High-flexibility flexible mechanical finger supporting positive and negative holding and mechanical hand

Abstract

The utility model discloses a high-flexibility flexible mechanical finger supporting forward and reverse holding and a manipulator. The mechanical finger comprises a middle finger section, a base finger section and an end finger section, wherein the base finger section and the end finger section are rotationally connected with the two ends of the middle finger section respectively. Driving units are arranged in the end finger section, the middle finger section and the base finger section; bevel gear transmission units are arranged at the tail end of the end finger section, the tail end of the middle finger section and the tail end of the base finger section; the driving units are in transmission connection with the corresponding bevel gear transmission units; the driving unit drives the end finger section and the base finger section to rotate by taking the corresponding bevel gear transmission unit as a central shaft; through the structure and position design of the micro driving motor and the bevel gear transmission unit, each finger and each knuckle of the manipulator can be flexibly controlled, so that the manipulator has higher bionic flexibility and more precise grabbing capacity, and can be suitable for different scene requirements; by means of the special inserting mode between knuckles, the left-right hand grabbing function of the single mechanical arm is achieved.

Description

Technical Field

[0001] This utility model relates to the field of robotic hands, and in particular to a highly flexible robotic finger and robotic hand that supports both forward and reverse gripping. Background Technology

[0002] In today's rapidly evolving robotics technology, robots are widely used in various fields such as industrial automation, healthcare, and service industries, becoming a vital force driving social progress and industrial upgrading. As the core execution component of a robot, the design and performance of its robotic hand fingers directly affect the robot's work efficiency, task adaptability, and user satisfaction. However, existing robotic hand fingers generally suffer from complex and cumbersome construction and insufficient flexibility. These problems have become key factors restricting the further development and widespread adoption of robotics technology, mainly manifested in the following aspects:

[0003] (1) Complex and cumbersome construction: The fingers of traditional robot manipulators usually adopt a multi-layered, multi-joint mechanical structure, involving a complex transmission system and precision assembly process. Although this design can achieve high precision and stability, it also brings problems such as high manufacturing costs, difficult maintenance, and difficulty in upgrading and expanding. The complex structure makes the diagnosis and repair process cumbersome and time-consuming when the manipulator fails, affecting the continuity and efficiency of the production line. In addition, highly customized manipulator designs often limit their versatility and interchangeability, increasing the user's operating costs and investment risks.

[0004] (2) Insufficient flexibility: Flexibility is an important indicator of a robot's ability to adapt to diverse tasks. The fingers of existing robots are limited by their cumbersome and complex physical structure, making it difficult to make flexible adjustments according to changes in the working environment. When faced with complex and ever-changing work scenarios, such as grasping irregular objects or tracking dynamic environments, traditional robots often exhibit limitations and cannot meet task requirements.

[0005] (3) Poor biomimicry: When performing fine operations, the existing robot's manipulator is difficult to achieve the flexibility and precision of a human hand due to the limitations of its joint rigidity and motion control. This to some extent limits the application of robots in high-end manufacturing, precision assembly and other fields. Utility Model Content

[0006] The main objective of this invention is to provide a highly flexible mechanical finger and hand that supports both forward and reverse gripping, thereby solving all or one of the aforementioned problems in the prior art.

[0007] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0008] On the one hand, a highly flexible mechanical finger supporting both forward and reverse grips is provided, comprising:

[0009] The middle finger segment, and the base finger segment and the terminal finger segment, which are rotatably connected to both ends of the middle finger segment;

[0010] A drive unit is provided inside the end finger segment, the middle finger segment, and the base finger segment;

[0011] The end of the first finger segment, the end of the middle finger segment, and the end of the base finger segment are all provided with bevel gear transmission units;

[0012] The second drive unit inside the middle finger segment and the first drive unit inside the end finger segment are respectively connected to the first bevel gear transmission unit at the end of the end finger segment; the first drive unit and / or the second drive unit drive the end finger segment to rotate around the first bevel gear transmission unit as the central axis.

