Manipulator

Abstract

The utility model discloses a manipulator, which belongs to the technical field of bionic robots and is characterized in that a palm center is arranged on one side of a palm body along the thickness direction of the palm body; the fingers are arranged on the palm body, a first output shaft of the driving device is provided with knuckles to drive the knuckles to rotate, at least one knuckle is a buffering knuckle, and second matching parts and receding grooves of the buffering knuckles are arranged in the circumferential direction of the first output shaft. The first matching part of the first output shaft is at least partially located in the receding groove and moves relative to the corresponding buffering knuckle in the circumferential direction of the first output shaft so as to make contact with or be separated from the second matching part, and the torsional spring is connected with part of the structure of the driving device and the buffering knuckle. Torsion of the torsional spring enables the buffering knuckles or the driving device to have the tendency of rotating away from the palm center. The finger knuckles or the driving device can be bent close to the center of the palm under the action of external force, the first matching part and the second matching part are separated, the first matching part partially moves in the avoiding groove, and therefore buffering is achieved.

Description

Technical Field

[0001] This application relates to the field of biomimetic robotics, and more particularly to robotic arms. Background Technology

[0002] With the development of bionic robot technology, robotic hands are increasingly being used in production and daily life. The structure of robotic hands is similar to that of human hands. The fingers of robotic hands can flex, extend, and swing to perform grasping and releasing actions. However, the fingers may be subjected to external impacts or collisions, and the external force may cause damage to the fingers. Utility Model Content

[0003] To address the aforementioned technical problems, embodiments of this application provide a robotic hand to cushion impacts received by the fingers.

[0004] The embodiments of this application are implemented through the following technical solutions.

[0005] A first aspect of this application provides a robotic hand, comprising: a palm body having a palm center on one side along the thickness direction of the palm body; fingers disposed on the palm body, each finger including a torsion spring, a driving device, and a phalanx; the driving device including a first output shaft, the first output shaft of the driving device having a phalanx for driving the phalanx to rotate; the first output shaft having a first mating portion; at least one phalanx being a buffer phalanx; the buffer phalanx having a second mating portion and a clearance groove; the second mating portion and the clearance groove being arranged circumferentially along the first output shaft; the first mating portion being at least partially located within the clearance groove and moving circumferentially along the first output shaft relative to the corresponding buffer phalanx to contact or disengage from the second mating portion; the torsion spring being connected to a portion of the driving device and the buffer phalanx respectively; the torsion of the torsion spring causing the buffer phalanx or the driving device to have a tendency to rotate away from the palm center.

[0006] In some embodiments, the first mating part contacts the wall of the clearance groove along the axial direction of the first output shaft; or, the first mating part disengages from the buffer finger along the axial direction of the first output shaft, the end of the first output shaft facing the first mating part has an annular end face, and the buffer finger has an axial limiting ring located at the end of the first output shaft facing the first mating part, the axial limiting ring abutting against the annular end face along the axial direction of the first output shaft.

[0007] In some embodiments, the number of second mating parts and clearance slots is N, the second mating parts and clearance slots are arranged alternately along the circumference of the first output shaft, the first mating part is at least partially located in the corresponding clearance slot, the first mating part is in contact with or disengaged from the corresponding second mating part, and N is an integer greater than or equal to 2.

[0008] In some embodiments, when the force acting on the buffer knuckle or drive device to disengage the first mating part from the second mating part is removed, the second mating part contacts the first mating part under the action of the torsion spring.

[0009] In some embodiments, the buffer fin further includes a baffle extending circumferentially along the first output shaft, the baffle being at least partially located on the side of the second mating portion circumferentially toward the clearance groove along the first output shaft, and the baffle being located radially along the first output shaft between the first mating portion and the torsion spring.

[0010] In some embodiments, one end of the palm has a wrist portion that can be mounted on the arm. When the fingers are spread out, the finger located at the end of the palm away from the wrist portion is the working finger. A drive device for rotating the knuckle closest to the palm of the working finger is mounted on the palm, and the knuckle closest to the palm of the working finger is the buffer knuckle.

[0011] In some embodiments, one end of the palm has a wrist portion that can be mounted on the arm. When the fingers are spread out, the finger located at the end of the palm away from the wrist portion is the working finger, and the finger closest to the wrist among all fingers is the thumb. The driving device of the thumb is a first driving device mounted on the palm. The first output shaft of the first driving device is located between the wrist portion and the working finger along the axial direction of the first output shaft. At least one driving device in the thumb driving device is a second driving device. The first output shaft of the second driving device is arranged to cross the first output shaft of the first driving device. The knuckle spanning the first output shaft of the first driving device and the first output shaft of the second driving device is a buffer knuckle. The first mating part of the first output shaft of the first driving device is connected to the buffer knuckle. The first mating part of the first output shaft of the second driving device is at least partially located in the relief groove of the buffer knuckle. Corresponding torsion springs are respectively connected to a part of the structure of the second driving device and the buffer knuckle.

[0012] In some embodiments, the drive device further includes: a bracket rotatably connected to the first output shaft, a torsion spring connected to the buffer finger and the bracket respectively, a first mating part located on the outside of the bracket along the axial direction of the first output shaft, and the buffer finger disposed on the drive device at a position outside the bracket so that the buffer finger can be removed from the drive device without disassembling the drive device; and a driver mounted on the bracket, the driver including a second output shaft, the first output shaft and the second output shaft being arranged crosswise.

[0013] The transmission assembly is mounted across the first and second output shafts, and is disengaged from the knuckles.

[0014] In some embodiments, the drive device further includes an encoder located at one end of the first output shaft away from the first mating portion.

[0015] In some embodiments, the transmission assembly includes: a worm gear connected to a second output shaft to follow the rotation of the second output shaft; and a worm wheel meshing with the worm gear, the worm wheel being connected to a first output shaft so that the first output shaft follows the rotation of the worm wheel.

