Mechanical finger and manipulator

Abstract

The utility model discloses a mechanical finger and a mechanical hand. The mechanical finger comprises a connecting base, the rotating base is rotatably connected to the connecting base and can rotate around a first axis; the at least two knuckles are connected in sequence, are rotatably connected to the rotating base and can rotate around a second axis perpendicular to the first axis; the pin shaft assembly comprises a first pin shaft and at least two second pin shafts, the first pin shaft is rotationally arranged between the rotating base and the connecting base, and the second pin shafts are rotationally connected between the at least two knuckles and between the rotating base and the knuckle closest to the rotating base; the sensor assembly comprises a first angle detection structure and at least one second angle detection structure which are arranged on the connecting base, and the first angle detection structure is used for detecting the rotating angle between the rotating base and the connecting base; and the second angle detection structure is used for detecting the rotating angle between the knuckles and the rotating angle between the rotating base and the knuckles, so that the control performance is improved.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to a mechanical finger and a mechanical hand. Background Technology

[0002] Robotic arms are an important component of modern robots, and their requirements vary depending on the application scenario. For example, in industrial applications, they are usually designed to replace humans in heavy, dangerous, or hazardous environments, aiming to improve productivity and ensure personnel safety. In medical applications, they are often designed to mimic human hands to assist people with disabilities in regaining their ability to live independently or to provide convenience for people with limited finger movement.

[0003] Generally, a robotic hand typically consists of a robotic palm, multiple robotic fingers, and a drive mechanism to move the robotic fingers, enabling functions such as flexion and extension. Each robotic finger is usually composed of multiple phalanges, which can rotate relative to each other to achieve flexion or extension. However, the angle of relative rotation between the phalanges of current robotic fingers is difficult to control, affecting the control of the robotic finger and causing inconvenience. Utility Model Content

[0004] To address the aforementioned technical problems, this utility model provides a user-friendly mechanical finger and mechanical hand.

[0005] The technical problem solved by this utility model embodiment is addressed by the following technical solution:

[0006] A robotic finger includes a connecting base, a rotating base, at least two sequentially connected phalanges, a pin assembly, and a sensor assembly. The connecting base is for connection to the robotic hand of a robotic arm. The rotating base is rotatably connected to the connecting base and configured to rotate relative to the connecting base about a first axis. At least two sequentially connected phalanges are rotatably connected to the rotating base and are rotatable relative to the rotating base about a second axis, the first axis being perpendicular to the second axis. The pin assembly includes a first pin and at least two second pins. The first pin is rotatably connected between the rotating base and the connecting base. The pins are located between the at least two phalanges, the rotating base, and the sensor assembly closest to the phalanges. The second pin is rotatably connected between the knuckles of the rotating base. The first axis is the axis of the first pin, and the second axis is the axis of the second pin. The sensor assembly includes a first angle detection structure and at least one second angle detection structure. The first angle detection structure is disposed on the connecting base. The second angle detection structure is disposed on at least two of the knuckles and the rotating base. The first angle detection structure is used to detect the rotation angle between the rotating base and the connecting base. The second angle detection structure is used to detect the rotation angle between at least two of the knuckles and also to detect the rotation angle between the rotating base and the knuckle closest to the rotating base.

[0007] In some embodiments, the number of second pins is three, the number of second angle detection structures is two, and at least two sequentially connected phalanges include a first phalanx, a second phalanx, and a third phalanx. The first phalanx and the second phalanx, the second phalanx and the third phalanx, and the third phalanx and the rotating base are all rotatably connected by second pins. One of the second angle detection structures is installed on the third phalanx and is used to detect the angle of rotation of the second phalanx relative to the third phalanx about the second axis, and the other second angle detection structure is installed on the rotating base and is used to detect the angle of rotation of the third phalanx relative to the rotating base about the second axis.

[0008] In some embodiments, the first finger joint includes a first main body portion connected to it and a first protrusion portion protruding relative to the first main body portion, the first protrusion portion having a first insertion hole; the second finger joint includes a second main body portion connected to it and a second protrusion portion protruding relative to the second main body portion, the second main body portion having a first groove and a first mating hole communicating with the first groove, the second protrusion portion having a second insertion hole; the third finger joint includes a third main body portion connected to it and a third protrusion portion protruding relative to the third main body portion, the third main body portion having a second groove and a second mating hole communicating with the first groove, the third protrusion portion having a third insertion hole; the rotating base has a third groove and a third mating hole communicating with the third groove; wherein, the first protrusion portion is inserted into the first groove, the second protrusion portion is inserted into the second groove, and the third protrusion portion is inserted into the third groove; and a first second pin passes through the first insertion hole and the first mating hole, a second second pin passes through the second insertion hole and the second mating hole, and a third second pin passes through the third insertion hole and the third mating hole.

[0009] In some embodiments, the rotating base includes a fourth main body portion connected to the fourth main body portion and a fourth protrusion portion protruding from the fourth main body portion. The fourth main body portion is provided with the third groove and the third mating hole, and the fourth protrusion portion is provided with the fourth insertion hole. The connecting base is provided with the fourth groove and the fourth mating hole communicating with the fourth groove. The first pin passes through the fourth mating hole and the fourth insertion hole.

[0010] In some embodiments, the mechanical finger further includes a traction assembly comprising a flexion traction member and a deflection traction member. One end of the flexion traction member is connected to at least two of the phalanges, and one end of the deflection traction member is connected to the phalanx closest to the rotating base among the at least two phalanges. The other ends of both the flexion traction member and the deflection traction member are configured to connect to a drive mechanism. The flexion traction member is configured to traction at least two phalanges to rotate about the second axis when the drive mechanism retracts the flexion traction member, so that at least two phalanges switch from an extended state to a flexed state relative to the connecting base. The deflection traction member is configured to traction at least two phalanges and the rotating base to rotate together about the first axis relative to the connecting base when the drive mechanism retracts the deflection traction member, so that at least two phalanges deflect from an initial position to a deflected position relative to the connecting base.

[0011] In some embodiments, the mechanical finger further includes a reset assembly connected to the rotating base and two adjacent knuckles, the reset assembly being used to reset at least two knuckles from a flexed state to an extended state.

[0012] In some embodiments, the mechanical finger further includes an elastic component connected to the rotating base and the connecting base, the elastic component being configured to reset at least two phalanges and the rotating base relative to the connecting base to an initial position.

