Underactuated manipulator

Abstract

The application relates to the technical field of robot bionic actuators, and relates to an underactuated manipulator which comprises a hand plate structure, a flexion and extension joint device, a thumb device and a finger device; the flexion and extension joint device comprises a joint mechanism and a flexion and extension mechanism, the number of the flexion and extension joint devices is multiple groups, and the multiple groups of flexion and extension joint devices comprise a thumb mechanism and a finger mechanism; the thumb device comprises a rotating mechanism and a thumb mechanism, the rotating mechanism is used for driving the thumb mechanism to rotate relative to the hand plate structure; and the finger device comprises a side swing mechanism and multiple groups of finger mechanisms, the side swing mechanism is used for driving the multiple groups of finger mechanisms to rotate towards the direction of approaching or moving away from each other. In the underactuated manipulator of the embodiment, the flexion and extension movements of the fingers and the thumb are realized through the multiple groups of flexion and extension joint devices, the thumb mechanism is driven to rotate relative to the hand plate structure through the rotating mechanism, and the multiple groups of finger mechanisms are driven to swing laterally through the side swing mechanism, so that the gripping performance of the manipulator is effectively improved, and the structure is simple.

Description

Technical Field

[0001] This application relates to the field of bionic actuator technology for robots, and more particularly to an underactuated manipulator. Background Technology

[0002] In existing biomimetic end effectors for robots, especially in the design of multi-DOF dexterous manipulators, the degrees of freedom of the thumb and fingers and the actuation method play a decisive role in the manipulator's grasping ability and dexterity. Traditional manipulators typically use individual actuation for each joint, resulting in a complex drive system with a large number of motors. This leads to a bulky and heavy overall structure, affecting its flexibility and load-bearing capacity in practical applications.

[0003] Furthermore, the coordinated control of multi-motor drive systems is quite challenging, limiting the coordination and response speed of the robotic arm's movements and reducing its overall performance. When performing grasping actions, multi-degree-of-freedom robotic arms cannot achieve natural lateral finger swinging and rotation, thus limiting the diversity of grasping postures and the range of objects they can grasp, making it difficult to meet the operational needs in complex environments. Utility Model Content

[0004] In view of this, this application provides an underactuated manipulator to solve the problem of complex structure caused by the use of a large number of motors in traditional manipulators.

[0005] The first aspect of this application provides an underactuated manipulator, comprising:

[0006] Prototype structure;

[0007] A flexion-extension joint device includes a joint mechanism and a flexion-extension mechanism. The flexion-extension mechanism is disposed on the hand plate structure. The joint mechanism is drively connected to the flexion-extension mechanism. The flexion-extension mechanism is used to drive the joint mechanism to unfold or bend. The number of flexion-extension joint devices is multiple, and the multiple sets of flexion-extension joint devices include a thumb mechanism and a finger mechanism.

[0008] A thumb device includes a rotating mechanism and the thumb mechanism, the thumb mechanism being connected to the output end of the rotating mechanism, the rotating mechanism being disposed on the hand plate structure and used to drive the thumb mechanism to rotate relative to the hand plate structure; and

[0009] The finger device includes a side-swing mechanism and multiple sets of the finger mechanisms, which are respectively drivenly connected to the side-swing mechanism. The side-swing mechanism is disposed on the hand plate structure and is used to drive the multiple sets of finger mechanisms to rotate in a direction closer to or further away from each other.

[0010] In one possible implementation, the joint mechanism includes a joint connector and a plurality of finger joints, the plurality of finger joints being rotatably connected, and the finger joints located at the ends being connected to the joint connector. The joint connector of the thumb mechanism is connected to the rotating mechanism, and the joint connector of the finger mechanism is connected to the lateral swing mechanism.

[0011] The flexion-extension mechanism includes a joint drive rope and a flexion-extension assembly. The flexion-extension assembly is disposed on the hand plate structure and is drively connected to the joint drive rope. One end of the joint drive rope is connected to at least one finger joint of the finger mechanism away from the hand plate structure.

[0012] In one possible implementation, the flexion-extension assembly includes a flexion-extension motor, a flexion-extension sleeve, and a flexion-extension guide wheel. The flexion-extension motor is connected to the handplate structure, the flexion-extension sleeve is threadedly connected to the flexion-extension motor, and the flexion-extension motor is used to drive the flexion-extension sleeve to move relative to the handplate structure. The flexion-extension guide wheel is rotatably connected to the handplate structure, and the joint drive rope is at least partially wound around the flexion-extension guide wheel.

[0013] In one possible implementation, the plurality of said knuckles are rotatably connected by a joint bearing, and the joint mechanism further includes a joint pulley, the joint pulley being coaxially arranged with the joint bearing;

[0014] The number of the joint pulleys is two, and the two joint pulleys are coaxially arranged. The two ends of the joint drive rope are respectively wound around the two joint pulleys.

[0015] Alternatively, the joint pulley may have a first joint groove and a second joint groove, and the two ends of the joint drive rope may be connected to the finger joint, and the joint drive rope may be wound around the first joint groove and the second joint groove respectively.

[0016] In one possible implementation, the rotating mechanism includes a rotating base and a rotating assembly, one end of the thumb mechanism is connected to the rotating base, the rotating base is rotatably connected to the hand plate structure, the rotating assembly is disposed on the hand plate structure, and the rotating assembly is used to drive the rotating base to rotate relative to the hand plate structure.

[0017] In one possible implementation, the rotating assembly includes a rotary motor, a rotary sleeve, and a drive linkage. The rotary motor is mounted on and connected to the handplate structure. The rotary sleeve is threadedly connected to the rotary motor, and the rotary motor drives the rotary sleeve to move relative to the handplate structure. The drive linkage is rotatably connected to the rotating base and the rotary sleeve, respectively.

[0018] In one possible implementation, the lateral swing mechanism includes a lateral swing motor and a lateral swing transmission assembly. The lateral swing motor is mounted on the hand plate structure, and the lateral swing transmission assembly is respectively connected to the lateral swing motor and a plurality of the finger mechanisms. The lateral swing transmission assembly is used to drive the plurality of finger mechanisms to move closer or spread out.

[0019] In one possible implementation, the lateral swing transmission assembly includes a lateral swing drive plate and a plurality of lateral swing transmission frames. The lateral swing drive plate is connected to the lateral swing motor, the plurality of lateral swing transmission frames are movably connected to the lateral swing drive plate, the lateral swing transmission frames are rotatably connected to the handplate structure, and the joint mechanism is connected to the lateral swing transmission frames.

[0020] In one possible implementation, the side-swing drive plate has multiple drive slots arranged in a diffused manner; the side-swing transmission frame includes a frame body and a sliding pin, the frame body is connected to the joint mechanism, the sliding pin is connected to the frame body, and the sliding pin is slidably engaged with the drive slots.

[0021] And / or, the lateral swing transmission assembly further includes a lateral swing buffer, which is flexibly connected to the lateral swing transmission frame and the joint mechanism, respectively.

[0022] In one possible implementation, the joint device further includes a finger segment sensor disposed on the joint mechanism, the finger segment sensor being used to acquire pressure signals between the joint mechanism and an external object.

[0023] Implementing the embodiments of this application has the following beneficial effects:

[0024] In the underactuated manipulator of this embodiment, the flexion and extension movements of the fingers and thumb are realized by setting multiple sets of flexion and extension joint devices. The thumb mechanism is driven to rotate relative to the hand plate structure by a rotation mechanism, and multiple sets of finger mechanisms are driven to swing laterally by a side swing mechanism, which effectively improves the gripping performance of the manipulator and has a simple structure.

