Finger assembly and robot hand

Abstract

The utility model discloses a finger assembly and mechanical hand. Finger assembly includes linear drive assembly, connecting rod, base, first swing bar, second swing bar and fingertip, linear drive assembly includes casing and output shaft, and one end of output shaft sets up in casing, and the other end of output shaft sets up from one end of casing, and one end of connecting rod is hinged with output shaft, and the other end of connecting rod is connected with second swing bar, and one end of base is connected in one end of casing that output shaft stretches out in two ends, and one end of first swing bar and one end of second swing bar are all hinged in the other end of base, and the other end of first swing bar and the other end of second swing bar are all hinged in one end of fingertip, the output shaft can drive connecting rod to move to the direction close to casing, and second swing bar rotates to the side of connecting rod relative to base, and first swing bar rotates to the side of connecting rod relative to base, and first swing bar and second swing bar jointly drive fingertip to move to the side of connecting rod and rotate, so that finger assembly moves from the unfolded state to the bent state.

Description

Technical Field

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

[0002] With the development of humanoid robots, the robotic hands of humanoid robots can perform functions such as grasping. The robotic hand includes a thumb and multiple fingers. The existing finger actuators are located on the back of the palm. During operation, when multiple fingers cooperate with the thumb, they cannot form a good gripping force, which affects the stability of the robotic hand's grasping. Utility Model Content

[0003] This invention provides a finger assembly and a robotic hand to solve at least one of the aforementioned technical problems.

[0004] This utility model discloses a finger assembly for use in a robotic hand. The finger assembly includes a linear drive assembly, a connecting rod, a base, a first swing arm, a second swing arm, and a fingertip. The linear drive assembly includes a housing and an output shaft. One end of the output shaft is disposed inside the housing, and the other end of the output shaft extends out from one end of the housing. One end of the connecting rod is hinged to the output shaft, and the other end of the connecting rod is connected to the second swing arm. One end of the base is connected to one end of the output shaft extending out from the two ends of the housing. One end of the first swing arm and one end of the second swing arm are both hinged to the other end of the base, and the other ends of the first swing arm and the second swing arm are both hinged to one end of the fingertip.

[0005] The output shaft can retract into the housing along the axial direction of the output shaft under drive, so as to drive the connecting rod to move towards the housing. The second rocker arm rotates relative to the base towards the side of the connecting rod, and the first rocker arm rotates relative to the base towards the side of the connecting rod. The first rocker arm and the second rocker arm together drive the fingertip to move and rotate towards the side of the connecting rod, so that the finger assembly moves from the unfolded state to the bent state.

[0006] In the aforementioned finger assembly, the output shaft can retract into the housing along the axial direction of the output shaft under drive, thereby driving the connecting rod to move towards the housing. The second swing arm rotates relative to the base towards the side of the connecting rod, and the first swing arm rotates relative to the base towards the side of the connecting rod. The first and second swing arms can work together to drive the fingertip to move and rotate towards the side of the connecting rod, so that the finger assembly moves from the unfolded state to the bent state, thereby improving the gripping force of the finger assembly and enhancing the stability of the robotic arm during grasping.

[0007] In some embodiments, the second rocker arm has a groove, and one end of the connecting rod is slidably connected in the groove. When the finger assembly is subjected to an external force, one end of the connecting rod can slide in the groove, causing the finger assembly to bend further.

[0008] In some embodiments, the finger assembly includes a first elastic element, one end of which is connected to the connecting rod, and the other end of which is connected to the second swing rod; the first elastic element is used to restrict one end of the connecting rod to one end of the slide groove when the finger assembly is not subjected to an external force, or the first elastic element has a tendency to drive one end of the connecting rod toward one end of the slide groove.

[0009] In some embodiments, the second rocker arm includes a main body, a first protrusion, and a second protrusion. One end of the main body is hinged to the base, and the other end of the main body is hinged to the fingertip. The first protrusion is located on one side of the main body, and the second protrusion is located on the other side of the main body. The slide groove is formed in the first protrusion, and the other end of the first elastic member is connected to the second protrusion.

