A finger mechanism and robot

Abstract

The application discloses a finger mechanism and a robot, relates to the technical field of robots, and solves the technical problem that a finger mechanism in the prior art cannot meet the dual requirements of precise operation and compliant grasping. The finger mechanism comprises a first driving component, a second driving component and a knuckle component. The knuckle component comprises a first knuckle arranged in a first direction and a second knuckle connected with the first knuckle. The first driving component is flexibly connected with the first knuckle and is used for driving the knuckle component to move in a direction forming an included angle with the first direction. The second driving component is flexibly connected with the second knuckle and is used for driving the second knuckle to move in a direction forming an included angle with the first direction relative to the first knuckle.

Description

Technical Field

[0001] This application relates to, but is not limited to, the field of robotics, and in particular to a finger mechanism and a robot. Background Technology

[0002] With the improvement of intelligence, people are using robotic arms on robots to grasp objects.

[0003] Bionic finger mechanisms are a core research direction in the field of robot dexterity, but due to the design of their own structure, finger mechanisms in related technologies are difficult to balance the dual requirements of precision operation and compliant grasping, resulting in weak grasping adaptability and thus reducing the user experience. Summary of the Invention

[0004] This application provides a finger mechanism and a robot. The finger mechanism, through a structural design that combines rigidity and flexibility in force transmission, can meet the dual requirements of precision operation and smooth grasping, thereby enhancing the grasping adaptability and improving the user experience.

[0005] To achieve the above objectives, the technical solution of this application embodiment is implemented as follows:

[0006] In a first aspect, this application provides a finger mechanism, wherein the finger mechanism includes a first driving component and a second driving component, the knuckle component includes a first knuckle arranged along a first direction and a second knuckle connected to the first knuckle, the first driving component is rigidly connected to the first knuckle and is used to drive the knuckle component to move in a direction forming an angle with the first direction, and the second driving component is flexibly connected to the second knuckle and is used at least to drive the second knuckle to move relative to the first knuckle in a direction forming an angle with the first direction.

[0007] The finger mechanism provided in this application includes a knuckle component comprising a first knuckle and a second knuckle arranged along a first direction, wherein the knuckle component is used to perform a grasping action; a first driving component is rigidly connected to the first knuckle and is used to drive the knuckle component to move in a direction forming an angle with the first direction. Here, the rigid connection between the first driving component and the first knuckle allows the first driving component to directly output a high-rigidity torque, enabling the finger mechanism to reach the accurate position with high precision, thereby reducing the defect of insufficient precision caused by the overall finger mechanism failing to reach the accurate position, and enabling the finger to perform precision operations; on this basis, a second driving component is flexibly connected to the second knuckle and is used to drive the second knuckle to move relative to the first knuckle in a direction forming an angle with the first direction. Here, the flexible connection between the second driving component and the second knuckle allows the second knuckle to absorb impact energy, enabling the second knuckle to grasp smoothly, thereby reducing the defect of the second knuckle being easily damaged by impact loads, and thus improving the smoothness of the second knuckle operation. Compared to related technologies, finger mechanisms, due to their inherent structural design, struggle to simultaneously meet the dual requirements of precise operation and compliant grasping, resulting in weaker grasping adaptability and thus reduced user experience. This application addresses this issue by rigidly connecting the first driving component to the first knuckle and flexibly connecting the second driving component to the second knuckle, enabling the knuckle mechanism to transmit force in a coordinated manner. During grasping, the finger mechanism can meet the dual requirements of precise operation and compliant grasping, enhancing grasping adaptability and thereby improving the user experience.

[0008] In one possible implementation provided in this application, the second phalanx is rotatably connected to the first phalanx. The second driving component includes a second driving member, a winch, and a first flexible tendon cord. The first end of the first flexible tendon cord is fixed to the winch, and the second end of the first flexible tendon cord is fixed to the second phalanx. The rotatable connection between the second phalanx and the first phalanx contacts the first flexible tendon cord. The second driving member is used to drive the winch to rotate so that the first flexible tendon cord is wound around the winch, causing the second phalanx to bend relative to the first phalanx in a second direction. The rotation axis of the second driving member for driving the winch to rotate forms an angle with the rotation axis of the rotatable connection between the second phalanx and the first phalanx, and the second direction has an angle with the first direction.

[0009] In one possible implementation provided in this application, the second driving member is used to drive the winch to rotate so as to wind the first flexible tendon rope out of the winch. The second driving member also includes a first elastic return member disposed between the second driving member and the second phalanx. The first elastic return member is used to provide a restoring force for the second phalanx to extend relative to the first phalanx in a second direction.

[0010] In one possible implementation provided in this application, the second phalanx includes a first threaded element, a first end of a first flexible tendon cord is fixed to a winch, and a second end of the first flexible tendon cord is fixed to the first threaded element.

[0011] In one possible implementation provided in this application, the knuckle component further includes a third knuckle arranged along a first direction and rotatably connected to the second knuckle. The second driving component further includes a second flexible tendon cord, the first end of which is fixed to the first knuckle, and the second end of which is fixed to the third knuckle. The rotatable connection between the second and first knuckles and the rotatable connection between the third and second knuckles respectively contacts the second flexible tendon cord. The second driving component is used to drive the winch to rotate so that the first flexible tendon cord is wound around the winch, so that both the second and third knuckles are bent relative to the first knuckle along a second direction. The rotation axis of the rotatable connection between the second and first knuckles is parallel to the rotation axis of the rotatable connection between the third and second knuckles.

[0012] In one possible implementation provided in this application, the second driving member is used to drive the winch to rotate so as to wind the first flexible tendon rope out of the winch. The second driving member also includes a second elastic return member, which is disposed at the rotatable connection between the third phalanx and the second phalanx. The second elastic return member is used to provide a restoring force for the third phalanx to extend in a second direction relative to the first phalanx.

[0013] In one possible implementation provided in this application, the first phalanx includes a second threaded component, the first end of the second flexible tendon cord is fixed to the second threaded component, and the second end of the second flexible tendon cord is fixed to the third phalanx.

[0014] In one possible implementation provided in this application, the first driving component includes a first driving member and a connecting rod. The first end of the connecting rod is rotatably connected to the first driving member, and the second end of the connecting rod is rotatably connected to the first knuckle. The first driving member is used to drive the first end of the connecting rod to move along a first direction so that the knuckle component bends along a second direction. The rotation axis of the first end of the connecting rod rotatably connected to the first driving member is parallel to the rotation axis of the second end of the connecting rod rotatably connected to the first driving member, and the second direction has an angle with the first direction.

[0015] In one possible implementation provided in this application, the first driving component includes two connecting rods and a joint block. The joint block is rotatably connected to a first driving member and a first knuckle, respectively. The first ends of the two connecting rods are distributed along a third direction and are rotatably connected to the first driving member, respectively. The second ends of the two connecting rods are rotatably connected to the first knuckle, respectively. Both the first and second ends of the two connecting rods are spherical. The first driving member is used to drive the first ends of the two connecting rods to move at different displacements along a first direction, so that the knuckle component swings along a third direction. The rotation axis of the joint block rotatably connected to the first driving member forms an angle with the rotation axis of the first end of the connecting rod rotatably connected to the first driving member. The rotation axis of the joint block rotatably connected to the first knuckle is parallel to the rotation axis of the first end of the connecting rod rotatably connected to the first driving member.

[0016] In a second aspect, this application also provides a robot comprising a finger mechanism, a robotic hand, and a robotic arm as provided in any of the first aspects, wherein the robotic hand forms a receiving cavity, the knuckle component of the finger mechanism is located outside the receiving cavity, a first driving component and a second driving component are located inside the receiving cavity, and the robotic arm is connected to the robotic hand. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of the finger mechanism provided in the embodiments of this application;

[0018] Figure 2 Provided for the embodiments of this application Figure 1 A schematic diagram of a finger mechanism in which a second driving member drives a winch to rotate, so as to wind a first flexible tendon into the winch, so that the second phalanx bends relative to the first phalanx in a second direction.

[0019] Figure 3 Provided for the embodiments of this application Figure 1 A schematic diagram of a finger mechanism in which a second driving member drives a winch to rotate, so that a first flexible tendon is wound around the winch, so that the second and third phalanges are both bent relative to the first phalanges in a second direction.