[0025] Specifically, in this embodiment, the rotation mechanism works in conjunction with the thumb mechanism to realize the rotational freedom of the thumb, expand the grasping posture of the robotic hand, and improve the adaptability to objects of different shapes and sizes; the side-swing mechanism works in conjunction with multiple sets of finger mechanisms to enable the fingers to swing towards or away from each other, enhance the coordination ability between the fingers, and improve the stability and flexibility of grasping. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 A perspective view of an underactuated manipulator according to an embodiment of the present invention is shown;

[0028] Figure 2 It shows Figure 1 A magnified view of part A in the middle;

[0029] Figure 3 This illustration shows another perspective view of the underactuated manipulator in an embodiment of the present invention.

[0030] Figure 4 It shows Figure 3 A magnified view of part B in the middle;

[0031] Figure 5 A perspective view of the flexion-extension joint device in an embodiment of the present invention is shown;

[0032] Figure 6 A schematic diagram of the motion of the flexion-extension joint device in an embodiment of this utility model is shown;

[0033] Figure 7 A partial structural schematic diagram of the thumb device in an embodiment of this utility model is shown;

[0034] Figure 8 An exploded view of the side-swing mechanism in an embodiment of this utility model is shown;

[0035] Figure 9 A partial structural schematic diagram of the side-swing mechanism in an embodiment of this utility model is shown;

[0036] Figure 10 A schematic diagram of the movement of the finger device in an embodiment of this utility model is shown;

[0037] Figure 11 A perspective view of the hand-operated structure in an embodiment of this utility model is shown;

[0038] Figure 12 Another perspective view of the handpiece structure in an embodiment of this utility model is shown.

[0039] Figure label:

[0040] 10. Underactuated robotic arm;

[0041] 100. Hand plate structure; 110. Thumb mounting hole; 120. Finger mounting hole; 131. First thumb motor hole; 132. Second thumb motor hole; 133. Finger motor hole; 134. Side swing motor hole; 140. Thumb anchor block; 141. Thumb guide hole; 150. Thumb drive seat; 160. Finger anchor block; 161. Finger guide hole; 170. Finger drive seat;

[0042] 200. Flexion-extension joint device; 210. Joint mechanism; 211. Joint connecting seat; 2111. Second positioning groove; 212. Finger joint; 2121. Joint bearing; 213. Joint pulley; 2131. First joint slide groove; 2132. Second joint slide groove; 220. Flexion-extension mechanism; 221. Joint drive rope; 222. Flexion-extension assembly; 2221. Flexion-extension motor; 2222. Flexion-extension sleeve; 22221. Flexion-extension adapter; 2223. Flexion-extension guide wheel; 223. Flexion-extension sleeve;

[0043] 300. Thumb device; 310. Rotating mechanism; 311. Rotating seat; 312. Rotating assembly; 3121. Rotating motor; 3122. Rotating sleeve; 31221. Rotating hinge; 3123. Drive link; 320. Thumb mechanism;

[0044] 400, Finger device; 410, Side-swing mechanism; 411, Side-swing motor; 412, Side-swing transmission assembly; 4121, Side-swing drive plate; 41211, Drive slot; 41212, Side-swing moving part; 4122, Side-swing transmission frame; 41221, Frame body; 41222, First positioning slot; 41223, Sliding pin; 4123, Side-swing buffer; 413, Side-swing guide; 4131, Side-swing guide rod; 4132, Side-swing mounting base; 420, Finger mechanism;

[0045] 500. Finger segment sensor. Detailed Implementation

[0046] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0047] In existing biomimetic end effectors for robots, especially in the design of multi-DOF dexterous manipulators, the degrees of freedom of the thumb and fingers and the actuation method play a decisive role in the manipulator's grasping ability and dexterity. Traditional manipulators typically use individual actuation for each joint, resulting in a complex drive system with a large number of motors. This leads to a bulky and heavy overall structure, affecting its flexibility and load-bearing capacity in practical applications.

[0048] Furthermore, the coordinated control of multi-motor drive systems is quite challenging, limiting the coordination and response speed of the robotic arm's movements and reducing its overall performance. When performing grasping actions, multi-degree-of-freedom robotic arms cannot achieve natural lateral finger swinging and rotation, thus limiting the diversity of grasping postures and the range of objects they can grasp, making it difficult to meet the operational needs in complex environments.

[0049] Based on this, see Figures 1 to 12 As shown, this embodiment of the present invention provides an underactuated manipulator 10, which includes a hand plate structure 100, a flexion-extension joint device 200, a thumb device 300, and a finger device 400. The flexion-extension joint device 200 includes a joint mechanism 210 and a flexion-extension mechanism 220. The flexion-extension mechanism 220 is disposed on the hand plate structure 100, and the joint mechanism 210 is throttle-connected to the flexion-extension mechanism 220. The flexion-extension mechanism 220 is used to drive the joint mechanism 210 to unfold or bend. The number of flexion-extension joint devices 200 is multiple, and each set of flexion-extension joint devices 200 includes a thumb mechanism 320 and a finger device. Mechanism 420; Thumb device 300 includes a rotating mechanism 310 and a thumb mechanism 320, the thumb mechanism 320 is connected to the output end of the rotating mechanism 310, the rotating mechanism 310 is disposed on the hand plate structure 100 and is used to drive the thumb mechanism 320 to rotate relative to the hand plate structure 100; Finger device 400 includes a side swing mechanism 410 and multiple sets of finger mechanisms 420, the multiple sets of finger mechanisms 420 are respectively connected to the side swing mechanism 410, the side swing mechanism 410 is disposed on the hand plate structure 100 and is used to drive the multiple sets of finger mechanisms 420 to rotate in a direction closer to or farther from each other.

[0050] In the underactuated manipulator 10 of this embodiment, the flexion and extension movements of the fingers and thumb are realized by setting multiple sets of flexion and extension joint devices 200, the thumb mechanism 320 is driven to rotate relative to the hand plate structure 100 by the rotation mechanism 310, and the multiple sets of finger mechanisms 420 are driven to swing laterally by the side swing mechanism 410, which effectively improves the gripping performance of the manipulator and has a simple structure.

[0051] Specifically, the flexion-extension mechanism 220 can effectively drive multiple finger joints 212 to work together to complete the grasping action, improving the flexion-extension coordination and grasping ability of the fingers; the lateral swing mechanism 410 drives multiple finger mechanisms 420 to swing closer or further apart, improving the robot's adaptability to objects of different shapes and sizes and the stability of grasping.

[0052] Specifically, in this embodiment, the rotating mechanism 310 cooperates with the thumb mechanism 320, enabling the rotating mechanism 310 to independently drive the thumb mechanism 320. This allows the thumb mechanism 320 to rotate flexibly relative to the hand plate structure 100. Simultaneously, the thumb mechanism 320 can effectively release and firmly grasp objects. This design not only reduces the structural complexity of the underactuated manipulator 10 and improves the reliability of the mechanism, but also fully utilizes the thumb's freedom of movement, expanding the manipulator's grasping posture and improving its adaptability to objects of different shapes and sizes, thereby enhancing the overall grasping flexibility and adaptability of the manipulator.

[0053] Meanwhile, the underactuated manipulator 10 in this embodiment is equipped with a side-swing mechanism 410, which can cooperate with multiple sets of finger mechanisms 420 to enable the fingers to swing towards or away from each other, thereby enhancing the coordination ability between the fingers, improving the stability and flexibility of grasping, and improving the problems of insufficient side-swing function or complex drive system of manipulators in the prior art.

