Finger mechanisms, robotic hands and robots

Abstract

This utility model discloses a finger mechanism, a robotic hand, and a robot, belonging to the field of robotic hand technology. The finger mechanism, robotic hand, and robot of this utility model, by driving a flexion-extension drive to rotate a flexion-extension worm gear, allows the first phalanx to rotate relative to the mounting base. Simultaneously, under the action of a connecting rod, the second phalanx rotates along with and relative to the first phalanx. By changing the rotation direction of the flexion-extension worm gear, the finger mechanism can perform flexion-extension movements, allowing the finger mechanism to switch between a bent and extended state. Furthermore, the flexion-extension worm gear and the flexion-extension worm gear have a self-locking function; after the finger mechanism bends and presses against the object to be grasped, the flexion-extension drive stops working, allowing the finger mechanism to maintain a firm grip on the object, thereby achieving the goal of reducing energy consumption.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, and in particular to a finger mechanism, a robotic arm, and a robot. Background Technology

[0002] In the field of robotics, the robotic hand is an important end effector, and the transmission structure of its fingers is related to the performance of the entire robotic hand, such as its flexibility and gripping stability.

[0003] In existing robotic arms, the finger joints are usually driven by actuators to flex and extend. After the robotic arm grasps an object, the actuators need to work continuously to keep the finger mechanism gripping the object and prevent it from falling. This results in high power consumption of the actuators. After working for a long time, the actuators may overheat or even fail, which not only affects the production schedule but also increases safety risks and subsequent maintenance costs. Utility Model Content

[0004] The purpose of this invention is to provide a finger mechanism, a robotic hand, and a robot that not only ensures the reliability of the finger mechanism in grasping objects, but also reduces energy consumption and costs.

[0005] To achieve the above objectives, the following technical solution is provided:

[0006] Finger mechanism, including:

[0007] Mounting base;

[0008] A first phalanx and a second phalanx, the first phalanx including a first end and a second end disposed opposite to each other, the second phalanx including a third end and a fourth end disposed opposite to each other, the first end being rotatably connected to the mounting base, and the second end being rotatably connected to the third end;

[0009] The flexion-extension drive assembly includes a flexion-extension worm gear fixed to the mounting base, a flexion-extension worm rotatably disposed on the first finger joint, and a flexion-extension drive member capable of driving the flexion-extension worm to rotate, wherein the flexion-extension worm meshes with the flexion-extension worm gear.

[0010] A connecting rod, one end of which is rotatably connected to the second knuckle and the other end of which is rotatably connected to the mounting base, is capable of linkage with the first knuckle so that the second knuckle can rotate relative to the first knuckle.

[0011] As a preferred embodiment of the aforementioned finger mechanism, the finger mechanism further includes:

[0012] A base, wherein the mounting seat is rotatably disposed on the base about a first axis; the axial direction of the flexural worm gear is perpendicular to the first axis;

[0013] A steering drive assembly capable of driving the mounting base to rotate about the first axis.

[0014] As a preferred technical solution of the above-mentioned finger mechanism, the steering drive component includes:

[0015] A steering worm gear is rotatably mounted on the base, and the mounting base is fixedly connected to the steering worm gear.

[0016] A steering worm gear that meshes with a steering worm wheel;

[0017] A steering drive component capable of driving the steering worm gear to rotate.

[0018] As a preferred embodiment of the aforementioned finger mechanism, the first phalanx is provided with a first mounting cavity; the base is provided with a second mounting cavity.

[0019] The flexing worm is disposed in the first mounting cavity; and / or, the flexing worm wheel is disposed in the first mounting cavity; and / or, the flexing drive is disposed in the first mounting cavity; and / or, the steering worm is disposed in the second mounting cavity; and / or, the steering worm wheel is disposed in the second mounting cavity; and / or, the steering drive is disposed in the second mounting cavity.

[0020] As a preferred technical solution for the aforementioned finger mechanism, the mounting base includes:

[0021] A first base body is rotatably disposed on the base body about the first axis;

[0022] The second seat body has one end connected to the first seat body along a first direction, and the flexing worm gear is located at the other end of the second seat body along the first direction; the first direction is parallel to the first axis.

[0023] As a preferred technical solution of the above-mentioned finger mechanism, the base is provided with two steering limiting parts, which are respectively located on both sides of the mounting seat along its rotation direction, and the mounting seat can abut against either of the steering limiting parts.