[0013] In some embodiments, the elastic component includes a first elastic element and a second elastic element, both ends of the first elastic element and the second elastic element are respectively connected to the rotating base and the connecting base, and the first elastic element and the second elastic element are respectively located on both sides of the connecting base.

[0014] In some embodiments, the first pin includes a first cap brim, a first shaft body, and a first extension portion connected in sequence. The first cap brim is located on one side of the connecting base, the first extension portion is located on the other side of the connecting base, and the first shaft body passes through the rotating base and the connecting base. Alternatively, the second pin includes a second cap brim, a second shaft body, and a second extension portion connected in sequence. The second cap brim is located on one side of the knuckle, the second extension portion is located on the other side of the knuckle, and the second shaft body passes through two adjacent knuckles, or passes through the rotating base and the knuckle closest to the rotating base. Alternatively, the first angle detection structure is a first angle. The sensor, the second angle detection structure is a second angle sensor; or, the first angle detection structure includes a first magnet and a first magnetic braid sensor located on the same side of the connecting base, the first magnet is mounted on the first pin and rotates synchronously with the first pin, the first magnetic braid sensor is mounted on the connecting base, and the first magnetic braid sensor is used to detect changes in the magnetic field of the first magnet; the second angle detection structure includes a second magnet and a second magnetic braid sensor located on the same side of the same knuckle, the second magnet is mounted on the second pin and rotates synchronously with the second pin, the second magnetic braid sensor is mounted at a preset position, and the second magnetic braid sensor is used to detect changes in the magnetic field of the second magnet.

[0015] The technical problem solved by this utility model embodiment also adopts the following technical solution:

[0016] A robotic hand includes a robotic palm, a drive mechanism, and the aforementioned robotic fingers. There are multiple robotic fingers, and the connecting bases of the multiple robotic fingers are all connected to the same side of the robotic palm. The traction components of each group of robotic fingers are inserted through the robotic palm and connected to the drive mechanism.

[0017] The beneficial effects of this utility model embodiment are as follows: Unlike existing mechanical fingers, the mechanical finger provided in this application embodiment is equipped with a first angle detection structure to detect the angle at which the rotating base drives multiple phalanges to rotate relative to the connecting base, and a second angle detection structure to detect the angle of rotation between at least two phalanges and the angle of rotation between the rotating base and the phalange closest to the rotating base, so as to realize the angle control when the mechanical finger performs flexion or deflection movements, improve the control performance of the mechanical finger, and make it more convenient to use. Attached Figure Description

[0018] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0019] Figure 1 This is a schematic diagram of the structure of a mechanical finger according to one embodiment of this application;

[0020] Figure 2 yes Figure 1 A diagram from another perspective;

[0021] Figure 3 yes Figure 1 Exploded view of the middle section of the structure;

[0022] Figure 4 This is a partial view of a mechanical finger according to another embodiment of this application;

[0023] Figure 5 This is a schematic diagram of a robotic arm according to yet another embodiment of this application;

[0024] Figure 6 yes Figure 5 Assembly diagram of the mechanical fingers and mechanical hand in the design;

[0025] Figure 7 yes Figure 5 A schematic diagram of the drive mechanism in the diagram;

[0026] Figure 8 This is a cross-sectional view of the casing assembly and the traction assembly assembled together;

[0027] In the diagram: 10. Mechanical finger; 1. Connecting base; 2. Rotating base; 3. Knuckle; 4. Traction assembly; 5. Reset assembly; 6. Elastic assembly; 7. Pin assembly; 8. Sensor assembly; 9. Force tactile sensor;

[0028] 41. Finger traction component; 42. Finger deflection traction component; 43. Linkage traction component; 3a. Finger back side; 3b. Finger ventral side; 301. Connecting hole; 302. First through hole; 303. Second through hole; 304. First protrusion; 305. Through hole; 306. Threading hole;

[0029] 12. Limiting block; 122. Limiting hole; 14. Cable bundle block; 141. Opening;

[0030] 61. First elastic component; 62. Second elastic component;

[0031] 71. First pin; 72. Second pin; 73. Card; 701. Card slot;

[0032] 711. First brim portion; 712. First shaft body portion; 713. First extension portion;

[0033] 721. Second brim portion; 722. Second shaft body portion; 723. Second extension portion;

[0034] 81. First angle detection structure; 82. Second angle detection structure;

[0035] 31. First phalanx; 32. Second phalanx; 33. Third phalanx;

[0036] 311. First main body portion; 312. First protrusion portion; 3121. First insertion hole;

[0037] 321. Second main body portion; 322. Second protrusion portion; 3211. First groove; 3212. First mating hole; 3221. Second insertion hole;

[0038] 331. Third main body part; 332. Third protrusion; 3311. Second groove; 3312. Second mating hole; 3321. Third insertion hole;

[0039] 21. Fourth main body part; 22. Fourth protrusion; 211. Third groove; 212. Third mating hole; 221. Fourth insertion hole;

[0040] 101. Fourth groove; 102. Fourth mating hole;

[0041] 100. Robotic arm; 20. Drive mechanism; 30. Robotic hand; 40. Control board; 50. Sleeve assembly;

[0042] 201. Matrix; 202. Motor assembly; 201a. Shell body; 201b. Shell cover;

[0043] 2011, Mounting box; 2012, Cable outlet hole; 2013, Baffle; 20131, Blocking part; 20132, Connecting plate part; 20121, First cable hole; 20122, Second cable hole;

[0044] 2021, Finger-type motor; 2022, Deflecting finger motor; 2023, Thread reel;

[0045] 501. Bourdon tube; 502. Liner tube;

[0046] 811. First magnet; 812. First magnetic encoder sensor;

[0047] 821. Second magnet; 822. Second magnetic encoder sensor. Detailed Implementation

[0048] To facilitate understanding of this utility model, a more detailed description is provided below with reference to the accompanying drawings and specific embodiments. It should be noted that when an element is described as "fixed to" another element, it can be directly on the other element, or one or more intermediate elements may exist between them. When an element is described as "connected" to another element, it can be directly connected to the other element, or one or more intermediate elements may exist between them. The terms "upper," "lower," "inner," "outer," "vertical," "horizontal," etc., used in this specification indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0049] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the invention. The term "and / or" as used in this specification includes any and all combinations of one or more of the associated listed items.