[0054] Specifically, the joint mechanism 210 includes a joint connecting seat 211 and a plurality of finger joints 212, which are rotatably connected, with the finger joints 212 located at the ends connected to the joint connecting seat 211; the joint connecting seat 211 of the thumb mechanism 320 is connected to the rotating mechanism 310, and the joint connecting seat 211 of the finger mechanism 420 is connected to the lateral swing mechanism 410. The flexion-extension mechanism 220 includes a joint drive rope 221 and a flexion-extension assembly 222, which is disposed on the hand plate structure 100 and is drively connected to the joint drive rope 221. One end of the joint drive rope 221 is connected to at least one finger joint 212 of the finger mechanism 420 away from the hand plate structure 100.

[0055] In one embodiment, multiple finger joints 212 are rotatably connected to form a multi-joint mechanism 210, specifically including a first finger joint, a second finger joint, and a third finger joint, wherein the third finger joint is connected to a joint connecting seat 211, constituting the basic support component of the finger mechanism 420. The flexion-extension mechanism 220 includes a joint drive rope 221 and a flexion-extension assembly 222, which is disposed on the hand plate structure 100 and drives the movement of the joint drive rope 221 through a transmission connection.

[0056] One end of the joint drive rope 221 is connected to the first finger joint, which is located relatively far from the hand plate structure 100, and the other end is also connected to the other side of the first finger joint. The joint drive rope 221 is wound around the second and third finger joints, and the two connection points are located on opposite sides of the rotation axis of the finger joints 212. This structural design allows the first finger joint to tension or relax the joint drive rope 221 when the flexion-extension component 222 drives the joint drive rope 221 to move in the forward or reverse direction. Thus, through the path of the joint drive rope 221 wound around the second and third finger joints, the synchronous drive of multiple finger joints 212 is achieved.

[0057] Specifically, see Figure 6 As shown in the arrangement, when the joint drive rope 221 is driven to move along the X1 direction, the first finger joint experiences a flexion motion along the Y direction. The second and third finger joints around which the joint drive rope 221 passes also undergo corresponding flexion and extension movements, thereby achieving a closing grasping action of the fingers. Conversely, when the joint drive rope 221 moves along the X2 direction, each finger joint 212 returns to its extended state, realizing the release of the grasped object. This structure utilizes the winding path of the joint drive rope 221 to effectively transmit a single driving force to multiple joints, achieving multi-degree-of-freedom flexion and extension motion control. This avoids the complexity of setting a separate drive source for each joint, simplifying the mechanical structure and control system.

[0058] It should be noted that the two connection points of the joint drive rope 221 are located on opposite sides of the rotation axis of the finger joint 212, which helps to ensure the stability of the drive rope during joint rotation and prevents the drive rope from slipping off or causing unexpected slippage. This design improves the reliability and durability of the transmission and is suitable for robotic arm applications involving long-term repetitive movements.

[0059] The number of finger joints 212 can be specifically set to three, but it can also be adjusted to two, four or more depending on the actual application requirements. The setting of multiple joints helps to improve the flexibility and grasping accuracy of the fingers, but at the same time increases the control complexity and drive burden. In the three-joint design, the first finger joint, the second finger joint and the third finger joint are connected in sequence to form a reasonable mechanical structure, which enables the fingers to complete more natural and dexterous flexion and extension movements to adapt to the grasping needs of objects of different shapes and sizes.

[0060] Specifically, the bending and stretching assembly 222 includes a bending and stretching motor 2221, a bending and stretching sleeve 2222, and a bending and stretching guide wheel 2223. The overall structure is compact and functionally clear, making it suitable for application on the space-constrained robotic hand plate structure 100, thus improving the integration of the structure and the transmission efficiency.

[0061] The flexion-extension motor 2221 is fixedly connected to the hand plate structure 100. Its output end has a threaded portion that passes through the flexion-extension sleeve 2222 and engages with the internal thread of the sleeve 2222 to achieve a transmission connection. When the flexion-extension motor 2221 starts, the threaded portion rotates with the motor shaft, driving the flexion-extension sleeve 2222 to move linearly along the thread direction. This linear motion drives one end of the joint drive rope 221 to tighten or loosen the rope, thereby controlling the multiple finger joints 212 of the finger mechanism 420 to perform flexion and extension movements, completing the grasping or releasing function.

[0062] The joint drive rope 221 is at least partially wound around the flexion-extension guide wheel 2223, which is rotatably connected to the hand plate structure 100 and can rotate freely relative to the hand plate structure 100. The guide wheel preferably has a guide groove to accommodate the joint drive rope 221, ensuring that the joint drive rope 221 maintains a stable path during winding, preventing the joint drive rope 221 from deviating or falling off, and improving the stability and durability of the transmission. The guide groove design also reduces frictional loss between the joint drive rope 221 and the flexion-extension guide wheel 2223, extending the service life of the finger device 400.

[0063] The two ends of the joint drive rope 221 are respectively connected to the first finger joint, and the two ends are symmetrically arranged on opposite sides of the rotation axis of the finger joint 212. When the flexion and extension sleeve 2222 moves in a straight line, the tension of the drive rope changes, thereby causing the first finger joint to produce flexion and extension movements. Then, through the path of the drive rope, the second and third finger joints are driven to produce corresponding movements, realizing the overall flexion and extension of the finger.

[0064] The advantages of this structure are as follows: the linear transmission method driven by threads can precisely control the displacement of the joint drive rope 221, achieving fine control of the finger joints 212 and making the gripping action more precise; the transmission connection between the flexion-extension sleeve 2222 and the threaded part is compact, saving space and suitable for the limited installation space of the robot hand plate structure 100; the rotation of the flexion-extension guide wheel 2223 and the guide groove design ensure the stable operation of the joint drive rope 221, reduce the probability of failure, and facilitate long-term reliable use; the entire joint drive rope 221 system is driven by a single flexion-extension motor 2221, realizing an underactuated structure, simplifying the drive mechanism of the robot, and reducing manufacturing and maintenance costs.

[0065] In one embodiment, the flexion-extension sleeve 2222 is provided with a flexion-extension adapter 22221 on its exterior. The flexion-extension adapter 22221 is used to connect the joint drive rope 221, realizing the transmission connection between the flexion-extension sleeve 2222 and the joint drive rope 221. The flexion-extension adapter 22221 is preferably combined with the flexion-extension sleeve 2222 in a detachable connection manner, for example, by means of threaded connection, snap-fit ​​structure or pin connection.

[0066] The detachable connection design offers several advantages. First, it facilitates the maintenance and replacement of the joint drive rope 221 or the flexion-extension sleeve 2222. When the joint drive rope 221 wears or breaks, the flexion-extension adapter 22221 can be quickly disassembled for easy replacement of the drive rope, reducing maintenance time and costs. Second, this design enhances flexibility during assembly and debugging, allowing for adjustments and optimizations to the transmission connection, thereby improving the overall assembly efficiency and precision of the robot.

[0067] In practical implementation, the structure of the flexural adapter 22221 can be optimized based on ease of assembly and disassembly and connection robustness. For example, when using a threaded connection, the adapter can be designed with an internal thread on the outside, and the sleeve can be fitted with a corresponding external thread to achieve a screw-in connection; when using a snap-fit ​​or pin structure, it can be designed as a quick-locking mechanism, allowing users to assemble and disassemble without special tools. The selection of different connection methods can be flexibly determined based on the actual usage environment, assembly and disassembly frequency, and mechanical requirements.

[0068] Meanwhile, the joint connecting seat 211 of the thumb mechanism 320 is connected to the rotating mechanism 310 and can drive the thumb mechanism 320 to rotate relative to the hand plate structure 100 through the rotating mechanism 310; the joint connecting seat 211 of the finger mechanism 420 is connected to the side swing mechanism 410 and can be driven by the side swing mechanism 410 to make the multiple finger mechanisms 420 side swing.

