Robot finger motion driving structure

Abstract

The utility model relates to the technical field of robots, in particular to a robot finger motion driving structure which comprises a finger assembly rotationally connected with a palm assembly, the finger assembly at least comprises two knuckles rotationally connected, and the knuckle at the innermost end is rotationally connected with the palm assembly; wherein supporting wheels are arranged at the rotating connecting positions of the adjacent knuckles and the rotating connecting positions of the knuckles and the palm assembly, and traction wheels are arranged on the knuckles located between the two adjacent supporting wheels. A pull rope is arranged in the finger assembly, the outer end of the pull rope is fixedly connected with the knuckle at the outermost end, and the inner end of the pull rope sequentially bypasses the supporting wheel and the traction wheel and then extends into the palm assembly. A traction mechanism for driving the inner end of the pull rope to move so that the finger assemblies can be bent is arranged in the palm assembly, and elastic reset assemblies for driving the finger assemblies to reset are arranged on the finger assemblies. The utility model has the beneficial effects of reducing the wear of the pull rope, prolonging the service life of the pull rope and improving the overall stability.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to a robotic finger motion drive structure. Background Technology

[0002] There are various methods for driving robot fingers, including motor-gear drive, pneumatic or hydraulic drive, chord drive, and electromagnetic drive. Among them, chord drive mimics the working principle of human tendons, achieving finger bending and extension by pulling ropes or cables connected to the finger joints. Because this type of drive structure is simple, flexible, and can better simulate human hand movements, it is widely used in the field of robotics.

[0003] However, when the tendon cable is driven, repeated friction occurs during the pulling motion, which can easily lead to wear and tear on the cable, thus affecting its overall service life. Utility Model Content

[0004] In order to solve the problems existing in the prior art, this utility model provides a robot finger motion drive structure that can reduce rope wear, increase rope service life, and improve overall stability.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A robotic finger motion drive structure includes a finger assembly rotatably connected to a palm assembly. The finger assembly includes at least two rotatably connected phalanges, with the innermost phalange rotatably connected to the palm assembly. Support wheels are provided at the rotatable connections between adjacent phalanges and between the phalange and the palm assembly. A traction wheel is provided on the phalange located between two adjacent support wheels. A pull rope is provided inside the finger assembly, with its outer end fixedly connected to the outermost phalange. The inner end of the pull rope passes sequentially around the support wheel and the traction wheel before extending into the palm assembly. A traction mechanism is provided inside the palm assembly to move the inner end of the pull rope, causing the finger assembly to bend. An elastic reset component is provided on the finger assembly to reset the finger assembly.

[0007] By adopting the above technical solution: the movement path of the pull rope is guided and supported by support wheels and traction wheels, that is, when the pull rope comes into contact with the wheels, it is all rolling friction, the pull rope is not easy to wear or jam, the movement of the pull rope is more stable, and thus the movement of the finger assembly is also more stable; at the same time, the support wheel is set at the rotation connection of the knuckle and distributed coaxially with the rotation axis, so that when the pull rope passing through the support wheel is subjected to tension, a stable torque is generated at the joint, which can stably drive the knuckle to bend steadily towards the side where the fingertip is located.

[0008] Preferably, the finger assembly has two segments, namely a first segment and a second segment, and two support wheels, namely a first support wheel and a second support wheel. The first support wheel is located at the rotatable connection between the first and second segments, and the second support wheel is located at the rotatable connection between the second segment and the palm assembly. A guide wheel is provided between the traction wheel and the second support wheel, and the pull rope passes through the traction wheel, the guide wheel, and the second support wheel in sequence. The traction wheel has a locking part for locking the pull rope to the traction wheel. The locking part divides the pull rope into two segments, and the length of each segment is significantly shortened, thereby increasing the axial stiffness of the pull rope, i.e., increasing the rigidity of the pull rope. Therefore, the absolute deformation under the same tensile force is smaller, and under dynamic or vibration loads, the shorter rope is less prone to deformation or vibration, further improving the stability of the pull rope.

