Underactuated manipulator with finger device

Abstract

This application relates to the field of bionic actuator technology for robots, specifically an underactuated manipulator with finger devices. The manipulator includes a hand plate structure and finger devices. The finger devices include a finger flexion-extension mechanism, a lateral swing mechanism, and multiple finger joints. Each finger joint includes a finger connector and multiple finger joints, which are movably connected, with the end finger joints connected to the finger connector. The finger flexion-extension mechanism is mounted on the hand plate structure and is driven to each of the multiple finger joints. The flexion-extension mechanism drives the multiple finger joints to extend or bend. The lateral swing mechanism is mounted on the hand plate structure and driven to the multiple finger devices, driving the multiple finger devices to rotate towards or away from each other. This embodiment of the underactuated manipulator with finger devices improves upon the problems of insufficient lateral swing function or complex drive systems in existing manipulators by incorporating the finger flexion-extension mechanism and the lateral swing mechanism.

Description

Technical Field

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

[0002] In existing biomimetic end effectors for robots, especially multi-DOF dexterous manipulators, the degrees of freedom of the thumb and fingers and the actuation method are key factors affecting the manipulator's grasping ability and dexterity. Currently, most manipulators use multiple motors to drive each finger joint individually, achieving flexion, extension, and lateral movements, enabling relatively complex grasping actions. However, this multi-motor actuation method results in complex mechanical structures, larger size, higher energy consumption, and increased difficulty in designing the control system.

[0003] Furthermore, existing robotic arms have shortcomings in achieving lateral swing functionality. Some robotic arms lack a lateral swing mechanism, resulting in fingers that can only perform simple flexion and extension movements, unable to flexibly bring together and separate, limiting the robotic arm's adaptability to objects of different shapes and sizes, and reducing the stability and versatility of grasping. Even robotic arms with lateral swing functionality often rely on complex drive mechanisms, increasing the difficulty of system manufacturing and maintenance. Utility Model Content

[0004] In view of this, this application provides an underactuated manipulator with a finger device to solve the problems of existing manipulators having fingers that cannot swing to the side, poor functionality, or complex lateral swing schemes.

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

[0006] Hand-made structure; and

[0007] A finger device includes a finger flexion and extension mechanism, a lateral swing mechanism, and multiple finger mechanisms. Each finger mechanism includes a finger connector and multiple finger joints, which are movably connected, with the finger joints located at the ends connected to the finger connector.

[0008] The finger flexion and extension mechanism is disposed on the hand plate structure and is respectively driven to multiple finger joints. The finger flexion and extension mechanism is used to drive multiple finger joints to unfold or bend. The lateral swing mechanism is disposed on the hand plate structure and is driven to multiple finger mechanisms. The lateral swing mechanism is used to drive multiple finger mechanisms to rotate in a direction closer to or further away from each other.

[0009] In one possible implementation, multiple finger joints are rotatably connected, and the finger flexion and extension mechanism includes a finger drive rope and a finger flexion and extension assembly. The finger flexion and extension assembly is disposed on the hand plate structure and is tractively connected to the finger drive rope. One end of the finger drive rope is connected to at least one finger joint of the finger mechanism away from the hand plate structure.

[0010] In one possible implementation, the finger flexion-extension assembly includes a finger flexion-extension motor, a finger flexion-extension sleeve, and a finger flexion-extension guide wheel. The finger flexion-extension motor is connected to the hand plate structure, the finger flexion-extension sleeve is threadedly connected to the finger flexion-extension motor, and the finger flexion-extension motor is used to drive the finger flexion-extension sleeve to move relative to the hand plate structure. The finger flexion-extension guide wheel is rotatably connected to the hand plate structure, and the finger drive rope is at least partially wound around the finger flexion-extension guide wheel.

[0011] In one possible implementation, the plurality of finger joints are rotatably connected by finger joint bearings, the finger mechanism further includes finger pulleys, the finger pulleys are coaxially arranged with the finger joint bearings, and the finger drive rope is at least partially abutting against the outer wall of the finger pulleys.

[0012] In one possible implementation, there are two finger pulleys, and the two finger pulleys are coaxially arranged, with the opposite ends of the finger drive rope respectively wound around the two finger pulleys;

[0013] Alternatively, the finger pulley may have a first finger groove and a second finger groove, and the opposite ends of the finger drive rope may be connected to the finger joint, with the finger drive rope wound around the first finger groove and the second finger groove respectively.

