse rotation of the finger joint is large due to the existence of the multiple groups of transmission pairs and the diameter of the engagement division circle of the front end toothed member is smaller than that of the rear end toothed member, so that the torque of each finger joint is increased, and the speed reduction effect is achieved, so that the mechanical hand finger can more smoothly realize the operation actions such as grabbing, holding, pressing and clicking. Of course, in some practical application cases, not all transmission pairs will form speed reduction, and the comprehensive transmission ratio is speed reduction.

[0009] Optionally, the rear end toothed member is a rear end gear, and the outer peripheral gear ring of the rear end gear is engaged with the outer peripheral gear ring of the front end toothed member to realize transmission and speed reduction.

[0010] By adopting the technical scheme, the transmission between the front end toothed member and the rear end gear can be realized by the tooth engagement therebetween, and the torque is increased, so that the back-off condition is not prone to occur when the mechanical hand performs the operation action.

[0011] Optionally, the rear end toothed member is a toothed plate, and the toothed plate is coaxially fixed at the finger joint hinge of the mechanical hand finger; the outer edge of the toothed plate is partially provided with an arc-shaped tooth portion, the arc-shaped tooth portion extends in an arc line, and the front end toothed member is engaged with the arc-shaped tooth portion to realize transmission and speed reduction.

[0012] By adopting the technical scheme, the front end toothed member is engaged with the arc-shaped tooth portion of the toothed plate, the toothed plate is fixed with a certain finger joint, and the front end toothed member can move around the arc line extension direction of the arc-shaped tooth portion when rotating, so as to realize the smooth rotation of the finger joint of the mechanical hand finger. Moreover, when the front end toothed member moves to the end of the arc-shaped tooth portion, the rotation of the front end toothed member will be limited, and the finger joint can be in the limit rotation state, and the possibility of collision between the mechanical hand finger and the adjacent mechanical hand finger can be reduced.

[0013] In a second aspect, another form of speed reduction mechanism for a mechanical hand finger is provided by adopting the following technical scheme:

[0014] A speed reduction mechanism comprises:

[0015] A sun gear is fixed with a driving mechanism or a transmission mechanism in a mechanical hand finger;

[0016] A planet carrier is fixed with an actuator of a mechanical hand finger, and is coaxially fixed with the sun gear during multiple planetary speed reduction;

[0017] An inner gear ring is fixedly arranged inside the mechanical finger, and an inner gear ring is arranged on the inner circumferential surface of the inner gear ring;

[0018] At least one planet wheel; all the planet wheels are mounted on the planet carrier; the planet wheels are simultaneously meshed with the outer gear of the sun gear and the inner gear ring.

[0019] By adopting the technical scheme, the driving mechanism or the transmission mechanism acts to drive the sun gear to rotate, each planet wheel can revolve relative to the sun gear, and the executing mechanism, i.e., the finger joint, revolves relative to the sun gear, so as to realize smooth rotation of the corresponding finger joint; it can be known that, since each planet wheel is meshed with the sun gear and the inner gear ring on both sides and is transmitted to the executing mechanism of the mechanical finger through the planet carrier, the finger joint also has a large torque, and the mechanical finger can smoothly realize operation actions such as grabbing, holding, pressing, and clicking.

[0020] In a third aspect, another form of the speed reduction mechanism for the mechanical finger provided by the application adopts the following technical scheme:

[0021] A speed reduction mechanism comprises:

[0022] A first rotating rope wheel is fixedly arranged in cooperation with the driving mechanism or the transmission mechanism of the mechanical finger;

[0023] A second rotating rope wheel is fixedly arranged in cooperation with the executing mechanism of the mechanical finger;

[0024] A speed reduction rope is connected to the first rotating rope wheel at one end and connected to the second rotating rope wheel after being sequentially arranged on the first rotating rope wheel and the second rotating rope wheel at the other end; the diameter of the circle corresponding to the abutment of the second rotating rope wheel is greater than the diameter of the circle corresponding to the abutment of the first rotating rope wheel;

[0025] A reset mechanism is used to force the mechanical finger to be in a normal straight state.

[0026] By adopting the technical scheme, when the executing mechanism of the mechanical finger acts to drive the first rotating rope wheel to rotate, the second rotating rope wheel can be driven to rotate through the speed reduction rope, and since the outer diameter size of the first rotating rope wheel is smaller than the outer diameter size of the second rotating rope wheel, the rotation speed of the second rotating rope wheel is smaller than the rotation speed of the first speed reduction rope wheel, which can also achieve the effect of transmission and speed reduction, and the finger joint also has a large torque, so that the mechanical finger can smoothly realize operation actions such as grabbing, holding, pressing, and clicking.

[0027] In addition, when the action of the mechanical finger is completed, the mechanical finger can be automatically reset and kept in a normal straight state by using a reset mechanism. The reset mechanism mentioned here can be the reverse setting structure of the first rotating rope wheel, the second rotating rope wheel and the deceleration rope combination described in the present solution. The reset mechanism can also be one of a torsional spring, a pull rope or a tension spring.

[0028] The drive mechanism described in the deceleration mechanism for the mechanical finger in the above three aspects can be a drive source arranged outside the deceleration mechanism, which provides driving force through transmission or direct power source. The transmission mechanism can be arranged on the rear end toothed part of the next stage of the deceleration mechanism, and can provide driving force through gear transmission, rope drive or the like.

[0029] In a fourth aspect, the mechanical finger provided by the present application adopts the following technical solution:

[0030] A mechanical finger comprises:

[0031] The phalangeal joints are arranged from inside to outside in sequence, and adjacent phalangeal joints are hingedly connected through a pin shaft. The deceleration mechanism described above is arranged between each adjacent phalangeal joint.

[0032] A control unit is used to control the rotation of each phalangeal joint.

[0033] By adopting the above technical solution, the control unit is used to control the rotation of the phalangeal joints, and the deceleration mechanism is used to increase the torque of the phalangeal joints, so that the phalangeal joints can be smoothly driven to act, and the mechanical finger can smoothly realize operation actions such as grabbing, holding, pressing and clicking.

[0034] Optionally, the control unit comprises a pull rope control module, and the pull rope control module comprises:

[0035] Two first adjusting rope wheels are arranged on the inner side of the phalangeal joint, and the deceleration mechanism is arranged between the first adjusting rope wheel and the phalangeal joint adjacent to the outer side.

[0036] Two first wire routing tubes are fixedly arranged on one of the phalangeal joints.

[0037] Two first tension line ropes are arranged in the two first wire routing tubes in one-to-one correspondence, and one end of each first tension line rope is fixedly connected to the first adjusting rope wheel.

[0038] Two rope winding mechanisms are arranged at the end of each first tension line rope away from the first adjusting rope wheel, and are used to wind the corresponding first tension line rope.

[0039] By adopting the technical scheme, when the rope collecting mechanism pulls the first tension line, the first tension line can drive the first adjusting sheave to rotate by a certain angle around the central axis thereof; since the first adjusting sheave is in transmission connection with the adjacent knuckles on the outer side through the speed reduction mechanism, the rotation of the first adjusting sheave can smoothly drive the knuckles on the outer side to rotate around the hinged joints thereof and the adjacent knuckles, and has the effects of speed reduction and transmission, which is beneficial to accurately control the rotation angle of the knuckles and improve the action accuracy of the mechanical fingers. The two first tension lines are arranged in opposite directions and connected to different first tension lines, which can be used to control the knuckles to realize rotation in two different directions, such as forward and reverse directions.

[0040] Optionally, the rope control module further comprises two groups of first wire arranging sheaves, each group of first wire arranging sheaves has two first wire arranging sheaves; one first wire arranging sheave in each group of first wire arranging sheaves is arranged on the pin shaft at the rotating connection between the adjacent knuckles, and the other first wire arranging sheave is arranged on the first adjusting sheave arranged between the two adjacent knuckles; the first tension line is arranged on the first wire arranging sheaves in the same group in sequence.

[0041] By adopting the technical scheme, the first wire arranging sheave is arranged, and the first tension line is guided to pass through the first wire arranging sheave and then passes through the first wire arranging pipe and is connected to the rope collecting mechanism; based on this, the first wire arranging pipe can be arranged close to the palm plate structure, which can reduce the bending of the first wire arranging pipe and improve the friction and loss of the first tension line during action. Furthermore, one first wire arranging sheave is arranged on the pin shaft at the rotating connection between the two adjacent knuckles, when the knuckles are bent, the first tension line is pulled backward to collect the rope, and the distance between the first adjusting sheave and the first wire arranging sheave arranged between the two adjacent knuckles is shortened. The first tension line is arranged on the two first wire arranging sheaves in the same group in sequence, one first wire arranging sheave is arranged on the pin shaft at the rotating connection between the two adjacent knuckles, and the other first wire arranging sheave is arranged on the first adjusting sheave arranged between the two adjacent knuckles; based on this, the two first tension lines pass through the first wire arranging sheaves in each group in opposite directions and are connected to the corresponding first adjusting sheaves, so that the knuckles through which the wire arranging and driving pass can be rotated by 90° in forward and reverse directions, and the wire arranging action is stable.