[0009] Preferably, the finger assembly has three segments: a first segment, a second segment, and a third segment; three support wheels: a first support wheel, a second support wheel, and a third support wheel; and two traction wheels: a first traction wheel and a second traction wheel. The first support wheel is located at the rotatable connection between the first and second segments; the second support wheel is located at the rotatable connection between the second and third segments; and the third support wheel is located at the rotatable connection between the third segment and the palm assembly. The first traction wheel is located between the first and second support wheels, and the second traction wheel is located between the second and third support wheels. A first guide wheel is located on the second segment between the first traction wheel and the second support wheel, and a second guide wheel is located on the third segment between the second traction wheel and the third support wheel. The inner end of the pull rope sequentially passes through the first support wheel, the first traction wheel, the first guide wheel, the second support wheel, the second traction wheel, the second guide wheel, and the third support wheel before connecting to the traction mechanism within the palm assembly. The three segments allow for more flexible movement.

[0010] Preferably, the first traction wheel is provided with a first locking part for locking the pull rope to the first traction wheel, and the second traction wheel is provided with a second locking part for locking the pull rope to the second traction wheel; when the finger assembly is in any state, the two ends of the pull rope that contact the first traction wheel are always tangent to the first traction wheel, and the two ends of the pull rope that contact the second traction wheel are always tangent to the second traction wheel.

[0011] The pull rope is fixed to the first traction wheel via the first locking part and to the second traction wheel via the second locking part. This serves two purposes: firstly, it prevents the pull rope from undergoing elastic deformation under tension and moving relative to the first and second traction wheels, thus further preventing rope wear; secondly, fixing the pull rope to the first and second traction wheels via the first and second locking parts is equivalent to dividing the pull rope into three independent segments, each with a significantly shorter length. This increases the axial stiffness k value of the pull rope (k=EA / L, where E is the elastic modulus, L is the length of the pull rope, and A is the cross-sectional area of ​​the pull rope), meaning the rigidity of the pull rope increases. Therefore, the absolute deformation ΔL produced under the same tension F is smaller (ΔL = FL / EA). Consequently, under dynamic or vibrational loads, the shorter rope is less prone to deformation or vibration, further improving the stability of the pull rope.

[0012] Preferably, the radius of the first support wheel is configured as r. When the finger assembly is in an upright state, the wrap angle between the pull rope and the first support wheel is configured as θ1. When the finger assembly is in a fully bent state, the wrap angle between the pull rope and the first support wheel is configured as θ2. The maximum length change of the pull rope passing through the first support wheel is configured as L1, where L1 satisfies L1=(θ1-θ2)πr / 180. The contact length between the pull rope and the first traction wheel is configured as L2, and the contact length between the pull rope and the second traction wheel is configured as L3, where L2≥L1 and L3≥2L1. This configuration ensures that the locking point of the pull rope on the first traction wheel is always within the wrap angle range (it will not come out of the wrap angle), ensuring that the force is balanced at both ends of the wrap angle between the pull rope and the first traction wheel. Similarly, the force is balanced at both ends of the pull rope and the second traction wheel, thus ensuring that the pull rope is subjected to uniform force at different parts, and that the pull rope is not easily damaged while stably transmitting tension.

[0013] Preferably, θ1 is configured as 90°≤θ1≤120°, and θ2 is configured as 0°≤θ2≤30°; the wrap angle between the pull rope and the first traction wheel is configured as θ3, and θ3 is configured as 40°≤θ3.

[0014] Preferably, the radius of the first traction wheel is configured as R, where R / r is configured as 1.2-3; the radius of the second support wheel is configured as r1, and the radius of the second traction wheel is configured as R1, where R1 / r1 is configured as 1.2-3. By reasonably configuring the ratio of the radius of the first traction wheel (or the second traction wheel) to the radius of the first support wheel (or the second support wheel), the locking points of the first traction wheel and the second traction wheel are ensured to be within the wrap angle range.