[0010] In some embodiments, a second elastic element is provided between the first rocker arm and the fingertip, or, a second elastic element is provided between the second rocker arm and the fingertip;

[0011] The second elastic element is used to drive the finger assembly to unfold.

[0012] In some embodiments, the fingertip has a connecting groove, the first swing arm is hinged to the outer wall of the connecting groove via a first pivot, and one end of the second swing arm is disposed in the connecting groove and hinged to the inner wall of the connecting groove via a second pivot.

[0013] In some embodiments, the second elastic element is a torsion spring, a portion of which is disposed within the connecting groove and sleeved on the first rotating shaft.

[0014] In some embodiments, the line connecting the hinge point of the first rocker arm and the fingertip to the hinge point of the base and the first rocker arm is a first position line, and the line connecting the hinge point of the second rocker arm and the fingertip to the hinge point of the base and the second rocker arm is a second position line. The first position line and the second position line are arranged alternately, and the hinge point between the second rocker arm and the base is closer to the connecting rod than the hinge point between the first rocker arm and the base.

[0015] In some embodiments, the first rocker arm includes a first connecting portion and two second connecting portions, the first connecting portion being disposed between the two second connecting portions, one end of the two second connecting portions being hinged to the fingertip, and the other end of the two second connecting portions being hinged to the base, and the second rocker arm being located between the two second connecting portions and between the first connecting portion and the connecting rod.

[0016] A robotic hand according to an embodiment of the present invention includes a base and a finger assembly as described in any of the above embodiments, wherein the finger assembly is connected to the base.

[0017] In the aforementioned robotic hand, the output shaft can retract into the housing along the axial direction of the output shaft under drive, thereby driving the connecting rod to move towards the housing. The second swing arm rotates relative to the base towards the side of the connecting rod, and the first swing arm rotates relative to the base towards the side of the connecting rod. The first and second swing arms can work together to drive the fingertip to move and rotate towards the side of the connecting rod, so that the finger assembly moves from an unfolded state to a bent state, thereby improving the gripping force of the finger assembly and enhancing the stability of the robotic hand during grasping.

[0018] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0019] The above and / or additional aspects and advantages of this invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0020] Figure 1 This is a schematic diagram of the unfolded state of the finger assembly according to an embodiment of the present invention;

[0021] Figure 2 This is a schematic diagram of another unfolded state of the finger assembly according to an embodiment of the present invention;

[0022] Figure 3 This is a schematic diagram of the bent state structure of the finger assembly according to an embodiment of the present invention;

[0023] Figure 4 This is a schematic diagram of another bent state structure of the finger assembly according to an embodiment of the present invention;

[0024] Figure 5 This is a schematic diagram of another bent state structure of the finger assembly according to an embodiment of the present utility model.

[0025] Figure 6 This is a schematic diagram of the connection between the first and second pendulum rods according to an embodiment of the present invention;

[0026] Figure 7This is a schematic diagram of the structure of the robotic arm according to an embodiment of the present invention.

[0027] Figure label:

[0028] 100. Finger assembly; 10. Linear drive assembly; 12. Linkage; 14. Base; 16. First swing arm; 18. Second swing arm; 20. Fingertip; 22. Housing; 24. Output shaft; 26. Slide groove; 28. First elastic element; 30. Main body; 32. First protrusion; 34. Second protrusion; 36. Receiving groove; 38. Second elastic element; 40. Connecting groove; 42. First rotating shaft; 44. Second rotating shaft; 46. Torsion spring; 48. First connecting part; 50. Second connecting part; 52. Base; 54. Thumb; 200. Robotic hand; L1. First position connection line; L2. Second position connection line. Detailed Implementation

[0029] 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.

[0030] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description. They 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, and therefore should not be construed as a limitation of this utility model. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0031] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" 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. They can refer to a direct connection or an indirect connection through an intermediate medium, and they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in this utility model can be understood according to the specific circumstances.