[0042] Optionally, the control unit comprises a transmission control module, and the transmission control module comprises two groups of driving mechanisms, and the two groups of driving mechanisms are used to control the mechanical knuckles to realize rotation in two different degrees of freedom, respectively.

[0043] The driving mechanism comprises a driving motor, an intermeshing gear pair and a linkage gear, and the driven member of the intermeshing gear pair and the linkage gear are in transmission connection in sequence; the driving motor drives the intermeshing gear pair to rotate through a set of speed reduction mechanisms, and the linkage gear is in transmission connection with the knuckle through a set of speed reduction mechanisms.

[0044] By adopting the technical scheme, the driving motor is controlled to operate, the driving motor drives the staggered shaft gear pair to operate by using the speed reduction transmission of the speed reduction mechanism, the linkage gear is driven to rotate, and then the knuckles are forced to rotate again by using the speed reduction transmission of another set of speed reduction mechanisms; each driving motor can control one degree of freedom, and then control the mechanical finger to rotate at the corresponding degree of freedom. Based on this, the design of the multiple gear meshing transmission can greatly enhance the torque of the knuckles at the tail end, so that the mechanical hand can be applied to some special occasions with high requirements for clamping force. Of course, the linkage gear can also be combined with the speed reduction mechanism to form a multi-stage speed reduction mechanism.

[0045] Optionally, the control unit comprises a transmission control module, the transmission control module comprises a differential gear and two sets of driving mechanisms, the two sets of driving mechanisms are combined with the differential gear and used for controlling the mechanical knuckles to swing in different directions at two different degrees of freedom; wherein the differential gear is fixedly arranged, and the central axis of the differential gear coincides with the rotation axis of the mechanical finger;

[0046] Each of the driving mechanisms comprises:

[0047] The second adjusting rope wheel is rotatably sleeved on the pin shaft at the rotation connection position of the adjacent knuckles; the second adjusting rope wheel is connected with a transmission gear through a speed reduction mechanism, and the two transmission gears are symmetrically arranged and meshed with the differential gear;

[0048] The second wire pipe has two, and the second wire pipe is fixedly arranged on one of the knuckles;

[0049] The second wire arranging rope wheel has two, and the two second wire arranging rope wheels are coaxially fixedly arranged;

[0050] The second tension line has two, one end of the second tension line is fixedly connected to the second adjusting rope wheel, and the other end of the second tension line is respectively wound around the second wire arranging rope wheel, passes through the corresponding second wire pipe, and is connected with a control member for winding and unwinding the rope;

[0051] The directions in which the two second tension lines are wound around the second adjusting rope wheel and the second wire arranging rope wheel are opposite, so that the control member can be used to individually pull the second adjusting rope wheel to rotate in the forward direction or the reverse direction.

[0052] By adopting the technical scheme, when the mechanical finger needs to swing, the control member winds the second tension line, pulls the second adjusting rope wheel to rotate, and the second adjusting rope wheel can drive the transmission gear to rotate through the speed reduction mechanism. Since the two transmission gears are symmetrically arranged on the two sides of the differential gear, the transmission gears of different groups of driving mechanisms can rotate at different speeds and walk around the differential gear, so as to form differential transmission and ensure that the mechanical finger can swing smoothly. The two groups of driving mechanisms and the differential gear are used to control the mechanical finger joint to swing in different directions at two different degrees of freedom, so as to control the mechanical finger to swing in different directions.

[0053] In a fifth aspect, the mechanical hand provided by the application adopts the following technical scheme:

[0054] A mechanical hand comprises a palm plate structure, at least one mechanical finger as described above is hingedly connected to the circumferential side of the palm plate structure, and the inside of the palm plate structure is provided with a swing mechanism for driving the mechanical finger to swing.

[0055] By adopting the technical scheme, the mechanical finger and the palm plate structure can be combined to form a bionic mechanical hand simulating human fingers, and the swing mechanism is arranged to drive the mechanical finger to swing, so as to further improve the flexibility of the mechanical hand and facilitate the mechanical finger to accurately perform operations such as grabbing, holding, pressing and clicking.

[0056] Optionally, the swing mechanism comprises a power component and a speed reduction mechanism as described above, the power component is fixed in the inside of the palm plate structure, and the output end of the power component is connected to the joint of the mechanical finger closest to the palm plate structure through the speed reduction mechanism.

[0057] By adopting the technical scheme, the power component cooperates with the mechanical finger through the speed reduction mechanism, the action of the power component can cooperate with the swing action of the mechanical finger through the speed reduction mechanism, the degree of freedom is increased, and the multi-angle rotation of the mechanical hand can be realized through the transmission control module and the rope control module mentioned above, which has high flexibility and can simulate various actions of human hands.

[0058] Optionally, the swing mechanism comprises a first rotary motor fixed to the palm plate structure, a driving gear coaxially connected to the output end of the first rotary motor, and a driven member for driving the mechanical finger to swing relative to the palm plate structure, the driven member is rotatably arranged on the palm plate structure, and the driven member is provided with annular protrusions for mutual transmission with the driving gear.

[0059] By adopting the technical scheme, the first rotating motor is controlled to drive the driving gear to rotate, the driving gear and the driven member are engaged to drive the driven member to rotate around the central axis of the driven member, and the whole mechanical finger is driven to swing, thereby increasing the degree of freedom. Meanwhile, the transmission control module and the pull rope control module are used to drive the mechanical finger to rotate at multiple angles, thereby improving the flexibility and simulating various movements of the human hand.

[0060] Optionally, the mechanical hand further comprises a bionic thumb, wherein the structure outside the palm plate structure comprises an outer phalanx, an inner phalanx and a rotating mechanism; the rotating mechanism is located on the side of the inner phalanx away from the outer phalanx; the rotating mechanism is fixedly connected to the driven member; the outer phalanx rotates around the rotation center R1 relative to the inner phalanx; the inner phalanx is arranged in the transmission control module and rotates around the rotation center R2 and R3; the transmission control module is arranged on the side of the rotating mechanism close to the inner phalanx with R4 as the rotation center; and the rotating mechanism is arranged in the swing mechanism with R5 as the swing center.

[0061] By adopting the technical scheme, the structure outside the palm plate structure of the bionic thumb comprises three phalanges, i.e., the outer phalanx, the inner phalanx and the rotating mechanism; the transmission control module, the rotating mechanism and the swing mechanism can rotate around five axes R1, R2, R3, R4 and R5, thereby successfully simulating various joint movements of the human thumb.

[0062] Optionally, the swing mechanism further comprises a palm-in rotating motor coaxially connected to the first rotating motor, and the swing mechanism further comprises a rotation center R6 controlled by the palm-in rotating motor; the swing mechanism and the palm plate structure are arranged to rotate relative to each other, so as to rotate the bionic thumb and the swing mechanism relative to the palm plate structure around the rotation center R6.

[0063] By adopting the technical scheme, the swing mechanism and the palm plate structure are arranged to rotate relative to each other, and the palm-in rotating motor is arranged at the end of the swing mechanism, thereby increasing a new rotation degree of freedom R6 of the bionic thumb, and the bionic thumb has six rotation degrees of freedom R1, R2, R3, R4, R5 and R6. Therefore, the flexibility of the bionic thumb is further improved, and more movements of the human thumb can be simulated.

[0064] Optionally, the mechanical hand further comprises a turnover mechanism for driving the bionic thumb to turn over, wherein the turnover mechanism comprises a second rotating motor fixedly arranged and an eccentric plate fixedly connected to the output end of the second rotating motor; the first rotating motor is fixedly connected to the eccentric plate, and the first rotating motor and the second rotating motor are arranged in different axes, so as to drive the bionic thumb to rotate around the central axis R6 of the output end of the second rotating motor.

[0065] By adopting the technical scheme, the bionic thumb is driven to move by the added turnover mechanism, so that the bionic thumb has rotation and adjustment degrees of freedom around R1, R2, R3, R4, R5 and R6 six axes, can further simulate various joint actions of the human thumb, and is more flexible.

[0066] In summary, the present application has at least one of the following beneficial technical effects:

[0067] 1. By setting various forms of speed reduction mechanisms, the speed reduction mechanisms can increase the power torque between the joints, and also require a great force for the force reversal of the joints, so as to facilitate the manipulator to smoothly realize the operation actions such as grabbing, holding, pressing and clicking.

[0068] 2. By setting various mechanical structures to realize the movement of each joint of the human finger, each joint has multiple rotation and adjustment degrees of freedom in different directions, which can replace the irregular movement of the human finger to simulate the human finger to smoothly realize the operation actions such as grabbing, holding, pressing and clicking.