[0069] Furthermore, the multiple finger joints 212 of the finger mechanism 420 are rotatably connected by joint bearings 2121, ensuring smooth flexion and extension movements between the joints. The finger mechanism 420 is also equipped with joint pulleys 213, which are coaxially arranged with the joint bearings 2121, that is, the rotation axis of the joint pulleys 213 coincides with the rotation axis of the joint bearings 2121, thereby achieving a compact configuration of the mechanism and saving space.

[0070] The joint drive rope 221 at least partially abuts against the outer wall of the joint pulley 213, forming a pulley-rope mating structure. This structure effectively limits and guides the range of motion of the joint drive rope 221 through the joint pulley 213, so that the joint drive rope 221 moves stably along a predetermined trajectory during flexion and extension, preventing the joint drive rope 221 from deviating, detaching, or becoming excessively slack due to changes in force or mechanical interference.

[0071] The implementation of this limiting and guiding function helps ensure the transmission stability and motion accuracy of the finger device 400 during continuous and repetitive movements, and reduces the risk of mechanical jamming or failure of the joint drive rope 221 due to abnormal positioning. Especially when the finger joint 212 moves rapidly or frequently, the constraint effect of the joint pulley 213 on the joint drive rope 221 can effectively reduce wear and mechanical fatigue, and improve the service life and reliability of the system.

[0072] In practice, the outer wall of the articulated pulley 213 can be designed with a guide groove suitable for the articulated drive rope 221, further enhancing the fixing and guiding effect of the drive rope. The width and depth of the guide groove can be matched according to the diameter of the articulated drive rope 221. For example, the width of the guide groove can be 1.1 to 1.5 times the diameter of the drive rope to ensure that the drive rope has sufficient room to move during the rotation of the pulley and is not easy to fall off.

[0073] Specifically, the hand plate structure 100 also includes a finger anchor block 160 and a finger drive seat 170, which play a key guiding and driving force transmission role in the motion control of the finger mechanism 420.

[0074] Specifically, the finger anchor block 160 has a finger guide hole 161, through which the joint drive rope 221 passes. This guide hole accurately guides the joint drive rope 221, allowing it to slide smoothly along a predetermined path during flexion and extension movements, preventing deviations, entanglement, or detachment due to changes in force or movement. By guiding the joint drive rope 221 through the finger anchor block 160, the stability and reliability of the flexion and extension movements of the finger mechanism 420 can be effectively ensured.

[0075] The material and structural design of the finger anchor 160 should possess sufficient strength and wear resistance to withstand the friction and tension generated by the joint drive rope 221 during high-frequency movements. It can be made of metal or high-strength engineering plastics. The size of the guide hole should be rationally designed according to the diameter of the joint drive rope 221. For example, the diameter of the guide hole can be 1.1 to 1.5 times the diameter of the joint drive rope 221 to ensure that the rope can pass smoothly without generating excessive swaying space, thereby reducing wear and movement errors.

[0076] On the other hand, the flexion-extension guide pulley 2223 is rotatably connected to the finger drive seat 170, forming another important component for tensioning and guiding the joint drive rope 221. The flexion-extension guide pulley 2223 helps to change the transmission direction of the joint drive rope 221, reduces the frictional resistance when the rope contacts the structure, and improves transmission efficiency. The rotatable connection between this guide pulley and the finger drive seat 170 ensures that the guide pulley can rotate flexibly during flexion-extension movements, reducing wear and fatigue of the drive rope and extending the service life of the overall drive system.

[0077] Specifically, the hand plate structure 100 also includes a thumb anchor block 140 and a thumb drive seat 150, which play a key guiding and driving force transmission role in the motion control of the thumb mechanism 320.

[0078] Specifically, the thumb anchor block 140 has a thumb guide hole 141, through which the joint drive rope 221 passes. This guide hole accurately guides the joint drive rope 221, allowing it to slide smoothly along a predetermined path during flexion and extension movements, preventing deviations, entanglement, or detachment due to changes in force or movement. By guiding the joint drive rope 221 through the thumb anchor block 140, the stability and reliability of the flexion and extension movements of the thumb mechanism 320 are effectively ensured.

[0079] The material and structural design of the thumb anchor block 140 should possess sufficient strength and wear resistance to withstand the friction and tension generated by the joint drive rope 221 during high-frequency movements. It can be made of metal or high-strength engineering plastics. The size of the guide hole should be rationally designed according to the diameter of the joint drive rope 221. For example, the diameter of the guide hole can be 1.1 to 1.5 times the diameter of the joint drive rope 221 to ensure that the rope can pass smoothly without generating excessive swaying space, thereby reducing wear and movement errors.

[0080] On the other hand, the flexion-extension guide pulley 2223 is rotatably connected to the thumb drive seat 150, forming another important component for tensioning and guiding the joint drive rope 221. The flexion-extension guide pulley 2223 helps to change the transmission direction of the joint drive rope 221, reduces the frictional resistance when the rope contacts the structure, and improves transmission efficiency. The rotatable connection between the guide pulley and the thumb drive seat 150 ensures that the guide pulley can rotate flexibly during flexion-extension movements, reducing wear and fatigue of the drive rope and extending the service life of the overall drive system.

[0081] In one embodiment, there are two articulated pulleys 213, which are coaxially arranged, and the two ends of the articulated drive rope 221 are respectively wound around the two articulated pulleys 213. Specifically, the coaxial arrangement of the two articulated pulleys 213 ensures that their central axes are aligned, guaranteeing that the relative positions of the pulleys are fixed and tight, which is beneficial for the stable winding of the articulated drive rope 221 and the control of the transmission path.

[0082] By setting two articulated pulleys 213 to engage with the two ends of the articulated drive rope 221 respectively, the two sections of the articulated drive rope 221 can be precisely positioned and tensioned separately. This structure forms a differential rope circuit, where the two drive rope sections are wound around the two pulleys respectively, ensuring that the articulated drive rope 221 maintains appropriate tension when the joint mechanism 210 performs unfolding (releasing an object) or bending (grabbing an object) movements. Maintaining tension plays an important role in preventing slackness and slippage of the drive rope and extending its service life, while also contributing to the sensitive and precise action response of the joint mechanism 210.

[0083] Furthermore, the two articulated pulleys 213, as independently rotating components, can rotate around the same central axis, avoiding motion interference between them. This design allows the two pulleys to independently adjust their rotation angles when the length of the articulated drive rope 221 changes due to different movements of the articulated mechanism 210, smoothly adapting to the dynamic changes of the rope, reducing mechanical friction and wear, and improving the stability and reliability of the overall transmission system.

[0084] Specifically, the number of pulleys can also be set to two, three or more, depending on the specific mechanical structure and motion requirements. The setting of multiple joint pulleys 213 helps to further refine the tension and guidance of the rope, and improve the durability of the system and the smoothness of the motion.

[0085] In another embodiment, the articulated pulley 213 has a first articulated groove 2131 and a second articulated groove 2132. The opposite ends of the articulated drive rope 221 are respectively connected to the finger joints 212, and the articulated drive rope 221 is wound around the first articulated groove 2131 and the second articulated groove 2132. This design effectively achieves separate guidance for the two ends of the articulated drive rope 221 by setting two independent grooves on the same articulated pulley 213.

[0086] Specifically, the design of the first joint groove 2131 and the second joint groove 2132 allows the two ends of the joint drive rope 221 to be wound along different trajectories, avoiding mutual interference and entanglement between the two ends of the rope and ensuring smooth movement of the drive rope. The two ends of the joint drive rope 221 are respectively connected to the finger joints 212, so that the flexion and extension movements of the joint mechanism 210 can be effectively transmitted and controlled through the tension and slack of the rope.