[0020] Figure 4 Provided for the embodiments of this application Figure 1 In the finger mechanism, the first driving member is used to drive the first ends of the two connecting rods to move different displacements along the first direction, so that the knuckle component can deflect along the third direction.

[0021] Figure 5 Provided for the embodiments of this application Figure 1 Front view of the finger mechanism;

[0022] Figure 6 Provided for the embodiments of this application Figure 1 A first-person cross-sectional view of the finger mechanism;

[0023] Figure 7 Provided for the embodiments of this application Figure 1 A cross-sectional view of the finger mechanism from a second-person perspective;

[0024] Figure 8 Provided for the embodiments of this application Figure 2 Front view of the finger mechanism;

[0025] Figure 9 Provided for the embodiments of this application Figure 2 A first-person cross-sectional view of the finger mechanism;

[0026] Figure 10 Provided for the embodiments of this application Figure 2A cross-sectional view of the finger mechanism from a second-person perspective;

[0027] Figure 11 Provided for the embodiments of this application Figure 3 Front view of the finger mechanism.

[0028] Figure Labels

[0029] 1-Finger mechanism; 11-First driving component; 111-First driving member; 112-Connecting rod; 113-Joint block; 12-Second driving component; 121-Second driving member; 122-Windshaft; 123-First flexible tendon cord; 124-First elastic recovery member; 125-First threaded component; 126-Second flexible tendon cord; 127-Second elastic recovery member; 128-Second threaded component; 13-Knuckle component; 131-First knuckle; 132-Second knuckle; 133-Third knuckle; 14-First limiting structure; 141-First limiting wheel; 142-Second limiting wheel; 142-Third limiting wheel; 144-Fourth limiting wheel; A-First direction; B-Second direction; C-Third direction. Detailed Implementation

[0030] It should be noted that, unless otherwise specified, the embodiments and technical features in the embodiments of this application can be combined with each other, and the detailed descriptions in the specific implementation should be understood as explanations of the purpose of this application and should not be regarded as undue limitations on this application.

[0031] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the specific technical solutions of this application will be further described in detail below with reference to the accompanying drawings of the embodiments of this application. The following embodiments are used to illustrate this application, but are not intended to limit the scope of this application.

[0032] In the embodiments of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of this application, unless otherwise stated, "multiple" means two or more.

[0033] Furthermore, in the embodiments of this application, directional terms such as "upper," "lower," "left," and "right" are defined relative to the positions in which the components are schematically placed in the accompanying drawings. It should be understood that these directional terms are relative concepts, used for relative description and clarification, and can change accordingly depending on the position of the components in the accompanying drawings.

[0034] In the embodiments of this application, unless otherwise explicitly specified and limited, the term "connection" should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral part; it can be a direct connection or an indirect connection through an intermediate medium.

[0035] In embodiments of this application, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0036] In the embodiments of this application, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design that is described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design. Specifically, the use of the terms "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0037] With the rapid development of technology, intelligent robots that replace humans in performing complex and repetitive tasks have emerged. This application provides a robot that can be a humanoid robot that simulates a human shape or a plant robot that simulates a plant, such as a radish robot. It should be noted that this application does not limit the type of robot.

[0038] Specifically, refer to Figure 1 This application provides a robot that may include a robotic arm and a robotic hand connected to the robotic arm. The robot also includes a finger mechanism 1. The robotic hand forms a receiving cavity. The knuckle component 13 of the finger mechanism 1 is located outside the receiving cavity, and the first driving component 11 and the second driving component 12 are located inside the receiving cavity to grasp objects to meet various needs in the application scenario.

[0039] In this embodiment of the application, the robot includes a robotic arm and a robotic hand connected to the robotic arm. Here, the robotic hand can be rotatably connected to the robotic arm; the robotic hand can be slidably connected to the robotic arm; or the robotic hand can be rotatably connected to the robotic arm. This embodiment of the application does not limit the scope of the application.

[0040] In this embodiment of the application, the robot also includes a finger mechanism 1, with the robotic hand forming a receiving cavity. The knuckle component 13 of the finger mechanism 1 is located outside the receiving cavity, which facilitates the grasping of the knuckle component 13. On this basis, the first driving component 11 and the second driving component 12 are located inside the receiving cavity, which can protect the first driving component 11 and the second driving component 12.

[0041] In this embodiment, the robotic arm forms a receiving cavity, and the first driving component 11 and the second driving component 12 are located within the receiving cavity. Here, the first driving component 11 and the second driving component 12 can be located on the side of the receiving cavity closer to the palm; the first driving component 11 and the second driving component 12 can be located on the side of the receiving cavity closer to the back of the hand; the first driving component 11 and the second driving component 12 can also be located on the side of the receiving cavity closer to the finger mechanism 1; however, this embodiment does not impose any limitations on these aspects. In one possible implementation provided by this embodiment, the first driving component 11 and the second driving component 12 are arranged within the receiving cavity along the setting direction of the robotic arm's palm and back sides, and occupy as much height space as possible within the receiving cavity as possible near the back of the hand, thereby minimizing the impact on the dexterity of the robotic arm's palm side.

[0042] In this embodiment of the application, the robot includes a finger mechanism 1, which can be one or more; this embodiment of the application does not limit this. If there are multiple finger mechanisms 1, they can be named according to their position on the robotic arm, such as little finger mechanism 1, ring finger mechanism 1, middle finger mechanism 1, index finger mechanism 1, and thumb finger mechanism 1, etc.

[0043] Additionally, refer to Figure 1 , Figure 2 , Figure 3 and Figure 4 This application also provides a finger mechanism 1, wherein the finger mechanism 1 includes a first driving component 11 and a second driving component 12, and a knuckle component 13 includes a first knuckle 131 arranged along a first direction A and a second knuckle 132 connected to the first knuckle 131. The first driving component 11 is rigidly connected to the first knuckle 131 and is used to drive the knuckle component 13 to move in a direction forming an angle with the first direction A. The second driving component 12 is flexibly connected to the second knuckle 132 and is used at least to drive the second knuckle 132 to move relative to the first knuckle 131 in a direction forming an angle with the first direction A.

[0044] In this embodiment, the knuckle component 13 includes a first knuckle 131 arranged along a first direction A and a second knuckle 132 connected to the first knuckle 131. Here, the connection between the first knuckle 131 and the second knuckle 132 can be a rotatable connection, whereby the second knuckle 132 can rotate relative to the first knuckle 131; alternatively, the connection can be a slidable connection, whereby the first knuckle 131 can slide relative to the first knuckle 131. This embodiment does not limit the specific method used. In one possible implementation provided by this embodiment, the first knuckle 131 and the second knuckle 132 are rotatably connected, and the second knuckle 132 rotates relative to the first knuckle 131.

[0045] In this embodiment of the application, the first driving component 11 is rigidly connected to the first phalanx 131 and is used to drive the phalanx component 13 to move in a direction that forms an angle with the first direction A. Here, it should be explained that the rigid connection between the first driving component 11 and the first phalanx 131 means that the connection between the first driving component 11 and the first phalanx 131 has no elastic buffer and has the advantages of high transmission efficiency, high rigidity and high precision.

[0046] In this embodiment, the first driving component 11 is rigidly connected to the first knuckle 131 and is used to drive the knuckle component 13 to move along a direction forming an angle with the first direction A. Here, the first driving component 11 can drive the knuckle component 13 in the manner of a rigid connecting rod 112; the first driving component 11 can drive the knuckle component 13 in the manner of a gear and rack; the first driving component 11 can drive the knuckle component 13 in the manner of a lead screw; the first driving component 11 can drive the knuckle component 13 in the manner of a rigid chain; the first driving component 11 can drive the knuckle component 13 in the manner of a cam, etc. This embodiment does not limit the scope of the application.

[0047] In this embodiment, the first driving component 11 is rigidly connected to the first knuckle 131 and is used to drive the knuckle component 13 to move along a direction forming an angle with the first direction A. Here, the first driving component 11 can be used to drive the knuckle component 13 to bend along a direction forming an angle with the first direction A; the first driving component 11 can be used to drive the knuckle component 13 to swing along a direction forming an angle with the first direction A; the first driving component 11 can be used to drive the knuckle component 13 to bend and swing along a direction forming an angle with the first direction A; this embodiment does not limit this.