[0050] Furthermore, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0051] like Figure 1-3As shown, one embodiment of this application provides a mechanical finger 10, including a rotating base 2, a connecting base 1, and at least two phalanges 3 connected in sequence. The rotating base 2 is rotatably connected to the connecting base 1 and is configured to rotate relative to the connecting base 1 about a first axis L1. The at least two phalanges 3 are rotatably connected to the rotating base 2 and rotate about a second axis L2, with the first axis L1 perpendicular to the second axis L2. The connecting base 1 is used to connect to the mechanical hand of a robotic arm.

[0052] In some embodiments, such as Figure 1-3 As shown, the mechanical finger 10 also includes a traction assembly 4, which includes a flexion traction member 41 and a deflection traction member 42. One end of the flexion traction member 41 is connected to at least two phalanges 3, and one end of the deflection traction member 42 is connected to the phalange 3 closest to the rotating base 2 among the at least two phalanges 3. The other ends of both the flexion traction member 41 and the deflection traction member 42 are used to connect to the drive mechanism 20.

[0053] The flexion traction member 41 is configured to pull at least two phalanges 3 to rotate about the second axis L2 when the drive mechanism 20 retracts the flexion traction member 41, so that at least two phalanges 3 switch from an extended state to a flexed state relative to the connecting base 1; the deflection traction member 42 is configured to pull at least two phalanges 3 and the rotating base 2 to rotate together about the first axis L1 relative to the connecting base 1 when the drive mechanism 20 retracts the deflection traction member 42, so that at least two phalanges 3 deflect from the initial position to the deflection position relative to the connecting base 1.

[0054] In other words, unlike the existing mechanical finger 10, the mechanical finger 10 of this application can drive at least two phalanges 3 to switch from an extended state to a flexed state relative to the connecting base 1 through flexion traction connected to at least two phalanges 3. In addition, it can also pull at least two phalanges 3 and the rotating base 2 to rotate together relative to the connecting base 1 through the deflection traction member 42 connected to the phalange 3 closest to the rotating base 2 to achieve deflection movement. It can perform more functions and actions, which is beneficial to be applicable to more scenarios, improves convenience and enhances user experience.

[0055] It should be understood, such as Figure 1-3 As shown, each phalanx 3 has a dorsal surface 3a and a ventral surface 3b, which are two opposing surfaces of the phalanx 3. When the dorsal surface 3a or the ventral surface 3b of each phalanx 3 is parallel, the mechanical finger 10 is in an extended state. When the dorsal surface 3a or the ventral surface 3b of at least two phalanxes 3 are not parallel, the mechanical finger 10 is in a flexed state. When the central axes of multiple phalanxes 3 are collinear with the central axis of the connecting base 1, as shown... Figure 1-2As shown, the mechanical finger 10 is in the initial position. When the central axis of the multiple phalanges 3 is at an angle to the central axis of the connecting base 1 under the traction of the finger-shifting traction member 42, the mechanical finger 10 performs a finger-shifting movement and is in a finger-shifting state.

[0056] In some embodiments, such as Figure 1 As shown, there are two finger-shifting traction members 42, located on either side of the finger-flexing traction member 41. One finger-shifting traction member 42 is used to pull at least two phalanges 3 and the rotating base 2 together to rotate relative to the connecting base 1 around the first axis L1 in a first direction. The other finger-shifting traction member 42 is used to pull at least two phalanges 3 and the rotating base 2 together to rotate relative to the connecting base 1 around the first axis L1 in a second direction, which is opposite to the first direction. When the first direction is clockwise, the second direction is counterclockwise. When the first direction is counterclockwise, the second direction is clockwise. Thus, under the respective action of the two finger-shifting traction members 42, multiple phalanges 3 can be deflected relative to the connecting base 1 in either the first or second direction, thereby achieving the effect of finger-shifting rotation.

[0057] In some embodiments, such as Figure 1 As shown, the connecting base 1 is provided with a limiting block 12, and the limiting block 12 has a limiting hole 122. The finger flexion traction member 41 passes through the limiting hole 122. Thus, under the constraint of the limiting hole 122 of the limiting block 12, the finger flexion traction member 41 is prevented from deviating from the preset installation position during the movement of the mechanical finger 10, which helps to improve the stability of the movement of the mechanical finger 10. Furthermore, the limiting block 12 prevents the two finger flexion traction members 42 from intersecting. Further, as... Figure 1 As shown, the connecting base 1 is provided with a wire harness block 14. The wire harness block 14 has a plurality of openings 141 spaced apart. The plurality of openings 141 are respectively used for the finger flexion traction member 41 and the finger deflection traction member 42 to pass through, so that the wire harness block 14 constrains the finger flexion traction member 41 and the finger deflection traction member 42, and avoids the finger flexion traction member 41 and the finger deflection traction member 42 from intersecting and intersecting each other.

[0058] In some embodiments, such as Figure 1-3As shown, the finger joint 3 closest to the rotating base 2 among at least two finger joints 3 is provided with a connecting hole 301, and the finger-shifting traction member 42 is connected to the connecting hole 301. Thus, when the external drive mechanism 20 retracts the finger-shifting traction member 42, due to the contraction of the length of the finger-shifting traction member 42, the finger-shifting traction member 42 will pull the finger joint 3 to rotate around the second axis L2, which is equivalent to the rotating base 2. In this embodiment, both the finger-shifting traction member 42 and the finger-flexing traction member 41 are provided on one side of the fingertip surface 3b of the multiple finger joints 3, so that the external drive mechanism 20 can mimic the movement of a human finger when retracting the finger-shifting traction member 42 or the finger-flexing traction member 41.

[0059] In some embodiments, such as Figure 2 As shown, the mechanical finger 10 also includes a reset assembly 5, which is connected to two adjacent phalanges 3. The reset assembly 5 is used to reset at least two phalanges 3 from a flexed state to an extended state. It is understood that when multiple phalanges 3 are rotated around the second axis L2 under the traction of the flexion traction member 41, the reset assembly 5 will be in a stretched state. When the flexion traction member 41 is released, the reset assembly 5 will restore its deformation, thereby driving the multiple phalanges 3 to reset to an extended state. In this embodiment, the reset assembly 5 includes at least two tension springs. At least one tension spring is provided between two adjacent phalanges 3, and a tension spring is provided between the phalange 3 closest to the rotating base 2 and the rotating base 2. It should be understood that when the number of phalanges 3 is two, three, or more, at least one tension spring is provided between two adjacent phalanges 3, and a tension spring is provided between the phalange 3 closest to the rotating base 2 and the rotating base 2. Furthermore, in order to balance the forces among the multiple phalanges 3, tension springs are provided on both sides of two adjacent phalanges 3, and tension springs are provided on both sides of the phalange 3 closest to the rotating base 2.