[0087] In this embodiment, a separate articulated pulley 213 is used to engage with both ends of the articulated drive rope 221 through two grooves, which can also achieve the tensioning function of the drive rope. Compared with the aforementioned two coaxial pulley design, this single pulley design is more compact in structure, reduces assembly complexity and space occupation, and is conducive to the miniaturization and weight reduction of the overall hand-mounted structure 100.

[0088] In addition, the size and shape of the first joint groove 2131 and the second joint groove 2132 can be reasonably designed according to the diameter and movement trajectory of the joint drive rope 221. For example, the width of the groove can be 1.1 to 1.5 times the diameter of the joint drive rope 221 to ensure that the rope can enter smoothly and maintain stable operation, while preventing the rope from swinging excessively or falling off.

[0089] This design uses a single articulated pulley 213 to position and tension the drive ropes at both ends, maintaining appropriate tension in the articulated drive rope 221 during unfolding and bending movements, ensuring the accuracy and responsiveness of the articulated mechanism 210. Furthermore, reducing the number of pulleys helps reduce mechanical wear points and simplifies maintenance.

[0090] Furthermore, the flexion-extension mechanism 220 also includes a flexion-extension sleeve 223, which is connected to the hand plate structure 100. The joint drive rope 221 is movably threaded through the flexion-extension sleeve 223. By setting the flexion-extension sleeve 223 in the flexion-extension drive path of the joint drive rope 221, the rope length of the joint drive rope 221 can be effectively maintained constant, preventing the rope from changing length due to path instability during movement, thereby ensuring that the joint mechanism 210 receives accurate power transmission during flexion-extension movements.

[0091] Furthermore, the flexion-extension sleeve 223 limits the swing range of the joint drive rope 221, preventing accidental coiling, tangling, or friction during movement, reducing the risk of rope wear and breakage, and improving the overall service life and operational reliability of the device. The sleeve's protective effect on the drive rope is particularly evident in environments with repeated movements or complex spaces.

[0092] The flexure sleeve 223 is preferably made of a rigid material, such as a metal alloy, stainless steel, or engineering plastic (such as polyoxymethylene, nylon, etc.). The rigid sleeve can provide stronger mechanical protection for the joint drive rope 221, preventing the drive rope from deforming or being damaged when subjected to external forces such as compression or bending. At the same time, the rigid sleeve can maintain a fixed geometry and path during installation, ensuring the guiding stability and smooth movement of the joint drive rope 221.

[0093] In practice, the inner diameter of the flexion-extension sleeve 223 should be designed reasonably according to the outer diameter of the joint drive rope 221. Typically, the inner diameter can be 1.1 to 1.5 times the diameter of the drive rope to ensure that the rope can move freely without jamming. The sleeve length is determined according to the structural dimensions and range of motion of the joint mechanism 210 to ensure that the drive rope is within the sleeve protection range throughout the entire flexion-extension process.

[0094] Specifically, the rotating mechanism 310 includes a rotating base 311 and a rotating component 312. One end of the thumb mechanism 320 is connected to the rotating base 311 via a joint connector 211. The rotating base 311 is rotatably connected to the hand plate structure 100. The rotating component 312 is mounted on the hand plate structure 100 and is used to drive the rotating base 311 to rotate relative to the hand plate structure 100. Through this structural design, the thumb mechanism 320 can rotate around the rotating base 311, thereby realizing the rotational action of the thumb.

[0095] The joint connector 211 and the rotating seat 311 are connected by detachable connection methods such as snap-fit, plug-in, and pin connection, facilitating disassembly and maintenance. Specifically, the snap-fit ​​structure enables quick assembly and disassembly, suitable for applications requiring frequent adjustments or maintenance; the plug-in structure is simple in structure, low in manufacturing cost, and suitable for standardized production; the pin connection provides high connection strength and ensures connection stability. The selection of different connection methods can be optimized according to actual assembly requirements and the usage environment.

[0096] The rotating base 311 is mounted on the hand-operated structure 100 via a rotatable connection, enabling the rotating base 311 to rotate relative to the hand-operated structure 100 around a predetermined axis. The rotating assembly 312 is configured to provide power to the rotating base 311. The specific driving method can include various mechanical driving methods such as motor drive, gear transmission, and rope pulling, to adapt to different application requirements and structural layouts.

[0097] Furthermore, the rotation mechanism 310 and the flexion-extension mechanism 220 are driven independently, avoiding motion interference between them. This separate drive method allows the rotation and flexion-extension movements of the thumb to be controlled independently, reducing the mutual influence between mechanical structures, simplifying the logic design and debugging complexity of the control system, and improving operational stability and response speed.

[0098] Through the above design, the rotating mechanism 310 can effectively realize the rotation function of the thumb mechanism 320, and together with the flexion and extension action of the flexion and extension mechanism 220, it can complete the multi-degree-of-freedom movement of the thumb, meeting the needs of complex movements in the hand plate structure 100. The detachable connection method of the joint connector 211 also provides convenience for subsequent maintenance, adjustment and upgrades.

[0099] In one embodiment, the rotating assembly 312 specifically includes a rotating motor 3121, a rotating sleeve 3122, and a thumb drive linkage 3123. The rotating motor 3121 is mounted on and fixedly connected to the hand plate structure 100 to ensure stable operation of the motor. The rotating motor 3121 has a threaded portion, and the rotating sleeve 3122 is threadedly connected to the threaded portion through an internal thread, so that when the motor is driven, it can drive the rotating sleeve 3122 to move linearly along the thread axis.

[0100] Driven by the rotary motor 3121, the rotating sleeve 3122 moves in a linear direction, thereby causing the thumb drive linkage 3123 to swing. The two ends of the thumb drive linkage 3123 are respectively rotatably connected to the rotating hinge 31221 of the rotating sleeve 3122 and the rotating seat 311, achieving motion conversion. Specifically, the linear motion of the rotating sleeve 3122 is converted into the rotational motion of the rotating seat 311 relative to the handplate structure 100 by the thumb drive linkage 3123. This structure eliminates the need for complex mechanical transmission devices, simplifying the drive scheme and reducing manufacturing and maintenance costs.

[0101] A rotating hinge 31221 is mounted on a rotating sleeve 3122. A thumb drive link 3123 is rotatably connected to both the hinge and the rotating base 311, with the two rotating axes arranged in parallel. This parallel rotating axis design not only ensures smooth motion transmission but also makes the combination structure of the thumb device 300 and the hand plate structure 100 more compact, effectively reducing the overall thickness of the underactuated manipulator 10 and improving the space utilization and overall appearance of the manipulator.

[0102] Through the above design, the rotating component 312 has a simple and compact structure, which can effectively convert the linear motion of the motor into the rotational motion of the thumb mechanism 320. It is suitable for the multi-degree-of-freedom movement requirements of the underactuated manipulator 10, improves the driving accuracy and durability of the entire thumb device 300, and simplifies the driving logic of the control system.

[0103] Specifically, the lateral swing mechanism 410 includes a lateral swing motor 411 and a lateral swing transmission assembly 412. The lateral swing motor 411 is fixedly mounted on the hand plate structure 100 and serves as the power source for the lateral swing motion. The lateral swing transmission assembly 412 is connected to the lateral swing motor 411 and multiple finger mechanisms 420 respectively, and is used to transmit the output power of the lateral swing motor 411 to each finger mechanism 420 to realize the lateral rotation of the finger mechanism 420.