[0024] As a preferred technical solution of the above-mentioned finger mechanism, the mounting base is provided with two flexion-extension limiting parts, which are respectively located on both sides of the flexion-extension worm gear along its circumference, and the first phalanx can abut against either of the flexion-extension limiting parts.

[0025] As a preferred technical solution of the above-mentioned finger mechanism, the mounting base can abut against any of the steering limiting parts through surface contact.

[0026] And / or, the first phalanx can abut against any of the said flexion-extension limiting portions in a surface contact manner.

[0027] To achieve the above objectives, robotic hands are also provided, including finger mechanisms as described in any of the preceding items.

[0028] To achieve the above objectives, robots, including the robotic arms described above, are also provided.

[0029] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0030] The finger mechanism, manipulator, and robot of this invention rotate the flexion-extension worm gear driven by the flexion-extension drive, causing the first finger joint to rotate relative to the mounting base. Simultaneously, under the action of the connecting rod, the second finger joint rotates with and relative to the first finger joint. By changing the rotation direction of the flexion-extension worm gear, the finger mechanism can perform flexion-extension movements, allowing the finger mechanism to switch between a bent and extended state. Furthermore, the flexion-extension worm gear and the flexion-extension worm gear have a self-locking function. After the finger mechanism bends and presses against the object to be grasped, the flexion-extension drive stops working, allowing the finger mechanism to maintain a firm grip on the object, thereby reducing energy consumption. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the first structure of the finger mechanism in an embodiment of this utility model;

[0032] Figure 2 This is a schematic diagram of the second structure of the finger mechanism in an embodiment of this utility model;

[0033] Figure 3 This is a schematic diagram of the finger mechanism in the extended state in an embodiment of this utility model;

[0034] Figure 4 This is a schematic diagram of the structure of the finger mechanism in a bent state in an embodiment of this utility model;

[0035] Figure 5 This is a schematic diagram of the structure of the mounting base rotating in an embodiment of this utility model.

[0036] Figure label:

[0037] A. Inner side of finger; B. Back side of finger; 1. Mounting base; 11. First seat body; 12. Second seat body; 13. Flexion and extension limiting part; 2. First finger joint; 2a. Finger shell one; 2b. Finger shell two; 21. First mounting cavity; 3. Second finger joint; 4. Flexion and extension drive assembly; 41. Flexion and extension worm gear; 42. Flexion and extension worm; 43. Flexion and extension drive component; 5. Connecting rod; 6. Base; 6a. Housing one; 6b. Housing two; 61. Second mounting cavity; 62. Steering limiting part; 63. Pressure block; 7. Steering drive assembly; 71. Steering worm gear; 72. Steering worm; 73. Steering drive component; 81. First mounting shaft; 82. Second rotating shaft; 83. Third rotating shaft; 84. Fourth rotating shaft; 9. Sensing element. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0039] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0040] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0041] In the description of this utility model, it should be noted that the terms "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this utility model is in use. They are used only for the convenience of describing this utility model and for 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," and "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0042] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0043] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0044] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0045] like Figures 1 to 5 As shown, this embodiment provides a finger mechanism, a robotic hand, and a robot. The robot includes a robotic hand, which includes a finger mechanism. By flexing and extending the finger mechanism, the robot can grasp objects.

[0046] Optionally, the robot includes an arm with a hand mounted on it. The arm increases the range of motion of the hand, meeting different grasping needs.

[0047] Optionally, the robotic hand also includes a palm, with finger mechanisms mounted on the palm. It should be noted that one, two, three, or even more finger mechanisms can be included; there is no limitation here. Increasing the number of finger mechanisms can improve the stability of the palm's grasping of objects.

[0048] like Figure 1 and Figure 2As shown, the finger mechanism of this embodiment includes a mounting base 1, a first phalanx 2, a second phalanx 3, a flexion-extension drive assembly 4, and a connecting rod 5. The first phalanx 2 includes a first end and a second end disposed opposite to each other, and the second phalanx 3 includes a third end and a fourth end disposed opposite to each other. The first end is rotatably connected to the mounting base 1, and the second end is rotatably connected to the third end. The flexion-extension drive assembly 4 includes a flexion-extension worm gear 41 fixed to the mounting base 1, a flexion-extension worm 42 rotatably disposed on the first phalanx 2, and a flexion-extension drive member 43 capable of driving the flexion-extension worm 42 to rotate. The flexion-extension worm 42 meshes with the flexion-extension worm gear 41. One end of the connecting rod 5 is rotatably connected to the second phalanx 3, and the other end is rotatably connected to the mounting base 1. The connecting rod 5 can be linked with the first phalanx 2 so that the second phalanx 3 can rotate relative to the first phalanx 2.