[0015] Preferably, the wrap angle of the pull rope on the second traction wheel is configured as θ4, where θ4 is configured as 90°≤θ4≤300°. By reasonably configuring the wrap angle of the second traction wheel, it is ensured that the locking point on the second traction wheel and the pull rope is within the wrap angle range.

[0016] Preferably, the first, second, and third support wheels are all located close to the side where the fingertip of the finger assembly is located. When the finger assembly is in a straight position, the lower end of the back of the first phalanx abuts against the upper end of the back of the second phalanx, the lower end of the back of the second phalanx abuts against the upper end of the back of the third phalanx, and the lower end of the back of the third phalanx abuts against the palm assembly. By positioning the first, second, and third support wheels close to the fingertip, the pull of the rope is minimized when the finger assembly is bent, resulting in more flexible finger assembly movement, shorter stroke requirements for the traction mechanism, and a more compact overall design.

[0017] Preferably, the traction mechanism includes a movable pulley, a traction rope, and a traction power source. The movable pulley is rotatably mounted within a wheel seat. The inner end of the traction rope is fixedly connected to the wheel seat. One end of the traction rope passes over the movable pulley and connects to the hand assembly, while the other end of the traction rope is connected to the traction power source. The traction power source causes the inner end of the traction rope to extend and retract, thus fully extending and retracting the finger assembly. The traction rope, in conjunction with the movable pulley, reduces the load on the traction power source to half the tension of the traction rope, thereby enabling this finger structure to grasp heavier objects.

[0018] Preferably, the elastic reset component is configured as an elastic cable assembly, the traction power is configured as a double-acting linear actuator, the palm assembly has a fixed pulley, and the other end of the traction rope passes over the fixed pulley and is connected to one end of the double-acting linear actuator; the elastic cable assembly is located on the back of the finger of the finger assembly, the outer end of the elastic cable assembly is fixedly connected to the first phalanx, and the inner end of the elastic cable assembly is connected to the other end of the double-acting linear actuator.

[0019] Preferably, the elastic reset component is configured as several tension springs between the backs of adjacent phalanges, and a tension spring is also provided between the palm component and the innermost phalanx. Tension springs with different stiffness coefficients can be configured according to actual needs to meet the reset requirements of phalanges in different locations.

[0020] Preferably, the elastic reset component is configured as an elastic cable component, with the outer end of the elastic cable component fixedly connected to the outermost knuckle and the inner end of the elastic cable component fixedly connected to the palm component.

[0021] Preferably, the elastic reset component is configured as a plurality of elastic cable components, and each of the first phalanges is connected to the palm component through an independent elastic cable component.

[0022] Therefore, this utility model has the following beneficial effects: (1) The pull rope always maintains rolling friction whether in traction or release state, the pull rope is not easy to wear and has a long service life; (2) Locking the pull rope on the traction wheel (first traction wheel, second traction wheel) on the one hand prevents the pull rope from moving relative to the traction wheel (first traction wheel, second traction wheel) due to axial deformation, and further prevents the pull rope from wearing; on the other hand, decomposing a long pull rope into two or three short pull ropes improves the axial stiffness of the pull rope, reduces the absolute deformation of the pull rope, and further improves the overall stability. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of one structure of the present utility model.

[0024] Figure 2 for Figure 1 Another perspective view.

[0025] Figure 3 for Figure 1 Exploded view.

[0026] Figure 4 This is a diagram illustrating an implementation method for two phalanges.

[0027] Figure 5 This is a cross-sectional view of the three phalanges.

[0028] Figure 6 for Figure 5 The schematic diagram.

[0029] Figure 7 This is a cross-sectional view of the three phalanges in a bent state.

[0030] Figure 8 for Figure 7 The schematic diagram.

[0031] Figure 9 This is a diagram illustrating the state of a finger component holding an object.

[0032] Figure 10 This is a second implementation of the elastic reset component.

[0033] Figure 11 This is the third connection method for the elastic reset component.