[0104] Specifically, the lateral swing motor 411 outputs torque through the lateral swing transmission assembly 412, driving multiple finger mechanisms 420 to perform lateral swing motions around their respective rotation axes, allowing the finger mechanisms 420 to move closer to or spread out from each other. This lateral swing motion enables the robotic hand to adjust the relative positions between the fingers, thereby adapting to objects of different shapes and sizes and improving the versatility and stability of grasping.

[0105] This design utilizes a single side-swing motor 411 to drive multiple finger mechanisms 420, avoiding the complexity of configuring a separate side-swing drive source for each finger, reducing system size and manufacturing costs, and also decreasing the complexity of the control system. The synchronized side-swing motion of the multiple finger mechanisms 420 facilitates flexible closing and unfolding movements between the fingers, enhancing the robotic arm's adaptability and stability in grasping different objects.

[0106] Furthermore, the transmission ratio and transmission path of the side-swing transmission assembly 412 can be optimized according to the specific structural layout and grasping requirements of the robotic arm. For example, by adjusting the transmission ratio, precise control of the side-swing angle of the finger mechanism 420 can be achieved to meet the requirements of finger spacing in different grasping scenarios. The structural design of the transmission assembly should consider transmission efficiency, transmission stability, and durability to ensure that the side-swing mechanism 410 maintains reliable operation under long-term and repeated movements.

[0107] In summary, the side-swing mechanism 410 drives the side-swing transmission component 412 through the side-swing motor 411 to realize the side-swinging and closing or unfolding actions of multiple finger mechanisms 420. While ensuring system simplification and low energy consumption, it improves the gripping flexibility and adaptability of the robotic arm.

[0108] In one embodiment, the lateral swing transmission assembly 412 includes a lateral swing drive plate 4121 and multiple lateral swing transmission frames 4122. The lateral swing drive plate 4121 is connected to the lateral swing motor 411 via a transmission connection and can receive power input from the lateral swing motor 411. The multiple lateral swing transmission frames 4122 are rotatably connected to the lateral swing drive plate 4121 and are fixed to the hand plate structure 100 via a rotatable connection. The joint connecting seat 211 is further fixedly connected to each lateral swing transmission frame 4122. This structure allows the lateral swing motor 411 to drive the movement of the lateral swing drive plate 4121, thereby causing the multiple lateral swing transmission frames 4122 to rotate relative to the hand plate structure 100 around their connection points, thus realizing the lateral swing action of the multiple finger mechanisms 420.

[0109] Furthermore, to achieve a compact and efficient side-swing drive structure, the end of the side-swing motor 411 is provided with a threaded portion, and the side-swing drive plate 4121 is provided with a side-swing moving portion 41212 that mates with the threaded portion. The side-swing moving portion 41212 is sleeved on the threaded portion and engages with it in transmission. When the side-swing motor 411 starts, the rotational motion of the side-swing motor 411 is converted into linear movement of the side-swing drive plate 4121 through the threaded portion. This linear motion drives the side-swing drive plate 4121 to drive multiple side-swing transmission frames 4122 to rotate relative to the hand plate structure 100, thereby realizing the side-swing drive function of the side-swing mechanism 410.

[0110] This threaded transmission method not only ensures smooth and reliable power transmission, but also makes the side-swing mechanism 410 compact in structure and space-saving, making it suitable for integration into the space-constrained handpiece structure 100. By adjusting the lead of the threaded part and the travel of the side-swing drive plate 4121, the rotation angle of the side-swing transmission frame 4122 can be precisely controlled, thereby achieving fine adjustment of the side-swing amplitude of the finger mechanism 420 to meet different gripping needs.

[0111] Specifically, the side-swing drive plate 4121 has multiple drive grooves 41211, which are distributed in a diffuse manner along the surface of the side-swing drive plate 4121. Multiple side-swing transmission frames 4122 include frame bodies 41221 and sliding pins 41223. The frame bodies 41221 are connected to the joint connecting seat 211, and the sliding pins 41223 are rotatably or movably connected to the frame bodies 41221, and the sliding pins 41223 are in sliding engagement with the drive grooves 41211 on the side-swing drive plate 4121.

[0112] This structure achieves the rotation of multiple side-swing transmission frames 4122 relative to the handplate structure 100 by the sliding movement of the sliding pin 41223 within the drive groove 41211. Specifically, as the side-swing drive plate 4121 moves in a linear direction under the action of threaded transmission, the sliding pin 41223 slides along its corresponding drive groove 41211, and the drive frame body 41221 rotates around the rotation axis fixed to the handplate structure 100, thereby driving the joint connecting seat 211 and the finger mechanism 420 connected thereto to complete the side-swing action.

[0113] The design of multiple drive slots 41211 distributed in a diffused pattern allows for different lateral swing transmission frames 4122 to be assigned to each finger mechanism 420 according to its spatial layout. This enables the sliding pin 41223 of each lateral swing transmission frame 4122 to slide along a predetermined trajectory, thereby allowing each finger mechanism 420 to have its own lateral swing range and amplitude of motion. This design meets the needs of the robotic hand for different swing angles of multiple fingers and helps improve the robotic hand's adaptability to complex object shapes.

[0114] Through the sliding engagement of the sliding pin 41223 and the drive groove 41211, the relative motion during the transmission process is smooth and controlled, avoiding misalignment and jamming between structures. This engagement method reduces backlash and friction in mechanical transmission, improving transmission accuracy and response speed. At the same time, the engagement structure of the sliding pin 41223 and the drive groove 41211 is simple, easy to manufacture and assemble, and conducive to the compact integration of the robot arm structure.

[0115] The overall assembly structure is compact. The side-swing drive plate 4121, multiple drive slots 41211, and sliding pins 41223 of the side-swing transmission frame 4122 cooperate to enable the side-swing mechanism 410 to achieve coordinated side-swing movements of multiple finger mechanisms 420 within a limited space. This design avoids the complex arrangement of multiple independent drive mechanisms, reduces the size and manufacturing cost of the robot, and improves the reliability and ease of maintenance of the system.

[0116] Furthermore, the lateral swing transmission assembly 412 also includes a lateral swing buffer 4123 for connecting the lateral swing transmission frame 4122 and the joint connecting seat 211 to achieve a flexible connection function. Specifically, the lateral swing buffer 4123 can elastically deform in response to the resistance encountered by a certain finger mechanism 420 when multiple finger mechanisms 420 are performing lateral swing movements, thereby avoiding the negative impact of the resistance on the lateral swing movements of other finger mechanisms 420 and ensuring the coordination and continuity of the overall lateral swing movement.

[0117] The technical principle of this design lies in the fact that the side-swing buffer 4123, as a flexible connecting element, allows the finger mechanism 420 to have a certain degree of passive compliance when encountering resistance. Thus, when a finger mechanism 420 encounters resistance due to contact with an external object or structural constraint, the side-swing buffer 4123 can absorb part of the resistance through elastic deformation, preventing the resistance from being transmitted to the side-swing transmission frame 4122 and other finger mechanisms 420. This avoids jamming or forced movement of the overall side-swing mechanism 410, improving the gripping adaptability and safety of the robotic arm.

[0118] In specific implementation, the side-swing buffer 4123 preferably adopts a torsion spring structure, with its two movable ends connected to the frame body 41221 of the side-swing transmission frame 4122 and the joint connecting seat 211, respectively. When the finger mechanism 420 is obstructed during side-swing, the torsion spring undergoes torsional elastic deformation, providing flexible buffering force to achieve resistance buffering and energy absorption. The elastic characteristics of the torsion spring can be adjusted by parameters such as material, wire diameter, number of coils, and spring length to adapt to different gripping forces and resistance requirements.