[0013] The third drive unit inside the base finger segment is connected to the second bevel gear transmission unit at the end of the middle finger segment; the third drive unit drives the middle finger segment to rotate around the second bevel gear transmission unit as the central axis.

[0014] As an improved solution, the first driving unit is embedded in the end finger segment, the first driving unit is arranged along the length direction of the end finger segment, and the output end of the first driving unit faces the first bevel gear transmission unit; the second driving unit is embedded in the middle finger segment, the second driving unit is arranged along the length direction of the middle finger segment, and the output end of the second driving unit faces the first bevel gear transmission unit; the output end of the first driving unit is rotatably connected to one side of the first bevel gear transmission unit, and the output end of the second driving unit is rotatably connected to the other side of the first bevel gear transmission unit;

[0015] The third drive unit is embedded in the base finger segment, the third drive unit is arranged along the length direction of the base finger segment, and the output end of the third drive unit is arranged facing the second bevel gear transmission unit. The output end of the third drive unit is rotatably connected to the second bevel gear transmission unit.

[0016] As an improved solution, the first drive unit, the second drive unit, and the third drive unit have the same structure, each including: a micro drive motor and a first transmission bevel gear;

[0017] The miniature drive motor is embedded inside the finger joint along its length; the finger joint is the terminal finger segment, the middle finger segment, or the base finger segment.

[0018] The first transmission bevel gear is sleeved on the output shaft of the micro drive motor, and the first transmission bevel gear is coaxial with the output shaft of the micro drive motor; the micro drive motor drives the first transmission bevel gear to rotate around the output shaft of the micro drive motor as the central axis.

[0019] As an improved solution, the first bevel gear transmission unit, the second bevel gear transmission unit, and the third bevel gear transmission unit have the same structure, each including: a transmission shaft and a pair of symmetrically arranged second transmission bevel gears;

[0020] The finger joint has a connecting groove at its end. The drive shaft is horizontally arranged in the connecting groove. Both ends of the drive shaft are connected to the inner wall of the connecting groove. Two second drive bevel gears are respectively arranged on the drive shaft. There is a distance between the two second drive bevel gears, and the two second drive bevel gears are located on both sides of the corresponding first drive bevel gear. One second drive bevel gear is fixedly sleeved on the drive shaft, and the other second drive bevel gear is rotatably connected to the drive shaft and one side wall of the connecting groove.

[0021] The tooth surfaces of the two second transmission bevel gears are arranged opposite each other, and the tooth surfaces of the corresponding first transmission bevel gears are arranged facing the two second transmission bevel gears, and the two second transmission bevel gears respectively mesh with the corresponding first transmission bevel gears.

[0022] As an improved solution, the modules of the two second transmission bevel gears are both greater than the module of the first transmission bevel gear;

[0023] The diameters of the two second transmission bevel gears are both larger than the diameter of the first transmission bevel gear.

[0024] As an improved solution, a first hinge groove is provided at the beginning of the middle finger segment corresponding to the position of the end finger segment. The end of the end finger segment is inserted into the first hinge groove. The two ends of the drive shaft in the end finger segment pass through the connecting groove of the end finger segment and are respectively hinged to the two side walls of the first hinge groove.

[0025] The first end of the base finger segment is provided with a second hinge groove corresponding to the position of the middle finger segment. The end of the middle finger segment is inserted into the second hinge groove. The two ends of the drive shaft in the middle finger segment pass through the connecting groove of the middle finger segment and are respectively hinged to the two side walls of the second hinge groove.

[0026] As an improved solution, the second transmission bevel gear rotates in the same direction as the corresponding finger joint.

[0027] As an improvement, the rotation angle of the knuckle is at least 180 degrees.

[0028] On the other hand, a robotic hand is provided, including the aforementioned highly flexible mechanical fingers that support both forward and reverse gripping.