[0034] Figure 12 A connection diagram showing the elastic reset element configured as a tension spring. Detailed Implementation

[0035] To make the technical problem to be solved, the technical solution, and the beneficial technical effects of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and several exemplary embodiments. It should be understood that the specific embodiments described herein are only for explaining the present utility model and are not intended to limit the scope of protection of the present utility model.

[0036] It should be understood that the terms "first," "second," etc., used herein are for descriptive purposes only and should not be construed as indicating or implying relative importance, nor should they be construed as implicitly specifying the number of technical features indicated. Features specified as "first" or "second" may expressly or implicitly indicate that at least one of those features is included.

[0037] like Figures 1-3 The diagram illustrates a robotic finger motion drive structure, comprising a finger assembly 2 rotatably connected to a palm assembly 1. The finger assembly 2 includes at least two rotatably connected phalanges 20, with the innermost phalange 20 rotatably connected to the palm assembly 1. Support wheels 21 are provided at the rotatable connections of adjacent phalanges 20 and between the phalanges and the palm assembly, and traction wheels 22 are provided on the phalanges located between two adjacent support wheels. A pull rope 30 is provided inside the finger assembly 2, with its outer end fixedly connected to the outermost phalange 20, and its inner end passing through the support wheels 21 and traction wheels 22 before extending into the palm assembly 1. The palm assembly 1 is equipped with a traction mechanism 40 that moves the inner end of the pull rope 30 to bend the finger assembly 2, and an elastic reset component 50 that resets the finger assembly 2.

[0038] like Figure 4 As shown, the finger assembly 2 has two segments, namely the first segment 200 and the second segment 201. The support wheels 21 are configured as two, namely the first support wheel 210 and the second support wheel 211. The first support wheel 210 is located at the rotatable connection between the first segment 200 and the second segment 201, and the second support wheel 211 is located at the rotatable connection between the second segment 201 and the palm assembly 1. A guide wheel 23 is provided between the traction wheel 22 and the second support wheel 211. The pull rope 30 passes through the traction wheel 22, the guide wheel 23, and the second support wheel 211 in sequence. The traction wheel 22 is provided with a locking part 220 for locking the pull rope 30 to the traction wheel 22.

[0039] like Figures 5-9As shown, the finger assembly 2 has three segments: a first segment 200, a second segment 201, and a third segment 202. Three support wheels 21 are configured: a first support wheel 210, a second support wheel 211, and a third support wheel 212. Two traction wheels 22 are configured: a first traction wheel 222 and a second traction wheel 221. The first support wheel 210 is located at the rotatable connection between the first segment 200 and the second segment 201 and is coaxial with the rotation axis. The second support wheel 211 is located at the rotatable connection between the second segment 201 and the third segment 202 and is coaxial with the rotation axis. The third support wheel 212 is located at the rotatable connection between the third segment 202 and the palm assembly 1 and is coaxial with the rotation axis. The components are coaxially distributed, with the first traction wheel 222 positioned between the first support wheel 210 and the second support wheel 211, and the second traction wheel 221 positioned between the second support wheel 211 and the third support wheel 212. A first guide wheel 230 is provided on the second finger joint 201 at the position between the first traction wheel 222 and the second support wheel 211, and a second guide wheel 231 is provided on the third finger joint 202 at the position between the second traction wheel 221 and the third support wheel 212. The inner end of the pull rope passes sequentially around the first support wheel 210, the first traction wheel 222, the first guide wheel 230, the second support wheel 211, the second traction wheel 221, the second guide wheel 231, and the third support wheel 212 before connecting to the traction mechanism 40 inside the palm assembly.

[0040] In some embodiments, the first support wheel 210, the second support wheel 211, and the third support wheel 212 are configured as independent rollers; in other embodiments, the first support wheel 210 is directly machined at the end of the first knuckle, and similarly, the second support wheel 211 and the third support wheel 212 can also be directly machined at the knuckle; in still other embodiments, the first support wheel 210 is directly machined at the end of the first knuckle, while the second support wheel 211 and the third support wheel 212 are provided as separate rollers. Regardless of the method used for the first support wheel 210, the second support wheel 211, and the third support wheel 212, each of them has at least one arc surface, and the axis corresponding to this arc surface is coaxial with the axis of the rotational connection of the corresponding knuckle.