[0119] In addition, in some embodiments, the lateral swing buffer 4123 can also be in the form of a flexible shaft, with its two ends connected to the lateral swing transmission frame 4122 and the joint connecting seat 211, respectively. The flexible shaft has good torsional elasticity and transmission characteristics, and can provide a certain degree of elastic buffering while transmitting power during lateral swinging motion, making it suitable for application scenarios that require multi-level adjustment of buffer stiffness.

[0120] To ensure the stability of the installation position of the side-swing buffer 4123 and the accuracy of force transmission, the frame body 41221 is provided with a first positioning groove 41222, and the joint connecting seat 211 is provided with a second positioning groove 2111. The two ends of the side-swing buffer 4123 are respectively fixed in the first positioning groove 41222 and the second positioning groove 2111 by snap-fit, so as to achieve precise positioning and firm connection of the side-swing buffer 4123, avoid loosening or falling off due to movement vibration or external force, and improve the durability and reliability of the system.

[0121] Through the above structural design, the side-swing buffer 4123 not only provides elasticity and compliance to the side-swing mechanism 410, improving the gripping flexibility and safety of the robot in complex environments, but also avoids abnormal overall side-swing movements caused by obstruction of a single finger mechanism 420, ensuring coordinated and stable operation of multi-finger side-swing. This design is suitable for underactuated side-swing systems of multi-degree-of-freedom robots, improving the adaptability and service life of the robot.

[0122] In one embodiment, the lateral swing mechanism 410 further includes a lateral swing guide 413, which includes a lateral swing guide rod 4131 and a lateral swing mounting base 4132. The lateral swing mounting base 4132 is fixedly connected to the hand plate structure 100, serving as a fixed base for the guide; the lateral swing guide rod 4131 is mounted on the lateral swing mounting base 4132 via a connecting device, forming a rigid support structure. The lateral swing drive plate 4121 in the lateral swing transmission assembly 412 slides in conjunction with the lateral swing guide rod 4131, defining the movement path of the lateral swing drive plate 4121 and achieving accurate guidance for its linear movement.

[0123] Specifically, the side-swing guide rod 4131 is a slender rod-shaped structure. The side-swing drive plate 4121 cooperates with the side-swing guide rod 4131 through a sliding groove, guide hole, or rolling bearing, so that the side-swing drive plate 4121 slides smoothly along a predetermined straight direction under the threaded transmission driven by the side-swing motor 411. The side-swing guide rod 4131 effectively prevents the side-swing drive plate 4121 from deviating, wobbling, or tilting during movement, ensuring the accuracy and stability of the overall movement of the side-swing transmission assembly 412, thereby improving the synchronization and smoothness of the side-swing movements of the multiple side-swing transmission frames 4122 driving the finger mechanism 420.

[0124] Preferably, the side-swing guide 413 employs multiple sets of side-swing guide rods 4131 arranged in parallel, with each set of guide rods 4131 engaging with a corresponding guide component of the side-swing drive plate 4121. The design of multiple sets of parallel side-swing guide rods 4131 can distribute the load, enhance guiding rigidity and load-bearing capacity, further improve the smoothness of movement of the side-swing drive plate 4121, and reduce mechanical deformation or vibration caused by excessive load on a single guide rod.

[0125] In addition, the parallel arrangement of multiple sets of side-swing guides 413 improves the anti-eccentric load capability of the side-swing drive plate 4121 in high-speed or frequent side-swing movements, avoids the side-swing transmission component 412 from shifting position due to unstable power output from the side-swing motor 411 or external impact, and ensures the reliability and motion accuracy of the robot in long-term operation.

[0126] The side-swing guide 413 can be made of high-strength and wear-resistant metal materials, such as stainless steel, aluminum alloy, or alloy steel. The surface of the guide rod can be hardened or plated to reduce sliding friction and improve service life. The structural design of the side-swing mounting base 4132 should ensure the firmness of the installation and the positioning accuracy to avoid loosening or displacement during the operation of the robot.

[0127] In summary, the lateral swing guide 413, through the sliding engagement between the lateral swing guide rod 4131 and the lateral swing drive plate 4121, ensures the precise and smooth movement path of the lateral swing transmission assembly 412, thereby improving the overall performance and durability of the lateral swing mechanism 410. The arrangement of multiple sets of parallel lateral swing guides 413 further enhances the guiding rigidity and motion stability, meeting the high-precision requirements of the robot's multi-finger lateral swing motion.

[0128] It should be noted that in the underactuated manipulator 10 of this embodiment, since the thumb mechanism 320 is driven to rotate along the first rotation axis by the rotation mechanism 310, and the first rotation axis is parallel to the extension direction of the thumb mechanism 320 when it is unfolded; since the finger mechanism 420 is driven to rotate along the second rotation axis by the side swing mechanism 410, and the second rotation axis is perpendicular to the extension direction of the finger mechanism 420 when it is unfolded, the rotation axis of the joint connecting seat 211 in the thumb mechanism 320 is also different from the rotation axis of the joint connecting seat 211 in the finger mechanism 420. The specific rotation axis is determined according to the design requirements of the underactuated manipulator 10 and is not limited here.

[0129] Furthermore, the underactuated manipulator 10 also includes a finger segment sensor 500, which is disposed on the joint mechanism 210 and is mainly used to acquire pressure signals between the joint mechanism 210 and external objects.

[0130] Specifically, the finger segment sensor 500 can employ various sensing technologies such as piezoelectric sensors, strain gauges, and force-sensitive resistors (FSRs) to achieve real-time monitoring of the force applied to the fingertips. The finger segment sensor 500 can not only detect pressure signals but also acquire displacement signals by combining mechanical structure design, thus providing a more comprehensive reflection of the mechanical state when the finger is in contact with an object.

[0131] The finger segment sensor 500 works closely with the joint mechanism 210, and by being installed at appropriate locations on or inside the finger segment, it ensures accurate sensing of pressure changes generated when the finger comes into contact with the object being grasped. When the finger device 400 grasps the object, the finger segment sensor 500 collects pressure and displacement data in real time and feeds the signals back to the control module of the underactuated manipulator 10. Based on the sensor feedback information, the control module adaptively adjusts the driving force of the joint mechanism 210 through a closed-loop control algorithm, achieving precise control of the grasping force and avoiding damage to the object due to excessive pressure or unstable grasping due to insufficient pressure.

[0132] Specifically, the number of finger segment sensors 500 can be one, two, or more, depending on the design requirements of the joint mechanism 210 and the grasping accuracy requirements. Setting multiple finger segment sensors 500 enables multi-point pressure detection, improving the resolution and accuracy of pressure sensing, and facilitating more flexible and stable grasping movements. In practical applications, multiple sensors can be distributed across different finger segments or positions to obtain more comprehensive mechanical information. In a preferred embodiment, finger segment sensors 500 are provided on both the thumb mechanism 320 and the finger mechanism 420 to improve the control accuracy of the underactuated manipulator 10.

[0133] In the underactuated manipulator 10 of this embodiment, by providing multiple finger devices 400 in cooperation with the thumb device 300, the underactuated manipulator 10 can achieve a wrapping grasp of an object when the thumb mechanism 320 and the finger devices 400 simultaneously bend. The coordinated movement of multiple finger devices 400 can form a grasping shape similar to that of a human hand, improving the hand's adaptability to objects of different shapes and sizes. Specifically, the number of finger devices 400 can be three, four, or more, depending on the design requirements of the manipulator and the target application environment. No single limitation is made here.

[0134] The multiple finger devices 400 enable the robotic arm to form multiple contact points during grasping, enhancing the stability and safety of the grasp and preventing objects from slipping or being damaged. Simultaneously, the presence of multiple finger devices 400 can also distribute the grasping pressure, reduce the load on individual fingers, and improve the durability and lifespan of the robotic arm.