[0048] In this embodiment, the first driving component 11 is rigidly connected to the first knuckle 131 and is used to drive the knuckle component 13 to move along a direction forming an angle with the first direction A. Here, the direction forming an angle with the first direction A can be a direction forming a 30-degree angle with the first direction A; the direction forming an angle with the first direction A can be a direction forming a 60-degree angle with the first direction A; the direction forming an angle with the first direction A can be a direction forming a 90-degree angle with the first direction A; this embodiment does not limit the scope of the application.

[0049] In this embodiment, the second driving component 12 is flexibly connected to the second phalanx 132, at least for driving the second phalanx 132 to move relative to the first phalanx 131 in a direction forming an angle with the first direction A. Here, it should be explained that the flexible connection between the second driving component 12 and the second phalanx 132 means that the connection between the second driving component 12 and the second phalanx 132 has elastic buffering, and transmits power through material deformation or flexible structure, which has the advantages of buffering and not being easily damaged by load impact.

[0050] In this embodiment, the second driving component 12 is flexibly connected to the second phalanx 132 and is used at least to drive the second phalanx 132 to move relative to the first phalanx 131 in a direction forming an angle with the first direction A. Here, the second driving component 12 can drive the second phalanx 132 in a flexible tendon manner; the second driving component 12 can drive the second phalanx 132 in a pneumatic artificial muscle manner; the second driving component 12 can drive the second phalanx 132 in a liquid metal muscle manner; the second driving component 12 can drive the second phalanx 132 in a liquid crystal elastomer manner, etc. This embodiment does not limit the scope of the application.

[0051] In this embodiment, the second driving component 12 is flexibly connected to the second phalanx 132 and is at least used to drive the second phalanx 132 to move relative to the first phalanx 131 in a direction forming an angle with the first direction A. Here, the second driving component 12 can at least be used to drive the second phalanx 132 to bend relative to the first phalanx 131 in a direction forming an angle with the first direction A; the second driving component 12 can at least be used to drive the second phalanx 132 to swing relative to the first phalanx 131 in a direction forming an angle with the first direction A; the second driving component 12 can at least be used to drive the second phalanx 132 to bend and swing relative to the first phalanx 131 in a direction forming an angle with the first direction A; in this respect, this embodiment does not limit the scope of the application.

[0052] In this embodiment, the second driving component 12 is flexibly connected to the second phalanx 132, and is at least used to drive the second phalanx 132 to move relative to the first phalanx 131 in a direction forming an angle with the first direction A. Here, the direction forming an angle with the first direction A can be a direction forming a 30-degree angle with the first direction A; the direction forming an angle with the first direction A can be a direction forming a 60-degree angle with the first direction A; the direction forming an angle with the first direction A can be a direction forming a 90-degree angle with the first direction A; this embodiment does not limit the scope of the application.

[0053] In this embodiment, the second driving component 12 is flexibly connected to the second phalanx 132, and is at least used to drive the second phalanx 132 to move relative to the first phalanx 131 in a direction that forms an angle with the first direction A. Here, it should be explained that, in addition to driving the second phalanx 132 to move relative to the first phalanx 131 in a direction that forms an angle with the first direction A, the second driving component 12 can also drive the movement of other phalanges, for example, it can drive the third phalanx 133 to move relative to the second phalanx 132; this embodiment does not limit this.

[0054] In this embodiment, the first driving component 11 is rigidly connected to the first phalanx 131 and is used to drive the phalanx 13 to move along a direction forming an angle with the first direction A. The second driving component 12 is flexibly connected to the second phalanx 132 and is used to drive the second phalanx 132 to move relative to the first phalanx 131 along a direction forming an angle with the first direction A. Here, the direction in which the first driving component 11 drives the phalanx 13 to move along a direction forming an angle with the first direction A can be the same as the direction in which the second driving component 12 drives the second phalanx 132 to move relative to the first phalanx 131 along a direction forming an angle with the first direction A. Of course, the direction in which the first driving component 11 drives the phalanx 13 to move along a direction forming an angle with the first direction A can also form an angle with the direction in which the second driving component 12 drives the second phalanx 132 to move relative to the first phalanx 131 along a direction forming an angle with the first direction A. This embodiment does not limit this aspect. Based on this, the type of motion of the first driving component 11 in driving the knuckle component 13 to move in a direction forming an angle with the first direction A can be the same as the type of motion of the second driving component 12 in driving the second knuckle 132 to move relative to the first knuckle 131 in a direction forming an angle with the first direction A; of course, the type of motion of the first driving component 11 in driving the knuckle component 13 to move in a direction forming an angle with the first direction A can be different from the type of motion of the second driving component 12 in driving the second knuckle 132 to move relative to the first knuckle 131 in a direction forming an angle with the first direction A; in this respect, the embodiments of this application do not limit it.

[0055] In this embodiment of the application, the finger mechanism 1 includes a fingertip sensor, which is disposed on the knuckle component 13 and is used to sense whether the knuckle component 13 has grasped an object.

[0056] The finger mechanism 1 provided in this embodiment includes a knuckle component 13 comprising a first knuckle 131 and a second knuckle 132 arranged along a first direction A. The knuckle component 13 is used to perform a grasping action. A first driving component 11 is rigidly connected to the first knuckle 131 and is used to drive the knuckle component 13 to move along the direction forming an angle with the first direction A. The rigid connection between the first driving component 11 and the first knuckle 131 allows the first driving component 11 to directly output a high-rigidity torque, enabling the finger mechanism 1 to reach the accurate position with high precision, thereby reducing the risk of the finger mechanism 1 failing to reach the correct position. The precise positioning, which may result in insufficient accuracy, allows the fingers to perform precise operations. Furthermore, the second drive component 12 is flexibly connected to the second phalanx 132, at least for driving the second phalanx 132 to move relative to the first phalanx 131 in a direction forming an angle with the first direction A. Here, the flexible connection between the second drive component 12 and the second phalanx 132 allows the second phalanx 132 to absorb impact energy, enabling it to grip smoothly and reducing its susceptibility to damage from impact loads, thereby improving the smoothness of operation. Compared to related technologies, the finger mechanism 1, due to its structural design, struggles to balance the dual requirements of precise operation and compliant grasping, resulting in a weaker grasping adaptability and thus reducing the user experience. This application addresses this issue by rigidly connecting the first driving component 11 to the first knuckle 131 and flexibly connecting the second driving component 12 to the second knuckle 132. This allows the knuckle mechanism to transmit force in a coordinated manner, enabling the finger mechanism 1 to balance the dual requirements of precise operation and compliant grasping during the grasping process. This achieves a two-stage grasping process, enhancing the grasping adaptability and thereby improving the user experience.

[0057] Based on this, the present application embodiment also provides a control method for a finger mechanism 1, wherein the finger mechanism 1 is the finger mechanism 1 provided in the present application embodiment. The method includes: in response to a grasping or releasing command of an object, controlling a first driving component 11 to drive a knuckle component 13 to move in a direction forming an angle with a first direction A, and controlling a second driving component 12 to drive at least a second knuckle 132 to move relative to a first knuckle 131 in a direction forming an angle with a first direction A, so that the knuckle component 13 grasps or releases the object.

[0058] In this embodiment of the application, the object can be a fragile item; the object can be a metal item, etc., and this embodiment of the application does not limit this.

[0059] Furthermore, when the knuckle component 13 needs to grasp or release an object, if it is found that the position of the object is far from the overall position of the knuckle component 13, the first driving component 11 is controlled to drive the knuckle component 13 to move in a direction forming an angle with the first direction A, so that the knuckle component 13 moves to the position, and the second driving component 12 is controlled to drive at least the second knuckle 132 to move relative to the first knuckle 131 in a direction forming an angle with the first direction A, so that the second knuckle 132 moves to the object, so that the knuckle component 13 can grasp or release the object.

[0060] Reference Figure 2 , Figure 8 and Figure 9 This application provides a finger mechanism 1, in which a second phalanx 132 is rotatably connected to a first phalanx 131. A second driving component 12 includes a second driving member 121, a winch 122, and a first flexible tendon cord 123. The first end of the first flexible tendon cord 123 is fixed to the winch 122, and the second end of the first flexible tendon cord 123 is fixed to the second phalanx 132. The rotatable connection between the second phalanx 132 and the first phalanx 131 contacts the first flexible tendon cord 123. The second driving member 121 drives the winch 122 to rotate, so that the first flexible tendon cord 123 is wound around the winch 122, causing the second phalanx 132 to bend relative to the first phalanx 131 along a second direction B. The rotation axis of the second driving member 121 for driving the winch 122 to rotate forms an angle with the rotation axis of the rotatable connection between the second phalanx 132 and the first phalanx 131, and the second direction B has an angle with the first direction A.