[0016] The robotic hand provided in this application embodiment can both grasp objects when needed and cushion impacts after releasing them. When the finger joints or drive mechanism bends towards the palm under external force, the first and second mating parts disengage, and the first mating part can move within a clearance groove, thus achieving cushioning. After the external force is removed, the finger joints or drive mechanism return to their original position under the action of a torsion spring. Attached Figure Description

[0017] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiments below. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0018] Figure 1 Schematic diagrams of the robotic arm structure provided for some embodiments of this application;

[0019] Figure 2 Schematic diagrams of a driving device provided for some embodiments of this application;

[0020] Figure 3 A schematic diagram of a driving device for the thumb pad provided for some embodiments of this application;

[0021] Figure 4 Schematic diagram of the buffer knuckle portion of the thumb provided for some embodiments of this application;

[0022] Figure 5 Schematic diagrams of the structure of the working finger provided for some embodiments of this application;

[0023] Figure 6 for Figure 5 Sectional view at point AA;

[0024] Figure 7 Schematic diagrams of the structure of the working finger provided for some embodiments of this application;

[0025] Figure 8 Exploded perspective view of a working finger provided for some embodiments of this application;

[0026] Figure 9 This is a schematic diagram of the structure of the knuckle shell;

[0027] Figure 10 yes Figure 5 Sectional view at point BB;

[0028] Figure 11 This is a schematic diagram of the thumb structure provided in some embodiments of this application;

[0029] Figure 12 yes Figure 11 Sectional view at point CC.

[0030] Explanation of reference numerals in the attached figures

[0031] 1000. Robotic hand; 1100. Palm; 1101. Palm center; 1102. Wrist; 1200. Fingers; 1210. Thumb; 1211. Thumb pad; 1212. Thumb tip; 1220. Working finger; 1221. Working finger tip; 1230. Torsion spring;

[0032] 200. Buffer joint; 210. Joint housing; 211. Second mating part; 212. Clearance groove; 213. Baffle; 214. Axial limiting ring; 215. Radial limiting ring; 220. Connecting rod;

[0033] 100. Drive unit; 101. First drive unit; 102. Second drive unit; 103. Third drive unit; 104. Fourth drive unit; 110. First output shaft; 110A. Output spindle; 110B. Metering shaft; 110C. Locking element; 111. First mating part; 112. Annular end face; 120. Driver; 121. Second output shaft; 130. Bracket; 140. Transmission assembly; 150. Encoder; 141. Worm gear; 142. Worm wheel. Detailed Implementation

[0034] The embodiments of the technical solution of this application will now be described in detail with reference to the accompanying drawings. These embodiments are only used to more clearly illustrate the technical solution of this application and are therefore merely examples, and should not be used to limit the scope of protection of this application.

[0035] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit this application; the terms “comprising” and “having”, and any variations thereof, in the specification and the foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0036] In the description of the embodiments of this application, the technical terms "first", "second", "third", etc. are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features.

[0037] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0038] In the description of the embodiments in this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects are in an "or" relationship.

[0039] In the description of the embodiments of this application, the technical terms "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "circumferential", "radial", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed, operated or used in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0040] In the description of the embodiments of this application, unless otherwise expressly specified and limited, the technical terms such as "installation," "connection," "linking," "communication," and "fixing" 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. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application according to the specific circumstances.

[0041] In the description of the embodiments of this application, unless otherwise expressly specified and limited, the technical term "contact" refers to direct contact or indirect contact, which can be contact between two parties without interaction force or contact between two parties with interaction force.

[0042] In some embodiments of this application, for ease of explanation, such as Figures 5 to 8 As shown by the arrow in the diagram, the direction of arrow X is the axial direction of the first drive shaft.

[0043] The following is a detailed description of this application.

[0044] In related technologies, robotic hands are similar in structure to human hands. The fingers of a robotic hand can flex, extend, and swing to perform grasping and releasing actions. The fingers may be subjected to external impacts or collisions, and the external force may cause damage to the fingers.

[0045] Research has shown that finger joints can be designed with a cushioning function. The cushioning joint has a relief groove, which allows the output end of the drive device to move in the relief groove and rotate relative to the cushioning joint. This prevents external forces from twisting or damaging the finger joints, or from damaging the drive device that drives the joints to rotate.

[0046] Based on this design concept, this application provides a robotic arm 1000, such as... Figure 1 , Figure 2 As shown, the robotic arm 1000 includes a palm 1100 and fingers 1200.

[0047] The palm 1100 has a palm center 1101 on one side along its thickness direction; fingers 1200 are disposed on the palm 1100, and each finger 1200 includes a torsion spring 1230, a drive device 100, and a knuckle. The drive device 100 includes a first output shaft 110, and the first output shaft 110 is provided with a knuckle to drive the knuckle to rotate. The first output shaft 110 has a first mating part 111, and at least one knuckle is a buffer knuckle 200, which has a second mating part 211 and a buffer. The groove 212, the second mating part 211 and the clearance groove 212 are arranged circumferentially along the first output shaft 110. The first mating part 111 is at least partially located in the clearance groove 212 and moves relative to the corresponding buffer phalanx 200 along the circumferential direction of the first output shaft 110 to contact or disengage from the second mating part 211. The torsion spring 1230 is connected to a part of the structure of the drive device 100 and the buffer phalanx 200 respectively. The torque of the torsion spring 1230 causes the buffer phalanx 200 or the drive device 100 to have a tendency to rotate away from the palm 1101.

[0048] It should be noted that the palm 1101 mentioned above refers to the side of the palm 1100 facing the object being held.

[0049] It should be noted that the aforementioned robotic arm 1000 is similar to a human hand, i.e., a dexterous hand. The robotic arm 1000 can resemble either a human left hand or a human right hand; this application embodiment does not limit this.

[0050] It is understandable that the number of fingers 1200 is an integer not less than 1.

[0051] It is understandable that the number of phalanges in each of the 1200 fingers is an integer not less than 1.

[0052] It is understood that the buffer knuckle 200 can be rotated by the drive device 100 around the rotation axis of the first output shaft 110.

[0053] For example, the drive device 100 may include a driver 120, which may be any one of a motor drive source, a hydraulic drive source, or a pneumatic drive source.

[0054] For example, the first output shaft 110 of the drive device 100 may be the output shaft of the driver 120, or it may be a rotating shaft that is drivenly connected to the output shaft of the driver 120. This application embodiment does not limit this.

[0055] For example, the number of knuckles of each finger 1200 can be the same as the number of drive devices 100, that is, the knuckles correspond one-to-one with the drive devices 100, and the robotic arm 1000 is a fully driven type.

[0056] For example, the number of knuckles of each finger 1200 may be different from the number of drive devices 100, that is, the number of knuckles is greater than the number of drive devices 100, and the robot 1000 is an underactuated type.

[0057] For example, when the robotic arm 1000 has multiple fingers 1200, the number of phalanges of each finger 1200 may be the same or different.

[0058] For example, the first mating part 111 and the first output shaft 110 are an integral structure, and the first mating part 111 can be formed on the surface of the first output shaft 110 and protrude.