[0069] 3. The mechanical finger and the palm plate structure can be combined to form a bionic mechanical hand simulating the human finger, each mechanical finger is set to be bidirectional rotation according to the requirement, so that the joint of the whole mechanical hand can realize 180° rotation, thereby realizing that the same mechanical hand can be used as a left hand or a right hand. BRIEF DESCRIPTION OF DRAWINGS

[0070] Figure 1 is the overall structure schematic diagram of the manipulator in the present application;

[0071] Figure 2 is the structure schematic diagram of a single three-joint bionic finger in the present application;

[0072] Figure 3 is the structure schematic diagram of the upper pull rope control module of the three-joint bionic finger in the present application;

[0073] Figure 4 is the connection structure schematic diagram of the first tension line and the first adjusting rope wheel in the present application;

[0074] Figure 5 is a schematic diagram of the inner end joint and the middle end joint in the present application in the limit rotation state;

[0075] Figure 6 is a partial sectional view of the inner end joint and the middle end joint of the three-joint bionic finger in the present application, mainly showing the specific structure of the transmission control module and the speed reduction mechanism;

[0076] Figure 7 is the structure schematic diagram of the transmission control module position of the three-joint bionic finger in the present application;

[0077] Figure 8 Fig. 16 is a structural schematic diagram of the position of the driving mechanism on the three-section bionic finger in the present application;

[0078] Figure 9 Fig. 17 is a structural schematic diagram of the position relationship and structure of the two face gears and the two transition gears in the present application;

[0079] Figure 10 Fig. 18 is a structural schematic diagram of the swing mechanism on the three-section bionic finger in the present application;

[0080] Figure 11 Fig. 19 is a structural schematic diagram of the bionic thumb in the present application;

[0081] Figure 12 Fig. 20 is a partial sectional view of the planet carrier and the outer end finger section in the present application, mainly showing the specific structure of another form of the speed reduction mechanism on the bionic thumb;

[0082] Figure 13 Fig. 21 is a sectional structural schematic diagram of the planet carrier and the inner end finger section and the outer end finger section in the present application;

[0083] Figure 14 Fig. 22 is a structural schematic diagram of another form of the speed reduction mechanism in the present application;

[0084] Figure 15 Fig. 23 is a structural schematic diagram of the driving control module on the bionic thumb in the present application;

[0085] Figure 16 Fig. 24 is a structural schematic diagram of the bionic thumb and the swing mechanism and the rotation mechanism connected thereto in the present application;

[0086] Figure 17 Fig. 25 is a structural schematic diagram of the bionic thumb having six-axis rotation and adjustment degrees of freedom in the present application;

[0087] Figure 18 Fig. 26 is a structural schematic diagram of the bionic thumb and the swing mechanism, the rotation mechanism and the turnover mechanism connected thereto in another embodiment of the present application.

[0088] Explanation of reference signs: 1, speed reduction mechanism; 11, transmission pair; 12, front end toothed member; 121, first front end toothed member; 122, second front end toothed member; 123, third front end toothed member; 124, fourth front end toothed member; 125, fifth front end toothed member; 13, rear end gear; 131, first rear end gear; 132, second rear end gear; 133, third rear end gear; 134, fifth rear end gear; 14, toothed plate; 141, arc-shaped tooth part; 15, first sun gear; 151, second sun gear; 16, first planet carrier; 161, second planet carrier; 17, first planet gear; 170, second planet gear; 171, inner gear ring; 18, first rotating rope wheel; 19, second rotating rope wheel; 20, speed reduction pull rope;

[0089] 2, mechanical finger; 21, outer end knuckle; 22, middle end knuckle; 221, first free shaft; 222, second free shaft; 23, inner end knuckle; 24, pin shaft; 25, vertical plate carrier; 26, swing carrier;

[0090] 3, pull rope control module; 31, first adjusting rope wheel; 311, first rotating shaft; 312, wire clamping groove; 313, connecting clamping groove; 32, first wire routing pipe; 33, first pull wire rope; 331, connecting clamping block; 34, pull-in mechanism; 35, first wire arranging rope wheel;

[0091] 4, driving mechanism; 41, driving motor; 411, driving gear; 42, face gear; 43, transition gear; 44, linkage gear; 45, second adjusting rope wheel; 46, second wire routing pipe; 47, second pull wire rope; 48, second wire arranging rope wheel;

[0092] 5, differential gear; 51, transmission gear; 6, swing mechanism; 61, power component; 62, first rotating motor; 63, driving gear; 64, driven member; 641, annular convex tooth; 642, second rotating shaft; 65, inner palm rotating motor; 7, rotating mechanism; 71, third rotating motor; 8, palm plate structure; 81, extension plate; 9, overturning mechanism; 91, second rotating motor; 92, eccentric plate. DETAILED DESCRIPTION

[0093] The following will be described in detail with reference to the accompanying drawings. Figures 1-18 The present application will be further described in detail.

[0094] The mechanical hand disclosed in the embodiments of the present application has at least one mechanical finger. The terms "inner", "outer", "front", "rear", "upper", "lower" and the like used herein refer to the corresponding positions of a human hand, such as the outer end knuckle, middle end knuckle and inner end knuckle of a finger located on the outer side of the palm.

[0095] Reference will be made to the accompanying drawings. Figure 1A mechanical hand comprises a palm plate structure 8, the periphery of the palm plate structure 8 extends outwardly with an extension plate 81, the extension plate 81 is hinged with a mechanical finger 2; the number of the extension plate 81 can be multiple. In order to simulate the human palm, the specific number of the extension plate 81 is set to five in the embodiment, each extension plate 81 is hinged with a mechanical finger 2 through a pin shaft 24, that is, the total number of the mechanical finger 2 is five. One of the mechanical fingers 2 is located inside the palm plate structure 8, which is equivalent to the thumb of the human hand, and thus can be called a bionic thumb; the remaining four mechanical fingers 2 are arranged side by side on the periphery of the palm plate structure 8 and avoid the bionic thumb, which are equivalent to the index finger, middle finger, ring finger and little finger of the human hand.

[0096] The mechanical finger 2 comprises at least two knuckles, it can be understood that the part of the bionic thumb located outside the palm plate structure 8 for replacing the human thumb can be defined as a three-knuckle bionic thumb, comprising an outer end knuckle 21, an inner end knuckle 23 and a rotating mechanism 7, wherein the inner end knuckle 23 is located between the outer end knuckle 21 and the rotating mechanism 7; in addition, the knuckle located inside the palm plate structure 8 in the present application is defined as a swing mechanism 6, the swing mechanism 6 is connected to the side of the rotating mechanism 7 away from the inner end knuckle 23. The part of the mechanical finger 2 located outside the palm plate structure 8 for replacing the remaining four mechanical fingers can be defined as a three-knuckle bionic finger, comprising an outer end knuckle 21, a middle end knuckle 22 and an inner end knuckle 23 arranged in sequence.

[0097] It should be noted here that all the knuckles of each mechanical finger 2 are arranged in sequence from inside to outside, and the adjacent knuckles are also connected by the pin shaft 24 for rotation, so that the relative rotation between the knuckles can be achieved. The mechanical finger 2 further comprises a control unit for controlling the rotation of each knuckle, the control unit can be a separate wire control module 3, which can be referred to the solution shown in the granted Chinese patent 3N220783951U; or can be a separate transmission control module, which drives each group of transmission pairs by a motor to realize the action of each joint; of course, it can also be a combination of the wire control module 3 and the transmission control module as adopted in the embodiment, which can be selectively arranged according to actual needs.

[0098] In the embodiment, the wire control module 3 is arranged between the outer end knuckle 21 and the palm plate structure 8, and the transmission control module is arranged between the adjacent knuckles, so that the wire control module 3 and the transmission control module can make each outer end knuckle 21 approach or move away from the palm center of the palm plate structure 8, so as to simulate the stretching or bending of the human finger, and then realize the operations such as grabbing, holding, clicking or pressing. By adding other transmission mechanisms between the outer end knuckle 21, the middle end knuckle 22, the inner end knuckle 23 and the palm plate structure 8, or by arranging the control module for the inner end knuckle 23 and the middle end knuckle 22, the rotation angle of each knuckle can be controlled to reach the required angle, even 180°.

[0099] With reference to the drawings Figure 1 And Figure 2 , the pull rope control module 3 comprises two first adjusting rope wheels 31, two first wire routing pipes 32, two first tension line ropes 33, two groups of rope winding mechanisms 34 and four first wire routing wheels 35; each group of rope winding mechanisms 34 corresponds to one first adjusting rope wheel 31, one first wire routing pipe 32, one first tension line rope 33 and two first wire routing wheels 35, and the two groups of rope winding mechanisms 34 control traction in different directions to realize the rotation of the corresponding knuckles in the forward or reverse direction. The four first wire routing wheels 35 are coaxially arranged in pairs, and the two first wire routing wheels 35 of the same rope winding mechanism 34 are arranged staggered. The two first adjusting rope wheels 31 are coaxially fixed and integrated. Here, taking a three-joint bionic finger as an example, the first adjusting rope wheel 31 is coaxially fixed with a first rotating shaft 311, which can be connected to the inside of the middle knuckle 22 through the first rotating shaft 311; a speed reduction mechanism 1 is arranged between the first adjusting rope wheel 31 and the outer knuckle 21, and the rotation of the first adjusting rope wheel 31 can drive the outer knuckle 21 to flip through the speed reduction mechanism 1, so as to realize the operation actions such as resisting, holding, grabbing and picking objects.