[0032] 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.

[0033] This disclosure provides many different embodiments or examples for implementing various structures of the present invention. To simplify the disclosure, specific examples of components and arrangements are described herein. These are merely examples and are not intended to limit the scope of the invention. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, examples of various specific processes and materials are provided in this invention; however, those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0034] Please refer to Figures 1 to 7 A finger assembly 100 according to an embodiment of the present invention is used in a robotic hand 200. The finger assembly 100 includes a linear drive assembly 10, a connecting rod 12, a base 14, a first swing rod 16, a second swing rod 18, and a fingertip 20. The linear drive assembly 10 includes a housing 22 and an output shaft 24. One end of the output shaft 24 is disposed inside the housing 22, and the other end of the output shaft 24 extends out from one end of the housing 22. One end of the connecting rod 12 is hinged to the output shaft 24, and the other end of the connecting rod 12 is connected to the second swing rod 18. One end of the base 14 is connected to the end of the output shaft 24 extending from both ends of the housing 22. One end of the first swing rod 16 and one end of the second swing rod 18 are both hinged to the other end of the base 14. The other ends of the first swing rod 16 and the second swing rod 18 are both hinged to one end of the fingertip 20. The output shaft 24 can be retracted into the housing 22 along the axial direction of the output shaft 24 under drive, so as to drive the connecting rod 12 to move towards the housing 22. The second rocker arm 18 rotates relative to the base 14 towards the side of the connecting rod 12, and the first rocker arm 16 rotates relative to the base 14 towards the side of the connecting rod 12. The first rocker arm 16 and the second rocker arm 18 together drive the fingertip 20 to move and rotate towards the side of the connecting rod 12, so that the finger assembly 100 moves from the unfolded state to the bent state.

[0035] In the aforementioned finger assembly 100, the output shaft 24 can retract into the housing 22 along the axial direction of the output shaft 24 under drive, thereby driving the connecting rod 12 to move towards the housing 22. The second swing arm 18 rotates relative to the base 14 towards the side of the connecting rod 12, and the first swing arm 16 rotates relative to the base 14 towards the side of the connecting rod 12. The first swing arm 16 and the second swing arm 18 can jointly drive the fingertip 20 to move and rotate towards the side of the connecting rod 12, so that the finger assembly 100 moves from the unfolded state to the bent state, thereby improving the gripping force of the finger assembly 100 and enhancing the stability of the robotic hand 200 when grasping.

[0036] Specifically, the housing 22 may be cuboid in shape, and the output shaft 24 may be cylindrical. One end of the output shaft 24 is disposed inside the housing 22, and the other end of the output shaft 24 extends out from one end of the housing 22. One end of the connecting rod 12 may be hinged to the output shaft 24, and the other end may be slidably connected to the second rocker arm 18. The base 14 may be disposed above the housing 22, with one end of the base 14 connected to the end of the housing 22 near the output shaft 24. One end of the first rocker arm 16 and one end of the second rocker arm 18 are both hinged to the other end of the base 14, and the other ends of the first rocker arm 16 and the second rocker arm 18 are both hinged to one end of the fingertip 20. Along the width direction D of the finger assembly 100, the linear drive assembly 10 is located in front of the base 14, and the connecting rod 12 is located in front of the base 14. The width direction D of the finger assembly 100 includes the front-to-back direction.

[0037] In one embodiment, when the finger assembly 100 is in the unfolded state, the output shaft 24 can be driven to retract the housing 22 along the axial direction of the output shaft 24, thereby driving the connecting rod 12 to move towards the housing 22. The second swing arm 18 rotates relative to the base 14 towards the side of the connecting rod 12, and the first swing arm 16 rotates relative to the base 14 towards the side of the connecting rod 12. The first swing arm 16 and the second swing arm 18 can jointly drive the fingertip 20 to move and rotate towards the side of the connecting rod 12, so that the finger assembly 100 moves from the unfolded state to the bent state, thereby improving the gripping force of the finger assembly 100 and enhancing the stability of the robotic hand 200 when grasping.

