Mechanical finger with cross shaft joint structure

Abstract

The utility model discloses a mechanical finger with a cross shaft joint structure. The mechanical finger comprises a main body bracket and a knuckle group connected with the main body bracket, the knuckle group comprises a first knuckle, a second knuckle and a third knuckle which can bend and stretch independently and are hinged in sequence, the first knuckle is hinged to the main body support, and the main body support is provided with a first side swing driving unit and a second side swing driving unit which are used for driving the knuckle group to swing laterally or rotate; a rotating connecting rod is arranged on the main body support and comprises a first connecting shaft and a second connecting shaft which are in cross joint, the first connecting shaft is connected with the main body support, the second connecting shaft is connected with the first knuckle, and the first connecting shaft serves as a bending rotating center shaft of the first knuckle; the second connecting shaft serves as a deflection rotation center shaft of the first knuckle.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, specifically to a robotic finger with a cross-axis joint structure. Background Technology

[0002] With the rapid development of robotics technology, robotic hands, as the end effector, are increasingly widely used in fields such as industrial automation, precision assembly, service robots, and special operations. In order to mimic the dexterity of human hands, robotic fingers usually need to have two degrees of freedom of movement in the directions of bending and lateral swinging to achieve a variety of complex actions such as grasping, holding, pinching, and twisting.

[0003] In existing technologies, mechanical structures that enable the bending and lateral swinging functions of robotic fingers typically employ separate drive structures for the two degrees of freedom of motion. This results in a bulky overall structure for the robotic finger, with a significant increase in the size of the root joint. When multiple such fingers need to be integrated within the limited space of a robot's hand, the layout becomes extremely difficult, severely limiting the miniaturization and compact design of the robotic hand. It also increases the overall mass and rotational inertia of the joints, affecting the finger's motion response speed and dynamic performance, and increasing the load requirements on the robotic arm. Utility Model Content

[0004] To address the technical problems existing in the background art, this utility model proposes a mechanical finger with a cross-axis joint structure.

[0005] The technical solution adopted by this utility model to solve its technical problem is as follows:

[0006] A mechanical finger with a cross-axis joint structure includes a main support and a phalanx assembly connected to the main support;

[0007] The finger joint assembly includes a first finger joint, a second finger joint, and a third finger joint that can be independently flexed and extended and are hinged in sequence. The first finger joint is hinged to the main body support. The main body support is provided with a first side swing drive unit and a second side swing drive unit for driving the finger joint assembly to swing or rotate.

[0008] The main support is provided with a rotating link, which includes a first connecting shaft and a second connecting shaft that are cross-jointed. The first connecting shaft is connected to the main support, and the second connecting shaft is connected to the first phalanx. The first connecting shaft serves as the bending rotation center axis of the first phalanx, and the second connecting shaft serves as the yaw rotation center axis of the first phalanx.

[0009] The first side-swing drive unit is connected to a first drive arm, and the second side-swing drive unit is connected to a second drive arm. The first drive arm and the second drive arm are respectively connected to both sides of the first finger joint. When the first drive arm and the second drive arm move in the same direction, the first finger joint bends. When the first drive arm and the second drive arm move in opposite directions, the first finger joint swings.

[0010] Preferably, in the initial state, the first drive arm and the second drive arm are respectively vertically arranged on both sides of the main support, and the first drive arm and the second drive arm are relatively horizontally arranged. Through the above improvements, a more compact structural layout is achieved, which not only reduces the overall volume and facilitates multi-finger integration, but also makes the robotic arm structure lighter and more flexible.

[0011] Preferably, the output end of the first side-swing drive unit is connected to a first rotating arm, and the output end of the second side-swing drive unit is connected to a second rotating arm. The first rotating arm is connected to the first drive arm, and the second rotating arm is connected to the second drive arm. Through the above improvements, the rotational motion of the first side-swing drive unit and the second side-swing drive unit is converted into the swinging motion of the first drive arm and the second drive arm through the first rotating arm and the second rotating arm, thereby improving the output torque and driving efficiency of the first drive arm and the second drive arm.

[0012] Preferably, the first finger joint has a first connecting protrusion on both sides, and the first and second rotating arms have a second connecting protrusion. The first and second connecting protrusions are spherically shaped. The first and second driving arms are respectively provided with rotating connecting grooves at both ends for the first and second connecting protrusions to be inserted. Through the above improvements, by utilizing the cooperation of the spherical first and second connecting protrusions with the rotating connecting grooves, the first and second driving arms and the first finger joint, the first and second rotating arms are connected by a multi-degree-of-freedom ball joint. This effectively releases the constraints caused by assembly errors and motion interference, reduces the internal stress of the mechanism during movement, and the ball joint structure also allows for slight angle adjustments of the driving arm during transmission, improving the transmission stability and the overall smoothness of the system's movement.