[0049] In this embodiment, the finger mechanism rotates the flexion-extension worm gear 42 by driving the flexion-extension drive 43, causing the first phalanx 2 to rotate relative to the mounting base 1. Simultaneously, under the action of the connecting rod 5, the second phalanx 3 rotates relative to the first phalanx 2 while rotating with it. By changing the rotation direction of the flexion-extension worm gear 42, the finger mechanism can perform flexion-extension movements, allowing the finger mechanism to switch between a bent state and an extended state. At the same time, the flexion-extension worm wheel 41 and the flexion-extension worm gear 42 have a self-locking function. After the finger mechanism bends and presses against the object to be grasped, the flexion-extension drive 43 can stop working, allowing the finger mechanism to maintain a firm grip on the object, thereby achieving the goal of reducing energy consumption.

[0050] It should be noted that the flexion-extension worm gear 41 and flexion-extension worm 42 can also change the torque direction, thereby enabling the flexion-extension drive assembly 4 to make better use of the space along the length of the finger mechanism, making it easier to reserve more space for the object grasped by the finger mechanism; the flexion-extension worm gear 41 and flexion-extension worm 42 can also achieve the purpose of deceleration and increase torque, which can not only improve the gripping force of the finger mechanism, but also reduce the energy consumption of the flexion-extension drive assembly 4, thus having an energy-saving effect; the flexion-extension worm gear 41 and flexion-extension worm 42 can also improve the control accuracy of the rotation of the first phalanx 2, thereby enabling the finger mechanism to complete fine movements. For example, the flexion-extension drive component 43 is a motor (i.e., a flexion-extension motor), such as a servo motor.

[0051] It is understandable that the finger mechanism has an extended state and a bent state. When the finger mechanism switches from the extended state to the bent state, the angle between the first phalanx 2 and the mounting base 1 (i.e., the angle between the first phalanx 2 and the palm) and the angle between the first phalanx 2 and the second phalanx 3 gradually decrease. When the finger mechanism switches from the bent state to the extended state, the angle between the first phalanx 2 and the mounting base 1 and the angle between the first phalanx 2 and the second phalanx 3 gradually increase.

[0052] Optionally, the finger mechanism further includes a base 6 and a steering drive assembly 7. The mounting base 1 is rotatably mounted on the base 6 about a first axis; the axial direction of the flexion-extension worm gear 41 is perpendicular to the first axis; the steering drive assembly 7 can drive the mounting base 1 to rotate about the first axis. By driving the mounting base 1 to rotate about the first axis through the rotation drive assembly, the finger mechanism can press against the object to be grasped from different angles, which helps to improve the gripping stability of the finger mechanism.

[0053] In this embodiment, the first axis is set perpendicular to the palm, which can more realistically simulate the human thumb and improve the reliability of the finger mechanism in grasping objects.

[0054] Optionally, the steering drive assembly 7 includes a steering worm wheel 71, a steering worm 72, and a steering drive component 73. The steering worm wheel 71 is rotatably mounted on the base 6, and the mounting seat 1 is fixedly connected to the steering worm wheel 71. The steering worm 72 meshes with the steering worm wheel 71. The steering drive component 73 can drive the steering worm 72 to rotate. By driving the steering worm 72 to rotate through the steering drive component 73, the steering worm 72 drives the steering worm wheel 71 to rotate, and the steering worm wheel 71 drives the mounting seat 1, which is fixedly connected to it, to rotate. This not only achieves the purpose of driving the mounting seat 1 to rotate, but also enables a self-locking function through the steering worm 72 and the steering worm wheel 71. When the mounting seat 1 rotates to the target angle, the steering drive component 73 can stop working, and the mounting seat 1 can remain at the target angle, which further reduces energy consumption.