[0060] In some embodiments, such as Figure 2 As shown, the mechanical finger 10 also includes an elastic component 6, which is connected to the rotating base 2 and the connecting base 1. The elastic component 6 is configured to reset at least two phalanges 3 and the rotating base 2 relative to the connecting base 1 around the first axis L1 to their initial positions. Thus, under the action of the elastic component 6, a reverse traction force can be provided when the multiple phalanges 3 make a finger-biasing movement relative to the connecting base 1, achieving force balance between the multiple phalanges 3 and the rotating base 2 relative to the connecting base 1 under the action of the finger-biasing traction member 42 and the elastic component 6. Furthermore, compared to a method without the elastic component 6, the multiple phalanges 3 can be finely adjusted by controlling the drive mechanism 20 to retract or release the traction component 4.

[0061] In some embodiments, such as Figure 1-2As shown, the elastic component 6 includes a first elastic element 61 and a second elastic element 62. Both ends of the first elastic element 61 and the second elastic element 62 are respectively connected to the rotating base 2 and the connecting base 1, and the first elastic element 61 and the second elastic element 62 are located on opposite sides of the connecting base 1. When at least two knuckles 3 and the rotating base 2 rotate relative to the connecting base 1 around the first axis L1 and deflect in the second direction, the first elastic element 61 is in a stretched state. When at least two knuckles 3 and the rotating base 2 rotate relative to the connecting base 1 around the first axis L1 and deflect in the first direction, the second elastic element 62 is in a stretched state. That is, when at least two phalanges 3 and the rotating base 2 rotate together relative to the connecting base 1 around the first axis L1 and deflect in the second direction, the first elastic member 61 will be stretched. If the second deflecting finger traction member 42 is released at this time, the first elastic member 61 will restore its deformation and drive the rotating base 2 to rotate multiple phalanges 3 to the initial position. Similarly, when at least two phalanges 3 and the rotating base 2 rotate together relative to the connecting base 1 around the first axis L1 and deflect in the first direction, the second elastic member 62 will be stretched.

[0062] In some embodiments, such as Figure 1-3 As shown, the mechanical finger 10 also includes a pin assembly 7, which includes a first pin 71 and at least two second pins 72. The first pin 71 is rotatably mounted between the rotating base 2 and the connecting base 1. The second pins 72 are rotatably connected between at least two phalanges 3 and between the rotating base 2 and the phalanx 3 closest to the rotating base 2. The axis of the first pin 71 is a first axis L1, and the axis of the second pin 72 is a second axis L2. In other words, the relative rotation between the rotating base 2 and the connecting base 1 is about the axis of the first pin 71, and the rotation between at least two phalanges 3 and between the rotating base 2 and the phalanx 3 closest to the rotating base 2 is about the axis of the second pin 72.

[0063] In some embodiments, such as Figure 3 As shown, the pin assembly 7 also includes multiple cards 73. Each of the first pin 71 and at least two second pins 72 is fitted with a card 73. Both the first pin 71 and the second pins 72 have slots 701 for mounting the cards 73. The cards 73 mounted on the first pin 71 prevent the first pin 71 from separating from the rotating base 2, and the cards 73 mounted on the second pins 72 prevent the second pins 72 from separating from the multiple knuckles 3.

[0064] In some embodiments, such as Figure 3As shown, the first pin 71 includes a first cap 711, a first shaft body 712, and a first extension 713 connected in sequence. The first cap 711 is located on one side of the connecting base 1, and the first extension 713 is located on the other side of the connecting base 1 and has a slot 701. The first shaft body 712 passes between the rotating base 2 and the connecting base 1, and rotates synchronously with the rotating base 2. The size of the first cap 711 is larger than the size of the first shaft body 712. The first shaft body 712 engages with the rotating base 2, meaning that the first shaft body 712 rotates synchronously with the rotating base 2.

[0065] In some embodiments, such as Figure 3 As shown, the second pin 72 includes a second cap 721, a second shaft body 722, and a second extension 723 connected in sequence. The size of the second cap 721 is larger than the size of the second shaft body 722. The second cap 721 is located on one side of the finger joint 3, and the second extension 723 is located on the other side of the finger joint 3 and has a slot 701. The second shaft body 722 passes through two adjacent finger joints 3, or it passes between the rotating base 2 and the finger joint 3 closest to the rotating base 2. The second shaft body 722 rotates synchronously with the rotation of the inserted finger joint 3. That is, the second shaft body 722 passing between two adjacent finger joints 3 rotates synchronously with the rotation of the finger joint 3 away from the connecting base 1, while the second shaft body 722 passing through the rotating base 2 and the finger joint 3 closest to the rotating base 2 rotates synchronously with the rotation of the finger joint 3 closest to the rotating base 2.

[0066] For example, when there are three finger joints 3, the second shaft portion 722 of the second pin 72 passing between the first and second finger joints engages with the first finger joint and rotates synchronously; the second shaft portion 722 of the second pin 72 passing between the second and third finger joints engages with the second finger joint and rotates synchronously; and the second shaft portion 722 of the second pin 72 passing between the third finger joint and the rotating base 2 engages with the third finger joint and rotates synchronously.