[0013] Preferably, the first side-swing drive unit and the second side-swing drive unit are arranged at intervals along the length direction of the main support, and the first side-swing drive unit is located below the second side-swing drive unit. Through the above improvements, the two side-swing drive units are arranged along the length direction of the main support, which significantly optimizes the spatial layout of the drive system, greatly reduces the width dimension of the mechanical finger in the side-swing drive direction, and achieves structural compactness. This is conducive to the close arrangement and integration of multiple fingers in the palm area, thereby improving the overall miniaturization and lightweight level of the humanoid robotic hand.

[0014] Preferably, the two ends of the second connecting shaft respectively form a first connecting part and a second connecting part for connecting the first finger joint. The first connecting part is set away from the bending direction of the first finger joint, and the center line of the first connecting shaft is set close to the second connecting part. Through the above improvements, when the first finger joint bends under the synchronous push of the first driving arm and the second driving arm, the center line of the first connecting shaft is set close to the second connecting part, so that its movement trajectory and speed change are closer to the natural flexion and extension mode of human fingers, which improves the smoothness and anthropomorphism of the gripping action and improves the contact and wrapping effect with irregularly shaped objects.

[0015] Preferably, the centerline of the first connecting shaft intersects with the centerline of the second connecting shaft to form an intersection point. The distance between the intersection point and the first connecting part is 17mm, and the distance between the intersection point and the second connecting part is 10mm. Through the above improvements, the lateral swing rotation center of the first phalanx is not centered in the phalanx width direction, which simulates the physiological structural characteristics of human finger joints. When the phalanx swings laterally, its movement trajectory and angle are more in line with biomechanical characteristics, thereby improving the naturalness of the mechanical finger's lateral swing action and its adaptability to complex grasping tasks.

[0016] Preferably, the first connecting shaft and the second connecting shaft have insertion protrusions at both ends, and the first finger joint and the main support form insertion grooves for the insertion protrusions to be inserted. Through the above improvements, not only is the processing and assembly process of the rotating connecting rod simplified and the later maintenance and replacement facilitated, but more importantly, it provides a stable and accurate rotation center positioning for the rotating connecting rod, ensuring the axial stability and motion accuracy of the finger joint in bending and yaw motion.

[0017] Preferably, the main support has an inclined mounting plate, and the mounting plate has a mounting protrusion for connecting the first connecting shaft. The mounting protrusions form clearance grooves for mounting the second connecting shaft. Through the above improvements, the inclined mounting plate and mounting protrusions provide a stable and precise mounting foundation for the rotating connecting rod. This not only ensures that the second connecting shaft has sufficient clearance during installation, ensuring that its swing freedom is not interfered with, but also optimizes the overall layout of the joint by the inclined angle. This allows the mechanical finger to maintain a compact structure while its range of motion is closer to the natural movement angle of the human finger, thus improving the bionic effect.

[0018] Preferably, the first phalanx is provided with a first bending drive unit that drives the second phalanx to bend, and the second phalanx is provided with a second bending drive unit that drives the third phalanx to bend. Through the above improvements, a distributed layout of drive units between phalanges is realized, and each phalanx has the ability to independently drive the next level phalanx, enabling the second and third phalanges to perform independent and precise flexion and extension movements. This not only enhances the fingers' adaptive grasping ability of objects of different shapes, but also greatly improves the compactness of the joint structure, avoiding the bloated problem of concentrating all drive units at the root.

[0019] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0020] By installing a cross-shaped rotating link on the main support, the rotating link includes a first connecting shaft and a second connecting shaft. The first connecting shaft is connected to the main support, and the second connecting shaft is connected to the first phalanx. The first connecting shaft serves as the bending rotation center axis of the first phalanx, and the second connecting shaft serves as the yaw rotation center axis of the first phalanx. The two rotational degrees of freedom of bending and yaw are integrated into a compact joint. Through efficient decoupling control by the first yaw drive unit and the second yaw drive unit, the volume of the finger root is greatly reduced, which is more conducive to multi-finger integration. At the same time, the asymmetrical cross-axis layout makes the movement trajectory closer to the natural physiological characteristics of the human finger. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the initial state of the knuckle assembly of this utility model;