[0061] In this embodiment, the second phalanx 132 is rotatably connected to the first phalanx 131. Here, a pivot structure can be provided between the second phalanx 132 and the first phalanx 131 to enable the second phalanx 132 to be rotatably connected to the first phalanx 131. The pivot structure can be a pivot hole provided on the second phalanx 132 and a pivot provided on the first phalanx 131, with the pivot extending into the pivot hole and rotating relative to the pivot. Alternatively, the pivot structure can be a pivot provided on the second phalanx 132 and a pivot hole provided on the first phalanx 131, with the pivot extending into the pivot hole and rotating relative to the pivot. This embodiment does not limit the scope of the application.

[0062] In this embodiment, the second driving component 12 includes a second driving member 121, a winch 122, and a first flexible tendon rope 123. The first end of the first flexible tendon rope 123 is fixed to the winch 122. Here, the first end of the first flexible tendon rope 123 can be fixed to the winch 122 in a non-removable manner, for example, by welding the first end of the first flexible tendon rope 123 to the winch 122; or by bonding the first end of the first flexible tendon rope 123 to the winch 122. Of course, the first end of the first flexible tendon rope 123 can be fixed to the winch 122 in a detachable manner, for example, by snapping the first end of the first flexible tendon rope 123 to the winch 122; or by screwing the first end of the first flexible tendon rope 123 to the winch 122. This embodiment does not limit the scope of this application. Based on this, the second end of the first flexible tendon cord 123 is fixed to the second phalanx 132. Here, the second end of the first flexible tendon cord 123 can be fixed to the second phalanx 132 in a non-removable manner, for example, by welding the second end of the first flexible tendon cord 123 to the second phalanx 132; or by bonding the second end of the first flexible tendon cord 123 to the second phalanx 132. Of course, the second end of the first flexible tendon cord 123 can be fixed to the second phalanx 132 in a detachable manner, for example, by snapping the second end of the first flexible tendon cord 123 to the second phalanx 132; or by screwing the second end of the first flexible tendon cord 123 to the second phalanx 132. In this respect, the embodiments of this application do not limit this.

[0063] In this embodiment, the second driving member 121 is used to drive the winch 122 to rotate, so as to wind the first flexible tendon rope 123 into the winch 122, so that the second phalanx 132 bends relative to the first phalanx 131 along the second direction B. Here, the second driving member 121 can be a servo motor; the second driving member 121 can also be a brushless motor reducer module; the second driving member 121 can also be a linear motor; the second driving member 121 can also be a linear drive mechanism; in this embodiment, there is no limitation.

[0064] In one possible implementation provided in this application, the second driving member 121 is used to drive the winch 122 to rotate. For example, the second driving member 121 is used to drive the winch 122 to rotate clockwise, so that the first flexible tendon 123 is wound around the winch 122, causing the first flexible tendon 123 to shorten, thereby pulling the second phalanx 132 to bend relative to the first phalanx 131 along the second direction B. For example, it can bend clockwise relative to the first phalanx 131. Based on this, the rotation angle ratio of the winch 122 and the second phalanx 132 can be 1.22, that is, for the second phalanx 132 to rotate and bend by 1 degree, the winch 122 needs to rotate by 1.22 degrees; of course, the rotation angle ratio of the winch 122 and the second phalanx 132 can also be 1.5, that is, for the second phalanx 132 to rotate and bend by 1 degree, the winch 122 needs to rotate by 1.5 degrees. The embodiments of this application do not limit the rotation angle ratio of the winch 122 and the second phalanx 132. By controlling the rotation angle of the winch 122, the rotational bending angle of the second phalanx 132 can be accurately obtained.

[0065] The finger mechanism 1 provided in this application embodiment drives the second driving member 121 to drive the winch 122 to rotate, and winds the first flexible tendon 123 into the winch 122 so that the second phalanx 132 bends relative to the first phalanx 131 in the second direction B. When grasping fragile objects, the second phalanx 132 can absorb impact energy through the elastic deformation of the first flexible tendon 123, so that the second phalanx 132 can be flexibly bent.

[0066] Based on this, the present application embodiment also provides a control method for a finger mechanism 1, wherein the finger mechanism 1 is the finger mechanism 1 provided in the present application embodiment. The method includes: in response to a grasping command of an object, controlling a first driving member 11 to drive a knuckle member 13 to move in a direction forming an angle with a first direction A; controlling a second driving member 121 to drive a winch 122 to rotate, so that a first flexible tendon 123 is wound around the winch 122, so that the second knuckle 132 bends relative to the first knuckle 131 in a second direction B, so that the knuckle member 13 grasps the object.

[0067] Furthermore, if the knuckle component 13 needs to grasp an object and finds that the object is far from the overall position of the knuckle component 13, the first drive component 11 is controlled to drive the knuckle component 13 to move in a direction forming an angle with the first direction A, so that the knuckle component 13 moves to the position, and the second drive component 121 is controlled to drive the winch 122 to rotate, so that the first flexible tendon 123 is wound into the winch 122, so that the second knuckle 132 bends relative to the first knuckle 131 in the second direction B, so that the knuckle component 13 can grasp the object.

[0068] Reference Figure 1 , Figure 5 , Figure 6 and Figure 7This application provides a finger mechanism 1, in which a second driving member 121 drives a winch 122 to rotate so that a first flexible tendon 123 can be wound around the winch 122. The second driving member 12 also includes a first elastic recovery member 124, which is disposed between the second driving member 12 and the second phalanx 132. The first elastic recovery member 124 is used to provide a restoring force for the second phalanx 132 to extend relative to the first phalanx 131 in a second direction B.

[0069] In this embodiment, the first elastic return member 124 can be a helical spring; the first elastic return member 124 can be a leaf spring; the first elastic return member 124 can be a torsion bar spring, etc.; this embodiment does not limit the specific application.

[0070] In this embodiment, the second driving component 12 further includes a first elastic recovery member 124, which is disposed between the second driving component 12 and the second phalanx 132. Here, the first elastic recovery member 124 can be disposed between the second driving component 121 and the second phalanx 132; the first elastic recovery member 124 can be disposed between the winch 122 and the second phalanx 132; the first elastic recovery member 124 can also be disposed between any structure of the second driving component 12 and the second phalanx 132 and the second phalanx 132. This embodiment does not limit this, as long as the first elastic recovery member 124 is not disposed on the first flexible tendon 123.

[0071] The finger mechanism 1 provided in this application embodiment provides a first elastic recovery member 124 between the second driving member 12 and the second phalanx 132. The first elastic recovery member 124 is used to provide a recovery force for the second phalanx 132 to extend relative to the first phalanx 131 in the second direction B, so that the second phalanx 132 can extend rapidly relative to the first phalanx 131 in the second direction B.

[0072] Based on this, the present application embodiment also provides a control method for a finger mechanism 1, wherein the finger mechanism 1 is the finger mechanism 1 provided in the present application embodiment. The method includes: in response to a grasping command of an object, controlling a first driving member 11 to drive a knuckle member 13 to move in a direction forming an angle with a first direction A, and controlling a second driving member 121 to drive a winch 122 to rotate so that a first flexible tendon 123 is wound around the winch 122 so that the second knuckle 132 bends relative to the first knuckle 131 in a second direction B so that the knuckle member 13 grasps the object; in response to a release command of the object, controlling the second driving member 121 to drive the winch 122 to rotate so that the first flexible tendon 123 is wound out of the winch 122 so that the second knuckle 132 extends relative to the first knuckle 131 in a second direction B so that the knuckle member 13 releases the object.

[0073] Furthermore, when the knuckle component 13 needs to grasp an object, if the object's position is found to be far from the overall position of the knuckle component 13, the first drive component 11 is controlled to drive the knuckle component 13 to move in a direction forming an angle with the first direction A, so that the knuckle component 13 moves to the position, and the second drive component 121 is controlled to drive the winch 122 to rotate, so that the first flexible tendon 123 is wound into the winch 122, so that the second knuckle 132 bends relative to the first knuckle 131 in the second direction B, so that the knuckle component 13 grasps the object; then the knuckle component 13 is controlled to grasp the object; when it is found that the object has reached the release position and needs to be released, the second drive component 121 is controlled to drive the winch 122 to rotate, so that the first flexible tendon 123 is wound out of the winch 122, so that the second knuckle 132 extends relative to the first knuckle 131 in the second direction B, so that the knuckle component 13 releases the object.