[0059] For example, the first mating part 111 and the first output shaft 110 are separate structures. The first mating part 111 can be fixed to the first mating part 110 by means of interference fit, key connection, bolt connection, etc.

[0060] For example, the first mating part 111 may protrude radially along the first output shaft 110. The shape of the first mating part 111 protruding radially along the first output shaft 110 is not limited in the embodiments of this application.

[0061] As an example, the first mating part 111 may protrude along the axial direction of the first output shaft 110. The shape of the first mating part 111 protruding along the axial direction of the first output shaft 110 is not limited in the embodiments of this application.

[0062] As another example, the first mating portion 111 may protrude along the axial and radial directions of the first output shaft 110, that is, a portion of the first mating portion 111 protrudes along the axial direction of the first output shaft 110, and another portion protrudes along the radial direction of the first output shaft 110. The shape of the first mating portion 111 is not limited in this embodiment.

[0063] For example, such as Figure 8 , Figure 9 As shown, the buffer knuckle 200 has a knuckle housing 210, and a second mating part 211 and a relief groove 212 are provided on the inner side of the knuckle housing 210.

[0064] It should be noted that the shape of the knuckle shell 210 of the thumb 1210 and the shape of the knuckle shell 210 of the working finger 1220 may be the same or different. This application embodiment does not limit this.

[0065] For example, the knuckle shell 210 can be a one-piece structure or a split structure, that is, it is assembled from multiple parts. This application embodiment does not limit this.

[0066] It is understandable that the clearance groove 212 has a certain depth and width, which can accommodate part of the first mating part 111, and the groove has space for the first mating part 111 to move.

[0067] For example, the first mating part 111 can move circumferentially along the first output shaft 110, and at least a portion of the clearance groove 212 is approximately annular, with an annular space left in the groove for the first mating part 111 to move.

[0068] For example, the second mating part 211 and the clearance groove 212 are arranged circumferentially along the first output shaft 110, and the number of the second mating part 211 and the clearance groove 212 are equal.

[0069] As another example, the second mating part 211 and the clearance groove 212 are arranged circumferentially along the first output shaft 110, and the number of the second mating part 211 and the clearance groove 212 are not equal.

[0070] For example, there are N second mating parts 211, where N is an integer greater than or equal to 2. Along the circumference of the first output shaft 110, clearance grooves 212 can be provided between adjacent second mating parts 211.

[0071] For example, when the driving device 100 drives the buffer phalanx 200 to rotate, the first mating part 111 and the second mating part 211 can be at least one of point contact, line contact, and surface contact. This application embodiment does not limit the contact type or shape of the two.

[0072] It is understandable that when the first mating part 111 and the second mating part 211 are in contact, the first output shaft 110 can drive the buffer phalanx 200 to rotate through the two, thereby realizing the flexion, extension or swing of the buffer phalanx 200.

[0073] It is understandable that when an external force is applied to the buffer finger 200, the buffer finger 200 rotates relative to the drive device 100, the first mating part 111 and the second mating part 211 no longer contact each other, and the second mating part 211 rotates with the buffer finger 200, while the first mating part 111 can move in the clearance groove 212.

[0074] For example, the buffer knuckle 200 may have only one cushioned relief groove 212. For instance, among the fingers 1200 of the robotic hand 1000, one finger 1200 is the thumb 1210, and the remaining fingers 1200 are working fingers 1220. There are four working fingers 1220. The knuckle of the working finger 1220 that is closest to the palm 1100 is the buffer knuckle 200. When the finger 1200 is rotated by an external force, the buffer knuckle 200 can prevent the finger 1200 from being damaged due to forced rotation.

[0075] As another example, the buffer knuckle 200 may have a relief groove 212 at one end, and the other end may be connected to the first mating part 111 of the first output shaft 110 of another drive device 100 without the relief groove 212, such as by snap-fit ​​or interference fit. The buffer knuckle 200 may be the knuckle of the thumb 1210 near the palm 1100.

[0076] Understandably, the torsion spring 1230 can store and release energy through elastic deformation. When subjected to external torsion, it deforms and stores elastic potential energy. After the external force disappears, it releases energy by restoring its deformation, generating torque or rotational force. The torsion spring 1230 can reset the damped knuckle 200 after it rotates. Specifically, the power for the finger 1200 to rotate towards the palm 1101 comes from the drive device 100. The direction of rotation of the first output shaft 110 is opposite to the direction of the torque of the torsion spring 1230, and the two mating parts are always in contact. When the finger 1200 resets, the drive device 100 reverses and retracts, and the finger 1200 resets under the torque of the torsion spring 1230. During the reset process, the two mating parts are always in contact under the action of the torsion spring 1230, and the power for reset comes from the torsion spring 1230.

[0077] In this embodiment, the buffer knuckle 200 is designed to both bend and cooperate with other fingers 1200 or the palm 1100 to grasp objects when needed, and to cushion impacts after the object is released. Specifically, under external force, the buffer knuckle 200 or the drive device 100 bends closer to the palm 1101. At this time, the first mating part 111 and the second mating part 211 disengage. The first mating part 111 can move relative to each other within the relief groove 212 without being twisted off due to tight fit, thus achieving cushioning. After the external force is removed, the buffer knuckle 200 or the drive device 100 returns to its original position under the action of the torsion spring 1230.

[0078] In some embodiments, the first mating part 111 contacts the groove wall of the clearance groove 212 along the axial direction of the first output shaft 110; or, the first mating part 111 disengages from the buffer finger 200 along the axial direction of the first output shaft 110, the first output shaft 110 has an annular end face 112 at one end facing the first mating part 111, and the buffer finger 200 has an axial limiting ring 214 located at one end of the first output shaft 110 facing the first mating part 111, and the axial limiting ring 214 abuts against the annular end face 112 along the axial direction of the first output shaft 110.

[0079] For example, such as Figure 4 , Figure 9 As shown, the clearance groove 212 has a groove wall along the axial direction of the first output shaft 110. The first mating part 111 and the groove wall of the clearance groove 212 can be at least one of point contact, line contact, and surface contact. This application embodiment does not limit the contact type between the two. Thus, the groove wall of the clearance groove 212 is used for axial limiting, simplifying the structure of the buffer finger 200.