[0055] It should be noted that the steering worm gear 71 and steering worm 72 can also achieve the purpose of deceleration and increased torque, which can not only improve the grip of the finger mechanism, but also reduce the energy consumption of the steering drive assembly 7, thus achieving energy saving. The steering worm gear 71 and steering worm 72 can also improve the control accuracy of the rotation of the mounting base 1, thereby enabling the finger mechanism to perform fine movements. For example, the steering drive component 73 is a motor (i.e., a steering motor), such as a servo motor.

[0056] Optionally, the first phalanx 2 is provided with a first mounting cavity 21, and the flexion-extension worm gear 42 is disposed in the first mounting cavity 21, thereby avoiding the flexion-extension worm gear 42 from being exposed. On the one hand, this prevents the flexion-extension worm gear 42 from interfering with the finger mechanism's gripping of objects, and on the other hand, it prevents the flexion-extension worm gear 42 from being damaged by bumps, corrosion, etc., which helps to improve the reliability of the flexion-extension worm gear 42 and extend its service life; it also has the effect of reducing the size of the finger mechanism and improving the aesthetics of the finger mechanism.

[0057] Optionally, the flexure worm gear 41 is located inside the first mounting cavity 21, thereby preventing the flexure worm gear 41 from being exposed. On the one hand, this prevents the flexure worm gear 41 from interfering with the finger mechanism's gripping of objects, and on the other hand, it prevents the flexure worm gear 41 from being damaged by bumps, corrosion, etc., which helps to improve the reliability of the flexure worm gear 41 and extend its service life. It also has the effect of reducing the size of the finger mechanism and improving its aesthetics.

[0058] Optionally, the flexion-extension drive 43 is disposed within the first mounting cavity 21, thereby preventing the flexion-extension drive 43 from being exposed. On the one hand, this prevents the flexion-extension drive 43 from interfering with the finger mechanism's gripping of objects, and on the other hand, it prevents the flexion-extension drive 43 from being damaged by bumps, corrosion, etc., which helps to improve the reliability of the flexion-extension drive 43 and extend its service life. It also has the effect of reducing the size of the finger mechanism and improving its aesthetics.

[0059] Specifically, the first phalanx 2 includes a first phalanx 2a and a second phalanx 2b. The second phalanx 2b is connected to the first phalanx 2a, and a first mounting cavity 21 is formed between the first phalanx 2a and the second phalanx 2b, which facilitates assembly and processing.

[0060] Optionally, the base 6 is provided with a second mounting cavity 61, and the steering worm 72 is disposed in the second mounting cavity 61, thereby avoiding the steering worm 72 from being exposed. On the one hand, this prevents the steering worm 72 from interfering with the finger mechanism's gripping of objects, and on the other hand, it prevents the steering worm 72 from being damaged by bumps, corrosion, etc., which helps to improve the reliability of the steering worm 72 and extend its service life. It also has the effect of reducing the size of the finger mechanism and improving its aesthetics.

[0061] Optionally, the steering worm gear 71 is located inside the second mounting cavity 61, thereby avoiding the steering worm gear 71 from being exposed. On the one hand, this prevents the steering worm gear 71 from interfering with the finger mechanism's grip on objects, and on the other hand, it prevents the steering worm gear 71 from being damaged by bumps, corrosion, etc., which helps to improve the reliability of the steering worm gear 71 and extend its service life. It also has the effect of reducing the size of the finger mechanism and improving its aesthetics.

[0062] Optionally, the steering drive component 73 is disposed within the second mounting cavity 61, thereby preventing the steering drive component 73 from being exposed. On the one hand, this prevents the steering drive component 73 from interfering with the finger mechanism's grip on objects, and on the other hand, it prevents the steering drive component 73 from being damaged by bumps, corrosion, etc., which helps to improve the reliability of the steering drive component 73 and extend its service life. It also has the effect of reducing the size of the finger mechanism and improving its aesthetics.

[0063] Specifically, the base 6 includes a first housing 6a and a second housing 6b, the second housing 6b being connected to the first housing 6a, and forming a second mounting cavity 61 between the first housing 6a and the second housing 6b, thereby facilitating assembly and processing.

[0064] Optionally, the mounting base 1 includes a first base body 11 and a second base body 12. The first base body 11 is rotatably mounted on the base 6 about a first axis. One end of the second base body 12 along a first direction is connected to the first base body 11, and the flexure-extension worm gear 41 is located at the other end of the second base body 12 along the first direction. The first direction is parallel to the first axis. That is, the mounting base 1 has an L-shaped structure, with the base 6 and the flexure-extension worm gear 41 located at opposite ends of the L-shaped mounting base 1. This makes it easier for the finger mechanism to press the object to be grasped against the palm of the robotic hand, thus improving the reliability of the finger mechanism in grasping the object.