[0029] As an improved solution, the robotic arm further includes: a fourth drive unit;

[0030] The fourth drive unit is disposed on the palm of the robotic arm, and the structure of the fourth drive unit is the same as that of the first drive unit, the second drive unit and the third drive unit;

[0031] The miniature drive motor of the fourth drive unit is positioned toward the third bevel gear transmission unit at the end of the base finger segment; the first transmission bevel gear of the fourth drive unit meshes with the two second transmission bevel gears of the third bevel gear transmission unit; the fourth drive unit drives the base finger segment to rotate around the third bevel gear transmission unit as the central axis.

[0032] The beneficial effects of this utility model are as follows: Through the structural and positional design of the micro drive motor and bevel gear transmission unit, each finger and joint of the robotic hand can be flexibly controlled, giving the robotic hand stronger bionic flexibility and more precise grasping ability, making it suitable for different scenario needs and achieving a variety of grasping effects; furthermore, through the special interlocking method between the joints, each joint can rotate at least 180 degrees, enabling a single robotic hand to achieve left and right hand grasping functions, which is easy to develop and apply, avoids the limitations of traditional robotic hands, makes up for the defects of existing technology, and has high application value. Attached Figure Description

[0033] Figure 1 This is a three-dimensional structural diagram of a highly flexible mechanical finger that supports both forward and reverse gripping, according to Embodiment 1 of this utility model;

[0034] Figure 2 This is a three-dimensional structural diagram of a highly flexible mechanical finger that supports both forward and reverse grips, as shown in another perspective, according to an embodiment of this utility model.

[0035] Figure 3 This is a side view of a highly flexible mechanical finger that supports both forward and reverse grips, as described in an embodiment of this utility model.

[0036] Figure 4 yes Figure 1 Enlarged structural diagram at point A;

[0037] Figure 5 yes Figure 1 Enlarged structural diagram at point B;

[0038] Figure 6 yes Figure 1 Enlarged structural diagram at point C;

[0039] Figure 7 yes Figure 2 Enlarged structural diagram at point D;

[0040] Figure 8 yes Figure 2 Enlarged structural diagram at point E;

[0041] Figure 9 yes Figure 2 Enlarged structural diagram at point F;

[0042] The components in the attached diagram are labeled as follows:

[0043] 1. End finger segment; 101. First drive unit; 102. First bevel gear transmission unit; 103. First hinge groove;

[0044] 2. Middle finger segment; 201. Second drive unit; 202. Second bevel gear transmission unit; 203. Second hinge groove;

[0045] 3. Base finger segment; 301. Third drive unit; 302. Third bevel gear transmission unit; 303. Third hinge groove;

[0046] 4. Fourth drive unit; 5. Drive shaft; 6. Miniature drive motor; 7. First transmission bevel gear; 8. Second transmission bevel gear; 9. Bearing housing. Detailed Implementation

[0047] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more definite definition of the scope of protection of the present invention.

[0048] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0049] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0050] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0051] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0052] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only embodiments.

[0053] Example 1, please refer to Figures 1-9 The embodiments of this utility model include:

[0054] A highly flexible mechanical finger supporting both forward and reverse grips includes: a middle finger segment 2, and a base finger segment 3 and an end finger segment 1 rotatably connected to both ends of the middle finger segment 2; in this embodiment, the end finger segment 1, the middle finger segment 2, or the base finger segment 3 are all phalanges; a drive unit is provided inside the end finger segment 1, the middle finger segment 2, and the base finger segment 3; a bevel gear transmission unit is provided at the end of the end finger segment 1, the end of the middle finger segment 2, and the end of the base finger segment 3; a second drive unit 201 inside the middle finger segment 2 and a first drive unit 101 inside the end finger segment 1 are respectively connected to a first bevel gear at the end of the end finger segment 1. The wheel transmission unit 102 is connected to the drive unit; the first drive unit 101 and / or the second drive unit 201 drive the end finger segment 1 to rotate around the first bevel gear transmission unit 102 as the central axis; the third drive unit 301 inside the base finger segment 3 is connected to the second bevel gear transmission unit 202 at the end of the middle finger segment 2; the third drive unit 301 drives the middle finger segment 2 to rotate around the second bevel gear transmission unit 202 as the central axis; wherein, the rotation angle of the finger joint is at least 180 degrees, and within this angle range, the robotic hand using this mechanical finger can achieve forward and reverse gripping actions with a single robotic hand.