[0074] Reference Figure 1 , Figure 2 , Figure 3 and Figure 4 This application provides a finger mechanism 1, in which the second phalanx 132 includes a first threaded component 125, the first end of the first flexible tendon cord 123 is fixed on the winch 122, and the second end of the first flexible tendon cord 123 is fixed on the first threaded component 125.

[0075] In this embodiment, the first threaded component 125 can be a screw; the first threaded component 125 can be a bolt; the first threaded component 125 can be a nut; however, this embodiment does not limit the scope of the application. In one possible implementation provided by this embodiment, the first threaded component 125 can be a screw.

[0076] The finger mechanism 1 provided in this application embodiment fixes the first end of the first flexible tendon cord 123 to the winch 122 and the second end of the first flexible tendon cord 123 to the first threaded quantitative component 125. Thus, during initial assembly, the screw can be tightened at a fixed torque using a torque wrench with a numerical display, achieving a consistent and quantified tension within the first flexible tendon cord 123. This provides consistency in the initial angle and accuracy of the movement angle of the second phalanx 132. In one possible implementation provided in this application embodiment, the preload of the first flexible tendon cord 123 can be calculated using the following formula: T 腱绳 =M 螺纹量化件 / R 缠绕 -f 系统 Here, it is necessary to explain the formula, M 螺纹量化件 This refers to the torque provided by the torque wrench; R 缠绕 This refers to the radius of the first threaded component, 125; f 系统 This refers to the sum of the frictional forces generated by the first threaded component 125 within the finger mechanism.

[0077] Reference Figure 1 , Figure 2 , Figure 3 and Figure 4 This application provides a finger mechanism 1, which includes a first limiting structure 14 disposed between a second driving component 12 and a second phalanx 132, for limiting the displacement of a first flexible tendon 123 when it is wound around a winch 122.

[0078] In this embodiment, the first limiting structure 14 may be a plurality of limiting wheels disposed between the second driving component 12 and the second phalanx 132, with limiting grooves disposed on the plurality of limiting wheels, and the first flexible tendon rope 123 located within the limiting grooves; specifically, the first limiting structure 14 may include a first limiting wheel 141, a second limiting wheel 142, a third limiting wheel 142 and a fourth limiting wheel 144 disposed sequentially, with the first flexible tendon rope 123 located sequentially in the first limiting groove of the first limiting wheel 141, the second limiting groove of the second limiting wheel 142, the third limiting groove of the third limiting wheel 142 and the fourth limiting groove of the fourth limiting wheel 144, for limiting the displacement of the first flexible tendon rope 123 when it is wound around the winch 122, wherein the axial directions of the first limiting wheel 141, the second limiting wheel 142, the third limiting wheel 142 and the fourth limiting wheel 144 are all parallel to the rotational axis of the first phalanx 131 and the second phalanx 132 rotatably connected.

[0079] Based on this, when the first flexible tendon cord 123 is sequentially located in the first limiting groove of the first limiting wheel 141, the second limiting groove of the second limiting wheel 142, the third limiting groove of the third limiting wheel 142, and the fourth limiting groove of the fourth limiting wheel 144, if it encounters the rigid connection between the first driving component 11 and the first phalanx 131, a hollow hole can be provided at the rigid connection between the first driving component 11 and the first phalanx 131. The first flexible tendon cord 123 can pass through the hollow hole. In this way, when the first driving component 11 is used to drive the phalanx assembly to move in a direction that forms an angle with the first direction A, the torsion of the first flexible tendon cord 123 by the movement can be reduced. At the same time, the first flexible tendon cord 123 can eliminate the coupling movement of the phalanx assembly to the bending movement of the second phalanx 132 relative to the first phalanx 131 in the second direction B, so that the two do not affect each other.

[0080] Furthermore, during the process of fixing the first flexible tendon 123 to the second phalanx 132, if the first flexible tendon 123 is located in the first limiting groove of the first limiting wheel 141, the second limiting groove of the second limiting wheel 142, the third limiting groove of the third limiting wheel 142, and the fourth limiting groove of the fourth limiting wheel 144, a hollow hole can be provided at the rotating connection of the first phalanx 131 and the second phalanx 132. In this way, when the second phalanx 132 is passively bent by external force and the first flexible tendon 123 becomes loose, the first flexible tendon 123 will not detach from the first limiting groove of the first limiting wheel 141, the second limiting groove of the second limiting wheel 142, the third limiting groove of the third limiting wheel 142, and the fourth limiting groove of the fourth limiting wheel 144.

[0081] The finger mechanism 1 provided in this application embodiment improves the accuracy of bending of the second phalanx 132 relative to the first phalanx 131 in the second direction B by setting a first limiting structure 14 between the second driving component 12 and the second phalanx 132 to limit the displacement of the first flexible tendon 123 when it is wound around the winch 122.

[0082] Reference Figure 3 and Figure 11 This application provides a finger mechanism 1. The knuckle component 13 further includes a third knuckle 133 arranged along a first direction A and rotatably connected to the second knuckle 132. The second driving component 12 further includes a second flexible tendon cord 126. The first end of the second flexible tendon cord 126 is fixed to the first knuckle 131, and the second end of the second flexible tendon cord 126 is fixed to the third knuckle 133. The rotatable connection between the second knuckle 132 and the first knuckle 131, and the rotatable connection between the third knuckle 133 and the second knuckle 132, respectively contact the second flexible tendon cord 126. The second driving component 121 is used to drive the winch 122 to rotate so that the first flexible tendon cord 123 is wound around the winch 122, so that both the second knuckle 132 and the third knuckle 133 are bent relative to the first knuckle 131 along a second direction B. The rotation axis of the rotatable connection between the second knuckle 132 and the first knuckle 131 is parallel to the rotation axis of the rotatable connection between the third knuckle 133 and the second knuckle 132.

[0083] In this embodiment, the knuckle component 13 includes a third knuckle 133 arranged along a first direction A and rotatably connected to the second knuckle 132. Here, a pivot structure can be provided between the third knuckle 133 and the second knuckle 132 to allow the third knuckle 133 to be rotatably connected to the second knuckle 132. The pivot structure can be a pivot hole provided on the second knuckle 132 and a pivot provided on the third knuckle 133, with the pivot extending into the pivot hole and rotating relative to the pivot. Alternatively, the pivot structure can be a pivot hole provided on the third knuckle 133 and a pivot provided on the second knuckle 132, with the pivot extending into the pivot hole and rotating relative to the pivot. This embodiment does not limit the scope of this embodiment.

[0084] In this embodiment, the first end of the second flexible tendon cord 126 is fixed to the first phalanx 131, and the second end of the second flexible tendon cord 126 is fixed to the third phalanx 133. Here, the first end of the second flexible tendon cord 126 can be fixed to the first phalanx 131 in a non-removable manner, for example, by welding the first end of the second flexible tendon cord 126 to the first phalanx 131; or by bonding the first end of the second flexible tendon cord 126 to the first phalanx 131. Of course, the second end of the second flexible tendon cord 126 can be fixed to the first phalanx 131 in a detachable manner, for example, by snapping the second end of the second flexible tendon cord 126 to the first phalanx 131; or, for example, by screwing the second end of the second flexible tendon cord 126 to the first phalanx 131. This embodiment does not limit the scope of this embodiment. Based on this, the second end of the second flexible tendon cord 126 is fixed to the third phalanx 133. Here, the second end of the second flexible tendon cord 126 can be fixed to the third phalanx 133 in a non-removable manner, for example, by welding the second end of the second flexible tendon cord 126 to the third phalanx 133; or by bonding the second end of the second flexible tendon cord 126 to the third phalanx 133. Of course, the second end of the second flexible tendon cord 126 can be fixed to the third phalanx 133 in a detachable manner, for example, by snapping the second end of the second flexible tendon cord 126 to the third phalanx 133; or by screwing the second end of the second flexible tendon cord 126 to the third phalanx 133. In this respect, the embodiments of this application do not limit the scope of the fixation.