[0065] Optionally, the base 6 is provided with two turning limit parts 62, which are located on both sides of the mounting base 1 along its rotation direction. The mounting base 1 can abut against either turning limit part 62. That is, the mounting base 1 can rotate between the two turning limit parts 62, which increases the applicability of the finger mechanism and makes it more versatile. The rotation angle of the mounting base 1 is limited by the two turning limit parts 62 to prevent the mounting base 1 from rotating excessively, which would prevent the finger mechanism from being able to hold the object to be grasped firmly against the palm of the robotic hand when performing flexion and extension movements.

[0066] Optionally, the mounting base 1 is provided with two flexion-extension limiting parts 13, which are located on both sides of the flexion-extension worm gear 41 along its circumference. The first phalanx 2 can abut against either of the flexion-extension limiting parts 13. That is, the first phalanx 2 can rotate between the two flexion-extension limiting parts 13. Specifically, when the first phalanx 2 abuts against one of the flexion-extension limiting parts 13, the finger mechanism is in a bent state; when the second phalanx 3 abuts against the other flexion-extension limiting part 13, the finger mechanism is in an extended state. This improves the stability of the finger mechanism in both bent and extended states, and enhances the reliability and stability of the finger mechanism in grasping objects.

[0067] In this embodiment, the mounting base 1 is provided with a first mounting shaft 81, which is fixedly mounted on the mounting base 1. The first end of the first finger joint 2 is rotatably connected to the first mounting shaft 81, and the flexure / extension worm gear 41 is fixedly mounted on the first mounting shaft 81. Further, the third end of the second finger joint 3 is rotatably connected to the second end of the first finger joint 2 via a second rotating shaft 82. The two ends of the connecting rod 5 are respectively rotatably connected to the mounting base 1 and the second finger joint 3 via two third rotating shafts 83. In this embodiment, the axes of the first mounting shaft 81, the second rotating shaft 82, and the third rotating shaft 83 are all parallel to each other.

[0068] Furthermore, the mounting base 1 is rotatably connected to the base 6 via a fourth rotating shaft 84, and the steering worm gear 71 is fixed to the fourth rotating shaft 84. The first axis is the axis of the fourth rotating shaft 84. Specifically, the base 6 is fixedly provided with a pressure block 63, one end of the fourth rotating shaft 84 is rotatably connected to the pressure block 63, and the other end is rotatably connected to the base 6, thereby improving the stability of the fourth rotating shaft 84. Specifically, the two steering limiting parts 62 are respectively located on both sides of the pressure block 63 along the rotation direction of the mounting base 1.

[0069] It should be noted that the finger mechanism mimics the mechanical structure of a human finger. The finger mechanism has an inner side A and a back side B positioned opposite each other. The inner side A corresponds to the palm side of a human hand, and the back side B corresponds to the back of the hand. In this embodiment, the finger mechanism mimics the mechanical structure of a human thumb. The first phalanx 2 is the proximal phalanx (i.e., the first phalanx 2 is the phalanx closest to the palm), and the second phalanx 3 is the distal phalanx (i.e., the second phalanx 3 is the phalanx furthest from the palm). The inner side A of the second phalanx 3 corresponds to the pad of the human thumb, and the fourth end of the second phalanx 3 is the free end, corresponding to the fingertip of the human thumb. Optionally, as... Figure 1 and Figure 2 As shown, a sensing element 9 is provided at the fourth end of the second phalanx 3. Specifically, the sensing element 9 is located on the inner side A of the second phalanx 3. Exemplarily, the sensing element 9 includes a tactile sensor, etc., so as to provide feedback on information such as grasping force through the sensing element 9, thereby providing a hardware foundation to facilitate product production. The tactile sensor is a sensor in the prior art, and will not be described in detail here.