[0055] In one embodiment of this utility model, the first driving unit 101 is embedded in the end finger segment 1, and the first driving unit 101 is arranged along the length direction of the end finger segment 1, with its output end facing the first bevel gear transmission unit 102; the second driving unit 201 is embedded in the middle finger segment 2, and the second driving unit 201 is arranged along the length direction of the middle finger segment 2, with its output end facing the first bevel gear transmission unit 102; the output end of the first driving unit 101 is rotatably connected to one side of the first bevel gear transmission unit 102, and the output end of the second driving unit 201 is rotatably connected to the other side of the first bevel gear transmission unit 102; by providing the first driving unit 101 in the end finger segment 1, the first driving unit 101 and the second driving unit 201 can jointly control the rotation of the end finger segment 1. When the robotic arm performs high-precision or continuous gripping actions, the gripping action of the end finger segment 1 can be fine-tuned or locked through the two driving units, achieving more stable and faster knuckle control. The third drive unit 301 is embedded in the base finger segment 3. The third drive unit 301 is arranged along the length direction of the base finger segment 3, and the output end of the third drive unit 301 is oriented towards the second bevel gear transmission unit 202. The output end of the third drive unit 301 is rotatably connected to the second bevel gear transmission unit 202. Specifically, the first drive unit 101, the second drive unit 201, and the third drive unit 301 have the same structure, all of which adopt: a micro drive motor 6 and a first transmission bevel gear 7. The micro drive motor 6 is embedded inside the finger joint along the length direction of the finger joint. The first transmission bevel gear 7 is sleeved on the output shaft of the micro drive motor 6, and the first transmission bevel gear 7 is coaxially arranged with the output shaft of the micro drive motor 6. The micro drive motor 6 drives the first transmission bevel gear 7 to rotate around the output shaft of the micro drive motor 6 as the central axis. Then, through the transmission effect of the first transmission bevel gear 7 and the corresponding bevel gear transmission unit, the finger joint is driven to rotate around the bevel gear transmission unit as the axis.

[0056] In one embodiment of this utility model, the first bevel gear transmission unit 102, the second bevel gear transmission unit 202, and the third bevel gear transmission unit 302 have the same structure, all employing: a pair of symmetrically arranged second transmission bevel gears 8 and a horizontally arranged transmission shaft 5; to achieve the installation of the above-mentioned bevel gear transmission units, a connecting groove is provided at the end of the finger joint, the transmission shaft 5 is horizontally arranged in the connecting groove, and both ends of the transmission shaft 5 are connected to the inner wall of the connecting groove. The two second transmission bevel gears 8 are respectively symmetrically sleeved on the transmission shaft 5, with a distance between the two second transmission bevel gears 8, and the two second transmission bevel gears 8 are located on both sides of the corresponding first transmission bevel gear 7. One of the second transmission bevel gears 8 is fixedly sleeved on the transmission shaft 5 to drive the transmission shaft 5 to rotate, and the center of the other second transmission bevel gear 8 is... The second transmission bevel gear 8, rotatably connected to the transmission shaft 5 via a bearing, acts as a balancing gear during transmission, allowing it to idle and preventing uneven load. One side of this idle second transmission bevel gear 8 is connected to one side wall of the connecting groove via a bearing seat 9. Specifically, the tooth surfaces of the two second transmission bevel gears 8 are arranged opposite each other, and the tooth surfaces of the corresponding first transmission bevel gear 7 are arranged facing the two second transmission bevel gears 8. The two second transmission bevel gears 8 mesh with the corresponding first transmission bevel gear 7. The rotation direction of the second transmission bevel gear 8 is the same as that of the corresponding finger joint. The micro drive motor 6 drives the first transmission bevel gear 7 to rotate, which in turn drives the two second transmission bevel gears 8 to rotate around their gear center positions. The finger joint rotates in the same direction as the rotation of the second transmission bevel gear 8 fixed on the transmission shaft, thereby achieving multi-angle control of the finger joint.