[0085] In one possible implementation provided in this application, the first end of the second flexible tendon cord 126 is fixed to the first phalanx 131, and the second end of the second flexible tendon cord 126 is fixed to the third phalanx 133. In one embodiment, the second end of the second flexible tendon cord 126 is fixed to the third phalanx 133, and can be wound clockwise around the rotational connection between the third phalanx 133 and the second phalanx 132, and then counterclockwise around the rotational connection between the second phalanx 132 and the first phalanx 131; the second driving member 121 is used to drive the winch 122 to rotate, so that the first flexible tendon cord 123 is wound into the winch 122, so that the second phalanx 132 and the third phalanx 131... All three phalanges 133 are bent relative to the first phalanx 131 along the second direction B. Here, the third phalanx 133 is equivalent to a passively coupled phalanx, which bends along the second direction B as the second phalanx 132 bends. The specific passive coupling principle is that since the length of the second flexible tendon cord 126 remains unchanged, the second driving member 121 drives the winch 122 to rotate so that the first flexible tendon cord 123 is wound into the winch 122. For example, when rotating clockwise, the second flexible tendon cord 126 will be wound around the rotational connection between the first phalanx 131 and the second phalanx 132, thereby pulling the coupled rotation of the second phalanx 132 and the third phalanx 133, for example, clockwise rotation.

[0086] The finger mechanism 1 provided in this application embodiment, by setting a second flexible tendon cord 126, is used by the second driving member 121 to drive the winch 122 to rotate, so that the first flexible tendon cord 123 is wound into the winch 122, so that the second phalanx 132 and the third phalanx 133 are both bent relative to the first phalanx 131 along the second direction B. When grasping fragile objects, the second phalanx 132 and the third phalanx 133 can absorb impact energy through the elastic deformation of the first flexible tendon cord 123 and the second flexible tendon cord 126, so that the second phalanx 132 and the third phalanx 133 can be flexibly bent.

[0087] Based on this, the present application embodiment also provides a control method for a finger mechanism 1, wherein the finger mechanism 1 is the finger mechanism 1 provided in the present application embodiment. The method includes: responding to an object grasping command, controlling a first driving component 11 to drive a knuckle component 13 to move in a direction forming an angle with a first direction A, and controlling a second driving component 121 to drive a winch 122 to rotate so that a first flexible tendon 123 is wound around the winch 122, so that the second knuckle 132 and the third knuckle 133 are both bent relative to the first knuckle 131 in a second direction B, so that the knuckle component 13 grasps the object.

[0088] Furthermore, when the knuckle component 13 needs to grasp an object, if it is found that the position of the object is far from the overall position of the knuckle component 13, the first driving component 11 is controlled to drive the knuckle component 13 to move in a direction forming an angle with the first direction A, so that the knuckle component 13 moves to the position, and the second driving component 121 is controlled to drive the winch 122 to rotate, so that the first flexible tendon 123 is wound into the winch 122, so that the second knuckle 132 and the third knuckle 133 are both bent relative to the first knuckle 131 in the second direction B, so that the knuckle component 13 can grasp the object.

[0089] Reference Figure 1 , Figure 5 , Figure 6 and Figure 7 This application provides a finger mechanism 1. A second driving member 121 is used to drive a winch 122 to rotate so that a first flexible tendon 123 can be wound around the winch 122. The second driving member 12 also includes a second elastic recovery member 127. The second elastic recovery member 127 is disposed at the rotational connection where the third phalanx 133 and the second phalanx 132 are rotatably connected. The second elastic recovery member 127 is used to provide a restoring force for the third phalanx 133 to extend relative to the first phalanx 131 in a second direction B.

[0090] In this embodiment, the second elastic return member 127 can be a helical spring; the second elastic return member 127 can be a leaf spring; the second elastic return member 127 can be a torsion bar spring, etc.; this embodiment does not limit the specific application.

[0091] The finger mechanism 1 provided in this application embodiment provides a second elastic return member 127 at the rotational connection between the third phalanx 133 and the second phalanx 132. The second elastic return member 127 is used to provide a restoring force for the third phalanx 133 to extend relative to the first phalanx 131 in the second direction B, so that the third phalanx 133 can extend rapidly relative to the first phalanx 131 in the second direction B.

[0092] Based on this, the present application embodiment also provides a control method for a finger mechanism 1, wherein the finger mechanism 1 is the finger mechanism 1 provided in the present application embodiment. The method includes: in response to a grasping command of an object, controlling a first driving member 11 to drive a knuckle member 13 to move in a direction forming an angle with a first direction A, and controlling a second driving member 121 to drive a winch 122 to rotate so that a first flexible tendon 123 is wound around the winch 122 so that the second knuckle 132 and the third knuckle 133 are both bent relative to the first knuckle 131 in a second direction B so that the knuckle member 13 grasps the object; in response to a release command of an object, controlling the second driving member 121 to drive the winch 122 to rotate so that the first flexible tendon 123 is wound out of the winch 122 so that the second knuckle 132 and the third knuckle 133 are both extended relative to the first knuckle 131 in a second direction B so that the knuckle member 13 releases the object.

[0093] Furthermore, when the knuckle component 13 needs to grasp an object, if the object's position is found to be far from the overall position of the knuckle component 13, the first drive component 11 is controlled to drive the knuckle component 13 to move along a direction forming an angle with the first direction A, so that the knuckle component 13 moves to the desired position. The second drive component 121 is then controlled to drive the winch 122 to rotate, so that the first flexible tendon 123 is wound around the winch 122, causing the second knuckle 132 and the third knuckle 133 to bend relative to the first knuckle 131 along the second direction B, so that the knuckle component 13 can grasp the object. In response to the instruction that the object needs to be released from the knuckle component 13, the second drive component 121 is controlled to drive the winch 122 to rotate, so that the first flexible tendon 123 is wound out of the winch 122, so that the second knuckle 132 and the third knuckle 133 are extended relative to the first knuckle 131 along the second direction B, so that the knuckle component 13 can release the object.

[0094] Reference Figure 1 , Figure 2 , Figure 3 and Figure 4 This application provides a finger mechanism 1, in which the first phalanx 131 includes a second threaded component 128, the first end of the second flexible tendon 126 is fixed on the second threaded component 128, and the second end of the second flexible tendon 126 is fixed on the third phalanx 133.

[0095] In this embodiment, the second threaded component 128 can be a screw; the second threaded component 128 can be a bolt; the second threaded component 128 can be a nut; however, this embodiment does not limit the scope of the application. In one possible implementation provided by this embodiment, the second threaded component 128 can be a screw.

[0096] The finger mechanism 1 provided in this application embodiment fixes the first section of the second flexible tendon cord 126 to the second threaded quantitative component 128, and the second end of the second flexible tendon cord 126 to the third phalanx 133. Thus, during initial assembly, the screw can be tightened at a fixed torque using a torque wrench with a numerical display, achieving a consistent and quantified tension within the second flexible tendon cord 126, providing consistency in the initial angle and accuracy in the movement angle of the third phalanx 133. In one possible implementation method provided in this application embodiment, the preload of the second flexible tendon cord 126 can be calculated using the following formula: T 腱绳 =M 螺纹量化件 / R 缠绕 -f 系统 Here, it is necessary to explain the formula, M 螺纹量化件 This refers to the torque provided by the torque wrench; R 缠绕 This refers to the radius of the second threaded component 125; f 系统 This refers to the sum of the frictional forces generated by the second threaded component 125 within the finger mechanism.

[0097] Reference Figure 1 , Figure 2 , Figure 3 and Figure 4 This application provides a finger mechanism 1, which includes a second limiting structure disposed between the first phalanx 131 and the third phalanx 133, for limiting the displacement of the second flexible tendon 126 when the first flexible tendon 123 is wound around the winch 122.

[0098] In this embodiment of the application, the second limiting structure may be a plurality of limiting wheels provided between the first phalanx 131 and the third phalanx 133, and the plurality of limiting wheels are provided with limiting grooves, and the second flexible tendon rope 126 may be located in the limiting grooves.

[0099] In this embodiment of the application, if the first limiting structure 14 is a plurality of limiting wheels provided between the second driving component 12 and the second phalanx 132, and the second limiting structure is a plurality of limiting wheels provided between the first phalanx 131 and the third phalanx 133, the first flexible tendon cord 123 and the second flexible tendon cord 126 may be located at different positions in the limiting groove of the same limiting wheel. In other words, the first flexible tendon cord 123 and the second flexible tendon cord 126 share a single limiting wheel.