[0100] With reference to the drawings Figure 3 , one end of the first tension line rope 33 is fixedly connected to the first adjusting rope wheel 31. Specifically, the outer circumferential surface of the first adjusting rope wheel 31 has a wire clamping groove 312, and the inner circumferential wall of the wire clamping groove 312 is partially provided with a connecting clamping groove 313; the end of the first tension line rope 33 is fused with a connecting clamping block 331, the shape of the connecting clamping block 331 is the same as that of the connecting clamping groove 313, and the width of the side of the connecting clamping block 331 away from the first tension line rope 33 is greater than that of the side of the connecting clamping block 331 close to the first tension line rope 33, so that the whole connecting clamping block 331 is in a T shape. By matching the connecting clamping block 331 with the connecting clamping groove 313, the first tension line rope 33 can be stably connected to the first adjusting rope wheel 31.

[0101] With reference to the drawings Figure 2 And Figure 4 , the first wire routing pipe 32 is fixedly arranged on the inside of the inner knuckle 23 and located between the first adjusting rope wheel 31 and the palm plate structure 8; the end of the first tension line rope 33 away from the first adjusting rope wheel 31 is arranged in the corresponding first wire routing pipe 32, and the end of the first tension line rope 33 away from the first adjusting rope wheel 31 is connected to the rope winding mechanism 34, which is used for winding the first tension line rope 33, so as to control the outer knuckle 21 to complete the flipping action in combination with the speed reduction mechanism 1 connected to the first adjusting rope wheel 31, so that the outer knuckle 21 can smoothly complete the operation actions such as stretching, holding, pressing and clicking.

[0102] Two different rope winding mechanisms 34 are used to drive the corresponding first tension line 33 to drive the first adjusting rope wheel 31 to perform the structure of forward turning or reverse turning, which are arranged adjacent to each other and located inside each knuckle, and the overall structure is compact, which effectively improves the space utilization of the mechanical finger.

[0103] The rope winding mechanism 34 can have multiple control members that independently realize the telescopic operation, or can have only one control member that independently controls the telescopic operation; the control member can be a pneumatic cylinder, an electric motor, or a worm gear mechanism; different first tension lines 33 are preferably each connected with an independent control member, thereby improving the implementation accuracy of each operation of the mechanical finger 2. The rope winding mechanism 34 can be arranged inside the palm plate structure 8, or as shown in the embodiment, all the rope winding mechanisms 34 can be integrated into a whole module unit and independently arranged outside the mechanical hand, together with the overall control of the device to which the whole mechanical hand is applied.

[0104] Referring to Figure 4 , two first tension line wheels 35 for cooperative control of the same turning direction are located together between the first adjusting rope wheel 31 and the first wire running pipe 32; one of the first tension line wheels 35 is rotatably sleeved on the pin shaft 24 at the rotating connection between the middle knuckle 22 and the inner knuckle 23, and the other first tension line wheel 35 is rotatably connected to the inner side of the inner knuckle 23; referring to Figure 3 , one end of the first tension line 33 away from the first adjusting rope wheel 31 is sequentially wound on the two first tension line wheels 35, and in the embodiment, the first tension line wheel 35 located at the inner knuckle 23 is arranged close to the first wire running pipe 32, which can avoid excessive bending of the first tension line 33 and the first wire running pipe 32 at each knuckle joint, and facilitate wire arrangement.

[0105] In addition, since the first tension line 33 is sequentially wound on the two first tension line wheels 35 and arranged in a wave shape, when the middle knuckle 22 is driven to rotate, the middle knuckle 22 gradually turns towards the inner knuckle 23, at which time the first tension line 33 is forced to be wound by the rope winding mechanism 34.

[0106] As shown in Figure 5 , the first tension line 33 for forward turning control and the first tension line 33 for reverse turning control can be implemented as follows: when the middle knuckle 22 and the inner knuckle 23 form a relative position of 90° angle, the first tension line 33 is tangent to the first tension line wheel 35 located at the adjacent knuckle (such as Figure 5 the inner knuckle 23). At this time, the first tension line 33 and the first tension line wheel 35 still maintain a stable contact relationship, so that the algorithm control relationship of the pulling length of the first tension line 33 is maintained, and the pulling length of the first tension line 33 is converted to the rotation angle of the first adjusting rope wheel 31 relative to the inner knuckle 23 of the middle knuckle 22.

[0107] It should be noted that the extreme rotation angle of the middle end knuckle 22 in this embodiment can be 180°, within this range, the first tension line 33 and the first line guide pulley 35 located in the middle of the inner end knuckle 23 still remain tangent. Two sets of tension control modules 3 are provided to cooperate with the control, and the two first tension lines 33 of the two sets of tension control modules 3 are arranged in opposite directions around the first adjusting pulley 31, which can make the outer end knuckle 21 flip in two opposite directions.

[0108] Based on this, the action reset after the outer end knuckle 21 flips can be realized, and at the same time the action of the left and right hands of a human being can be simulated, so that the function and use effect of the mechanical hand are more perfect. Even, the knuckles of the mechanical finger with the tension control module 3 can be turned and flipped, and then the mechanical hand can be used as a left hand and a right hand.

[0109] Reference Figure 6 The speed reduction mechanism 1 includes at least one set of transmission pair 11, the transmission pair 11 includes a front end toothed member 12 and a rear end toothed member, the rear end toothed member is at least in meshing transmission with the front end toothed member 12; the front end toothed member 12 located at the most front end of all the front end toothed members 12 is used to cooperate with the driving mechanism for controlling the action of the knuckle in the mechanical finger 2, and the rear end toothed member located at the most rear end of all the rear end toothed members is used to cooperate with the execution mechanism in the mechanical finger 2.

[0110] Taking a three-joint bionic finger as an example, the front end toothed member of the above-mentioned speed reduction mechanism 1 is provided as a front end gear, but in other implementable embodiments, the front end toothed member is also a toothed member such as a toothed plate, a rack, etc. In addition, the rear end toothed member of the speed reduction mechanism 1 is provided as a rear end gear 13, the diameter of the meshing division circle of the rear end gear 13 is greater than the diameter of the meshing division circle of the front end toothed member 12, and the front end toothed member 12 in each transmission pair 11 is in meshing transmission with the rear end gear 13. The speed reduction mechanism 1 in this embodiment is a two-stage speed reduction mechanism 1, and the number of transmission pairs 11 is specifically two sets, one of the front end toothed members 12 is fixedly sleeved on the first rotating shaft 311, so that the front end toothed member 12 can rotate together with the first adjusting pulley 31; the rear end gear 13 of the other transmission pair 11 is fixedly sleeved on the pin shaft 24 at the rotating connection position of the outer end knuckle 21 and the inner end knuckle 23, so that the outer end knuckle 21 can rotate together with the rear end gear 13.

[0111] The remaining front end toothed member 12 is coaxially fixed with the rear end gear 13, and the front end toothed member 12 in the same transmission pair 11 can be engaged with the rear end gear 13. In this way, when the first adjusting rope wheel 31 is driven to rotate by the rope collecting mechanism 34, the torque between the outer end knuckle 21 and the middle end knuckle 22 can be increased by the transmission and speed reduction of the front end toothed member 12 and the rear end gear 13 in each group of transmission pairs 11, and the rotation position of the outer end knuckle 21 can be maintained, which is beneficial to enhance the gripping force of each knuckle of the three-joint bionic finger.

[0112] Of course, in other implementable embodiments, the number of transmission pairs 11 can also be 1 group, 3 groups or 4 groups, and the corresponding number of transmission pairs 11 can be set according to the specific application scene of the mechanical hand to control the gripping force of the mechanical finger 2 within a suitable range; and the transmission between the front end toothed member 12 and the rear end gear 13 is not limited to the form of parallel shaft gear transmission, but can also be the form of staggered shaft gear transmission. It should be noted that in most cases, the transmission pairs 11 mentioned here and later follow a rule, that is, the front end toothed member 12 in each group of transmission pairs 11 is located at the front end of the transmission path relative to the rear end gear 13 to achieve the effect of transmission; based on this, according to the speed reduction ratio of the front end toothed member 12 and the rear end gear 13, the speed reduction effect and the speed reduction force increasing effect can also be achieved; of course, in some cases, the engagement relationship between the front end toothed member 12 and the rear end gear 13 is only used for transmission and is not required to reduce speed, and even in some cases, the engagement relationship between the front end toothed member 12 and the rear end gear 13 is used for transmission and speed increasing, and the overall transmission ratio is reduced.

[0113] Referring to Figure 6 , the transmission control module includes two groups of driving mechanisms 4 and multiple groups of speed reduction mechanisms 1 as mentioned above. Here, the driving mechanisms 4 are used to control the palm heart of the three-joint bionic finger to the palm plate structure 8 to close or away; the speed reduction mechanism 1 not only has the effect of transmission speed reduction and torque increase, but also can have the effect of connecting driving, which can drive the three-joint bionic finger to rotate smoothly.