[0067] In some embodiments, such as Figure 1-3As shown, the mechanical finger 10 also includes a sensor assembly 8, which includes a first angle detection structure 81 and at least one second angle detection structure 82. The first angle detection structure 81 is disposed on the connecting base 1 and is used to detect the rotation angle between the rotating base 2 and the connecting base 1. At least two phalanges 3 and the rotating base 2 are each provided with a second angle detection structure 82. The second angle detection structure 82 is used to detect the rotation angle between at least two phalanges 3 and also to detect the rotation angle between the rotating base 2 and the phalange 3 closest to the rotating base 2. In this embodiment, both the first angle detection structure 81 and the second angle detection structure 82 are angle sensors. For ease of distinction, they are named the first angle sensor and the second angle sensor, respectively. The first angle sensor and the first extension 713 of the first pin 71 are both located on the same side of the connecting base 1. The first angle sensor can indirectly obtain the rotation angle between the rotating base 2 and the connecting base 1 by detecting the rotation angle of the first extension 713. The second angle sensor and the second extension 723 of the second pin 72 are located on the same side of the phalanx 3. The second angle sensor can indirectly obtain the rotation angle between two adjacent phalanxes 3 by detecting the rotation angle of the second extension 723, or obtain the rotation angle of the phalanx 3 closest to the rotating base 2 relative to the rotating base 2. In this way, under the detection action of the sensor assembly 8, the angle of rotation of each phalanx 3 around the second axis L2 when the mechanical finger 10 performs flexion movement, and the angle of rotation of each phalanx 3 and the rotating base 2 relative to the connecting base 1 around the first axis L1 when the finger deflects, can be obtained. This is beneficial for the traction assembly 4 to traction each phalanx 3 to perform the specified action by rotating the angle.

[0068] In other embodiments, such as Figure 4 As shown, the first angle detection structure 81 includes a first magnet 811 and a first magnetic braid sensor 812. The first magnet 811 and the first magnetic braid sensor 812 are located on the same side of the connecting base 1. The first magnet 811 is mounted on the first cap 711 of the first pin 71. The first magnet 811 rotates synchronously with the rotation of the first pin 71. The first magnetic braid sensor 812 is connected to the connecting base 1. The first magnetic braid sensor 812 is used to detect the change in magnetic field caused by the rotation of the first magnet 811 with the rotation of the first pin 71 to determine the angle of rotation of the first pin 71, thereby determining the angle of rotation of the rotating base 2 relative to the connecting base 1, so as to obtain the angle of rotation of the multiple knuckles 3 of the mechanical finger 10 when performing finger-splitting movements.

[0069] like Figure 4As shown, the second angle detection structure 82 includes a second magnet 821 and a second magnetic braided sensor 822. The second magnet 821 and the second magnetic braided sensor 822 are located on the same side of the knuckle 3. The second magnet 821 is mounted on the second cap 721 of the second pin 72 and rotates synchronously with the rotation of the second pin 72. The second magnetic braided sensor 822 is connected to a preset position. The second magnetic braided sensor 822 is used to detect the change in magnetic field caused by the rotation of the second magnet 821 with the second pin 72 to determine the angle of rotation of the second pin 72, thereby determining the relative rotation angle between the multiple knuckles 3, and thus obtaining the rotation angle of the multiple knuckles 3 of the mechanical finger 10 when performing flexion movements.

[0070] It should be understood that the preset position to which the second magnetic braid sensor 822 is connected depends on the object to be detected by the second angle detection structure 82. When the second angle detection structure 82 is used to detect the angle of rotation between two adjacent phalanges 3, the second magnetic braid sensor 822 is installed on one of the phalanges 3. When the second angle detection structure 82 is used to detect the angle of rotation between the phalange 3 and the rotating base 2, the second magnetic braid sensor 822 is installed on the rotating base 2 or on the phalange closest to the rotating base 2.

[0071] For ease of description, the following example of three knuckles 3 in the mechanical finger 10 will be used to further illustrate the connection structure between multiple knuckles 3. However, this does not mean that the number of knuckles 3 in the mechanical finger 10 is limited to three. It can also be two, four or more. The specific number can be set according to the needs.

[0072] In some embodiments, such as Figure 1-2 As shown, there are three second pins 72 and two second angle detection structures 82. The mechanical finger 10 has three phalanges 3: a first phalanx 31, a second phalanx 32, and a third phalanx 33. One end of the first phalanx 31 is rotatably connected to one end of the second phalanx 32, the other end of the second phalanx 32 is rotatably connected to one end of the third phalanx 33, and the other end of the third phalanx 33 is rotatably connected to the rotating base 2. A flexion traction member 41 is connected to the second phalanx 32, and a deflection traction member 42 is connected to the third phalanx 33. Both the flexion traction member 41 and the deflection traction member 42 extend from the first phalanx 31 towards the connecting base 1 and are located on one side of the connecting base 1. In this embodiment, the third phalanx 33 is provided with a connecting hole 301.

[0073] In this embodiment, as Figure 1-2As shown, the first phalanx 31 and the second phalanx 32, the second phalanx 32 and the third phalanx 33, and the third phalanx 33 and the rotating base 2 are all rotatably connected by a second pin 72. A second angle detection structure 82 is installed on one side of the third phalanx 33, which detects the angle of rotation of the second phalanx 32 relative to the third phalanx 33 around the second axis L2. Another second angle detection structure 82 is installed on one side of the rotating base 2 to detect the angle of rotation of the third phalanx 33 relative to the rotating base 2 around the second axis L2. Thus, under the detection of the two second angle detection structures 82, the angle of rotation of the second phalanx 32 relative to the third phalanx 33, and the angle of rotation of the third phalanx 33 relative to the rotating base 2 can be detected, realizing the detection of the rotation angles of multiple phalanges 3, thereby achieving control of the mechanical finger 10 to perform flexion movements.

[0074] In some embodiments, such as Figure 3 As shown, the first finger joint 31 includes a first main body portion 311 connected to the first main body portion 311 and a first protrusion portion 312 protruding from the first main body portion 311. The first protrusion portion 312 is provided with a first insertion hole 3121. The second finger joint 32 includes a second main body portion 321 connected to the second main body portion 321 and a second protrusion portion 322 protruding from the second main body portion 321. The second main body portion 321 is provided with a first groove 3211 and a first mating hole 3212 communicating with the first groove 3211. The second protrusion portion 322 is provided with a second insertion hole 3221. The third finger joint 33 includes a third main body portion 331 connected to the third main body portion 331 and a third protrusion portion 332 protruding from the third main body portion 331. The third main body portion 331 is provided with a second groove 3311 and a second mating hole 3312 communicating with the first groove 3211. The third protrusion portion 332 is provided with a third insertion hole 3321. The rotating base 2 is provided with a third groove 211 and a third docking hole 212 communicating with the third groove 211.