[0080] For example, in Figure 4 In the illustrated embodiment, the first mating part 111 disengages from the buffer finger 200 along the axial direction of the first output shaft 110. The end of the first output shaft 110 facing the first mating part 111 has an annular end face 112. The buffer finger 200 has an axial limiting ring 214 located at the end of the first output shaft 110 facing the first mating part 111. The axial limiting ring 214 abuts against the annular end face 112 along the axial direction of the first output shaft 110. Specifically, the axial limiting ring 214 can be a stepped surface of a stepped hole. Therefore, the abutment between the axial limiting ring 214 and the annular end face 112 ensures more uniform axial force on the first output shaft 110, resulting in more uniform wear during rotation. The uniformity of wear is less affected by the number of first mating parts 111.

[0081] It should be noted that the first mating part 111 may or may not contact the buffer finger 200 along the circumferential direction of the first output shaft 110. This application embodiment does not limit this.

[0082] It should be noted that the shape and size of the axial limiting ring 214 are not limited in this embodiment. One end of the axial portion of the ring 214 abuts against the annular end face 112 of the first output shaft 110. The contact method can be at least one of point contact, line contact, or surface contact.

[0083] For example, the buffer finger 200 has a radial limiting ring 215 sleeved on the first output shaft 110, the radial limiting ring 215 being located on the side of the first output shaft 110 facing the first mating part 111 along the axial direction of the first output shaft 110. This can limit the radial movement of the first mating part 111. Specifically, the radial limiting ring 215 can be the sidewall of a stepped hole.

[0084] For example, such as Figure 4 As shown, the radial limiting ring 215 and the axial limiting ring 214 can be simultaneously disposed in the buffer finger 200.

[0085] In this embodiment, the axial limiting ring 214 or the groove wall can constrain the position of the first mating part 111, preventing the first mating part 111 from moving axially along the first output shaft 110 due to inertia or centrifugal force, thereby reducing the risk of axial movement of the first mating part 111.

[0086] In some embodiments, the number of second mating parts 211 and clearance grooves 212 is N. The second mating parts 211 and clearance grooves 212 are arranged alternately along the circumference of the first output shaft 110. The first mating part 111 is at least partially located in the corresponding clearance groove 212. The first mating part 111 is in contact with or disengaged from the corresponding second mating part 211. N is an integer greater than or equal to 2.

[0087] It is understandable that the second mating part 211 and the clearance groove 212 are arranged alternately along the circumference of the first output shaft 110, which means that along the circumference of the first output shaft 110, clearance grooves 212 are arranged on both sides of any second mating part 211, and second mating parts 211 are arranged on both sides of any clearance groove 212.

[0088] For example, the number of second mating parts 211 and clearance grooves 212 are equal, both being 2, 3, 4, 5, etc. Other values ​​will not be listed.

[0089] For example, such as Figure 4 , Figure 9 As shown, the number of second mating parts 211 and clearance grooves 212 are equal, both being two.

[0090] For example, the N second mating parts 211 can be arranged symmetrically at the center, which helps to balance the centrifugal force and reduce vibration.

[0091] For example, each of the second mating parts 211 has the same size and shape, and each of the clearance grooves 212 has the same length and depth.

[0092] For example, the size and shape of each second mating part 211 are different, and the length and depth of each clearance groove 212 are different. The design can be flexibly made according to factors such as the limiting angle.

[0093] In this embodiment, the driving force of the first output shaft 110 on the buffer phalanx 200 is relatively uniform, which is beneficial to improving rotational sensitivity and reducing local stress concentration.

[0094] In some embodiments, when the force acting on the buffer knuckle 200 or the drive device 100 to disengage the first mating part 111 from the second mating part 211 is removed, the second mating part 211 contacts the first mating part 111 under the action of the torsion spring 1230.

[0095] For example, such as Figure 10 , Figure 11 , Figure 12 As shown, in the thumb 1210 and working finger 1220, one end of the torsion spring 1230 is connected to the knuckle shell 210 of the buffer knuckle 200. The two can be fixed by snap-fit, adhesive, interference fit, etc. The inner side of the knuckle shell 210 can be provided with a groove to accommodate the torsion spring 1230. The other end of the torsion spring 1230 is connected to a part of the drive device 100. The two can be fixed by snap-fit, adhesive, interference fit, etc. For example, one end of the torsion spring 1230 can be inserted into the hole of the bracket 130. The interference fit can be achieved by the buffer knuckle 200 or the drive device 100 having a mating hole, and the end of the torsion spring 1230 is connected to the mating hole through the interference fit. Figure 11 The structure of part of the drive unit 100 is omitted.

[0096] For example, the drive device 100 may include a bracket 130, a torsion spring 1230 may be connected to the bracket 130, and the bracket 130 may be fixed to or relatively stationary with respect to the palm body 1100.

[0097] For example, such as Figure 1 , Figure 2 As shown, among the fingers 1200 of the robotic arm 1000, one finger 1200 is the thumb 1210, and the remaining fingers 1200 are working fingers 1220. There are four working fingers 1220, namely the index finger, middle finger, ring finger, and little finger. The knuckle of the working finger 1220 closest to the palm 1100 is the buffer knuckle 200. The buffer knuckle 200 has a knuckle at the end facing away from the palm 1100, but this embodiment of the application does not limit this aspect.

[0098] For example, in the working finger 1220, the phalanx located at the end of the buffer phalanx 200 away from the palm body 1100 can be fixedly connected to the buffer phalanx 200.

[0099] As another example, in each finger 1200, the fingertip and the cushioning knuckle 200 can be connected by a transmission mechanism. For example, the cushioning knuckle 200 and the fingertip can be coupled together by a link 220, or the cushioning knuckle 200 and the fingertip can be connected by a tendon cord transmission mechanism.

[0100] Understandably, the torsion spring 1230 can store and release energy through elastic deformation. When subjected to external torsion, it deforms and stores elastic potential energy. After the external force disappears, it releases energy by restoring its deformation, generating torque or rotational force. The torsion spring 1230 can return to the state where the second mating part 211 contacts the first mating part 111 after the buffer finger 200 rotates, that is, the position where the buffer finger 200 was before being subjected to external force. When the subsequent drive device 100 is started, it can drive the buffer finger 200 to flex and extend again, preventing the drive device 100 from running idle like the drive motor, which could damage components or cause loss of control.

[0101] In this embodiment, by providing a torsion spring 1230, the buffer knuckle 200 or drive device 100 bends near the palm 1101 under external force. At this time, the first mating part 111 and the second mating part 211 disengage. The first mating part 111 can move relative to each other within the relief groove 212 and will not be torn off due to tight fit, thereby achieving buffering. After the external force is removed, the buffer knuckle 200 or drive device 100 returns to its original position under the action of the torsion spring 1230. This suppresses motor idling.