[0041] The first traction wheel 222 is provided with a first locking part 2200 for locking the pull rope 30 to the first traction wheel 222, and the second traction wheel 221 is provided with a second locking part 2210 for locking the pull rope 30 to the second traction wheel 221. When the finger assembly 2 is in any state, the two ends of the pull rope 30 that contact the first traction wheel 222 are always tangent to the first traction wheel 222, and the two ends of the pull rope 30 that contact the second traction wheel 221 are always tangent to the second traction wheel 221. In some embodiments, the first locking part 2200 and the second locking part 2210 are bolts, screws, pressure blocks, or other locking components; in some embodiments, snap-fit ​​grooves are directly provided on the first traction wheel 222 and the second traction wheel 221 to clamp and fix the pull rope; in other embodiments, the pull rope is directly welded and fixed to the first traction wheel 222 and the second traction wheel 221. In this embodiment, both the first locking part 2200 and the second locking part 2210 adopt a bolt and pressure block structure. After the pressure block presses the pull rope, it is fastened by bolts, thereby fixing the pull rope together with the first traction wheel 222 and the second traction wheel 221.

[0042] The radius of the first support wheel 210 is configured as r. When the finger assembly 2 is in an upright state, the wrap angle between the pull rope 30 and the first support wheel is configured as θ1, where θ1 is configured as 90°≤θ1≤120°.

[0043] When the finger assembly 2 is in a fully bent state, the wrap angle between the pull rope 30 and the first support wheel 210 is configured as θ2, where θ2 is configured as 0°≤θ2≤30°. The maximum length change of the pull rope 30 after passing through the first support wheel 210 is configured as L1, where L1 satisfies L1=(θ1-θ2)πr / 180. The contact length between the pull rope 30 and the first traction wheel 222 is configured as L2, and the contact length between the pull rope 30 and the second traction wheel 221 is configured as L3, where L2≥L1 and L3≥2L1. The wrap angle between the pull rope 30 and the first traction wheel 222 is configured as θ3, where θ3 is configured as 40°≤θ3. The radius of the first traction wheel 222 is configured as R, where R / r is configured as 1.2-3. The radius of the second support wheel 211 is configured as r1, and the radius of the second traction wheel 221 is configured as R1, where R1≥R, and R1 / r1 is configured as 1.2-3.

[0044] like Figure 5 As shown, the third finger joint 202 is also provided with a third guide wheel 232, and the second traction wheel 221 is located between the second guide wheel 231 and the third guide wheel 232. After passing through the second traction wheel 221, the pull rope 30 passes through the third guide wheel 232 and the second guide wheel 231 in sequence before entering the third support wheel 212. The wrap angle of the pull rope 30 on the second traction wheel 221 is configured as θ4, and θ4 is configured as 90°≤θ4≤300°.

[0045] In some embodiments, θ1 is configured to 90°, θ2 is configured to 0°, θ3 is configured to 90°, θ4 is configured to 214°, R / r is configured to 1.5, and R1 / r1 is configured to 1.5, for example, r = r1 = 4mm, R = R1 = 6mm.

[0046] The first support wheel 210, the second support wheel 211, and the third support wheel 212 are all close to the side where the finger pads of the finger assembly 2 are located. When the finger assembly 2 is in an extended state, the lower end of the back of the first phalanx 200 abuts against the upper end of the back of the second phalanx 201, the lower end of the back of the second phalanx 201 abuts against the upper end of the back of the third phalanx 202, and the lower end of the back of the third phalanx 202 abuts against the palm assembly 1.