[0038] It is understood that in another embodiment, when the finger assembly 100 is in a bent state, one end of the output shaft 24 can extend out of the housing 22 along the axial direction of the output shaft 24 under drive, so as to drive the connecting rod 12 to move away from the housing 22. The second rocker arm 18 rotates relative to the base 14 to the side away from the connecting rod 12, and the first rocker arm 16 rotates relative to the base 14 to the side away from the connecting rod 12. The first rocker arm 16 and the second rocker arm 18 can jointly drive the fingertip 20 to move and rotate to the side away from the connecting rod 12, so that the finger assembly 100 moves from the bent state to the unfolded state.

[0039] Optionally, the linear drive assembly 10 also includes a driver (not shown), which may be disposed within the housing 22. The driver is connected to the output shaft 24 and can drive one end of the output shaft 24 to extend out of the housing 22 or retract into the housing 22.

[0040] Please combine Figure 1 , Figure 3 and Figure 6 In some embodiments, the second rocker arm 18 has a groove 26, and one end of the connecting rod 12 is slidably connected in the groove 26. When the finger assembly 100 is subjected to an external force, one end of the connecting rod 12 can slide in the groove 26, causing the finger assembly 100 to bend further.

[0041] In this way, when the finger assembly 100 is subjected to external force, it can avoid impacting the output shaft 24, thereby reducing the damage of external force impact to the linear drive assembly 10.

[0042] Specifically, the slide groove 26 can be arc-shaped to facilitate smooth sliding of one end of the connecting rod 12. One end of the slide groove 26 is located near the base 14, and the other end is located near the fingertip 20. Figure 3 In the embodiment shown, when the finger assembly 100 is in a bent state, one end of the connecting rod 12 can be located in the slide groove 26 near the base 14. When the finger assembly 100 is subjected to external force, one end of the connecting rod 12 can slide in the slide groove 26 from the end near the base 14 to the end near the fingertip 20, so that the finger assembly 100 bends further, which can avoid impacting the output shaft 24 and thus reduce the damage of external force impact to the linear drive assembly 10.

[0043] It should be noted that when the finger assembly 100 is in the unfolded state, one end of the connecting rod 12 is located at the end of the slide groove 26 near the base 14. When the finger assembly 100 moves from the unfolded state to the bent state, one end of the connecting rod 12 is still located at the end of the slide groove 26 near the base 14.

[0044] Please combine Figure 2 and Figure 6 In some embodiments, the finger assembly 100 includes a first elastic member 28, one end of which is connected to a connecting rod 12, and the other end of which is connected to a second swing rod 18. The first elastic member 28 is used to restrict one end of the connecting rod 12 to one end of the slide groove 26 when the finger assembly 100 is not subjected to an external force, or the first elastic member 28 has a tendency to drive one end of the connecting rod 12 toward one end of the slide groove 26.

[0045] Thus, when the finger assembly 100 is not subjected to external impact, one end of the connecting rod 12 can always remain at one end of the slide groove 26 under the action of the first elastic member 28.

[0046] Specifically, the first elastic element 28 includes a tension spring. One end of the first elastic element 28 can be connected to the connecting rod 12 located at one end of the slide groove 26, and the other end of the first elastic element 28 is connected to the second swing rod 18. When the finger assembly 100 is not subjected to external impact, one end of the connecting rod 12 can always be kept at one end of the slide groove 26 under the action of the first elastic element 28.

[0047] In one embodiment, when the finger assembly 100 is not subjected to an external force, the first elastic member 28 can restrict one end of the link 12 to the end of the groove 26 near the base 14. In another embodiment, when the finger assembly 100 is not subjected to an external force, the first elastic member 28 has a tendency to drive one end of the link 12 toward the end of the groove 26 near the base 14.

[0048] In addition, the first elastic element 28 can be not only a tension spring, but also a compression spring or other component that provides elastic force.