[0070] Optionally, the mounting base 1 can abut against either of the steering limiting parts 62 through surface contact, thereby increasing the contact area between the mounting base 1 and the steering limiting part 62. This prevents damage to the mounting base 1 and the steering limiting part 62 due to excessive local force, thus providing protection. Specifically, for ease of description, the surface of the pressure block 63 facing the fourth rotating shaft 84 is referred to as the first surface. Regardless of the direction in which the mounting base 1 rotates around the fourth rotating shaft 84, the mounting base 1 can abut against the first surface to achieve the purpose of limiting. That is, both steering limiting parts 62 are limiting surfaces, and the two limiting surfaces are coplanar, i.e., the first surface. Achieving surface contact by abutting the first surface against the outer surface of the mounting base 1 results in a simple structure and low cost.

[0071] Optionally, the first phalanx 2 can abut against either of the flexion-extension limiting parts 13 through surface contact, thereby increasing the contact area between the first phalanx 2 and the flexion-extension limiting part 13, improving the stability of the finger mechanism when it is in a bent or extended state, and preventing damage to the first phalanx 2 and the flexion-extension limiting part 13 due to excessive local force, thus providing protection. Specifically, the two flexion-extension limiting parts 13 are located on the outer surfaces of the mounting base 1 along the circumference of the flexion-extension worm gear 41, which facilitates abutment against the outer surface of the first phalanx 2 to achieve surface contact, resulting in a simple structure and low cost.

[0072] Optionally, stress simulation is performed based on lightweight requirements and usage conditions to determine the dimensions of the base 6. The base 6 is made of 7075 aerospace-grade aluminum. Exemplarily, the base 6 is machined by a CNC milling machine, followed by sandblasting and anodizing to improve the machining accuracy and strength of the base 6.

[0073] Optionally, the mounting base 1 is made of stainless steel, which is strong and has a long service life.

[0074] Optionally, the flexing worm gear 41, flexing worm 42, steering worm gear 71, and steering worm 72 are manufactured according to the dimensions of the output shafts of the flexing motor and the steering motor and the target reduction ratio, and the parameters of the flexing worm gear 41, flexing worm 42, steering worm gear 71, and steering worm 72 are determined according to the load of the finger mechanism. Both the flexing worm gear 41 and the steering worm gear 71 are made of bronze; both the flexing worm gear 42 and the steering worm gear 72 are made of medium carbon steel. Exemplarily, both the flexing worm gear 41 and the steering worm gear 71 are manufactured using a gear hobbing machine; both the flexing worm gear 42 and the steering worm gear 72 are manufactured using a Swiss-type lathe and then quenched to improve the machining accuracy and strength of the flexing worm gear 41, flexing worm 42, steering worm gear 71, and steering worm gear 72.

[0075] Optionally, connecting rod 5 is made of stainless steel, which is strong and has a long service life.

[0076] Optionally, the first phalanx 2 is made of 7075 aerospace-grade aluminum. The second phalanx 3 is also made of 7075 aerospace-grade aluminum. Exemplarily, after the first phalanx 2 and the second phalanx 3 are machined by a CNC milling machine, they are sandblasted and anodized to improve the machining accuracy and strength of the first phalanx 2 and the second phalanx 3.

[0077] It should be noted that the manufacturing processes and design methods (such as force simulation) of mounting base 1, base 6, bending worm gear 41, bending worm 42, steering worm gear 71, steering worm 72, connecting rod 5, first finger joint 2 and second finger joint 3 are all existing technologies and will not be described in detail here.

[0078] For example, such as Figure 3 and Figure 4As shown, the working principle of the finger mechanism in this embodiment for flexion and extension is as follows:

[0079] By activating the flexion-extension motor and driving the flexion-extension worm gear 42 to rotate, the first finger joint 2 can rotate relative to the mounting base 1. At the same time, under the action of the connecting rod 5, the second finger joint 3 rotates with the first finger joint 2 and also rotates relative to the first finger joint 2, thereby causing the finger mechanism to perform a bending action. Since the flexion-extension worm gear 41 and the flexion-extension worm gear 42 have self-locking characteristics, when the flexion-extension motor is turned off, the finger mechanism can stay at any position within its stroke range and maintain the current state, thereby preventing the grasped object from slipping.

[0080] Furthermore, when the flexion-extension motor is working and the output shaft of the flexion-extension motor rotates in the opposite direction (i.e., the rotation direction of the motor's output shaft is opposite to that when the finger mechanism bends), the flexion-extension motor drives the flexion-extension worm gear 42 to rotate in the opposite direction, which causes the first phalanx 2 to rotate relative to the mounting base 1. At the same time, under the action of the connecting rod 5, the second phalanx 3 rotates with the first phalanx 2 and also rotates relative to the first phalanx 2, thereby causing the finger mechanism to perform an extension action and reset.