[0047] like Figure 3 , Figure 5 and Figure 6 As shown, the traction mechanism 40 includes a movable pulley 41, a traction rope 42, and a traction power 43. The movable pulley 41 is rotatably mounted inside a wheel seat 44. The inner end of the pull rope 30 is fixedly connected to the wheel seat 44. One end of the traction rope 42 passes over the movable pulley 41 and is connected to the hand assembly 1. The other end of the traction rope 42 is connected to the traction power 43. Figures 6-8 As shown, the elastic reset component 50 is configured as an elastic cable assembly 51, and the traction power 43 is configured as a double-acting linear actuator. A fixed pulley 45 is provided inside the palm assembly 1, and the other end of the traction rope 42 passes over the fixed pulley 45 and is connected to one end of the double-acting linear actuator. The elastic cable assembly 51 is located on the back of the finger of the finger assembly 2. The outer end of the elastic cable assembly 51 is fixedly connected to the first phalanx 200, and the inner end of the elastic cable assembly 51 is connected to the other end of the double-acting linear actuator, such that the movement direction of the inner end of the pull rope 30 is opposite to the movement direction of the inner end of the elastic cable assembly 51. In some embodiments, the traction power 43 is configured as any one or any combination of two of the following: an electric cylinder, a pneumatic cylinder, and a hydraulic cylinder.

[0048] In some embodiments, the double-acting linear actuator is configured as either a double-ended lead screw motor or a double-ended cylinder. In this embodiment, the double-acting linear actuator is configured as a double-ended lead screw motor.

[0049] like Figure 10 The second connection method of the elastic reset component is shown. Specifically, the elastic reset component 50 is configured as an elastic cable component 51. The outer end of the elastic cable component 51 is fixedly connected to the first phalanx 200, and the inner end of the elastic cable component 51 is fixedly connected to the palm component 1.

[0050] like Figure 11The third connection method of the elastic reset component is shown. Specifically, the elastic reset component 50 is configured as three elastic cable components 51. The first phalanx 200, the second phalanx 201, and the third phalanx 202 are all connected to the palm component 1 through independent elastic cable components 51.

[0051] The elastic cable assembly 51 can be a single elastic cable, a single spring, or a combination of spring and cable (which can be elastic or non-elastic).

[0052] like Figure 12 The diagram shows a connection schematic where the elastic reset component is configured as a tension spring. Specifically, the elastic reset assembly 50 is configured as several tension springs 52 located between the backs of adjacent phalanges, and a tension spring 52 is also provided between the third phalanx 202 and the palm assembly 1. In this embodiment, springs with different stiffness coefficients can be selected according to actual needs to meet the reset requirements of different phalanges.

[0053] Referring to the accompanying drawings, the principle of this utility model is as follows: Figures 5-9 Taking the three-joint finger shown as an example, the pull rope 30 maintains rolling friction with the first support wheel 210, the first traction wheel 222, the first guide wheel 230, the second support wheel 211, the second traction wheel 221, the second guide wheel 231, and the third support wheel 212 throughout the traction and release process. This ensures smooth rope movement and reduces wear. Regardless of the finger assembly's state, the pull rope remains in contact with all the wheels, never separating from any of them. Therefore, the vibration during the pull rope's movement is minimal and negligible. This improves the stability of the pull rope. Since the pull rope is fixed to the first and second traction wheels, even if the pull rope undergoes slight elastic deformation when tightened, it will not rub against the first and second traction wheels, further reducing wear. Simultaneously, the pull rope is fixed to the first and second traction wheels via the first and second locking parts, effectively dividing the pull rope into three independent segments. The length of each segment is significantly shortened, increasing the axial stiffness k value of the pull rope (k=EA / L), where E is the elastic modulus, L is the length of the pull rope, and A is the cross-sectional area of ​​the pull rope. This increased stiffness results in a smaller absolute deformation ΔL under the same tension F (ΔL = FL / EA), making the pull rope less prone to deformation or vibration under dynamic or vibrational loads, further enhancing its stability. In this embodiment, the first, second, and third support wheels are positioned on one side of the fingertip, shortening the displacement of the inner end of the pull rope when the finger assembly bends. Combined with a movable pulley, this reduces the load on the traction force.