[0049] Please combine Figure 6 In some embodiments, the second rocker arm 18 includes a main body 30, a first protrusion 32 and a second protrusion 34. One end of the main body 30 is hinged to the base 14, and the other end of the main body 30 is hinged to the fingertip 20. The first protrusion 32 is located on one side of the main body 30, and the second protrusion 34 is located on the other side of the main body 30. A groove 26 is formed in the first protrusion 32, and the other end of the first elastic member 28 is connected to the second protrusion 34.

[0050] Thus, the second rocker arm 18 can further achieve the swinging function through the cooperation between the main body 30, the first protrusion 32 and the second protrusion 34.

[0051] Specifically, the first protrusion 32 is disposed on one side of the main body 30, and the second protrusion 34 is disposed on the side of the main body 30 opposite to the first protrusion 32. The second rocker arm 18 has a receiving groove 36, which passes through the first protrusion, the main body 30 and the second protrusion 34. The sliding groove 26 connects to the receiving groove 36, and the first elastic member 28 can be disposed in the receiving groove 36.

[0052] Please combine Figure 4 and Figure 5 In some embodiments, a second elastic element 38 is provided between the first rocker arm 16 and the fingertip 20, or a second elastic element 38 is provided between the second rocker arm 18 and the fingertip 20. The second elastic element 38 is used to drive the finger assembly 100 to unfold.

[0053] Thus, the second elastic element 38 can drive the finger assembly 100 to unfold, facilitating the unfolding movement of the finger assembly 100.

[0054] Specifically, in one embodiment, a second elastic element 38 is provided between the first rocker arm 16 and the fingertip 20. In another embodiment, a second elastic element 38 is provided between the second rocker arm 18 and the fingertip 20. The second elastic element 38 includes a torsion spring 46.

[0055] exist Figure 4 In the embodiment shown, a first pivot 42 may be provided between the first rocker arm 16 and the fingertip 20. The first pivot 42 passes through one end of the first rocker arm 16 and one end of the fingertip 20. The first rocker arm 16 and the fingertip 20 are hinged through the first pivot 42. A second elastic member 38 may be sleeved on the first pivot 42. One end of the second elastic member 38 may abut against the first rocker arm 16, and the other end may abut against the fingertip 20.

[0056] exist Figure 5 In the embodiment shown, a second pivot 44 may be provided between the second rocker arm 18 and the fingertip 20. The second pivot 44 passes through one end of the second rocker arm 18 and one end of the fingertip 20. The second rocker arm 18 and the fingertip 20 are hinged through the second pivot 44. The second elastic member 38 may be sleeved on one end of the second rocker arm 18. One end of the second elastic member 38 may abut against the second rocker arm 18, and the other end may abut against the fingertip 20.

[0057] In addition, the second elastic element 38 can be not only a torsion spring 46, but also a compression spring, tension spring or other component that provides elastic force.

[0058] Please combine Figure 2 In some embodiments, the fingertip 20 has a connecting groove 40, the first rocker arm 16 is hinged to the outer wall of the connecting groove 40 via the first pivot 42, and one end of the second rocker arm 18 is disposed in the connecting groove 40 and is hinged to the inner wall of the connecting groove 40 via the second pivot 44.

[0059] This allows for the movement of the second pendulum 18 to be avoided.

[0060] Specifically, a connecting groove 40 is formed at one end of the fingertip 20. A first rotating shaft 42 can pass through one end of the first swing rod 16 and through the connecting groove 40, so that the first swing rod 16 is hinged to the outer wall of the connecting groove 40. One end of the second swing rod 18 can be disposed in the connecting groove 40. A second rotating shaft 44 can pass through the connecting groove 40 and through one end of the second swing rod 18, so that the second rotating shaft 44 is hinged to the inner wall of the connecting groove 40, thereby providing clearance for the movement of the second swing rod 18.

[0061] Please combine Figure 2 and Figure 4 In some embodiments, the second elastic element 38 is a torsion spring 46, part of which is disposed in the connecting groove 40 and sleeved on the first rotating shaft 42.