[0114] In this embodiment, as shown in Figure 6 and Figure 7 , two free shafts are connected inside the inner end knuckle 23, the two free shafts are kept apart, and each free shaft is located between the two pin shafts 24 of the inner end knuckle 23; here, the two free shafts are defined as the first free shaft 221 and the second free shaft 222. The speed reduction mechanism 1 between the inner end knuckle 23 and the middle end knuckle 22 is multi-stage speed reduction, and the number of transmission pairs 11 is multiple groups, and each front end toothed member 12 and each rear end gear 13 are respectively set as the first front end toothed member 121, the first rear end gear 131, the second front end toothed member 122, the second rear end gear 132, the third front end toothed member 123 and the third rear end gear 133.

[0115] Specifically, the engagement transmission structure of each transmission pair is described from the outer end of the mechanical finger to the inner end. The first rear end gear 131 is fixedly connected with the middle finger joint 22. Of course, in other embodiments, the first rear end gear 131 can also be combined with the middle finger joint 22 to form a toothed plate. Here, the first rear end gear 131 is hinged to the inner end finger joint 23 through the pin shaft 24, that is, the middle finger joint 22 is also hinged to the pin shaft 24 at the same position, and the first front end toothed member 121 is fixedly sleeved on the first free shaft 221, and the first front end toothed member 121 and the first rear end gear 131 are in meshing transmission with each other, which is a transmission pair. Figure 7 , the second front end toothed member 122 is rotatably sleeved on the second free shaft 222, and the second front end toothed member 122 and the second rear end gear 132 are in meshing transmission with each other, which is another transmission pair.

[0116] It should be noted here that the first transmission pair 11 formed by the combination of the first front end toothed member 121 and the first rear end gear 131, and the second transmission pair 11 formed by the combination of the second front end toothed member 122 and the second rear end gear 132, are respectively located on both sides of the first wire running pipe 32, which can improve the space utilization of the mechanical finger 2 and facilitate the smooth installation of the speed reduction mechanism 1 in the narrow space of the mechanical finger 2.

[0117] The third rear end gear 133 and the fifth rear end gear 134 are respectively located on both sides of the first wire running pipe 32; the fifth rear end gear 134 is fixedly connected with the second front end toothed member 122, and the two can rotate together; the third rear end gear 133 is fixedly connected with the fourth front end toothed member 124. The inner end finger joint 23 is hinged to the extension plate 81 through a swing frame 26. The swing frame 26 is fixedly provided with a toothed plate 14, and the outer edge of the toothed plate 14 is provided with an integrally formed arc-shaped tooth portion 141, which extends in an arc line. In this embodiment, the extension arc line of the arc-shaped tooth portion 141 is 1 / 2 circle, of course, in other implementable embodiments, it can also be 1 / 3 circle or 1 / 4 circle, etc., and is not limited to the way shown in this embodiment. Different extension arc lines of the arc-shaped tooth portion 141 limit the swing or rotation range of the meshing of the toothed plate 14 and the front end toothed member.

[0118] The fourth front end toothed member 124 is engaged with the arc-shaped tooth portion 141, and the pin shaft 24 at the rotating connection position of the inner end knuckle 23 and the swing frame 26 can be coaxial with the arc-shaped tooth portion 141; based on this, when the third rear end gear 133 rotates and drives the fourth front end toothed member 124 to rotate together, the cooperation of the fourth front end toothed member 124 and the arc-shaped tooth portion 141 can realize the flipping of the whole three-joint bionic finger towards the palm plate structure 8 direction to approach or away. The fourth front end toothed member 124 and the toothed plate 14 can be combined to form the fourth transmission pair 11.

[0119] With reference to Figure 7 The third front end toothed member 123 and the fifth front end toothed member 125 are respectively located on both sides of the first wire tube 32, and the third front end toothed member 123 and the fifth front end toothed member 125 are both rotatably sleeved on the pin shaft 24 at the rotating connection position of the inner end knuckle 23 and the swing frame 26. The third front end toothed member 123 and the fifth front end toothed member 125 are correspondingly fixed to the linkage gear 44, and are further controlled by a group of driving mechanisms 4. Based on this, when the driving mechanism 4 drives the third front end toothed member 123 to rotate, the third rear end gear 133 engaged with the third front end toothed member 123 is driven to rotate, and then the cooperation of the fourth front end toothed member 124 and the arc-shaped tooth portion 141 can make the inner end knuckle 23 have the performance of flipping the palm plate structure 8 to approach or away with deceleration and increased force, and at the same time, the transmission of each group of transmission pairs 11 can also drive the inner end knuckle 23 to flip the palm plate structure 8, thereby realizing the forward flipping and reverse flipping actions of the inner end knuckle 23 relative to the palm plate structure 8.

[0120] When the driving mechanism 4 drives the fifth front end toothed member 125 to rotate, the fifth rear end gear 134 engaged with the fifth front end toothed member 125 is driven to rotate, and then the second rear end gear 132, the second front end toothed member 122, the first front end toothed member 121, the first rear end gear 131 and the transmission to the control middle end knuckle 22 are driven to realize the flipping action. Further, the mechanical finger finally simulates the gripping and releasing action of the mechanical finger 2.

[0121] Therefore, the swing frame 26, the inner end knuckle 23 and the middle end knuckle 22 form a multi-stage speed reduction mechanism 1.

[0122] With reference to Figure 8 and Figure 9In the embodiment, each group of driving mechanisms 4 comprises a driving motor 41, an intermeshing gear pair and a linkage gear 44. Specifically, the intermeshing gear pair comprises a face gear 42 and a transition gear 43, the axial direction of the face gear 42 is perpendicular to the axial direction of the transition gear 43, and the two are in meshing transmission. In the embodiment, the face gear 42 corresponds to the driving part of the intermeshing gear pair, and the transition gear 43 corresponds to the driven part of the intermeshing gear pair. It can be understood that the form of the intermeshing gear pair is not limited to face gear transmission, and in other implementable embodiments, the intermeshing gear pair can also be in the form of bevel gear transmission or worm gear transmission.

[0123] Referring to Figure 7 and Figure 8 , the two linkage gears 44 are respectively rotatably sleeved on the pin shafts 24 at the rotation connection positions of the inner end knuckles 23 and the swing frames 26, and the two linkage gears 44 are respectively fixed with the third front end toothed member 123 and the fifth front end toothed member 125; the transition gears 43 are rotatably connected to the inner sides of the swing frames 26, and each transition gear 43 is in meshing transmission with the corresponding linkage gear 44.

[0124] Referring to Figure 8 and Figure 9 , the two face gears 42 are respectively rotatably arranged on the inner sides of the swing frames 26, and the two face gears 42 are respectively located on the upper and lower sides of the swing frames 26; each face gear 42 is in meshing transmission with the transition gear 43 in the group of driving mechanisms 4, and the central axis of the face gear 42 is perpendicular to the central axis of the transition gear 43, and the two are in the form of intermeshing transmission. It should be noted that by making the diameter of the meshing division circle of the face gear 42 less than the diameter of the meshing division circle of the transition gear 43, and making the diameter of the meshing division circle of the transition gear 43 less than the diameter of the meshing division circle of the linkage gear 44, the face gear 42, the transition gear 43 and the linkage gear 44 also form a speed reduction structure therebetween, which is used to achieve the effects of transmission speed reduction, torque increase and grip increase. Of course, the face gear 42 and the transition gear 43 can also be selected to have different gear moduli to make the gear outer diameters different, so as to realize the accommodation of more intermeshing gear sets or different combinations of intermeshing gear sets in limited accommodation space or different positions, and further realize the adjustment and control requirements of different speed reduction ratios.

[0125] Referring to Figure 8 and Figure 9 , the side of the face gear 42 away from the transition gear 43 can also be provided with another linkage transmission pair, and the diameter of the meshing division circle of the toothed member of the linkage transmission pair can be selected to be the same as or different from that of the face gear 42; thereby forming a speed reduction structure of the linkage transmission pair and the face gear 42. In the embodiment, the linkage transmission pair has a different diameter of the meshing division circle of the gear than the face gear 42, and the two are coaxially fixed.

[0126] Back to Figure 8 , the driving motor 41 is fixed inside the extension plate 81, and the output shaft of the driving motor 41 is fixed with a driving gear 411, which can be directly meshed with the face gear 42 for transmission, or as shown in the embodiment, the torque is transmitted to the face gear 42 after being decelerated by the multiple transmission pairs 11 of the speed reduction mechanism 1; through the deceleration and transmission of the multiple transmission pairs 11, the rotating torque of the inner end knuckle 23 at the end can be greatly improved, which is beneficial to improve the stability of the three-section bionic finger in gripping objects, and make it more widely applicable. The two driving motors 41 are arranged to drive the three-section bionic finger to rotate in two different degrees of freedom, which can also smoothly simulate the actions of human left and right hands, improving the practicability.

[0127] In addition, referring to Figure 10 , in the embodiment, the extension plate 81 is internally provided with a swing mechanism 6 for driving the three-section bionic finger to swing left and right; the swing mechanism 6 comprises a power component 61 and a speed reduction mechanism 1, and the speed reduction mechanism 1 comprises three sets of transmission pairs 11, two of which are in the form of meshing transmission between the front end tooth-shaped member 12 and the rear end gear 13, and the remaining one is in the form of meshing transmission between the front end tooth-shaped member 12 and the arc-shaped tooth part 141 of the tooth-shaped plate 14. The tooth-shaped plate 14 is fixed to the swing frame 26, and the tooth-shaped plate 14 can also be integrally formed with the swing frame 26. The pin shaft 24 at the swing connection between the swing frame 26 and the extension plate 81 is coaxial with the tooth-shaped plate 14.