[0102] In some embodiments, the buffer finger 200 further includes a baffle 213 extending circumferentially along the first output shaft 110, the baffle 213 being at least partially located on the side of the second mating portion 211 circumferentially toward the clearance groove 212 along the first output shaft 110, and the baffle 213 being located radially between the first mating portion 111 and the torsion spring 1230 along the first output shaft 110.

[0103] For example, the baffle 213 extending circumferentially along the first output shaft 110 may be continuous or discontinuous. This application embodiment does not limit this.

[0104] For example, the baffle 213 may only be provided at the clearance groove 212, and may not extend circumferentially along the first output shaft 110 to the location of the second mating part 211. Alternatively, it may extend circumferentially along the first output shaft 110 from the clearance groove 212 to the second mating part 211. This application embodiment does not limit this.

[0105] It is understandable that the baffle 213 is located radially along the first output shaft 110 between the first mating part 111 and the torsion spring 1230.

[0106] For example, along the axial direction of the first output shaft 110, the baffle 213 may be flush with the first mating part 111.

[0107] For example, the baffle 213 may protrude from the first mating part 111 along the axial direction of the first output shaft 110, further reducing the risk of interference between the torsion spring 1230 and the first mating part 111.

[0108] In this embodiment, the baffle 213 reduces the interference between the torsion spring 1230 and the first mating part 111, preventing them from contacting each other.

[0109] In some embodiments, one end of the palm 1100 has a wrist portion 1102 that can be disposed on the arm. When the fingers 1200 are spread out, the finger 1200 located at the end of the palm 1100 away from the wrist portion 1102 is a working finger 1220. A drive device 100 for driving the knuckle of the working finger 1220 closest to the palm 1100 to rotate is mounted on the palm 1100. The knuckle of the working finger 1220 closest to the palm 1100 is a buffer knuckle 200.

[0110] It should be noted that in this embodiment, the four working fingers 1220 are the index finger, middle finger, ring finger, and little finger.

[0111] For example, the length and shape of the four working fingers 1220 can be similar to the four fingers of a person, or they can all be the same fingers.

[0112] For example, the wrist portion 1102 is similar to a human wrist, and the wrist portion 1102 may be provided with a circuit board and plug terminals for connecting an external controller. This application embodiment does not limit this.

[0113] As another example, the wrist 1102 can be physically and electrically connected to an external robotic arm to facilitate the adjustment of the position of the robotic hand 1000.

[0114] For example, the working finger 1220 has a knuckle, namely a buffer knuckle 200, which is disposed on the drive device 100 and is mounted and fixed to the palm body 1100 by the drive device 100.

[0115] For example, the working finger 1220 may have two, three, or other numbers of knuckles. The knuckles are connected in sequence, with the knuckle closest to the palm 1100 being the buffer knuckle 200.

[0116] For example, such as Figure 5 , Figure 6 , Figure 7 As shown, the working finger 1220 has two knuckles. The knuckle closer to the palm 1100 is the active buffer knuckle 200, and the knuckle farther from the palm 1100 is the working fingertip 1221. The working fingertip 1221 is driven, that is, underactuated.

[0117] For example, such as Figure 2 As shown, the driving device 100 that drives the rotation of the buffer knuckle 200 of the working finger 1220 is the fourth driving device 104. Among the knuckles of the working finger 1220, the knuckle located at the end of the buffer knuckle 200 opposite to the palm body 1100 is the fingertip 1221 of the working finger. The buffer knuckle 200 and the fingertip 1221 are connected by a four-bar linkage 220 mechanism. Specifically, as... Figure 5 , Figure 6 As shown, the buffer knuckle 200 includes a knuckle housing 210, one end of which is connected to the first drive shaft, and the other end is hinged to the fingertip 1221 of the working finger. A connecting rod 220 is disposed inside the knuckle housing 210. One end of the connecting rod 220 is hinged to the bracket 130 of the fourth drive device 104, and the other end is hinged to the fingertip 1221 of the working finger. The connecting rod 220 is located on the side closer to the palm 1101, and the hinged positions at both ends of the connecting rod 220 are also closer to the palm 1101 than the hinged positions at both ends of the buffer knuckle 200. Therefore, when the buffer knuckle 200 rotates, the connecting rod 220 also rotates, causing the fingertip 1221 of the working finger to bend towards the palm 1101 with its hinge point with the buffer knuckle 200 as the axis of rotation. The buffer knuckle 200 and the fingertip 1221 bend sequentially, achieving coupling and linkage. Through the above-mentioned four-bar linkage 220 mechanism, each working finger 1220 can achieve one active degree of freedom (fourth drive device 104) and one driven degree of freedom (linkage linkage 220).

[0118] For example, such as Figure 2 As shown, the drive device 100 for the buffer knuckle 200 that drives the working finger 1220 is a fourth drive device 104, which is mounted on the palm 1100. For example, the motor in the fourth drive device 104 is mounted on the palm 1100. Through the fourth drive device 104, the working finger 1220 can achieve flexion and extension functions, that is, by rotating towards or away from the palm 1101.

[0119] In this embodiment, the buffer knuckle 200 is positioned closest to the palm 1100, which reduces the possibility of damage to all drive devices 100 in the working finger 1220. Since the knuckle closest to the palm 1100 has a certain degree of buffering capacity, the load on other knuckles can also be transferred to the knuckle closest to the palm 1100 and buffered.

[0120] In some embodiments, one end of the palm 1100 has a wrist portion 1102 that can be mounted on the arm. When the fingers 1200 are extended, the finger 1200 located at the end of the palm 1100 away from the wrist portion 1102 is the working finger 1220. The finger 1200 closest to the wrist portion 1102 among all the fingers 1200 is the thumb 1210. The driving device 100 of the thumb 1210, mounted on the palm 1100, is a first driving device 101. The first output shaft 110 of the first driving device 101 is located along the axial direction of the first output shaft 110 between the wrist portion 1102 and the working finger 1220. At least one of the driving devices 100 of the thumb 1210 is a driving device. Device 100 is a second drive device 102. The first output shaft 110 of the second drive device 102 is arranged crosswise with the first output shaft 110 of the first drive device 101. The finger spanning the first output shaft 110 of the first drive device 101 and the first output shaft 110 of the second drive device 102 is a buffer finger 200. The first mating part 111 of the first output shaft 110 of the first drive device 101 is connected to the buffer finger 200. The first mating part 111 of the first output shaft 110 of the second drive device 102 is at least partially located in the relief groove 212 of the buffer finger 200. The corresponding torsion spring 1230 is connected to a part of the structure of the second drive device 102 and the buffer finger 200 respectively.