[0022] Figure 2 This is a front view of the overall structure of this utility model;

[0023] Figure 3 This is a side view of the overall structure of this utility model;

[0024] Figure 4 This is a schematic diagram of the rotating connecting rod of this utility model;

[0025] Figure 5 This is a schematic diagram of the main support structure of this utility model;

[0026] Figure 6 This is a schematic diagram of the structure of the knuckle assembly of this utility model;

[0027] Figure 7 This is a schematic diagram of the rotating connecting rod installation structure of this utility model;

[0028] In the diagram: 1. Main support; 2. Finger assembly; 3. Rotating connecting rod; 1.1. First finger joint; 1.2. Second finger joint; 1.3. Third finger joint; 1.4. First side-swing drive unit; 1.5. Second side-swing drive unit; 2.1. First connecting shaft; 2.2. Second connecting shaft; 2.3. First drive arm; 2.4. Second drive arm; 2.5. First rotating arm; 2.6. Second rotating arm; 3.1. First connecting protrusion; 3.2. Second connecting protrusion; 3.3. Insertion protrusion; 3.4. Insertion groove; 3.5. Mounting plate; 3.6. Mounting protrusion; 3.7. Clearance groove; 3.8. Rotating connection groove; 4.1. First bending drive unit; 4.2. Second bending drive unit; 5.1. First connecting part; 5.2. Second connecting part. Detailed Implementation

[0029] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0030] It should be understood that although the terms upper, middle, lower, top, one end, etc., appear in this document to describe various elements, these elements are not limited by these terms. These terms are only used to distinguish the elements from each other for ease of understanding, and are not used to define any directional or sequential restrictions.

[0031] like Figure 1 , Figure 2 , Figure 3 As shown, a mechanical finger with a cross-axis joint structure includes a main support 1 and a phalanx group 2 connected to the main support 1.

[0032] Specifically, the knuckle assembly 2 includes a first knuckle 1.1, a second knuckle 1.2, and a third knuckle 1.3 that can be independently flexed and extended and are hinged in sequence. The first knuckle 1.1 is hinged to the main support 1. The main support 1 is provided with a first side swing drive unit 1.4 and a second side swing drive unit 1.5 for driving the knuckle assembly 2 to swing or rotate.

[0033] Furthermore, the main support 1 is provided with a rotating connecting rod 3, which includes a first connecting shaft 2.1 and a second connecting shaft 2.2 that are cross-jointed. The first connecting shaft 2.1 is connected to the main support 1, and the second connecting shaft 2.2 is connected to the first phalanx 1.1. The first connecting shaft 2.1 serves as the bending rotation center axis of the first phalanx 1.1, and the second connecting shaft 2.2 serves as the yaw rotation center axis of the first phalanx 1.1.

[0034] The first lateral swing drive unit 1.4 is connected to the first drive arm 2.3, and the second lateral swing drive unit 1.5 is connected to the second drive arm 2.4. The first drive arm 2.3 and the second drive arm 2.4 are respectively connected to both sides of the first phalanx 1.1. When the first drive arm 2.3 and the second drive arm 2.4 move in the same direction, the first phalanx 1.1 bends. When the first drive arm 2.3 and the second drive arm 2.4 move in opposite directions, the first phalanx 1.1 swings.

[0035] When the first lateral swing drive unit 1.4 and the second lateral swing drive unit 1.5 receive a command to move in the same direction, they apply a push or pull force of the same direction and magnitude to both sides of the first phalanx 1.1 through the first drive arm 2.3 and the second drive arm 2.4, respectively. The lateral movement of the two drive arms acts together on the first phalanx 1.1, driving it to rotate around the first connecting shaft 2.1, thereby realizing the flexion or extension movement of the first phalanx 1.1 in the vertical plane.

[0036] When the first lateral swing drive unit 1.4 and the second lateral swing drive unit 1.5 receive the command to move in opposite directions, they respectively apply push or pull forces of opposite direction and equal or proportional magnitude to both sides of the first phalanx 1.1 through the first drive arm 2.3 and the second drive arm 2.4. This pair of force couples drives the first phalanx 1.1 to rotate around the second connecting shaft 2.2, thereby realizing the lateral swing of the first phalanx 1.1 to the left or right in the horizontal plane.