[0057] As one embodiment of this utility model, in order to enable the mechanical finger to achieve the aforementioned interference-free movement within a large angle range, a first hinge groove 103 is provided at the beginning of the middle finger segment 2 corresponding to the position of the end finger segment 1. The end of the end finger segment 1 is inserted into the first hinge groove 103, and the drive shaft 5 at the end of the end finger segment 1 extends out from both sides of its connecting groove and is rotatably connected to the two side walls of the first hinge groove 103. A second hinge groove 203 is provided at the beginning of the base finger segment 3 corresponding to the position of the middle finger segment 2. The end of the middle finger segment 2 is inserted into the second hinge groove 203, and the drive shaft 5 at the end of the middle finger segment 2 extends out from both sides of its connecting groove and is rotatably connected to the two side walls of the second hinge groove 203, thereby realizing the mutual hinge connection between the finger joints. The rotational connection relationship between all the aforementioned drive shafts 5 and the groove wall or side wall can be achieved by installing bearing seats on the groove wall or side wall and connecting the end of the drive shaft 5 to the bearing seat or other conventional rotational connection methods.

[0058] In one embodiment of this utility model, the modules of the two second transmission bevel gears 8 are both greater than the module of the first transmission bevel gear 7, and the diameters of the two second transmission bevel gears 8 are both greater than the diameter of the first transmission bevel gear 7. Furthermore, the operating principle of the bevel gear transmission unit is further explained as follows:

[0059] When the micro drive motor 6 operates, it drives the first transmission bevel gear 7 to rotate. At this time, the first transmission bevel gear 7 drives two second transmission bevel gears 8 to rotate. The second transmission bevel gear 8 fixed on the transmission shaft 5 drives the transmission shaft 5 to rotate. The rotation of the transmission shaft 5 in turn drives the finger joint to rotate around the transmission shaft 5 as the central axis. The other second transmission bevel gear 8 connected to the transmission shaft 5 through a bearing rotates freely with the first transmission bevel gear 7 to prevent uneven load. Finally, the finger joint rotates in the same direction as the rotation of the second transmission bevel gear 8. Through the above cooperation, the force output by the micro drive motor 6 is transmitted as the rotational force of the finger joint.

[0060] Example 2, the embodiment of this utility model includes:

[0061] A robotic hand, comprising the highly flexible robotic fingers that support both forward and reverse grips as described in Example 1.

[0062] In one embodiment of this utility model, the robotic arm further includes: a fourth drive unit 4;

[0063] The fourth drive unit 4 is disposed on the palm of the robotic hand. The structure of the fourth drive unit 4 is the same as that of the first drive unit 101, the second drive unit 201, and the third drive unit 301. The miniature drive motor 6 of the fourth drive unit 4 is disposed toward the third bevel gear transmission unit 302 at the end of the base finger segment 3. The first transmission bevel gear 7 of the fourth drive unit 4 meshes with the two second transmission bevel gears 8 of the third bevel gear transmission unit 302. The fourth drive unit 4 drives the base finger segment 3 to rotate around the third bevel gear transmission unit 302 as the central axis.

[0064] Furthermore, when the mechanical finger of Embodiment 1 is used in the mechanical hand of this embodiment, a third hinge groove is provided at the end of the base finger segment, and a hinge part is provided on the mechanical hand corresponding to the position of the base finger segment. This hinge part has a structure similar to the end of the finger segment and also has a corresponding connecting groove. The third bevel gear transmission unit of the base finger segment is located in the connecting groove. The hinge part is inserted into the third hinge groove of the hinge part in the same way. Here, the two ends of the transmission shaft 5 of the third bevel gear transmission unit are rotatably connected to the groove wall of the connecting groove of the hinge part. The two ends of the transmission shaft 5 of the base finger segment pass through its connecting groove and are keyed / fixedly connected to the groove wall of the adjacent third hinge groove, realizing the hinge between the knuckle and the palm of the mechanical hand. Since this part is not the focus of this patent and belongs to the palm part of the mechanical hand, it is not discussed in detail here. Figures 1-3 As shown in the diagram, it will not be repeated here.