[0054] In the description of this utility model, it should be understood that the directions or positional relationships indicated by up, down, left, right, inner end, outer end, one end, and the other end are based on the orientation or positional relationships shown in the accompanying drawings. They are only for the purpose of more clearly describing the technical solution of this utility model, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and should not be construed as a limitation of this utility model.

[0055] Although specific embodiments of the present invention are described in detail herein, they are given for illustrative purposes only and should not be construed as limiting the scope of the present invention. Various substitutions, alterations, and modifications may be conceived without departing from the spirit and scope of the present invention.

Claims

1. A robotic finger motion drive structure, comprising a finger assembly (2) rotatably connected to a palm assembly (1), characterized in that, The finger assembly (2) includes at least two rotatably connected phalanges (20), with the innermost phalange (20) rotatably connected to the palm assembly (1); Support wheels (21) are provided at the rotatable connection points of adjacent phalanges (20) and at the rotatable connection points between phalanges and the palm assembly, and traction wheels (22) are provided on the phalanges located between two adjacent support wheels. The finger assembly (2) is provided with a pull rope (30), the outer end of the pull rope (30) is fixedly connected to the outermost finger joint (20), and the inner end of the pull rope (30) passes through the support wheel (21) and the traction wheel (22) in sequence before extending into the palm assembly (1); The palm assembly (1) is provided with a traction mechanism (40) that moves the inner end of the pull rope (30) to bend the finger assembly (2), and the finger assembly (2) is provided with an elastic reset assembly (50) that resets the finger assembly (2).

2. The robot finger motion driving structure according to claim 1, characterized in that, The finger assembly (2) has two segments (20), namely the first segment (200) and the second segment (201). The support wheel (21) has two segments, namely the first support wheel (210) and the second support wheel (211). The first support wheel (210) is located at the rotatable connection between the first segment (200) and the second segment (201), and the second support wheel (211) is located at the rotatable connection between the second segment (201) and the palm assembly (1). A guide wheel (23) is provided between the traction wheel (22) and the second support wheel (211), and the pull rope (30) passes through the traction wheel (22), the guide wheel (23), and the second support wheel (211) in sequence; the traction wheel (22) is provided with a locking part (220) for locking the pull rope (30) and the traction wheel (22).

3. The robot finger motion driving structure according to claim 1, characterized in that, The finger assembly (2) has three segments (20), namely the first segment (200), the second segment (201), and the third segment (202); three support wheels (21), namely the first support wheel (210), the second support wheel (211), and the third support wheel (212); and two traction wheels (22), namely the first traction wheel (222) and the second traction wheel (221). The first support wheel (210) is located at the rotatable connection between the first phalanx (200) and the second phalanx (201), the second support wheel (211) is located at the rotatable connection between the second phalanx (201) and the third phalanx (202), the third support wheel (212) is located at the rotatable connection between the third phalanx (202) and the palm assembly (1), the first traction wheel (222) is located between the first support wheel (210) and the second support wheel (211), the second traction wheel (221) is located between the second support wheel (211) and the third support wheel (212), the second phalanx (201) is provided with a first guide wheel (230) at the part between the first traction wheel (222) and the second support wheel (211), and the third phalanx (202) is provided with a second guide wheel (231) at the part between the second traction wheel (221) and the third support wheel (212). The inner end of the pull rope passes sequentially around the first support wheel (210), the first traction wheel (222), the first guide wheel (230), the second support wheel (211), the second traction wheel (221), the second guide wheel (231), and the third support wheel (212) before connecting to the traction mechanism (40) inside the palm assembly.

4. The robot finger motion driving structure according to claim 3, characterized in that, The first traction wheel (222) is provided with a first locking part (2200) for locking the pull rope (30) to the first traction wheel (222), and the second traction wheel (221) is provided with a second locking part (2210) for locking the pull rope (30) to the second traction wheel (221). When the finger assembly (2) is in any state, the two ends of the pull rope (30) that are in contact with the first traction wheel (222) are always tangent to the first traction wheel (222), and the two ends of the pull rope (30) that are in contact with the second traction wheel (221) are always tangent to the second traction wheel (221).