[0075] The first protrusion 312 is inserted into the first groove 3211, the second protrusion 322 is inserted into the second groove 3311, and the third protrusion 332 is inserted into the third groove 211. The first second pin 72 passes through the first insertion hole 3121 and the first mating hole 3212, the second second pin 72 passes through the second insertion hole 3221 and the second mating hole 3312, and the third second pin 72 passes through the third insertion hole 3321 and the third mating hole 212. Thus, under the action of the three second pins 72, relative rotation between the first phalanx 31, the second phalanx 32, the third phalanx 33, and the rotating base 2 can be achieved, reducing the risk of disengagement and improving the stability of the mechanical finger 10.

[0076] In some embodiments, such as Figure 3As shown, the rotating base 2 includes a fourth main body 21 connected to it and a fourth protrusion 22 protruding from the fourth main body 21. The fourth main body 21 is provided with a third groove 211 and a third mating hole 212, and the fourth protrusion 22 is provided with a fourth insertion hole 221. The connecting base 1 is provided with a fourth groove 101 and a fourth mating hole 102 communicating with the fourth groove 101, and the fourth protrusion 22 is inserted into the fourth groove 101. During installation, the first pin 71 passes through the fourth mating hole 102 and the fourth insertion hole 221. In this way, under the action of the first pin 71, a rotational connection between the rotating base 2 and the connecting base 1 can be realized, while avoiding the risk of disengagement between the rotating base 2 and the connecting base 1, thus improving the stability of the mechanical finger 10.

[0077] In some embodiments, such as Figure 2-3 As shown, in order to allow the first phalanx 31 to rotate as well when the flexion traction member 41 pulls the second phalanx 32 to rotate relative to the third phalanx 33, so that the first phalanx 31 can rotate as close as possible to abut the third phalanx 33, the traction assembly 4 also includes a linkage traction member 43. The linkage traction member 43 is connected to the first phalanx 31, the second phalanx 32 and the third phalanx 33 respectively. The linkage traction member 43 is used to pull the first phalanx 31 to rotate synchronously with the rotation of the second phalanx 32 and the third phalanx 33. In this embodiment, the first phalanx 31 is provided with a first through hole 302, the second phalanx 32 is provided with a second through hole 303, and the third phalanx 33 is provided with a first protrusion 304. The first protrusion 304 is provided with a through hole 305. One end of the linkage traction member 43 passes through the first through hole 302 and is fixed to the back surface 3a of the first phalanx 31. The other end of the linkage traction member 43 extends along the finger pad surface 3b of the second phalanx 32 and passes through the second through hole 303 and then passes along the back surface 3a of the third phalanx 33 and is inserted into the through hole 305.

[0078] In some embodiments, such as Figure 3 As shown, the second phalanx 32 is provided with a threading hole 306 adjacent to the second through hole 303. The threading hole 306 extends from the fingertip surface 3b of the second phalanx 32 to the finger back surface 3a of the second phalanx 32. The threading hole 306 is used for connection of the finger flexion traction member 41 so that the second phalanx 32 is rotated when the drive mechanism 20 retracts the finger flexion traction member 41.

[0079] In some embodiments, such as Figure 1-3 As shown, the mechanical finger 10 also includes a plurality of force-tactile sensors 9, and at least one of the plurality of phalanges 3 is provided with a force-tactile sensor 9. The force-tactile sensor 9 is used to detect whether there is an object in contact with it, so as to determine whether the mechanical finger 10 has contacted the object. In this embodiment, the first body portion 311 of the first phalanx 31 is provided with a force-tactile sensor 9.

[0080] It is worth noting that when each phalanx 3 of the mechanical finger 10 is equipped with a force sensor 9 on its fingertip surface 3b, it is beneficial to detect the object that the mechanical finger 10 is in contact with. Based on the feedback of the force detected by the force sensor 9, the drive mechanism is controlled to drive the traction component 4. In this way, when multiple mechanical fingers 10 are set up to work together, it is possible to grasp the object to be grasped.

[0081] like Figure 5-6 As shown, another embodiment of this application provides a robotic arm 100, which includes the robotic fingers 10, drive mechanism 20 and robotic palm 30 of the above embodiments. There are multiple robotic fingers 10, and the connecting bases 1 of multiple robotic fingers 10 are all connected to the same side of the robotic palm 30. The traction component 4 of each group of robotic fingers 10 is inserted through the robotic palm 30 and connected to the drive mechanism 20.

[0082] In some implementations, such as Figure 5-7 As shown, the drive mechanism 20 includes a base 201 and multiple sets of motors 202 disposed on the base 201. Both the base 201 and the multiple sets of motors 202 are disposed separately from the robotic hand 30. The motors 202 are connected to the traction component 4 and are configured to drive the robotic fingers 10 to perform flexion and / or deflection movements. The number of motors 202 is the same as the number of robotic fingers 10, with one set of motors 202 controlling one robotic finger 10. In this embodiment, the base 201 includes a shell body 201a and a shell cover 201b connected to the shell body 201a. The shell body 201a is used to accommodate the multiple sets of motors 202.

[0083] It should be understood that there are at least two sets of motor units 202, the specific number of which varies depending on the number of mechanical fingers 10. Each set of motor units 202 controls multiple phalanges 3 of one mechanical finger 10 to perform flexion and / or deflection movements via a set of traction components 4. For example, when there are five mechanical fingers 10, there are also five sets of motor units 202; when there are three mechanical fingers 10, there are also three sets of motor units 202. For ease of description, the following explanation uses a scenario with five sets of mechanical fingers 10 and motor units 202.

[0084] like Figure 7As shown, there are at least two sets of motor groups 202. Each set of motor groups 202 includes a flexion motor 2021, a deflection motor 2022, and multiple reels 2023. Reels 2023 are provided at the output ends of both the flexion motor 2021 and the deflection motor 2022. Both the flexion motor 2021 and the deflection motor 2022 are detachably mounted on the base 201. The reels 2023 of both the flexion motor 2021 and the deflection motor 2022 are connected to the traction component 4. The flexion motor 2021 drives the traction component 4 to cause the mechanical finger 10 to flex, and the deflection motor 2022 drives the traction component 4 to cause the mechanical finger 10 to deflect. In this embodiment, there are two deflection motors 2022. The reel 2023 of one deflection motor 2022 is connected to one deflection traction component 42, and the reel 2023 of the flexion motor 2021 is connected to one flexion traction component 41. Thus, the two deflecting motors 2022 can control the mechanical finger 10 to perform deflecting movements by winding or releasing the deflecting traction member 42, and the flexing motor 2021 can control the mechanical finger 10 to perform flexing movements by winding or releasing the flexing traction member 41.