[0065] The above description is merely an embodiment of this utility model and does not limit the patent scope of this utility model. Any equivalent structure made using the contents of this utility model specification and drawings, or directly or indirectly applied to other related technical fields, are similarly included within the patent protection scope of this utility model.

Claims

1. A high-flexibility flexible mechanical finger supporting positive and negative grips, characterized in that, The support includes: A middle finger section (2), and a base finger section (3) and an end finger section (1) respectively rotatably connected to both ends of the middle finger section (2); The inside of the end finger section (1), the inside of the middle finger section (2), and the inside of the base finger section (3) are each provided with a driving unit; The end of the end finger section (1), the end of the middle finger section (2), and the end of the base finger section (3) are each provided with a bevel gear transmission unit; The second driving unit (201) in the middle finger section (2) and the first driving unit (101) in the end finger section (1) are respectively in transmission connection with the first bevel gear transmission unit (102) at the end of the end finger section (1); the first driving unit (101) and / or the second driving unit (201) drives the end finger section (1) to rotate around the first bevel gear transmission unit (102) as the central axis; The third driving unit (301) in the base finger section (3) is in transmission connection with the second bevel gear transmission unit (202) at the end of the middle finger section (2); the third driving unit (301) drives the middle finger section (2) to rotate around the second bevel gear transmission unit (202) as the central axis.

2. The high-flexibility flexible mechanical finger supporting positive and reverse grips according to claim 1, characterized in that: The first driving unit (101) is embedded in the end finger section (1), the first driving unit (101) is arranged along the length direction of the end finger section (1), and the output end of the first driving unit (101) is arranged towards the first bevel gear transmission unit (102); the second driving unit (201) is embedded in the middle finger section (2), the second driving unit (201) is arranged along the length direction of the middle finger section (2), and the output end of the second driving unit (201) is arranged towards the first bevel gear transmission unit (102); the output end of the first driving unit (101) is rotatably connected to one side of the first bevel gear transmission unit (102), and the output end of the second driving unit (201) is rotatably connected to the other side of the first bevel gear transmission unit (102); The third driving unit (301) is embedded in the base finger section (3), the third driving unit (301) is arranged along the length direction of the base finger section (3), and the output end of the third driving unit (301) is arranged towards the second bevel gear transmission unit (202), and the output end of the third driving unit (301) is rotatably connected to the second bevel gear transmission unit (202).

3. The high-flexibility flexible mechanical finger supporting positive and reverse grips according to claim 1, characterized in that: The first driving unit (101), the second driving unit (201), and the third driving unit (301) are the same in structure, and each includes a micro driving motor (6) and a first transmission bevel gear (7); The micro driving motor (6) is embedded in the phalanx along the length direction of the phalanx; the phalanx is the end finger section (1), the middle finger section (2), or the base finger section (3). The first transmission bevel gear (7) is sleeved on the output shaft of the micro drive motor (6), and the first transmission bevel gear (7) is coaxially arranged with the output shaft of the micro drive motor (6); the micro drive motor (6) drives the first transmission bevel gear (7) to rotate around the output shaft of the micro drive motor (6) as the center axis.