[0037] This application integrates two rotational degrees of freedom, bending and yaw, into a compact joint by installing a cross-shaped rotating link 3 on the main support 1. The rotating link 3 includes a first connecting shaft 2.1 and a second connecting shaft 2.2 connected to the main support 1 and the first phalanx 1.1 connected to the main support 1. The first connecting shaft 2.1 serves as the bending rotation center of the first phalanx 1.1, and the second connecting shaft 2.2 serves as the yaw rotation center of the first phalanx 1.1. The first connecting shaft 2.1 serves as the bending rotation center of the first phalanx 1.1, and the second connecting shaft 2.2 serves as the yaw rotation center of the first phalanx 1.1. The two rotational degrees of freedom are integrated into a compact joint. The efficient decoupling control through the first yaw drive unit 1.4 and the second yaw drive unit 1.5 significantly reduces the volume of the finger root, which is more conducive to multi-finger integration. At the same time, the asymmetrical cross-axis layout makes the motion trajectory closer to the natural physiological characteristics of the human finger.

[0038] like Figure 1 , Figure 3 , Figure 4 , Figure 5 , Figure 7As shown, as a further explanation of the implementation of the first lateral swing drive unit 1.4 and the second lateral swing drive unit 1.5, the first lateral swing drive unit 1.4 and the second lateral swing drive unit 1.5 are arranged at intervals along the length direction of the main body support 1, and the first lateral swing drive unit 1.4 is located below the second lateral swing drive unit 1.5. Arranging the two lateral swing drive units along the length direction of the main body support 1 significantly optimizes the spatial layout of the drive system, greatly reduces the width dimension of the mechanical finger in the lateral swing drive direction, realizes the structural compactness, and is conducive to the close arrangement and integration of multiple fingers in the palm part, thereby improving the overall miniaturization and lightweight level of the humanoid robotic hand.

[0039] Specifically, in the initial state, the first drive arm 2.3 and the second drive arm 2.4 are vertically arranged on both sides of the main support 1, and the first drive arm 2.3 and the second drive arm 2.4 are relatively horizontally arranged, which realizes a more compact structural layout, which not only reduces the overall volume, but also facilitates multi-finger integration, making the robot arm structure lighter and more flexible.

[0040] In order to coordinate with the first side-swing drive unit 1.4 and the second side-swing drive unit 1.5 being spaced apart along the length of the main body support 1, the length of the first drive arm 2.3 is 71.5mm and the length of the second drive arm 2.4 is 21.5mm, so as to ensure that the first drive arm 2.3 and the second drive arm 2.4 can synchronously drive the first phalanx 1.1 to perform actions, thereby improving the stability and smoothness of the first phalanx 1.1's movements.

[0041] Furthermore, the output end of the first lateral swing drive unit 1.4 is connected to a first rotating arm 2.5, and the output end of the second lateral swing drive unit 1.5 is connected to a second rotating arm 2.6. The first rotating arm 2.5 is connected to the first drive arm 2.3, and the second rotating arm 2.6 is connected to the second drive arm 2.4. The rotational motion of the output ends of the first lateral swing drive unit 1.4 and the second lateral swing drive unit 1.5 is converted into the swinging motion of the first drive arm 2.3 and the second drive arm 2.4 through the first rotating arm 2.5 and the second rotating arm 2.6, thereby improving the output torque and driving efficiency of the first drive arm 2.3 and the second drive arm 2.4.

[0042] The first joint 1.1 has first connecting protrusions 3.1 on both sides, and second connecting protrusions 3.2 on the first rotating arm 2.5 and the second rotating arm 2.6. The first connecting protrusions 3.1 and the second connecting protrusions 3.2 are spherically shaped. The first drive arm 2.3 and the second drive arm 2.4 are respectively provided with rotating connecting grooves 3.8 for the first connecting protrusions 3.1 and the second connecting protrusions 3.2 to be inserted. By utilizing the cooperation between the spherical first connecting protrusions 3.1 and the second connecting protrusions 3.2 and the rotating connecting grooves 3.8, the first drive arm 2.3 and the second drive arm 2.4 are connected to the first joint 1.1, the first rotating arm 2.5 and the second rotating arm 2.6 to form a multi-degree-of-freedom ball joint connection. This effectively releases the constraints caused by assembly errors and motion interference, reduces the internal stress of the mechanism during movement, and the ball joint structure also allows for slight angle adjustments of the first drive arm 2.3 and the second drive arm 2.4 during transmission, improving the smoothness of transmission and the overall smoothness of the system's movement.