[0081] For example, such as Figure 5 As shown, the working principle of the finger mechanism for steering in this embodiment is as follows:

[0082] By activating the steering motor and driving the steering worm 72 to rotate, the steering worm 72 drives the steering worm wheel 71 to rotate, and the steering worm wheel 71 drives the mounting base 1, which is fixedly connected to it, to rotate, thereby enabling the finger mechanism to press against the object to be grasped from different angles, thus improving the gripping stability of the finger mechanism.

[0083] Understandably, the flexing worm gear 41 and flexing worm 42 have self-locking functions, as do the steering worm 72 and steering worm gear 71. No matter which direction the finger mechanism is subjected to external force, it cannot be made to move. The finger mechanism can only move when the flexing motor or steering motor is enabled.

[0084] In summary, the finger mechanism of this embodiment has the characteristics of self-locking, deceleration and torque increase, high positioning accuracy, small movement gap and high stability. It also solves the problem of motor overheating, thereby expanding its applicable scope and scenarios.

[0085] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention. The scope of the present invention is determined by the scope of the appended claims.

Claims

1. A finger mechanism, characterized in that, include: Mounting base; A first phalanx and a second phalanx, the first phalanx including a first end and a second end disposed opposite to each other, the second phalanx including a third end and a fourth end disposed opposite to each other, the first end being rotatably connected to the mounting base, and the second end being rotatably connected to the third end; The flexion-extension drive assembly includes a flexion-extension worm gear fixed to the mounting base, a flexion-extension worm rotatably disposed on the first finger joint, and a flexion-extension drive member capable of driving the flexion-extension worm to rotate, wherein the flexion-extension worm meshes with the flexion-extension worm gear. A connecting rod, one end of which is rotatably connected to the second knuckle and the other end of which is rotatably connected to the mounting base, is capable of linkage with the first knuckle so that the second knuckle can rotate relative to the first knuckle.

2. The finger mechanism according to claim 1, characterized in that, The finger mechanism also includes: A base, wherein the mounting seat is rotatably disposed on the base about a first axis; the axial direction of the flexural worm gear is perpendicular to the first axis; A steering drive assembly capable of driving the mounting base to rotate about the first axis.

3. The finger mechanism according to claim 2, characterized in that, The steering drive component includes: A steering worm gear is rotatably mounted on the base, and the mounting base is fixedly connected to the steering worm gear. A steering worm gear that meshes with a steering worm wheel; A steering drive component capable of driving the steering worm gear to rotate.

4. The finger mechanism according to claim 3, characterized in that, The first phalanx has a first mounting cavity; the base has a second mounting cavity; The flexing worm is disposed in the first mounting cavity; and / or, the flexing worm wheel is disposed in the first mounting cavity; and / or, the flexing drive is disposed in the first mounting cavity; and / or, the steering worm is disposed in the second mounting cavity; and / or, the steering worm wheel is disposed in the second mounting cavity; and / or, the steering drive is disposed in the second mounting cavity.

5. The finger mechanism according to claim 2, characterized in that, The mounting base includes: A first base body is rotatably disposed on the base body about the first axis; The second seat body has one end connected to the first seat body along a first direction, and the flexing worm gear is located at the other end of the second seat body along the first direction; the first direction is parallel to the first axis.

6. The finger mechanism according to any one of claims 2-5, characterized in that, The base is provided with two steering limiting parts, which are located on both sides of the mounting base along its rotation direction, and the mounting base can abut against either of the steering limiting parts.

7. The finger mechanism according to claim 6, characterized in that, The mounting base is provided with two flexion-extension limiting parts, which are located on both sides of the flexion-extension worm gear along its circumference, and the first phalanx can abut against either of the flexion-extension limiting parts.

8. The finger mechanism according to claim 7, characterized in that, The mounting base can abut against any of the steering limiting parts through surface contact; And / or, the first phalanx can abut against any of the said flexion-extension limiting portions in a surface contact manner.

9. A robotic arm, characterized in that, Includes the finger mechanism as described in any one of claims 1-8.

10. A robot, characterized in that, Including the robotic arm as described in claim 9.

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