[0085] In some embodiments, such as Figure 7 As shown, the drive mechanism 20 also includes a control plate 40. The base 201 has a receiving cavity (not shown), and multiple motor sets 202 are housed in the receiving cavity. The control plate 40 is mounted on the base 201 and connected to the motor sets 202. The control plate 40 is used to control the operation of the motor sets 202. For example, when the control plate 40 controls the flexion motor 2021 to retract the flexion traction member 41, multiple phalanges 3 connected to the flexion traction member 41 will flex. When the control plate 40 controls the flexion motor 2021 to release the flexion traction member 41, the multiple phalanges 3 connected to the flexion traction member 41 will gradually straighten under the action of the reset component 5. When the control plate 40 controls the deflection motor 2022 to retract the deflection traction member 42, the multiple phalanges 3 connected to the deflection traction member 42 will deflect.

[0086] It is understandable that, in addition to individually controlling the flexion motor 2021 to wind up or release the flexion traction member 41, or individually controlling the deflection motor 2022 to wind up or release the deflection traction member 42, in some embodiments, the control board 40 can also simultaneously control the flexion motor 2021 to wind up or release the flexion traction member 41 and the deflection motor 2022 to wind up or release the deflection traction member 42, so as to control each phalanx 3 of the mechanical finger 10 to perform deflection and flexion movements simultaneously.

[0087] In some embodiments, such as Figure 7As shown, there are five sets of motor groups 202, all of which are mounted on the base 201 and arranged in a circular array. The flexor motors 2021 and deflector motors 2022 of each set are arranged in a triangular pattern, which facilitates the use of space in the base 201. In this embodiment, the base 201 is approximately cylindrical in shape, with each set of motor groups 202 housed within it. The reels 2023 of each motor in each set are exposed outside the base 201 for easy winding or releasing of the traction assembly 4. The outer wall of the base 201 is provided with multiple mounting boxes 2011 for mounting the control board 40. Each mounting box 2011 is used to mount the control board 40 that controls one set of motor groups 202.

[0088] Understandably, the five sets of motors 202, through the five sets of traction components 4, work together to control multiple knuckles 3 of the five mechanical fingers 10, enabling each knuckle 3 of the five mechanical fingers 10 to perform flexion and / or deflection movements, thus simulating the effect of a human hand. For example, deflection movements of two adjacent mechanical fingers 10 can achieve the effect of gripping objects such as pens or books that can be accommodated in the gap between the two mechanical fingers 10. Alternatively, simultaneous flexion movements of all five mechanical fingers 10 can achieve the purpose of grasping objects. Furthermore, by controlling the movement of the mechanical finger 10 that mimics the action of a thumb and the other four mechanical fingers 10, a finger-to-finger effect can be achieved.

[0089] In some embodiments, such as Figure 7 As shown, the base 201 is provided with multiple sets of cable outlet holes 2012 and multiple baffles 2013. A set of cable outlet holes 2012 is located at a baffle 2013, and a baffle 2013 is located at a motor assembly 202. The baffle 2013 is used to constrain the traction assembly 4 to pass through the cable outlet holes 2012 along a preset path. In this embodiment, the baffle 2013 includes two blocking parts 20131 and a connecting plate part 20132. The two blocking parts 20131 are respectively connected to both ends of the connecting plate part 20132. The finger-shifting motor 2022 is disposed between the two blocking parts 20131. Each set of wire outlet holes 2012 includes a first wire hole 20121 and two second wire holes 20122. The first wire hole 20121 and the two second wire holes 20122 are triangularly distributed. The first wire hole 20121 is used for the finger flexion traction member 41 to pass through, and the two second wire holes 20122 are used for the finger-shifting traction member 42 to pass through.

[0090] In some embodiments, such as Figure 7As shown, each finger-bending traction member 42 is located on the side of the blocking portion 20131 opposite to the connecting plate portion 20132 and connected to the finger-bending motor 2022. This helps to constrain the finger-bending traction members 42 to be dispersed and avoids mutual interference and crossing of the finger-bending traction members 42. In addition, the height of the connecting plate portion 20132 is smaller than the thread wheel 2023 of the finger-bending motor 2021 that is exposed on the surface of the base 201, so that the finger-bending traction member 41 can cross the connecting plate portion 20132 to connect to the thread wheel 2023 of the finger-bending motor 2021.

[0091] To further prevent external damage to the traction component 4 and its impact on the normal operation of the robotic arm 100, please refer to... Figure 5 and Figure 8 As shown, the robotic arm 100 also includes a sleeve assembly 50, which is sleeved on the traction assembly 4 to protect the traction assembly 4. There are multiple sets of sleeve assemblies 50, the specific number depending on the number of traction assemblies 4. One end of each set of sleeve assemblies 50 is connected to the motor assembly 202, and the other end is connected to the robotic hand 30. In this embodiment, as... Figure 8 As shown, each sleeve assembly 50 includes a spring tube 501 and multiple inner liner tubes 502. The multiple inner liner tubes 502 are used to sleeve the traction assembly 4, and the spring tube 501 is sleeved with multiple inner liner tubes 502. The inner liner tubes 502 can be made of Teflon tubing, or other materials with self-lubricating properties, as long as they can reduce the frictional force when the traction assembly 4 is twisted.

[0092] The robotic hand 100 provided in this application includes a robotic palm 30, robotic fingers 10, and a drive mechanism 20. The robotic fingers 10 are detachably connected to the robotic palm 30 and can move relative to the palm. A traction component 4 is connected to the robotic fingers 10. The drive mechanism 20 includes a base 201 and a motor assembly 202. The base 201 is separated from the robotic palm 30, and the motor assembly 202 is mounted on the base 201 and connected to the traction component 4. The motor assembly 202 is configured to drive the robotic fingers 10 to perform flexion and / or deflection movements. Compared to placing the drive mechanism 20 on the robotic palm 30, the motor assembly 202 and the base 201 of the drive mechanism 20 in this application are both separated from the robotic palm 30. This allows the drive mechanism 20 to be installed at any position outside the arm during use, and also enables remote operation of the robotic fingers 10. Furthermore, it reduces the weight of the robotic palm 30 and improves the user experience.

[0093] The above description is merely an embodiment of this utility model and does not limit the patent scope of this utility model. Any equivalent structural or procedural transformations made based on the description and drawings of this utility model, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this utility model.