[0128] The power component 61 can be a rudder, a wire-driven mode or a speed reduction motor, etc. The power component 61 is fixed to the extension plate 81, and the output end of the power component 61 is coaxially connected with the front end tooth-shaped member 12 at the front end of the transmission. When the power component 61 operates, the tooth-shaped plate 14 can be rotated around its central axis through each set of transmission pairs 11, so as to realize the left and right swinging of the three-section bionic finger, thereby further expanding the activity control range of the three-section bionic finger and having higher flexibility, even reaching the flexibility of human fingers.

[0129] In summary, in the embodiment, the four bionic fingers corresponding to the three-section bionic finger except the bionic thumb are controlled to swing left and right by the swing mechanism 6, and are controlled to rotate in different degrees of freedom by the two sets of driving mechanisms 4, and the outer knuckle 21 is controlled to turn up and down by the rope winding mechanism 34, which has the rotating and adjusting freedom around Figure 2 the four axes RS1, RS2, RS3 and RS4 as shown in the figure.

[0130] Next, the three-section bionic thumb will be taken as an example for introduction, referring to Figure 11In order to improve the space utilization, the bionic thumb of the present embodiment adopts another planetary gear type speed reduction mechanism 1.

[0131] As shown in Figure 12 and Figure 13 , the speed reduction mechanism 1 includes at least one set of planetary speed reduction structure; each set of planetary speed reduction structure includes a sun gear, a planet carrier, at least one planet gear and an inner ring gear 171. When the speed reduction mechanism is applied to the mechanical finger of the present application, the input end of the speed reduction mechanism is fixedly connected with the pull rope control module 3 and is controlled, and the output end of the speed reduction mechanism is fixedly connected with the outer end knuckle 21 of the bionic thumb, for transmitting the torque adjusted by the at least one set of planetary speed reduction structure to the outer end knuckle 21, so as to increase the torque in a limited narrow space to enhance the gripping force of the mechanical finger 2.

[0132] The speed reduction mechanism can have one set of planetary speed reduction structure, i.e. single-stage planetary speed reduction mode; the speed reduction mechanism can also have two or more sets of planetary speed reduction structure, forming multi-stage planetary speed reduction mode; in the case of having multiple sets of planetary speed reduction structure, the constituent members of the planetary speed reduction structure can be combined into one, such as the speed reduction mechanism having two sets of planetary speed reduction structure can only have one inner ring gear 171.

[0133] In the present embodiment, the speed reduction mechanism having two sets of planetary speed reduction structure is taken as an example for illustration, and the two sets of planetary speed reduction structure are defined as the first planetary speed reduction structure and the second planetary speed reduction structure, and the two sets of planetary speed reduction structure share one inner ring gear 171. The first planetary speed reduction structure is composed of a first sun gear 15, a first planet carrier 16, at least one first planet gear 17 and the inner ring gear 171. The second planetary speed reduction structure is composed of a second sun gear 151, a second planet carrier 161, at least one second planet gear 170 and the inner ring gear 171.

[0134] The first sun gear 15 in the first planetary speed reduction structure is coaxially fixed with the first adjusting pulley 31 of the pull rope control module 3, and the first rotating shaft 311 axis of the first adjusting pulley 31 coincides with the first rotating shaft 311 axis of the outer end knuckle 21; the inner ring gear 171 is fixedly arranged on the inner side of the inner end knuckle 23, and the inner peripheral surface of the inner ring gear 171 is provided with an inner tooth ring meshing with each first planet gear 17 and second planet gear 170; the outer side of the inner ring gear 171 is fixedly connected with the middle part of the inner end knuckle 23 through a pin shaft; and the inner ring gear 171 is movably sleeved on the outer end knuckle 21.

[0135] The number of first planet gears 17 is multiple, and each first planet gear 17 is fixedly connected to the first planet carrier 16 through a pin shaft. All the first planet gears 17 are equidistantly arranged around the central axis of the first sun gear 15; and the first planet gears 17 are simultaneously meshed with the outer teeth of the first sun gear 15 and the inner ring gear 171.

[0136] The second sun gear 151 in the second planetary reduction structure is coaxially fixed to the first planet carrier 16 and is used to receive the torque transmitted by the first planetary reduction structure.

[0137] Multiple second planetary gears 170 are provided, each second planetary gear 170 being fixedly connected to the second planetary carrier 161 by a pin; the second planetary carrier 161 is fixedly connected to the outer end finger joint 21. Of course, to save more space, in this embodiment, the second planetary carrier 161 and the outer end finger joint 21 can be made as one piece; or as... Figure 12 As shown, a portion of the outer end finger joint 21 is directly used as the second planetary carrier 161. At this time, the outer end finger joint 21 connected to the second planetary gear 170 is equivalent to the output of the entire planetary gear reduction mechanism. All the second planetary gears 170 are equidistantly arranged around the central axis of the second sun gear 151; the second planetary gears 170 simultaneously mesh with the external teeth of the second sun gear 151 and the internal gear ring 171.

[0138] When the rope winding mechanism 34 of the rope control module 3 drives the first adjusting rope wheel 31 to rotate, the first sun wheel 15 also rotates with the first adjusting rope wheel 31, causing each first planetary wheel 17 to revolve around the central axis of the first sun wheel 15, thereby driving the first planetary carrier 16 to rotate, and then the second sun wheel 151 rotates with the first planetary carrier 16. At this point, the first planetary reduction structure completes the transmission to the second planetary reduction structure.

[0139] Next, each of the second planetary gears 170 revolves around the central axis of the second sun gear 151, thereby driving the outer phalanx 21 to rotate, causing the outer phalanx 21 to rotate relative to the inner phalanx 23; thus realizing the overall bending and extending motion of the bionic thumb. It can be seen that the pull rope control module 3 can drive the first planetary reduction structure and the second planetary reduction structure to rotate successively; then, the planetary reduction is used to drive the rotation of the outer phalanx 21, and the speed ratio of the planetary gear structure achieves the effect of deceleration and transmission, which also helps to increase the torque to enhance the grip strength of the mechanical finger 2.

[0140] Planetary gear reduction mechanisms can also be applied to the structure of three-segment bionic fingers, and are not limited to this.

[0141] Alternatively, in another feasible embodiment, the deceleration mechanism 1 of the bionic thumb can also be in the form of a lasso. (See reference...) Figure 14The speed reduction mechanism 1 comprises a first rotating rope wheel 18, a second rotating rope wheel 19, a speed reduction pull rope 20 and a reset mechanism (not shown in the figure), wherein the outer diameter size of the first rotating rope wheel 18 is smaller than the outer diameter size of the second rotating rope wheel 19; the first rotating rope wheel 18 can be fixed to the inner end knuckle 23 of the bionic thumb, and the second rotating rope wheel 19 can be coaxially fixed with the pin shaft 24 of the upper outer end knuckle 21 of the bionic thumb. The reset mechanism can be the reverse arrangement structure of the combination of the first rotating rope wheel, the second rotating rope wheel and the speed reduction pull rope as described in the present solution; the reset mechanism can also be one of a torsion spring, a pull rope or a tension spring.

[0142] One end of the speed reduction pull rope 20 is fixedly connected to the first rotating rope wheel 18, and the other end of the speed reduction pull rope 20 is sequentially wound around the first rotating rope wheel 18 and the second rotating rope wheel 19 and then fixedly connected with the second rotating rope wheel 19. When driven by the speed reduction pull rope 20, the first rotating rope wheel 18 can drive the second rotating rope wheel 19 to transmit and reduce speed, which is also conducive to increasing the torque to enhance the gripping force of the mechanical finger 2.

[0143] If the reset mechanism is a torsion spring, it can be arranged at the rotating connection between the outer end knuckle 21 and the inner end knuckle 23, which can always generate a torsion force acting on the outer end knuckle 21, and the direction of the torsion force is opposite to the direction of the pulling force of the speed reduction pull rope 20; after the inner end knuckle 23 is driven to bend, the outer end knuckle 21 can be reset to rotate under the action of the torsion force, so that the mechanical finger 2 returns to the stretched state, which is conducive to the normal operation of the mechanical hand next time.

[0144] Of course, although the present embodiment sets the speed reduction mechanism 1 in the form of a planetary gear on the bionic thumb to achieve speed reduction and transmission, in other implementable embodiments, the speed reduction mechanism 1 on the bionic thumb can also adopt the same form as the speed reduction mechanism 1 on the three-joint bionic finger, and is not limited thereto.