5. The robot finger motion driving structure according to claim 4, characterized in that, The radius of the first support wheel (210) is configured as r. When the finger assembly (2) is in an upright state, the wrap angle between the pull rope (30) and the first support wheel is configured as θ1. When the finger assembly (2) is in a fully bent state, the wrap angle between the pull rope (30) and the first support wheel (210) is configured as θ2. The maximum length change of the pull rope (30) passing through the first support wheel (210) is configured as L1. Then L1 satisfies L1=(θ1-θ2)πr / 180. The contact length between the pull rope (30) and the first traction wheel (222) is configured as L2, and the contact length between the pull rope (30) and the second traction wheel (221) is configured as L3, wherein L2≥L1 and L3≥2L1.

6. The robot finger motion driving structure according to claim 5, characterized in that, θ1 is configured as 90°≤θ1≤120°, and θ2 is configured as 0°≤θ2≤30°; the wrap angle between the pull rope (30) and the first traction wheel (222) is configured as θ3, and θ3 is configured as 40°≤θ3.

7. The robot finger motion driving structure according to claim 6, characterized in that, The radius of the first traction wheel (222) is configured as R, where R / r is configured as 1.2-3; The radius of the second support wheel (211) is configured as r1, and the radius of the second traction wheel (221) is configured as R1, wherein R1 / r1 is configured as 1.2-3.

8. A robotic finger motion driving structure according to claim 3, 4, 5, 6, or 7, characterized in that, The wrap angle of the pull rope (30) on the second traction wheel (221) is configured as θ4, where θ4 is configured as 90°≤θ4≤300°.

9. The robot finger motion driving structure according to claim 3, characterized in that, The first support wheel (210), the second support wheel (211), and the third support wheel (212) are all close to the side where the finger pads of the finger assembly (2) are located; when the finger assembly (2) is in a straight state, the lower end of the back of the first phalanx (200) abuts against the upper end of the back of the second phalanx (201), the lower end of the back of the second phalanx (201) abuts against the upper end of the back of the third phalanx (202), and the lower end of the back of the third phalanx (202) abuts against the palm assembly (1).

10. A robotic finger motion driving structure according to claim 1, 2, 3, or 9, characterized in that, The traction mechanism (40) includes a movable pulley (41), a traction rope (42), and a traction power (43). The movable pulley (41) is rotatably mounted inside a wheel seat (44). The inner end of the pull rope (30) is fixedly connected to the wheel seat (44). One end of the traction rope (42) passes around the movable pulley (41) and is connected to the hand assembly (1). The other end of the traction rope (42) is connected to the traction power (43).

11. The robot finger motion driving structure according to claim 10, characterized in that, The elastic reset component (50) is configured as an elastic cable component (51), the traction power (43) is configured as a double-acting linear actuator, the palm component (1) is provided with a fixed pulley (45), and the other end of the traction rope (42) passes around the fixed pulley (45) and is connected to one end of the double-acting linear actuator; the elastic cable component (51) is located on the back of the finger of the finger component (2), the outer end of the elastic cable component (51) is fixedly connected to the first phalanx (200), and the inner end of the elastic cable component (51) is connected to the other end of the double-acting linear actuator.

12. A robotic finger motion driving structure according to claim 1, 2, 3, or 9, characterized in that, The elastic reset component (50) is configured as a plurality of tension springs (52) between the backs of adjacent phalanges (20), and a tension spring (52) is also provided between the palm component (1) and the innermost phalange (20).

13. A robotic finger motion driving structure according to claim 1, 2, 3, or 9, characterized in that, The elastic reset component (50) is configured as an elastic cable component (51), the outer end of the elastic cable component (51) is fixedly connected to the outermost knuckle (20), and the inner end of the elastic cable component (51) is fixedly connected to the palm component (1).

14. A robotic finger motion driving structure according to claim 1, 2, 3, or 9, characterized in that, The elastic reset component (50) is configured as a plurality of elastic cable components (51), and each phalanx (20) is connected to the palm component (1) through an independent elastic cable component (51).

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