[0100] The finger mechanism 1 provided in this application embodiment provides a second limiting structure between the first phalanx 131 and the third phalanx 133 to limit the displacement of the second flexible tendon rope 126 when the first flexible tendon rope 123 is wound around the winch 122, thereby improving the accuracy of the third phalanx 133 bending relative to the first phalanx 131 in the second direction B.

[0101] An embodiment of the present application provides a finger mechanism 1. The first driving component 11 includes a first driving member 111 and a connecting rod 112. The first end of the connecting rod 112 is rotatably connected to the first driving member 111, and the second end of the connecting rod 112 is rotatably connected to the first finger joint 131. The first driving member 111 is configured to drive the first end of the connecting rod 112 to move along a first direction A, so that the finger joint component 13 bends along a second direction B. Wherein, the rotation axis of the first end of the connecting rod 112 rotatably connected to the first driving member 111 is parallel to the rotation axis of the second end of the connecting rod 112 rotatably connected to the first driving member 111, and the second direction B has an included angle with the first direction A.

[0102] In an embodiment of the present application, the first driving component 11 includes a first driving member 111. The first driving member 111 may be only a motor, or the first driving member 111 may be a motor and a cylindrical gear reducer, a ball screw, and a screw nut located on the ball screw. The embodiments of the present application do not limit this.

[0103] In an embodiment of the present application, the first driving member 111 and the second driving member 121 may be arranged along the palm side and the back side directions of the manipulator, in a "pin" configuration, and close to the back side of the manipulator, both occupying the space on the back side, so as to minimize the impact on the dexterous operation of the palm side of the manipulator.

[0104] In an embodiment of the present application, the first end of the connecting rod 112 is rotatably connected to the first driving member 111. Here, the first end of the connecting rod 112 and the first driving member 111 may be rotatably connected through a rotating shaft structure. The rotating shaft structure may be a rotating shaft provided at the first end of the connecting rod 112 and a rotating shaft hole provided on the first driving member 111, and the rotating shaft extends into the rotating shaft hole and rotates relative to the rotating shaft. Of course, the rotating shaft structure may also be a rotating shaft hole provided at the first end of the connecting rod 112 and a rotating shaft provided on the first driving member 111, and the rotating shaft extends into the rotating shaft hole and rotates relative to the rotating shaft. Similarly, the second end of the connecting rod 112 is rotatably connected to the first finger joint 131. Here, the second end of the connecting rod 112 and the first finger joint 131 may be rotatably connected through a rotating shaft structure. The rotating shaft structure may be a rotating shaft provided at the second end of the connecting rod 112 and a rotating shaft hole provided on the first finger joint 131, and the rotating shaft extends into the rotating shaft hole and rotates relative to the rotating shaft. Of course, the rotating shaft structure may also be a rotating shaft hole provided at the second end of the connecting rod 112 and a rotating shaft provided on the first finger joint 131, and the rotating shaft extends into the rotating shaft hole and rotates relative to the rotating shaft.

[0105] In one possible implementation of this application embodiment, the first driving component 111 can be a motor and a cylindrical gear reducer, a ball screw and a screw nut located on the ball screw. The first end of the connecting rod 112 is rotatably connected to the screw nut. Of course, the first end of the connecting rod 112 can also be hinged to the screw nut. The second end of connecting rod 112 is rotatably connected to the first finger joint 131. The lead screw nut and connecting rod 112 form a crank-slider mechanism. The motor drives the cylindrical gear reducer to transmit torque to the ball screw, and the lead screw nut located on the ball screw outputs linear motion. This linear motion is in the same direction as the first direction A. When the lead screw nut moves along the first direction A and away from the first finger joint 131, it drives the connecting rod 112 to move along the first direction A and away from the first finger joint 131. The first finger joint 131 rotates relative to the second end of connecting rod 112, thereby causing the finger joint component 13 to bend along the second direction B. When the lead screw nut moves along the first direction A and closer to the first finger joint 131, it drives the connecting rod 112 to move along the first direction A and closer to the first finger joint 131. The first finger joint 131 rotates relative to the second end of connecting rod 112, thereby causing the finger joint component 13 to extend along the second direction B. Based on this, the bending angle range of the finger joint component 13 along the second direction B is 0 degrees to 90 degrees.

[0106] In one possible implementation of this application embodiment, the first driving component 111 can be a motor and a cylindrical gear reducer, a ball screw, and a screw nut located on the ball screw. The motor can be placed side by side with the screw nut. In this way, the power transmission path of the first driving component 111 can be folded, thereby reducing the space reserved for miniaturization of the hand of the robot and placement of other mechanisms. The first driving component 11 and the second driving component 12 can be reasonably arranged in a limited space, ensuring smooth grasping while satisfying high degree of freedom, so as to improve the compactness of the entire finger mechanism 1.

[0107] The finger mechanism 1 provided in this application embodiment has a first end of a connecting rod 112 rotatably connected to a first driving member 111, and a second end of the connecting rod 112 rotatably connected to a first knuckle 131. The first driving member 111 drives the first end of the connecting rod 112 to move along a first direction A, so that the knuckle component 13 bends along a second direction B, thereby improving the overall high-precision positioning of the finger component. In one possible implementation provided in this application embodiment, the first driving member 11 directly outputs a high-rigidity torque through the connecting rod 112, so that the overall angular error of the finger component is less than 1 degree.

[0108] Based on this, the present application embodiment also provides a control method for a finger mechanism 1, wherein the finger mechanism 1 is the finger mechanism 1 provided in the present application embodiment. The method includes: in response to a grasping command of an object, controlling a first driving member 111 to drive the first end of a connecting rod 112 to move along a first direction A, so that the knuckle component 13 bends along a second direction B; controlling a second driving member 121 to drive a winch 122 to rotate, so that a first flexible tendon 123 is wound around the winch 122, so that the second knuckle 132 and the third knuckle 133 are both bent relative to the first knuckle 131 along the second direction B, so that the knuckle component 13 grasps the object; in response to a release command of an object, controlling the second driving member 121 to drive the winch 122 to rotate, so that the first flexible tendon 123 is wound out of the winch 122, so that the second knuckle 132 and the third knuckle 133 are both extended relative to the first knuckle 131 along the second direction B, so that the knuckle component 13 releases the object.

[0109] Furthermore, when the knuckle component 13 needs to grasp an object, if the object's position is found to be far from the overall position of the knuckle component 13, the first drive member 111 is controlled to drive the first end of the connecting rod 112 to move along the first direction A, so that the knuckle component 13 bends along the second direction B, thereby moving the knuckle component 13 to the position relative to the object. The second drive member 121 is then controlled to drive the winch 122 to rotate, so that the first flexible tendon 123 is wound around the winch 122, so that the second knuckle 132 and the third knuckle 133 are both bent relative to the first knuckle 131 along the second direction B, so that the knuckle component 13 grasps the object. In response to the command that the object needs to be released from the knuckle component 13, the second drive member 121 is controlled to drive the winch 122 to rotate, so that the first flexible tendon 123 is wound out of the winch 122, so that the second knuckle 132 and the third knuckle 133 are both extended relative to the first knuckle 131 along the second direction B, so that the knuckle component 13 releases the object.

[0110] This application provides a finger mechanism 1. The first driving component 11 includes two connecting rods 112 and a joint block 113. The joint block 113 is rotatably connected to the first driving member 111 and the first phalanx 131, respectively. The first ends of the two connecting rods 112 are distributed along a third direction C and are rotatably connected to the first driving member 111, respectively. The second ends of the two connecting rods 112 are rotatably connected to the first phalanx 131, respectively. Both the first and second ends of the two connecting rods 112 are spherical. The first driving member 111 is used to drive the first ends of the two connecting rods 112 to move different displacements along a first direction A, so that the phalanx component 13 deflects along a third direction C. The rotation axis of the joint block 113 rotatably connected to the first driving member 111 forms an angle with the rotation axis of the first end of the connecting rod 112 rotatably connected to the first driving member 111. The rotation axis of the joint block 113 rotatably connected to the first phalanx 131 is parallel to the rotation axis of the first end of the connecting rod 112 rotatably connected to the first driving member 111.

[0111] In this embodiment, the first and second ends of the two connecting rods 112 are both spherical. Here, it should be explained that a spherical shape means that the diameter is the same in any direction.