Claims

1. A mechanical finger characterized by, include: Connecting base, used to connect to the robotic hand of the robotic arm; A rotating base is rotatably connected to the connecting base, the rotating base being configured to rotate relative to the connecting base about a first axis; At least two knuckles are connected in sequence and rotatably connected to the rotating base. The knuckles can rotate relative to the rotating base about a second axis, and the first axis is perpendicular to the second axis. A pin assembly includes a first pin and at least two second pins. The first pin is rotatably connected between the rotating base and the connecting base. The second pins are rotatably connected between at least two of the phalanges and between the rotating base and the phalange closest to the rotating base. The first axis is the axis of the first pin, and the second axis is the axis of the second pin. The sensor assembly includes a first angle detection structure and at least one second angle detection structure. The first angle detection structure is disposed on the connecting base, and the second angle detection structure is disposed on at least two of the phalanges and the rotating base. The first angle detection structure is used to detect the rotation angle between the rotating base and the connecting base, and the second angle detection structure is used to detect the rotation angle between at least two of the phalanges and also to detect the rotation angle between the rotating base and the phalange closest to the rotating base.

2. The mechanical finger of claim 1, wherein The number of the second pins is three, and the number of the second angle detection structures is two; At least two sequentially connected phalanges include a first phalanx, a second phalanx, and a third phalanx. The first phalanx and the second phalanx, the second phalanx and the third phalanx, and the third phalanx and the rotating base are all rotatably connected by a second pin. One of the second angle detection structures is mounted on the third phalanx and is used to detect the angle of rotation of the second phalanx relative to the third phalanx about the second axis. The other second angle detection structure is mounted on the rotating base and is used to detect the angle of rotation of the third phalanx relative to the rotating base about the second axis.

3. The mechanical finger of claim 2, wherein, The first knuckle includes a first main body portion connected to the first main body portion and a first protrusion portion protruding from the first main body portion, the first protrusion portion being provided with a first insertion hole; The second knuckle includes a second main body portion connected to the second main body portion and a second protrusion portion protruding from the second main body portion. The second main body portion is provided with a first groove and a first mating hole communicating with the first groove. The second protrusion portion is provided with a second insertion hole. The third phalanx includes a third main body portion connected to the third main body portion and a third protrusion portion protruding from the third main body portion. The third main body portion is provided with a second groove and a second mating hole communicating with the first groove. The third protrusion portion is provided with a third insertion hole. The rotating base is provided with a third groove and a third mating hole communicating with the third groove; Wherein, the first protrusion is inserted into the first groove, the second protrusion is inserted into the second groove, and the third protrusion is inserted into the third groove; Furthermore, the first second pin passes through the first insertion hole and the first mating hole, the second second pin passes through the second insertion hole and the second mating hole, and the third second pin passes through the third insertion hole and the third mating hole.

4. The mechanical finger of claim 3, wherein, The rotating base includes a fourth main body connected to the fourth main body and a fourth protrusion protruding from the fourth main body. The fourth main body is provided with the third groove and the third mating hole, and the fourth protrusion is provided with the fourth insertion hole. The connecting base is provided with a fourth groove and a fourth mating hole communicating with the fourth groove, and the first pin passes through the fourth mating hole and the fourth insertion hole.

5. The mechanical finger according to any of claims 1-4, characterized in that, It also includes a traction assembly, which comprises a flexor traction member and a deflector traction member. One end of the flexor traction member is connected to at least two of the finger joints, and one end of the deflector traction member is connected to the finger joint closest to the rotating base among the at least two finger joints. The other ends of both the flexor traction member and the deflector traction member are used to connect to a drive mechanism. The flexion traction member is configured to pull at least two of the phalanges to rotate about the second axis when the drive mechanism retracts the flexion traction member, so that at least two of the phalanges switch from an extended state to a flexed state relative to the connecting base; the deflection traction member is configured to pull at least two of the phalanges and the rotating base to rotate together about the first axis relative to the connecting base when the drive mechanism retracts the deflection traction member, so that at least two of the phalanges deflect from an initial position to a deflected position relative to the connecting base.

6. The mechanical finger of claim 5, wherein, It also includes a reset assembly connected to the rotating base and two adjacent knuckles, the reset assembly being used to reset at least two knuckles from a flexed state to an extended state.

7. The mechanical finger of claim 5 wherein, It also includes an elastic component connected to the rotating base and the connecting base, the elastic component being configured to reset at least two knuckles and the rotating base relative to the connecting base to an initial position.

8. The mechanical finger of claim 7, wherein, The elastic component includes a first elastic element and a second elastic element. Both ends of the first elastic element and the second elastic element are respectively connected to the rotating base and the connecting base, and the first elastic element and the second elastic element are respectively located on both sides of the connecting base.

9. The mechanical finger of claim 1, wherein, The first pin includes a first brim portion, a first shaft body portion, and a first extension portion connected in sequence. The first brim portion is located on one side of the connecting base, the first extension portion is located on the other side of the connecting base, and the first shaft body portion passes through the rotating base and the connecting base. Alternatively, the second pin may include a second cap brim, a second shaft body, and a second extension portion connected in sequence. The second cap brim is located on one side of the knuckle, and the second extension portion is located on the other side of the knuckle. The second shaft body passes through two adjacent knuckles, or passes through the rotating base and the knuckle closest to the rotating base. Alternatively, the first angle detection structure may be a first angle sensor, and the second angle detection structure may be a second angle sensor; Alternatively, the first angle detection structure includes a first magnet and a first magnetic braid sensor located on the same side of the connecting base. The first magnet is mounted on the first pin and rotates synchronously with the first pin. The first magnetic braid sensor is mounted on the connecting base and is used to detect changes in the magnetic field of the first magnet. The second angle detection structure includes a second magnet and a second magnetic braid sensor located on the same side of the same knuckle. The second magnet is mounted on the second pin and rotates synchronously with the second pin. The second magnetic braid sensor is mounted at a preset position and is used to detect changes in the magnetic field of the second magnet.

10. A robot, characterized in that The device includes a robotic hand, a drive mechanism, and robotic fingers as described in any one of claims 1-9. There are multiple robotic fingers, and the connecting bases of the multiple robotic fingers are all connected to the same side of the robotic hand. The traction components of each group of robotic fingers are inserted through the robotic hand and connected to the drive mechanism.

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