[0062] Thus, the torsion spring 46 can provide tension and thrust to drive the finger assembly 100 to unfold.

[0063] Specifically, in one embodiment, a torsion spring 46 may be sleeved on the first rotating shaft 42, one end of the torsion spring 46 may abut against the first rocker arm 16, and the other end of the torsion spring 46 may abut against the fingertip 20, thereby the torsion spring 46 can provide tension and thrust to drive the finger assembly 100 to unfold.

[0064] Please combine Figure 3 In some embodiments, the line connecting the hinge point of the first rocker arm 16 and the fingertip 20 with the hinge point of the base 14 and the first rocker arm 16 is the first position line L1, and the line connecting the hinge point of the second rocker arm 18 and the fingertip 20 with the hinge point of the base 14 and the second rocker arm 18 is the second position line L2. The first position line L1 and the second position line L2 are arranged alternately, and the hinge point between the second rocker arm 18 and the base 14 is closer to the connecting rod 12 than the hinge point between the first rocker arm 16 and the base 14.

[0065] This allows the fingertip 20 to smoothly swing back and forth relative to the first swing arm 16 when moving back and forth, reducing space occupation.

[0066] Specifically, the hinge point between the first swing arm 16 and the fingertip 20 is closer to the connecting rod 12 than the hinge point between the second swing arm 18 and the fingertip 20, and the hinge point between the second swing arm 18 and the base 14 is closer to the connecting rod 12 than the hinge point between the first swing arm 16 and the base 14. In one embodiment, the first position line L1 and the second position line L2 are staggered, so that the fingertip 20 can smoothly swing back and forth relative to the first swing arm 16 when moving back and forth, reducing space occupation.

[0067] Please combine Figure 4 In some embodiments, the first rocker arm 16 includes a first connecting portion 48 and two second connecting portions 50. The first connecting portion 48 is disposed between the two second connecting portions 50. One end of each of the two second connecting portions 50 is hinged to a fingertip 20, and the other end of each of the two second connecting portions 50 is hinged to a base 14. The second rocker arm 18 is located between the two second connecting portions 50 and between the first connecting portion 48 and the connecting rod 12.

[0068] Thus, the second swing arm 18 can be set inside the first swing arm 16, making the structure compact, reducing space occupation, and avoiding interference with the grasped object.

[0069] Specifically, the first connecting part 48 is disposed between the two second connecting parts 50 and close to one side of the two second connecting parts 50 in the same direction. One end of the two second connecting parts 50 is hinged to the fingertip 20, and the other end of the two second connecting parts 50 is hinged to the base 14. The second swing arm 18 is located between the two second connecting parts 50 and between the first connecting part 48 and the connecting rod 12. The second swing arm 18 can be disposed inside the first swing arm 16, thereby making the structure compact, reducing space occupation, and avoiding interference with the grasped object.

[0070] Please refer to Figure 1 and Figure 7 A robotic arm 200 according to an embodiment of the present invention includes a base 52 and a finger assembly 100 according to any of the above embodiments, wherein the finger assembly 100 is connected to the base 52.

[0071] In the aforementioned robotic arm 200, the output shaft 24 can retract into the housing 22 along the axial direction of the output shaft 24 under drive, thereby driving the connecting rod 12 to move towards the housing 22. The second swing arm 18 rotates relative to the base 14 towards the side of the connecting rod 12, and the first swing arm 16 rotates relative to the base 14 towards the side of the connecting rod 12. The first swing arm 16 and the second swing arm 18 can jointly drive the fingertip 20 to move and rotate towards the side of the connecting rod 12, so that the finger assembly 100 moves from the unfolded state to the bent state, thereby improving the gripping force of the finger assembly 100 and enhancing the stability of the robotic arm 200 when grasping.