[0112] In this embodiment, the first driving member 111 is used to drive the first ends of the two connecting rods 112 to move different displacements along the first direction A, so that the knuckle component 13 deflects along the third direction C. Here, the first driving member 111 can be used to drive the two connecting rods 112 to move different displacements along the first direction A but in opposite directions; the first driving member 111 can be used to drive the two connecting rods 112 to move different displacements along the first direction A but in the same direction; this embodiment does not limit this.

[0113] In one possible implementation provided in this application embodiment, when the motor drives the lead screw nut in the first driving member 111, thereby causing the two connecting rods 112 to move asynchronously in opposite directions, the first knuckle 131 rotates relative to the second end of the connecting rod 112, thereby causing the knuckle component 13 to deflect along a third direction C. Based on this, the first driving member 111 is used to drive the first ends of the two connecting rods 112 to move different displacements along a first direction A, so that the knuckle component 13 deflects along a third direction C, and the deflection range can be ±22 degrees.

[0114] The finger mechanism 1 provided in this application embodiment includes two connecting rods 112 in the first driving component 11. The first driving component 111 is used to drive the first ends of the two connecting rods 112 to move at different displacements along the first direction A, so that the knuckle component 13 can swing along the third direction C, thereby enriching the degree of freedom of the knuckle component 13.

[0115] Based on this, this application embodiment also provides a control method for a finger mechanism 1, wherein the finger mechanism 1 is the finger mechanism 1 provided in this application embodiment. The method includes: responding to an object grasping command, controlling a first driving member 111 to drive the first end of a connecting rod 112 to move along a first direction A, so that the knuckle component 13 bends along a second direction B, or controlling the first driving member 111 to drive the first ends of two connecting rods 112 to move at different displacements along the first direction A, so that the knuckle component 13 deflects along a third direction C, and controlling a second driving member 121 to... The drive mechanism 122 rotates to wind the first flexible tendon 123 around the drive mechanism 122, so that the second phalanx 132 and the third phalanx 133 are both bent relative to the first phalanx 131 in a second direction B, so that the knuckle component 13 can grasp an object; in response to a release command of the object, the second drive mechanism 121 is controlled to drive the drive mechanism 122 to rotate, so that the first flexible tendon 123 is unwinding from the drive mechanism 122, so that the second phalanx 132 and the third phalanx 133 are both extended relative to the first phalanx 131 in a second direction B, so that the knuckle component 13 can release the object.

[0116] Furthermore, when the knuckle component 13 needs to grasp an object, if the object's position is found to be far from the overall position of the knuckle component 13, the first driving member 111 is controlled to drive the first end of the connecting rod 112 to move along the first direction A, so that the knuckle component 13 bends along the second direction B. Alternatively, the first driving member 111 is controlled to drive the first ends of the two connecting rods 112 to move different displacements along the first direction A, so that the knuckle component 13 sways along the third direction C, thereby moving the knuckle component 13 to the desired position. Then, the second driving member 121 is controlled to drive the winch 122 to rotate. The first flexible tendon cord 123 is wound around the winch 122 so that the second phalanx 132 and the third phalanx 133 are both bent relative to the first phalanx 131 in a second direction B so that the knuckle component 13 can grasp an object; in response to an instruction that the object needs to be released from the knuckle component 13, the second drive member 121 is controlled to drive the winch 122 to rotate so that the first flexible tendon cord 123 is wound out of the winch 122 so that the second phalanx 132 and the third phalanx 133 are both extended relative to the first phalanx 131 in a second direction B so that the knuckle component 13 can release the object.

[0117] The above are merely preferred embodiments of this application and are not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A finger mechanism, characterized in that, include: First driving component; Second drive component; A knuckle component includes a first knuckle arranged along a first direction and a second knuckle connected to the first knuckle. A first driving component is rigidly connected to the first knuckle and is used to drive the knuckle component to move in a direction forming an angle with the first direction. A second driving component is flexibly connected to the second knuckle and is used to drive the second knuckle to move relative to the first knuckle in a direction forming an angle with the first direction.

2. The finger mechanism according to claim 1, characterized in that, The second phalanx is rotatably connected to the first phalanx. The second driving component includes a second driving member, a winch, and a first flexible tendon cord. The first end of the first flexible tendon cord is fixed to the winch, and the second end of the first flexible tendon cord is fixed to the second phalanx. The rotatable connection between the second phalanx and the first phalanx is in contact with the first flexible tendon cord. The second driving member is used to drive the winch to rotate so that the first flexible tendon cord is wound around the winch so that the second phalanx bends relative to the first phalanx in a second direction. Wherein, the rotation axis of the second driving member used to drive the winch to rotate forms an angle with the rotation axis of the second phalanx and the first phalanx rotatably connected, and the second direction has an angle with the first direction.

3. The finger mechanism according to claim 2, characterized in that, The second driving member is used to drive the winch to rotate so as to wind the first flexible tendon rope out of the winch. The second driving member also includes a first elastic return member disposed between the second driving member and the second phalanx. The first elastic return member is used to provide a restoring force for the second phalanx to extend relative to the first phalanx in the second direction.

4. The finger mechanism according to claim 2, characterized in that, The second phalanx includes a first threaded component, a first end of the first flexible tendon cord is fixed to the winch, and a second end of the first flexible tendon cord is fixed to the first threaded component.

5. The finger mechanism according to claim 2, characterized in that, The knuckle component further includes a third knuckle arranged along the first direction and rotatably connected to the second knuckle. The second driving component further includes a second flexible tendon cord, the first end of which is fixed to the first knuckle, and the second end of which is fixed to the third knuckle. The rotatable connection between the second knuckle and the first knuckle and the rotatable connection between the third knuckle and the second knuckle are respectively in contact with the second flexible tendon cord. The second driving component is used to drive the winch to rotate so that the first flexible tendon cord is wound around the winch so that both the second knuckle and the third knuckle are bent relative to the first knuckle along the second direction. Wherein, the rotational axis of the second phalanx rotatably connected to the first phalanx is parallel to the rotational axis of the third phalanx rotatably connected to the second phalanx.

6. The finger mechanism according to claim 5, characterized in that, The second driving member is used to drive the winch to rotate so as to wind the first flexible tendon rope out of the winch. The second driving member also includes a second elastic return member, which is disposed at the rotatable connection between the third phalanx and the second phalanx. The second elastic return member is used to provide a restoring force for the third phalanx to extend relative to the first phalanx in the second direction.

7. The finger mechanism according to claim 5, characterized in that, The first phalanx includes a second threaded component, the first end of the second flexible tendon cord is fixed to the second threaded component, and the second end of the second flexible tendon cord is fixed to the third phalanx.

8. The finger mechanism according to claim 1, characterized in that, The first driving component includes a first driving member and a connecting rod. A first end of the connecting rod is rotatably connected to the first driving member, and a second end of the connecting rod is rotatably connected to the first knuckle. The first driving member is used to drive the first end of the connecting rod to move along the first direction, so that the knuckle component bends along the second direction. Wherein, the rotation axis of the first end of the connecting rod rotatably connected to the first driving member is parallel to the rotation axis of the second end of the connecting rod rotatably connected to the first driving member, and the second direction has an angle with the first direction.

9. The finger mechanism according to claim 8, characterized in that, The first driving component includes two connecting rods and a joint block. The joint block is rotatably connected to the first driving member and the first knuckle, respectively. The first ends of the two connecting rods are distributed along a third direction and are rotatably connected to the first driving member, respectively. The second ends of the two connecting rods are rotatably connected to the first knuckle, respectively. Both the first and second ends of the two connecting rods are spherical. The first driving member is used to drive the first ends of the two connecting rods to move different displacements along the first direction, so that the knuckle component swings along the third direction. Wherein, the rotational axis of the joint block rotatably connected to the first driving member forms an angle with the rotational axis of the first end of the connecting rod rotatably connected to the first driving member, and the axis of the joint block rotatably connected to the first knuckle is parallel to the rotational axis of the first end of the connecting rod rotatably connected to the first driving member.

10. A robot, characterized in that, include: The finger mechanism according to any one of claims 1 to 9; A robotic arm that forms a receiving cavity, with the knuckle components of the finger mechanism located outside the receiving cavity, and the first driving component and the second driving component located inside the receiving cavity; A robotic arm, which is connected to the robotic hand.

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