[0145] In addition, by Figure 12 It can be known that, under the demand of improving space utilization, the number of the first wire arranging rope wheels 35 of the pull rope control module 3 arranged on the bionic thumb is 1 group, i.e. 2, and the two first wire arranging rope wheels 35 are coaxially fixed (as shown in Figure 12The two first thread guiding rope wheels 35 are integrated and mounted on the outer side of the inner end finger joint 23. Two first tension ropes 33, used to control different directions, are wound around the two first thread guiding rope wheels 35. The two first tension ropes 33 are wound one-to-one around the two first thread guiding rope wheels 35 and the first adjusting rope wheel 31 in opposite directions. This allows the first adjusting rope wheel 31, the first rotating shaft 311, and the outer end finger joint 21 and the first sun gear 15, which are fixed to it, to rotate in either the forward or reverse direction, controlled by the rope control module 3. A vertical plate frame 25 is also fixedly mounted on the outer side of the inner end finger joint 23. The first thread guide tube 32 on the bionic thumb is fixedly mounted on the vertical plate frame 25, which can also organize and guide the different first tension ropes 33.

[0146] Back Figure 11 This embodiment uses a bionic thumb as an example to demonstrate another form of transmission control module, which is also applicable to realizing the bending and gripping action of a three-segment bionic finger and can be used as an equivalent substitute. This transmission control module includes a differential gear 5, two sets of drive mechanisms 4, and two sets of reduction mechanisms 1. Each set of drive mechanisms 4 specifically includes a second adjusting rope wheel 45, two second cable guide tubes 46, and two second cable management rope wheels 48 (e.g., ...). Figure 11 The system comprises two second cable guide pulleys 48 (as a single unit) and two second tension cables 47. A second adjusting pulley 45 is rotatably mounted on a pin 24 at the rotatable connection between the outer end finger joint 21 and the inner end finger joint 23. The two second cable guide pulleys 48 are coaxially fixed and mounted on the outer side of the inner end finger joint. A second cable routing tube 46 is located on the side of the second cable guide pulleys 48 away from the second adjusting pulley 45 and is fixedly mounted on the outer side of the inner end finger joint 23. One end of each second tension cable 47 is fixedly connected to the second adjusting pulley 45, and the other end of each second tension cable 47 passes around the second cable guide pulley 48, through the second cable routing tube 46, and is fixedly connected to a separate control component. The two second tension cables 47 are wound around the second adjusting pulley 45 and the second cable guide pulley 48 in opposite directions, allowing the control component to independently pull the second adjusting pulley 45 to rotate forward or backward. (See reference) Figure 11 , Figure 15The differential gear 5 is fixedly arranged on one side of the rotating mechanism 7 close to the inner end knuckle 23, and each set of speed reduction mechanism 1 is arranged between the second adjusting rope wheel 45 and the differential gear 5. Specifically, the speed reduction mechanism 1 comprises a plurality of transmission pairs 11, and the number of transmission pairs 11 in the embodiment is two. One front tooth-shaped member 12 close to the outer end knuckle 21 is fixed to the second adjusting rope wheel 45, and a rear end gear 13 matched with the front tooth-shaped member 12 is fixed to the inner end knuckle 23. The rear end gear 13 of the other transmission pair 11 is rotatably installed on the inner end knuckle 23, and the front tooth-shaped member 12 matched with the rear end gear 13 is fixed to the inner end knuckle 23. The rear end gear 13 in the transmission pair 11 close to the outer end knuckle 21 and the front tooth-shaped member 12 in the other transmission pair 11 can also be coaxially rotatably connected. The rear end gear 13 in the transmission pair 11 away from the outer end knuckle 21 is coaxially fixed with a transmission gear 51, and the two transmission gears 51 are arranged on both sides of the inner end knuckle 23, and the two transmission gears 51 are jointly engaged with the differential gear 5. The central axis of the transmission gear 51 is perpendicular to the central axis of the differential gear 5.

[0147] Reference Figure 15 and Figure 16 Therefore, by rotating the second adjusting rope wheel 45 through the control member, the transmission gear 51 can be rotated through the transmission of each transmission pair 11, and the inner end knuckle 23 can be rotated relative to the rotating mechanism 7 about the central axis R3 of the differential gear 5 through the engagement transmission between the transmission gear 51 and the differential gear 5, thereby achieving the effect that the transmission gear 51 moves along the tooth portion of the differential gear 5. The two driving mechanisms 4 control the two transmission gears 51 to rotate at different speeds and directions, thereby reproducing the two degrees of freedom of the human thumb rotating about the central axis R3 of the differential gear 5 and the central axis R2 of the transmission gear 51, respectively. In the case of the same speed and direction, the corresponding transmission gear 51 is rotated based on the rotation of the two transmission pairs 11 arranged relative to the differential gear 5, thereby achieving the effect that the bionic thumb rotates about the central axis R2 of the transmission gear 51 at one degree of freedom.

[0148] Reference Figure 16 The palm plate structure 8 also has a swing mechanism 6 arranged therein for realizing swing. The swing mechanism 6 is equivalent to the fourth knuckle of the bionic thumb except the inner end knuckle 23 and the outer end knuckle 21 and the rotating mechanism 7. The rotating mechanism 7 comprises a third rotating motor 71 and a speed reduction mechanism 1. The third rotating motor 71 is fixedly arranged on the swing mechanism 6, and the speed reduction mechanism 1 is arranged between the output end of the third rotating motor 71 and the inner end knuckle 23 of the bionic thumb. The speed reduction mechanism 1 adopts a planetary gear reduction form. When the third rotating motor 71 operates, the inner end knuckle 23 can rotate about the axis direction through the reduction and transmission of the speed reduction mechanism 1, and the rotation range can reach 360°.

[0149] Reference Figure 1 and Figure 16 The swing mechanism 6 of the bionic thumb includes a first rotary motor 62, a driving gear 63 and a driven member 64. The first rotary motor 62 can be fixed to the extension plate 81. The driving gear 63 is coaxially fixed to the output end of the first rotary motor 62. The driven member 64 is hinged to the extension plate 81 through a second rotating shaft 642, and is fixed to the third rotary motor 71. The driven member 64 is partially provided with an annular convex tooth 641, which is in meshing transmission with the driving gear 63. When the first rotary motor 62 operates, the driven member 64 can drive the rotating mechanism 7 and the structure connected thereto to rotate around the central axis of the second rotating shaft 642 through the meshing transmission of the annular convex tooth 641 and the driving gear 63.

[0150] Reference Figure 16 Therefore, the bionic thumb is controlled to rotate by the rotating mechanism 7, to swing left and right by the swing mechanism 6, to rotate up and down by the two groups of driving mechanisms 4, and the outer end knuckle 21 is controlled to flip up and down by the rope winding mechanism 34. The bionic thumb has rotation and adjustment degrees of freedom around five axes R1, R2, R3, R4 and R5 shown in the figure.

[0151] In other implementable embodiments, a bearing structure or the like rotation structure avoiding the interference between the swing mechanism 6 and the palm plate structure 8 can be further arranged between the swing mechanism 6 and the palm plate structure 8. The rotation structure can also be a circular arc or a cylindrical structure arranged outside the swing mechanism 6, and the palm plate structure 8 is correspondingly provided with a circular groove matched with the circular arc or the cylindrical structure, so as to solve the possible structural interference between the swing mechanism 6 and the palm plate structure 8.

[0152] Reference Figure 17 Based on the rotation structure relatively rotatable between the swing mechanism 6 and the palm plate structure 8, the in-palm rotary motor 65 is arranged on the side of the swing mechanism 6 away from the rotating mechanism 7. The rotation axis R6 of the output of the in-palm rotary motor 65 is relatively rotatable between the swing mechanism 6 and the palm plate structure 8. Therefore, the bionic thumb has rotation and adjustment degrees of freedom of six axes R1, R2, R3, R4, R5 and R6.

[0153] Reference Figure 18In another embodiment, the robot hand further comprises a turning mechanism 9 for driving the turning of the bionic thumb, the turning mechanism 9 comprising a second rotary motor 91 and an eccentric plate 92, the second rotary motor 91 being fixedly arranged, which can be fixedly arranged inside the palm plate structure 8 or on the side of the palm plate structure 8, without being limited thereto; the eccentric plate 92 is fixed to the output end of the second rotary motor 91, and the first rotary motor 62 is fixedly connected to the eccentric plate 92, the output end of the first rotary motor 62 and the output end of the second rotary motor 91 are in the same direction and are arranged in an eccentric manner, so that when the second rotary motor 91 operates, the bionic thumb can rotate around the output shaft of the second rotary motor 91 and around R6 in the circumferential direction, which is beneficial to the bionic thumb to approach the direction of the palm plate structure 8 with a larger turning amplitude. At this time, the bionic thumb has six-axis rotation and adjustment freedom, which are R1, R2, R3, R4, R5 and R6 shown in the figure.

[0154] The above is the preferred embodiment of the present application, which does not limit the protection scope of the present application, therefore: any equivalent changes made according to the structure, shape, principle of the present application should be covered within the protection scope of the present application.

Claims

1. A deceleration mechanism for a mechanical finger, characterized by, The transmission device comprises at least one set of transmission pairs (11), the transmission pairs (11) comprise front end toothed members (12) and rear end toothed members which are at least partially in mesh transmission with the front end toothed members (12), and the diameter of the meshing division circle of the front end toothed members (12) is smaller than the diameter of the meshing division circle of the rear end toothed members; the front end toothed member (12) at the front end of all the front end toothed members (12) is used for cooperating with a driving mechanism or a transmission mechanism for controlling the action of the finger joints in the mechanical finger (2), and the rear end toothed member at the rear end of all the rear end toothed members is used for cooperating with an executing mechanism in the mechanical finger (2).