[0121] For example, among the fingers 1200 of the robotic arm 1000, one finger 1200 is the thumb 1210, and the other fingers 1200 besides the thumb 1210 are working fingers 1220, namely the index finger, middle finger, ring finger and little finger.

[0122] For example, a sensor may also be provided on the finger 1200, but this application embodiment does not limit this.

[0123] It is understandable that a human thumb 1210 has N degrees of freedom, and the thumb 1210 of a robotic hand 1000 can also be equipped with M drive devices 100 to drive the knuckles. N is an integer greater than or equal to 2, and M is an integer greater than or equal to 2. M and N can be equal or unequal.

[0124] For example, the thumb 1210 may be provided with a first driving device 101 and a second driving device 102. The first driving device 101 is closer to the palm 1100 than the second driving device 102. The first driving device 101 being installed in the palm 1100 means that the structure in the first driving device 101, such as the motor, is installed in the palm 1100.

[0125] For example, the first drive shaft of the second drive device 102 is disposed at the end of the buffer knuckle 200 near the palm 1100, which can drive the thumb 1210 to swing closer to or further away from the working finger 1220, thereby realizing the active lateral degree of freedom of the thumb 1210. The second drive device 102 can be disposed in other knuckles.

[0126] For example, the thumb 1210 includes a thumb tip 1212, a thumb pad 1211, and a buffer knuckle 200 connected in sequence, wherein the buffer knuckle 200 is closest to the palm body 1100. The second drive device 102 can be disposed within the thumb pad 1211, i.e., the drive device 100 is built into it. Of course, the thumb pad 1211 can also be provided with a torsion spring 1230, which is sleeved on the outside of the first output shaft 110 of the second drive device 102, and the torsion spring 1230 causes the second drive device 102 to have a tendency to rotate away from the palm 1101.

[0127] For example, the first output shaft 110 of the second drive device 102 is arranged perpendicularly to the first output shaft 110 of the first drive device 101.

[0128] For example, the first output shaft 110 of the second drive device 102 can be perpendicular to the plane where the palm 1101 is located, and the first output shaft 110 of the first drive device 101 can be parallel to the plane where the palm 1101 is located. The thumb 1210 can realize the adduction and abduction movements of the thumb 1210 through the first drive device 101, realizing an active degree of freedom.

[0129] For example, the first mating portion 111 of the first output shaft 110 of the first drive device 101 is connected to the buffer finger 200, that is, the first mating portion 111 of the first output shaft 110 of the first drive device 101 can contact the second mating portion 211 of the buffer finger 200, and the buffer finger 200 does not have a clearance groove 212 at the first output shaft 110 of the first drive device 101. The buffer finger 200 is provided with a clearance groove 212 at the first output shaft 110 of the second drive device 102, and the first mating portion 111 of the first output shaft 110 of the second drive device 102 is at least partially located in the clearance groove 212 of the buffer finger 200, and the torsion spring 1230 is connected to a part of the structure of the second drive device 102 and the buffer finger 200 respectively.

[0130] For example, such as Figure 3As shown, the thumb 1210 also includes a third driving device 103 disposed within the thumb pad 1211. The first output shaft 110 of the third driving device 103 is located at the end of the second driving device 102 opposite to the corresponding buffer knuckle 200, and the thumb tip 1212 is disposed on the first output shaft 110 of the third driving device 103. The thumb tip 1212 is connected to the first mating part 111 of the first output shaft 110 of the third driving device 103. The third driving device 103 can realize one active degree of freedom, namely the flexion and extension of the thumb tip 1212.

[0131] Therefore, the thumb 1210 is equipped with a first drive device 101, a second drive device 102 and a third drive device 103, which can realize three active degrees of freedom.

[0132] For example, the second driving device 102 and the third driving device 103 are both disposed in the thumb pad 1211, and the two can be integrated together by the bracket 130. The second driving device 102 can be disposed on the radial side of the thumb pad 1211 (the side where the thumb 1210 is located), and the third driving device 103 can be disposed on the ulnar side of the thumb pad 1211 (the side where the little finger is located).

[0133] For example, the first drive device 101, the second drive device 102, the third drive device 103 and the fourth drive device 104 have the same structure.

[0134] For example, the first output shaft 110 of the third drive device 103 is arranged parallel to the first output shaft 110 of the second drive device 102.

[0135] For example, the thumb tip 1212 may not have a relief groove 212, and can only rotate through the contact between the first mating part 111 and the second mating part 211, and the thumb tip 1212 has no cushioning setting.

[0136] In this embodiment, the buffer knuckle 200 in the thumb 1210 can reduce the possibility of damage to all the drive devices 100 in the thumb 1210. The second drive device 102 is buffered relative to the buffer knuckle 200, and the load on other knuckles can also be transferred to the second drive device 102 and buffered.

[0137] In some embodiments, such as Figure 7 , Figure 8As shown, the drive device 100 also includes a bracket 130, a driver 120, and a transmission assembly 140. The bracket 130 is rotatably connected to the first output shaft 110. A torsion spring 1230 is connected to both the buffer finger 200 and the bracket 130. A first mating part 111 is located on one side outside the bracket 130 along the axial direction of the first output shaft 110. The buffer finger 200 is positioned outside the bracket 130 in the drive device 100 so that it can be removed from the drive device 100 without disassembling it. The driver 120 is mounted on the bracket 130 and includes a second output shaft 121. The first output shaft 110 and the second output shaft 121 are arranged crosswise. The transmission assembly 140 spans across the first output shaft 110 and the second output shaft 121 and is detached from the finger.

[0138] For example, such as Figure 8 As shown, the second output shaft 121 is arranged perpendicularly to the first output shaft 110. Since the driver 120 has a certain volume, its arrangement direction is limited by the internal space of the palm 1100 and the fingers 1200. The driver 120 can be conveniently arranged by changing the direction of the output shaft, thereby reducing the interference of the driver 120 with other components.

[0139] For example, the first output shaft 110 passes through the first shaft hole of the bracket 130, the first shaft hole extends along the axial direction of the first output shaft 110, and the first output shaft 110 can rotate relative to the bracket 130.