[0135] Specifically, the handplate structure 100 has a thumb mounting hole 110, a finger mounting hole 120, a first thumb motor hole 131, a second thumb motor hole 132, a finger motor hole 133, and a lateral swing motor hole 134. The joint connecting seat 211 of the finger mechanism 420 passes through the finger mounting hole 120 and is rotatably connected to the handplate structure 100, realizing the rotational freedom of the finger mechanism 420 relative to the handplate structure 100. This design ensures the stability of the finger mechanism 420 during installation and guarantees the smoothness of the lateral swing motion. The rotating seat 311 passes through the thumb mounting hole 110 and is rotatably connected to the handplate structure 100, realizing the rotational freedom of the rotating seat 311 relative to the handplate structure 100. This design ensures the stability of the rotating mechanism 310 during installation and guarantees the smoothness of the rotational motion.

[0136] Meanwhile, the flexion-extension motor 2221 of the thumb mechanism 320 is at least partially inserted into the first thumb motor hole 131, and the rotation motor 3121 is at least partially inserted into the second thumb motor hole 132. By inserting the two motors into their respective mounting holes, the motors are positioned and fixed, avoiding offset and loosening during installation, and improving the assembly accuracy and mechanical stability of the overall structure. Similarly, the flexion-extension motor 2221 of the finger mechanism 420 is at least partially inserted into the finger motor hole 133, and the lateral swing motor 411 is at least partially inserted into the lateral swing motor hole 134. By inserting the two motors into their respective mounting holes, the motors are positioned and fixed, avoiding offset and loosening during installation, and improving the assembly accuracy and mechanical stability of the overall structure. This arrangement not only facilitates installation and disassembly but also effectively utilizes the space of the handplate structure 100, allowing the drive components of the rotation mechanism 310 and the flexion-extension mechanism 220 to be compactly arranged, reducing the overall thickness of the underactuated manipulator 10.

[0137] In summary, this arrangement not only facilitates installation and disassembly but also effectively utilizes the space of the handpiece structure 100, allowing for a compact arrangement of the drive components of the rotation mechanism 310 and the extension mechanism 220, thus reducing the overall thickness of the underactuated manipulator 10. Furthermore, inserting the motor into the mounting hole helps reduce vibration transmission when the manipulator is under stress, improving the stability and lifespan of the drive system. Simultaneously, this installation method also facilitates quick disassembly and assembly of the motor for inspection or replacement by maintenance personnel, improving the maintenance efficiency of the manipulator.

[0138] In the description of the embodiments of this application, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0139] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" 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. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application based on the specific circumstances.

[0140] In the embodiments of this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0141] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the embodiments of this application. 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. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0142] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. An underactuated robotic arm, characterized in that, include: Prototype structure; A flexion-extension joint device includes a joint mechanism and a flexion-extension mechanism. The flexion-extension mechanism is disposed on the hand plate structure. The joint mechanism is drively connected to the flexion-extension mechanism. The flexion-extension mechanism is used to drive the joint mechanism to unfold or bend. The number of flexion-extension joint devices is multiple, and the multiple sets of flexion-extension joint devices include a thumb mechanism and a finger mechanism. A thumb device includes a rotating mechanism and the thumb mechanism, the thumb mechanism being connected to the output end of the rotating mechanism, the rotating mechanism being disposed on the hand plate structure and used to drive the thumb mechanism to rotate relative to the hand plate structure; as well as The finger device includes a side-swing mechanism and multiple sets of the finger mechanisms, which are respectively drivenly connected to the side-swing mechanism. The side-swing mechanism is disposed on the hand plate structure and is used to drive the multiple sets of finger mechanisms to rotate in a direction closer to or further away from each other.

2. The underactuated manipulator according to claim 1, characterized in that, The joint mechanism includes a joint connecting seat and a plurality of finger joints, the plurality of finger joints being rotatably connected, and the finger joints located at the ends being connected to the joint connecting seat. The joint connecting seat of the thumb mechanism is connected to the rotating mechanism, and the joint connecting seat of the finger mechanism is connected to the lateral swing mechanism. The flexion-extension mechanism includes a joint drive rope and a flexion-extension assembly. The flexion-extension assembly is disposed on the hand plate structure and is drively connected to the joint drive rope. One end of the joint drive rope is connected to at least one finger joint of the finger mechanism away from the hand plate structure.

3. The underactuated manipulator according to claim 2, characterized in that, The flexion-extension assembly includes a flexion-extension motor, a flexion-extension sleeve, and a flexion-extension guide wheel. The flexion-extension motor is connected to the hand plate structure, the flexion-extension sleeve is threadedly connected to the flexion-extension motor, and the flexion-extension motor is used to drive the flexion-extension sleeve to move relative to the hand plate structure. The flexion-extension guide wheel is rotatably connected to the hand plate structure, and the joint drive rope is at least partially wound around the flexion-extension guide wheel.

4. The underactuated manipulator according to claim 3, characterized in that, The multiple finger joints are rotatably connected by joint bearings, and the joint mechanism further includes joint pulleys, which are coaxially arranged with the joint bearings; The number of the joint pulleys is two, and the two joint pulleys are coaxially arranged. The two ends of the joint drive rope are respectively wound around the two joint pulleys. Alternatively, the joint pulley may have a first joint groove and a second joint groove, and the two ends of the joint drive rope may be connected to the finger joint, and the joint drive rope may be wound around the first joint groove and the second joint groove respectively.

5. The underactuated manipulator according to claim 1, characterized in that, The rotating mechanism includes a rotating base and a rotating assembly. One end of the thumb mechanism is connected to the rotating base, the rotating base is rotatably connected to the hand plate structure, and the rotating assembly is disposed on the hand plate structure. The rotating assembly is used to drive the rotating base to rotate relative to the hand plate structure.

6. The underactuated manipulator according to claim 5, characterized in that, The rotating assembly includes a rotary motor, a rotary sleeve, and a drive linkage. The rotary motor is mounted on the handplate structure and connected to the handplate structure. The rotary sleeve is threadedly connected to the rotary motor, and the rotary motor is used to drive the rotary sleeve to move relative to the handplate structure. The drive linkage is rotatably connected to the rotating base and the rotary sleeve, respectively.

7. The underactuated manipulator according to claim 1, characterized in that, The side-swing mechanism includes a side-swing motor and a side-swing transmission assembly. The side-swing motor is mounted on the hand plate structure, and the side-swing transmission assembly is connected to the side-swing motor and multiple finger mechanisms respectively. The side-swing transmission assembly is used to drive the multiple finger mechanisms to move closer or spread out.

8. The underactuated manipulator according to claim 7, characterized in that, The lateral swing transmission assembly includes a lateral swing drive plate and multiple lateral swing transmission frames. The lateral swing drive plate is connected to the lateral swing motor, the multiple lateral swing transmission frames are movably connected to the lateral swing drive plate, the lateral swing transmission frames are rotatably connected to the hand plate structure, and the joint mechanism is connected to the lateral swing transmission frames.

9. The underactuated manipulator according to claim 8, characterized in that, The side-swing drive plate has multiple drive slots arranged in a diffused pattern; the side-swing transmission frame includes a frame body and a sliding pin, the frame body is connected to the joint mechanism, the sliding pin is connected to the frame body, and the sliding pin slides in engagement with the drive slots. And / or, the lateral swing transmission assembly further includes a lateral swing buffer, which is flexibly connected to the lateral swing transmission frame and the joint mechanism, respectively.

10. The underactuated manipulator according to any one of claims 1-9, characterized in that, The joint device also includes a finger segment sensor, which is disposed on the joint mechanism and is used to acquire pressure signals between the joint mechanism and an external object.

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