2. The deceleration mechanism for a mechanical finger according to claim 1, characterized by, The rear end toothed member is a rear end gear (13), and the outer peripheral gear ring of the rear end gear (13) is in mesh with the outer peripheral gear ring of the front end toothed member (12) to realize transmission and speed reduction.

3. The deceleration mechanism for a mechanical finger according to claim 1, characterized by, The rear end toothed member is a toothed plate (14), and the toothed plate (14) is coaxially fixed at the joint of the finger joint of the mechanical finger (2); the outer edge of the toothed plate (14) is partially provided with an arc-shaped tooth portion (141), the arc-shaped tooth portion (141) extends in an arc line, and the front end toothed member (12) is in mesh with the arc-shaped tooth portion (141) to realize transmission and speed reduction.

4. A deceleration mechanism for a mechanical finger, characterized by The transmission device comprises: a sun gear which is fixedly connected with a driving mechanism or a transmission mechanism in the mechanical finger (2); a planet carrier, the output shaft of the planet carrier is fixedly connected with an executing mechanism in the mechanical finger (2); and when multiple planet gears are used for speed reduction, the planet carrier is coaxially fixed with the sun gear; an inner gear ring which is fixedly arranged in the mechanical finger (2), and the inner peripheral surface of the inner gear ring is provided with an inner gear ring; at least one planet gear, all the planet gears are arranged on the planet carrier, and the planet gears are in mesh transmission with the outer gear of the sun gear and the inner gear ring.

5. A deceleration mechanism for a mechanical finger, characterized by The transmission device comprises a first rotating rope wheel (18) which is fixedly connected with a driving mechanism or a transmission mechanism in the mechanical finger; a second rotating rope wheel (19) which is fixedly connected with an executing mechanism in the mechanical finger; a speed reduction rope (20), one end of the speed reduction rope (20) is connected with the first rotating rope wheel (18), the other end of the speed reduction rope (20) is sequentially wound on the first rotating rope wheel (18) and the second rotating rope wheel (19) and then connected with the second rotating rope wheel (19); the diameter of the circle corresponding to the abutment of the second rotating rope wheel (19) with the speed reduction rope (20) is greater than the diameter of the circle corresponding to the abutment of the first rotating rope wheel (18) with the speed reduction rope (20); a reset mechanism which is used for forcing the mechanical finger to be in a normal straight state.

6. A mechanical finger characterized by, The transmission device comprises: finger joints, there are at least two finger joints, all the finger joints are sequentially arranged from inside to outside, and adjacent finger joints are hingedly connected through a pin shaft (24); the speed reduction mechanism (1) as claimed in any one of claims 1-5 is arranged between each adjacent finger joint; a control unit which is used for controlling the rotation of each finger joint.

7. The mechanical finger of claim 6, wherein, The control unit comprises a rope control module (3), and the rope control module (3) comprises: The first adjusting rope wheel (31) is rotatably arranged in the inner side of the knuckle, and the speed reduction mechanism (1) is arranged between the first adjusting rope wheel (31) and the knuckle adjacent to the outer side; The first wire pipe (32) is fixedly arranged on one of the knuckles; The first tension line (33) is arranged in the first wire pipe (32) in a one-to-one correspondence, and one end of each first tension line (33) is fixedly connected to the first adjusting rope wheel (31); The rope winding mechanism (34) is arranged on the end of the first tension line (33) away from the first adjusting rope wheel (31), and is used for winding the corresponding first tension line (33).

8. The mechanical finger of claim 7, wherein, The rope control module (3) further comprises two groups of first wire arranging wheels (35), each group of first wire arranging wheels has two first wire arranging wheels (35); one first wire arranging wheel (35) in each group of first wire arranging wheels is arranged on the pin shaft (24) at the rotation connection between two adjacent knuckles, and the other first wire arranging wheel (35) is arranged on the first adjusting rope wheel (31); and the first tension line (33) is arranged on each first wire arranging wheel (35) in sequence.

9. The mechanical finger of claim 6, wherein, The control unit comprises a transmission control module, and the transmission control module comprises two groups of driving mechanisms (4), which are used for controlling the mechanical knuckles to rotate in two different degrees of freedom, respectively. The driving mechanism (4) comprises a driving motor (41), an intermeshing shaft gear pair and a linkage gear (44), the driven member of the intermeshing shaft gear pair and the linkage gear (44) are sequentially meshed and transmitted; the driving motor (41) drives the intermeshing shaft gear pair to rotate through a group of speed reduction mechanisms (1), and the linkage gear (44) is meshed and transmitted with the knuckle through a group of speed reduction mechanisms (1).

10. The mechanical finger of claim 6, wherein, The control unit comprises a transmission control module, and the transmission control module comprises a differential gear (5) and two groups of driving mechanisms (4), which are used for controlling the mechanical knuckles to swing in different directions in two different degrees of freedom in combination with the differential gear (5); wherein the differential gear (5) is fixedly arranged, and the central axis of the differential gear (5) coincides with the rotation axis of the mechanical finger (2); Each group of driving mechanisms (4) comprises: The second adjusting rope wheel (45) is rotatably arranged on the pin shaft (24) at the rotation connection between adjacent knuckles; the second adjusting rope wheel (45) is connected with one transmission gear (51) through a speed reduction mechanism (1), and two transmission gears (51) are symmetrically arranged and are respectively meshed and transmitted with the differential gear (5); The second wire pipe (46) is fixedly arranged on one of the knuckles; The second wire arranging wheel (48) is coaxially fixedly arranged. Second tension line (47), two; one end of the second tension line (47) is fixedly connected to the second adjusting rope wheel (45); the other end of the second tension line (47) is respectively passed through the second line arranging rope wheel (48), passes through the corresponding second line pipe (46) and is connected with the control member for winding and unwinding the rope; The directions of the two second tension lines (47) around the second adjusting rope wheel (45) and the second line arranging rope wheel (48) are opposite, so that the second adjusting rope wheel (45) is individually pulled by the control member to realize forward rotation or reverse rotation.

11. A robot, characterized in that The palm plate structure (8) is hingedly connected with at least one mechanical finger (2) as claimed in any one of claims 6-10 on the peripheral side, and the inside of the palm plate structure (8) is provided with a swing mechanism (6) for driving the mechanical finger (2) to swing.

12. The robot of claim 11, wherein, The swing mechanism (6) comprises a power component (61) and a speed reduction mechanism (1) as claimed in claim 3, the power component (61) is fixed in the inside of the palm plate structure (8), and the output end of the power component (61) is in transmission with the joint closest to the palm plate structure (8) of the mechanical finger (2) through the speed reduction mechanism (1).

13. The robot of claim 11, wherein, The swing mechanism (6) comprises a first rotary motor (62) fixed to the palm plate structure (8), a driving gear (63) coaxially connected to the output end of the first rotary motor (62), and a driven member (64) for driving the mechanical finger (2) to swing relative to the palm plate structure (8), the driven member (64) is rotationally arranged on the palm plate structure (8), and the driven member (64) is provided with annular convex teeth (641) in transmission with the driving gear (63).

14. The robot of claim 13, wherein, The mechanical hand comprises a bionic thumb; The structure outside the palm plate structure (8) of the bionic thumb comprises an outer end joint (21), an inner end joint (23) and a rotating mechanism (7); the rotating mechanism (7) is located on the side of the inner end joint (23) away from the outer end joint (21); the rotating mechanism (7) is fixedly connected to the driven member (64); the outer end joint (21) rotates relative to the inner end joint (23) around a rotation center R1, the inner end joint (23) is rotationally arranged on the transmission control module as claimed in claim 10 around rotation centers R2 and R3; the transmission control module is arranged on the side of the rotating mechanism (7) close to the inner end joint (23) with R4 as the rotation center; and the rotating mechanism (7) is arranged on the swing mechanism (6) as claimed in claim 11 around a swing center R5.

15. The robot of claim 14, wherein, The swing mechanism (6) is further provided with a palm-in rotary motor (65), the palm-in rotary motor (65) is coaxially connected with the first rotary motor (62) to generate a rotation center R6 controlled by the palm-in rotary motor (65); a rotating structure for relative rotation is arranged between the swing mechanism (6) and the palm plate structure (8) to realize the relative rotation of the bionic thumb and the swing mechanism (6) around the rotation center R6 relative to the palm plate structure (8).

16. The robot of claim 14, wherein, The mechanical hand further comprises a turnover mechanism (9) for driving the turnover of the bionic thumb, the turnover mechanism (9) comprises a second rotary motor (91) fixedly arranged and an eccentric plate (92) fixedly connected to the output end of the second rotary motor (91), the first rotary motor (62) is eccentrically connected to the eccentric plate (92) and is arranged for rotating the bionic thumb around the central axis R6 of the output end of the second rotary motor (91).

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