[0140] For example, the second output shaft 121 passes through the second shaft hole of the bracket 130, the second shaft hole extends along the axial direction of the first output shaft 110, and the first output shaft 110 and the second output shaft 121 are connected in a driving connection.

[0141] For example, the transmission assembly 140 is located inside the bracket 130. The transmission assembly 140 includes, but is not limited to, a worm gear 142 and worm 141 mechanism, an interleaved shaft helical gear mechanism, a bevel gear mechanism, etc. The first output shaft 110 and the second output shaft 121 are connected by the transmission assembly 140 to realize the interleaved shaft power transmission.

[0142] For example, the driver 120 may be a motor drive source, such as a servo motor or a torque motor.

[0143] For example, the servo motor can be a coreless motor. Coreless motors have advantages such as high precision, long life, small size, and fast speed.

[0144] For example, the driver 120 may be connected to a reducer, but this application embodiment does not limit this.

[0145] For example, the second output shaft 121 of the driver 120 can be connected to a reducer, which includes a planetary gear reducer. This application embodiment does not limit the transmission ratio of the planetary gear reducer.

[0146] For example, the second output shaft 121 of the driver 120 is the output shaft of the motor. The driver 120 is mounted in the bracket 130 and is fastened to the bracket 130 by screws or the like, and integrated into one unit. After integration, the driver 120 can be disassembled and assembled together with the bracket 130.

[0147] As another example, the driver 120 and the bracket 130 can be separated, and the driver 120 and the bracket 130 can be separated during disassembly and assembly.

[0148] In this embodiment, since the driver 120, transmission assembly 140 and first output shaft 110 are all integrated on the bracket 130 to form a whole, and the position of the knuckle on the drive device 100 is outside the bracket 130, the impact on the drive device 100 during the disassembly of the knuckle is small, and it is almost unnecessary to disassemble the drive device 100. The drive device 100 can be disassembled and assembled with the knuckle as a whole, which is conducive to the modular disassembly and assembly of the drive device 100, thereby reducing the maintenance difficulty of the finger 1200 and reducing the maintenance time.

[0149] In some embodiments, such as Figure 8 As shown, the drive device 100 also includes an encoder 150, which is located at one end of the first output shaft 110 away from the first mating part 111.

[0150] For example, the encoder 150 can read the rotation angle and rotation speed of the first output shaft 110, and the encoder 150 transmits the read rotation angle and rotation speed of the first output shaft 110 to the drive device 100. The drive device 100 adjusts the output power according to the data transmitted by the encoder 150, thereby adjusting the rotation speed of the first output shaft 110, and thus controlling the rotation angle of the knuckle.

[0151] For example, encoder 150 can be a commercially available encoder 150 used in robotic hands, such as a magnetic encoder 150.

[0152] In this embodiment, the encoder 150 is located on the first output shaft 110 of the direct drive buffer finger 200, which can directly feedback the amount of rotation, reduce the impact of transmission error on measurement accuracy, and make the measurement more accurate.

[0153] For example, encoder 150 includes a code disk and a signal rotator, the code disk being connected to a first output shaft 110 and the signal rotator being mounted on a bracket 130.

[0154] For example, the code disk and the signal rotator are axially spaced together along the first output shaft 110.

[0155] In some embodiments, the transmission assembly 140 includes a worm 141 and a worm wheel 142. The worm 141 is connected to a second output shaft 121 to rotate with the second output shaft 121. The worm wheel 142 meshes with the worm 141 and is connected to a first output shaft 110 so that the first output shaft 110 rotates with the worm wheel 142.

[0156] For example, the worm 141 can be a regular cylindrical worm 141 or an arc-shaped cylindrical worm 141.

[0157] For example, a through hole is formed in the center of the worm gear 142, and the first output shaft 110 passes through the through hole in the center and can rotate with the worm gear 142. The shape of the through hole in the center is not limited in the embodiments of this application.

[0158] For example, the worm gear 142 and the first output shaft 110 can be connected by means of interference fit, key connection or other means, and the embodiments of this application do not limit this.

[0159] In this embodiment, the worm gear 142 and worm 141 can have a large transmission ratio within a limited space, which is beneficial to increasing the output torque.

[0160] In some embodiments, the first output shaft 110 includes an output main shaft 110A, a metering shaft 110B, and a locking member 110C. The output main shaft 110A includes a first mounting shaft section and a first limiting shaft section connected to each other, the diameter of the first limiting shaft section being larger than the diameter of the first mounting shaft section. The metering shaft 110B includes a second mounting shaft section and a second limiting shaft section connected to each other, the diameter of the second limiting shaft section being larger than the diameter of the second mounting shaft section. A worm gear 142 is axially mounted across the first and second mounting shaft sections, abutting against the first and second limiting shaft sections along its axial direction. An encoder 150 is at least partially disposed on the metering shaft 110B. The locking member 110C is connected to both the output main shaft 110A and the metering shaft 110B. The output main shaft 110A and the metering shaft 110B are arranged at intervals.

[0161] For example, the output spindle 110A, the metering spindle 110B, and the locking member 110C can be an integral structure or a separate structure. This application embodiment does not limit this.

[0162] The specific embodiments are described below with reference to the accompanying drawings.

[0163] In a specific embodiment, the robotic arm 1000 includes a palm 1100 and fingers 1200. The palm 1100 has a palm center 1101 on one side along its thickness direction. The fingers 1200 are disposed on the palm 1100 and include a torsion spring 1230, a drive device 100, and phalanges. The drive device 100 includes a first output shaft 110, and the first output shaft 110 is provided with phalanges to drive the phalanges to rotate. The first output shaft 110 has a first mating portion 111 protruding radially along the first output shaft 110. At least one phalanx is a buffer phalanx 2. 00, the buffer knuckle 200 has a second mating part 211 and a relief groove 212, the second mating part 211 and the relief groove 212 are arranged circumferentially along the first output shaft 110, the first mating part 111 is at least partially located in the relief groove 212 and moves relative to the corresponding buffer knuckle 200 along the circumferential direction of the first output shaft 110 to contact or disengage from the second mating part 211, the torsion spring 1230 is connected to a part of the structure of the drive device 100 and the buffer knuckle 200 respectively, and the torsion of the torsion spring 1230 causes the buffer knuckle 200 or the drive device 100 to have a tendency to rotate away from the palm 1101.