[0072] Specifically, the robotic arm 200 also includes a thumb 54, which can be connected to the base 52. The robotic arm 200 may be provided with multiple finger components 100, which are arranged at intervals on the base 52. The multiple finger components 100 can cooperate with the thumb 54 to grasp objects.

[0073] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with an embodiment or example is included in at least one embodiment or example of this utility model. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0074] Although embodiments of the present invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A finger assembly for a robot hand, characterized by The finger assembly includes a linear drive assembly, a connecting rod, a base, a first swing arm, a second swing arm, and a fingertip. The linear drive assembly includes a housing and an output shaft. One end of the output shaft is disposed inside the housing, and the other end of the output shaft extends out from one end of the housing. One end of the connecting rod is hinged to the output shaft, and the other end of the connecting rod is connected to the second swing arm. One end of the base is connected to one end of the output shaft extending from the two ends of the housing. One end of the first swing arm and one end of the second swing arm are both hinged to the other end of the base, and the other ends of the first swing arm and the second swing arm are both hinged to one end of the fingertip. The output shaft can retract into the housing along the axial direction of the output shaft under drive, so as to drive the connecting rod to move towards the housing. The second rocker arm rotates relative to the base towards the side of the connecting rod, and the first rocker arm rotates relative to the base towards the side of the connecting rod. The first rocker arm and the second rocker arm together drive the fingertip to move and rotate towards the side of the connecting rod, so that the finger assembly moves from the unfolded state to the bent state.

2. The finger assembly of claim 1, wherein, The second swing arm has a groove, and one end of the connecting rod is slidably connected in the groove. When the finger assembly is subjected to an external force, one end of the connecting rod can slide in the groove, causing the finger assembly to bend further.

3. The finger assembly according to claim 2, characterized in that, The finger assembly includes a first elastic element, one end of which is connected to the connecting rod, and the other end of which is connected to the second swing rod; the first elastic element is used to restrict one end of the connecting rod to one end of the slide groove when the finger assembly is not subjected to an external force, or the first elastic element has a tendency to drive one end of the connecting rod to move towards one end of the slide groove.

4. The finger assembly according to claim 3, characterized in that, The second rocker arm includes a main body, a first protrusion, and a second protrusion. One end of the main body is hinged to the base, and the other end of the main body is hinged to the fingertip. The first protrusion is located on one side of the main body, and the second protrusion is located on the other side of the main body. The sliding groove is formed in the first protrusion, and the other end of the first elastic member is connected to the second protrusion.

5. The finger assembly according to claim 1, characterized in that, A second elastic element is provided between the first swing arm and the fingertip, or a second elastic element is provided between the second swing arm and the fingertip; The second elastic element is used to drive the finger assembly to unfold.

6. The finger assembly according to claim 5, characterized in that, The fingertip has a connecting groove, the first swing arm is hinged to the outer wall of the connecting groove via a first pivot, and one end of the second swing arm is disposed in the connecting groove and is hinged to the inner wall of the connecting groove via a second pivot.

7. The finger assembly according to claim 6, characterized in that, The second elastic element is a torsion spring, part of which is disposed in the connecting groove and sleeved on the first rotating shaft.

8. The finger assembly according to claim 1, characterized in that, The line connecting the hinge point between the first swing arm and the fingertip to the hinge point between the base and the first swing arm is the first position line, and the line connecting the hinge point between the second swing arm and the fingertip to the hinge point between the base and the second swing arm is the second position line. The first position line and the second position line are arranged alternately, and the hinge point between the second swing arm and the base is closer to the connecting rod than the hinge point between the first swing arm and the base.

9. The finger assembly according to claim 1, characterized in that, The first swing arm includes a first connecting part and two second connecting parts. The first connecting part is disposed between the two second connecting parts. One end of the two second connecting parts is hinged to the fingertip, and the other end of the two second connecting parts is hinged to the base. The second swing arm is located between the two second connecting parts and between the first connecting part and the connecting rod.

10. A robotic arm, characterized in that, It includes a base and a finger assembly as described in any one of claims 1-9, the finger assembly being attached to the base.

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