4. The high-flexibility flexible mechanical finger supporting positive and reverse grips according to claim 3, wherein: The first bevel gear transmission unit (102), the second bevel gear transmission unit (202), and the third bevel gear transmission unit (302) are the same in structure and each include a transmission shaft (5) and a pair of second transmission bevel gears (8) symmetrically arranged; The distal end of the knuckle is provided with a connecting groove, the transmission shaft (5) is horizontally arranged in the connecting groove, the transmission shaft (5) is connected to the inner groove wall of the connecting groove at both ends, two second transmission bevel gears (8) are arranged on the transmission shaft (5), a distance is provided between the two second transmission bevel gears (8), and the two second transmission bevel gears (8) are located at the two sides of the corresponding first transmission bevel gear (7), one second transmission bevel gear (8) is fixedly sleeved on the transmission shaft (5), and the other second transmission bevel gear (8) is rotatably connected with the transmission shaft (5) and the side wall of the connecting groove. The tooth surfaces of the two second transmission bevel gears (8) are oppositely arranged, the tooth surfaces of the corresponding first transmission bevel gears (7) are arranged towards the two second transmission bevel gears (8), and the two second transmission bevel gears (8) are respectively engaged with the corresponding first transmission bevel gears (7).

5. The high-flexibility flexible mechanical finger supporting positive and reverse grips according to claim 4, wherein: The module of the two second transmission bevel gears (8) is greater than the module of the first transmission bevel gear (7); The diameters of the two second transmission bevel gears (8) are greater than the diameter of the first transmission bevel gear (7).

6. The high-flexibility flexible mechanical finger supporting positive and reverse grips according to claim 5, wherein: A first hinge groove (103) is formed at the position corresponding to the end finger segment (1) at the proximal end of the middle finger segment (2), the end finger segment (1) is inserted into the first hinge groove (103), and the transmission shaft (5) in the end finger segment (1) is respectively connected to the two side walls of the first hinge groove (103) through the connecting grooves of the end finger segment (1) at both ends; A second hinge groove (203) is formed at the position corresponding to the middle finger segment (2) at the proximal end of the base finger segment (3), the middle finger segment (2) is inserted into the second hinge groove (203), and the transmission shaft (5) in the middle finger segment (2) is respectively connected to the two side walls of the second hinge groove (203) through the connecting grooves of the middle finger segment (2) at both ends.

7. The high-flexibility flexible mechanical finger supporting positive and reverse grips according to claim 4, wherein: The second transmission bevel gear (8) and the corresponding knuckle have the same rotation direction.

8. The high-flexibility and soft mechanical finger capable of supporting positive and reverse grips according to claim 3, wherein the rotation angle of the phalange is at least 180 degrees.

9. The high-flexibility and soft mechanical finger capable of supporting positive and reverse grips according to any one of claims 1-8.

9. A robot, characterized in that 10. The mechanical hand further comprising a fourth driving unit (4).

10. The robot of claim 9, wherein, 11. The fourth driving unit (4) is arranged on the palm of the mechanical hand, and the structure of the fourth driving unit (4) is the same as the first driving unit (101), the second driving unit (201) and the third driving unit (301).

12. The micro driving motor (6) of the fourth driving unit (4) is arranged towards the third bevel gear transmission unit (302) at the end of the base phalange (3), the first transmission bevel gear (7) of the fourth driving unit (4) is engaged with the two second transmission bevel gears (8) of the third bevel gear transmission unit (302), and the fourth driving unit (4) drives the base phalange (3) to rotate around the third bevel gear transmission unit (302) as the center axis.

13. The mechanical hand further comprising a fifth driving unit (5).

14. The fifth driving unit (5) is arranged on the palm of the mechanical hand, and the structure of the fifth driving unit (5) is the same as the first driving unit (101), the second driving unit (201), the third driving unit (301) and the fourth driving unit (4).

15. The micro driving motor (6) of the fifth driving unit (5) is arranged towards the fourth bevel gear transmission unit (401) at the end of the base phalange (3), the first transmission bevel gear (7) of the fifth driving unit (5) is engaged with the two second transmission bevel gears (8) of the fourth bevel gear transmission unit (401), and the fifth driving unit (5) drives the base phalange (3) to rotate around the fourth bevel gear transmission unit (401) as the center axis.

Images