[0164] The drive unit 100 also includes a bracket 130, a driver 120, and a transmission assembly 140. The bracket 130 is rotatably connected to the first output shaft 110. The torsion spring 1230 is connected to the buffer phalanx 200 and the bracket 130 respectively. The first mating part 111 is located on one side outside the bracket 130 along the axial direction of the first output shaft 110. The first phalanx buffer phalanx 200 is located outside the bracket 130 in the drive unit 100 so that the first phalanx buffer phalanx 200 can be removed from the drive unit 100 without disassembling the drive unit 100. The driver 120 is mounted on the bracket 130 and includes a second output shaft 121. The first output shaft 110 and the second output shaft 121 are arranged crosswise. The transmission assembly 140 spans the first output shaft 110 and the second output shaft 121 and is disengaged from the phalanx.

[0165] The transmission assembly 140 includes a worm gear 142 and a worm 141. The worm 141 is connected to the second output shaft 121 to rotate with the second output shaft 121. The worm gear 142 meshes with the worm 141 and is connected to the first output shaft 110 so that the first output shaft 110 rotates with the worm gear 142.

[0166] In this embodiment, a worm gear 142 and worm 141 drive are used, and the output end is directly used for the rotation drive of the finger 1200, which improves energy utilization. The thumb 1210 is equipped with a first drive device 101, a second drive device 102 and a third drive device 103, integrating three active degrees of freedom. Compared with the underactuated scheme with two active degrees of freedom, the overall output force is increased by at least 30% to 40%. The thumb 1210 adopts the integration of the second drive device 102 and the third drive device 103. Compared with the underactuated structure, the thumb 1210 has a compact structure, fewer parts, and stronger reliability and maintainability.

[0167] Each working finger 1220 is equipped with a fourth driving device 104, which drives the working finger 1220 to flex and extend through direct drive and coupling linkage, realizing one active degree of freedom and one passive degree of freedom.

[0168] In this embodiment, the robotic arm 1000, as shown... Figure 1 The image shows a bionic dexterous hand, similar to a human left hand, with a thumb 1210 and four working fingers 1220, possessing a total of 11 degrees of freedom. The above embodiments are merely illustrative of the technical solutions of this application and not intended to limit it. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application, and they should all be covered within the scope of this application. In particular, as long as there is no structural conflict, the various technical features mentioned in the various embodiments can be combined in any way. This application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of this application.

Claims

1. A robot, characterized in that include: The palm has a center on one side along its thickness direction; A finger, disposed on the palm, includes a torsion spring, a driving device, and a knuckle. The driving device includes a first output shaft, on which the knuckle is disposed to drive the knuckle to rotate. The first output shaft has a first mating portion. At least one of the knuckles is a buffer knuckle, which has a second mating portion and a clearance groove. The second mating portion and the clearance groove are arranged circumferentially along the first output shaft. The first mating portion is at least partially located within the clearance groove and moves circumferentially along the first output shaft relative to the corresponding buffer knuckle to contact or disengage from the second mating portion. The torsion spring is connected to a portion of the structure of the driving device and the buffer knuckle. The torque of the torsion spring causes the buffer knuckle or the driving device to have a tendency to rotate away from the palm.

2. The robot according to claim 1, characterized in that The first mating part contacts the groove wall of the clearance groove along the axial direction of the first output shaft; or, the first mating part disengages from the buffer finger along the axial direction of the first output shaft, the end of the first output shaft facing the first mating part has an annular end face, and the buffer finger has an axial limiting ring located at the end of the first output shaft facing the first mating part, the axial limiting ring abutting against the annular end face along the axial direction of the first output shaft.

3. The robot of claim 1, wherein, The number of the second mating part and the clearance groove is N. The second mating part and the clearance groove are arranged alternately along the circumference of the first output shaft. The first mating part is at least partially located in the corresponding clearance groove. The first mating part is in contact with or disengaged from the corresponding second mating part. N is an integer greater than or equal to 2.

4. The robot of claim 1, wherein, When the force acting on the buffer knuckle or the drive device to disengage the first mating part from the second mating part is removed, the second mating part contacts the first mating part under the action of the torsion spring.

5. The robot of claim 1, wherein, The buffer fin also includes a baffle extending circumferentially along the first output shaft, the baffle being at least partially located on the side of the second mating portion circumferentially toward the clearance groove along the first output shaft, and the baffle being located radially between the first mating portion and the torsion spring along the first output shaft.

6. The robot according to any one of claims 1 to 5, characterized in that One end of the palm has a wrist portion that can be mounted on the arm. When the fingers are spread out, the finger located at the end of the palm away from the wrist portion is the working finger. A drive device that drives the knuckle closest to the palm to rotate the working finger is mounted on the palm. The knuckle closest to the palm is the buffer knuckle.

7. The robot according to any one of claims 1 to 5, characterized in that One end of the palm has a wrist portion that can be mounted on the arm. When the fingers are spread out, the finger located at the end of the palm away from the wrist portion is the working finger, and the finger closest to the wrist portion is the thumb. The driving device of the thumb is a first driving device installed on the palm. The first output shaft of the first driving device is located between the wrist portion and the working finger along the axial direction of the first output shaft. At least one driving device in the thumb driving device is a second driving device. The first output shaft of the second driving device is arranged to cross the first output shaft of the first driving device. The phalanx spanning the first output shaft of the first driving device and the first output shaft of the second driving device is a buffer phalanx. The first mating part of the first output shaft of the first driving device is connected to the buffer phalanx. The first mating part of the first output shaft of the second driving device is at least partially located in the clearance groove of the buffer phalanx. The torsion spring is connected to a part of the structure of the second driving device and the buffer phalanx respectively.

8. The robot according to any one of claims 1 to 5, characterized in that The drive device further includes: A bracket is rotatably connected to the first output shaft. The torsion spring is connected to the buffer finger and the bracket respectively. The first mating part is located on the outside of the bracket along the axial direction of the first output shaft. The buffer finger is located outside the bracket in the position of the drive device so that the buffer finger can be removed from the drive device without disassembling the drive device. A driver, mounted on the bracket, the driver including a second output shaft, the first output shaft and the second output shaft being arranged intersectingly; A transmission assembly is disposed across the first output shaft and the second output shaft, and the transmission assembly is disengaged from the knuckle.

9. The robot of claim 8, wherein, The drive device further includes an encoder, which is located at the end of the first output shaft opposite to the first mating part.

10. The robot of claim 8, wherein, The transmission assembly includes: The worm gear is connected to the second output shaft to rotate with the second output shaft; A worm gear meshes with the worm, and the worm gear is connected to the first output shaft so that the first output shaft rotates following the worm gear.

Images