[0043] like Figure 3 , Figure 4 , Figure 5 , Figure 7 As shown, as a further explanation of the embodiment of the rotating linkage 3, the two ends of the second connecting shaft 2.2 respectively form a first connecting part 5.1 and a second connecting part 5.2 connecting the first finger joint 1.1. The first connecting part 5.1 is set away from the bending direction of the first finger joint 1.1, and the center line of the first connecting shaft 2.1 is set close to the second connecting part 5.2. When the first finger joint 1.1 bends under the synchronous push of the first driving arm 2.3 and the second driving arm 2.4, since the center line of the first connecting shaft 2.1 is set close to the second connecting part 5.2, its movement trajectory and speed change are closer to the natural flexion and extension mode of human fingers, which improves the smoothness and anthropomorphism of the gripping action and improves the contact and wrapping effect with irregularly shaped objects.

[0044] Specifically, the center line of the first connecting shaft 2.1 intersects with the center line of the second connecting shaft 2.2 to form an intersection point. The distance between the intersection point and the first connecting part 5.1 is 17mm, and the distance between the intersection point and the second connecting part 5.2 is 10mm. This makes the lateral swing rotation center of the first phalanx 1.1 not centered in the phalanx width direction, which simulates the physiological structure characteristics of human finger joints. When the phalanx swings laterally, its movement trajectory and angle are more in line with biomechanical characteristics, thereby improving the naturalness of the mechanical finger's lateral swing action and its adaptability to complex grasping tasks.

[0045] Furthermore, the first connecting shaft 2.1 and the second connecting shaft 2.2 have insertion protrusions 3.3 at both ends. The first finger joint 1.1 and the main support 1 have insertion grooves 3.4 for the insertion protrusions 3.3 to be inserted. The use of the insertion protrusions 3.3 and the insertion grooves 3.4 to cooperate not only simplifies the processing and assembly process of the rotating connecting rod 3 and facilitates later maintenance and replacement, but more importantly, it provides a stable and accurate rotation center positioning for the rotating connecting rod 3, ensuring the axial stability and motion accuracy of the joint in bending and yaw motion.

[0046] In addition, the main support 1 has an inclined mounting plate 3.5, and the mounting plate 3.5 has a mounting protrusion 3.6 for connecting the first connecting shaft 2.1. The mounting protrusions 3.6 form a clearance groove 3.7 for mounting the second connecting shaft 2.2. The inclined mounting plate 3.5 and the mounting protrusions 3.6 provide a stable and precise mounting base for the rotating connecting rod 3. This not only provides sufficient clearance for the second connecting shaft 2.2 during installation, ensuring that its swing freedom is not interfered with, but also optimizes the overall layout of the joint by the inclined angle. This allows the mechanical finger to maintain a compact structure while its range of motion is closer to the natural movement angle of the human finger, thus improving the bionic effect.

[0047] like Figure 1 , Figure 2 , Figure 6 As shown, a further explanation of the implementation method of the joint group 2 is provided: the first joint 1.1 is provided with a first bending drive unit 4.1 for driving the second joint 1.2 to bend, and the second joint 1.2 is provided with a second bending drive unit 4.2 for driving the third joint 1.3 to bend. This realizes a split layout of drive units between joints, and each joint has the ability to independently drive the next level joint, so that the second joint 1.2 and the third joint 1.3 can perform independent and precise flexion and extension movements. This not only enhances the adaptive grasping ability of the fingers to objects of different shapes, but also greatly improves the compactness of the joint structure and avoids the bloated problem of concentrating all drive units at the root.

[0048] Simultaneously, the first lateral swing drive unit 1.4 and the second lateral swing drive unit 1.5 drive the first phalanx 1.1 to rotate and bend, so that the entire phalanx group 2 can be bent.

[0049] In addition, the first side-swing drive unit 1.4, the second side-swing drive unit 1.5, the first bending drive unit 4.1 and the second bending drive unit 4.2 in this application include a motor part and a reduction part. The whole adopts a worm gear structure to drive the finger, so as to ensure the stability of the finger movement.

[0050] This specific embodiment is merely an explanation of the present utility model and is not intended to limit the present utility model. After reading this specification, those skilled in the art can make modifications to this embodiment without contributing any inventive step, but as long as they are within the scope of the claims of the present utility model, they are protected by patent law.

Claims

1. A mechanical finger having a cross-axis joint structure, comprising a main body support (1), and a finger joint group (2) connected with the main body support (1), characterized in that, The knuckle group (2) comprises a first knuckle (1.1), a second knuckle (1.2) and a third knuckle (1.3) which are independently bent and connected in sequence, and the first knuckle (1.1) is connected to the main support (1) which is provided with a first side swing driving unit (1.4) and a second side swing driving unit (1.5) for driving the knuckle group (2) to swing or rotate; The main support (1) is provided with a rotating connecting rod (3) which comprises a first connecting shaft (2.1) and a second connecting shaft (2.2) which are cross-connected, the first connecting shaft (2.1) is connected to the main support (1), the second connecting shaft (2.2) is connected to the first knuckle (1.1), and the first connecting shaft (2.1) serves as the bending and rotating center of the first knuckle (1.1), and the second connecting shaft (2.2) serves as the center of the first knuckle (1.1) to swing. The first side swing driving unit (1.4) is connected to a first driving arm (2.3), and the second side swing driving unit (1.5) is connected to a second driving arm (2.4), the first driving arm (2.3) and the second driving arm (2.4) are respectively connected to the two sides of the first knuckle (1.1), when the first driving arm (2.3) and the second driving arm (2.4) move in the same direction, the first knuckle (1.1) bends, and when the first driving arm (2.3) and the second driving arm (2.4) move in opposite directions, the first knuckle (1.1) swings.

2. The mechanical finger with a cross-axis joint structure according to claim 1, characterized in that: In the initial state, the first driving arm (2.3) and the second driving arm (2.4) are respectively arranged vertically on the two sides of the main support (1), and the first driving arm (2.3) and the second driving arm (2.4) are arranged horizontally relative to each other.

3. The mechanical finger having a cross-axis joint structure according to claim 1, characterized in that: The output end of the first side swing driving unit (1.4) is connected to a first rotating arm (2.5), and the output end of the second side swing driving unit (1.5) is connected to a second rotating arm (2.6), the first rotating arm (2.5) is connected to the first driving arm (2.3), and the second rotating arm (2.6) is connected to the second driving arm (2.4).

4. The mechanical finger having a cross-axis joint structure according to claim 3, characterized in that: The two sides of the first knuckle (1.1) form a first connecting convex part (3.1), the first rotating arm (2.5) and the second rotating arm (2.6) form a second connecting convex part (3.2), the first connecting convex part (3.1) and the second connecting convex part (3.2) are arranged in a spherical shape, and the two ends of the first driving arm (2.3) and the second driving arm (2.4) are respectively provided with rotating connection grooves (3.8) for the first connecting convex part (3.1) and the second connecting convex part (3.2).

5. The mechanical finger having a cross-axis joint structure according to claim 1, characterized by: The first side swing driving unit (1.4) and the second side swing driving unit (1.5) are arranged in a length direction of the main support (1) and are spaced apart, and the first side swing driving unit (1.4) is located below the second side swing driving unit (1.5).

6. The mechanical finger having a cross-axis joint structure according to claim 1, characterized by: The second connecting shaft (2.2) is provided with a first connecting part (5.1) and a second connecting part (5.2) for connecting the first finger (1.1), the first connecting part (5.1) is arranged away from the bending direction of the first finger (1.1), and the center line of the first connecting shaft (2.1) is arranged close to the second connecting part (5.2).

7. The mechanical finger having a cross-axis joint structure according to claim 6, wherein The center line of the first connecting shaft (2.1) intersects with the center line of the second connecting shaft (2.2) to form an intersection point, the distance between the intersection point and the first connecting part (5.1) is 17mm, and the distance between the intersection point and the second connecting part (5.2) is 10mm.

8. The mechanical finger having a cross-axis joint structure according to claim 1, characterized by: The first connecting shaft (2.1) and the second connecting shaft (2.2) are provided with plug-in convex parts (3.3) at both ends, and the first finger (1.1) and the main body support (1) are provided with plug-in grooves (3.4) for the plug-in convex parts (3.3).

9. The mechanical finger having a cross-axis joint structure according to claim 1, characterized by: The main body support (1) is provided with an installation plate (3.5) arranged obliquely, the installation plate (3.5) is provided with installation convex parts (3.6) for connecting the first connecting shaft (2.1), and the installation convex parts (3.6) are provided with an empty slot (3.7) for installing the second connecting shaft (2.2).

10. The mechanical finger having a cross-axis joint structure according to claim 1, characterized in that: The first finger (1.1) is provided with a first bending driving unit (4.1) for driving the second finger (1.2) to bend, and the second finger (1.2) is provided with a second bending driving unit (4.2) for driving the third finger (1.3) to bend.

Images