[0014] In one possible implementation, the finger flexion and extension mechanism further includes a finger flexion and extension sleeve connected to the hand plate structure, and the finger drive rope is movably threaded through the finger flexion and extension sleeve.

[0015] 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 the plurality of finger mechanisms. The lateral swing transmission assembly is used to drive the plurality of finger mechanisms to move closer or spread out.

[0016] In one possible implementation, the lateral movement assembly includes a lateral movement drive plate and a plurality of lateral movement transmission frames. The lateral movement drive plate is tractively connected to the lateral movement motor, the plurality of lateral movement transmission frames are movably connected to the lateral movement drive plate, the lateral movement transmission frames are rotatably connected to the hand plate structure, and the finger connector is connected to the lateral movement transmission frame.

[0017] 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 finger connecting seat, the sliding pin is connected to the frame body, and the sliding pin is slidably engaged with the drive slots;

[0018] 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 finger connector respectively.

[0019] In one possible implementation, the lateral swing mechanism further includes a lateral swing guide, which includes a lateral swing guide rod and a lateral swing mounting base. The lateral swing mounting base is connected to the handplate structure, the lateral swing guide rod is connected to the lateral swing mounting base, and the lateral swing transmission assembly is slidably engaged with the lateral swing guide rod.

[0020] Implementing the embodiments of this application has the following beneficial effects:

[0021] This embodiment of the underactuated manipulator with finger devices improves upon the problems of insufficient lateral swing function or complex drive systems in existing manipulators by incorporating a finger flexion-extension mechanism and a lateral swing mechanism. Specifically, the finger flexion-extension mechanism effectively drives multiple finger joints to coordinate and complete grasping actions, improving finger flexion-extension coordination and grasping ability; the lateral swing mechanism drives multiple finger mechanisms to swing closer or further apart, enhancing the manipulator's adaptability to objects of different shapes and sizes and its grasping stability. Attached Figure Description

[0022] 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.

[0023] Figure 1 A perspective view of an underactuated manipulator with a finger device in an embodiment of the present invention is shown;

[0024] Figure 2 It shows Figure 1 A magnified view of part A in the middle;

[0025] Figure 3 A schematic diagram of the movement of the finger mechanism in an embodiment of this utility model is shown;

[0026] Figure 4This illustration shows another perspective view of an underactuated manipulator with a finger device in an embodiment of the present invention.

[0027] Figure 5 It shows Figure 4 A magnified view of part B in the middle;

[0028] Figure 6 An exploded view of the side-swing mechanism in an embodiment of this utility model is shown;

[0029] Figure 7 A partial structural schematic diagram of the side-swing mechanism in an embodiment of this utility model is shown;

[0030] Figure 8 A schematic diagram of the motion of an underactuated manipulator with a finger device in an embodiment of the present invention is shown;

[0031] Figure 9 A schematic diagram of the hand-operated structure in an embodiment of this utility model is shown.

[0032] Figure label:

[0033] 10. Underactuated robotic arm with finger device;

[0034] 100. Hand plate structure; 110. Finger mounting hole; 121. Finger motor hole; 122. Side swing motor hole; 130. Finger flexion and extension anchor block; 131. Finger flexion and extension guide hole; 140. Finger flexion and extension drive seat;

[0035] 200. Finger device; 210. Finger mechanism; 211. Finger connector; 2111. Second positioning groove; 212. Finger joint; 2121. Finger joint bearing; 213. Finger pulley; 2131. First finger slide groove; 2132. Second finger slide groove; 220. Finger flexion and extension mechanism; 221. Finger drive rope; 222. Finger flexion and extension assembly; 2221. Finger flexion and extension motor; 2222. Finger flexion and extension sleeve; 22221. Finger flexion and extension adapter; 222 3. Finger flexion and extension guide wheel; 223. Finger flexion and extension sleeve; 230. Side swing mechanism; 231. Side swing motor; 232. Side swing transmission assembly; 2321. Side swing drive plate; 23211. Drive groove; 23212. Side swing moving part; 2322. Side swing transmission frame; 23221. Frame body; 23222. First positioning groove; 23223. Sliding pin; 2323. Side swing buffer; 233. Side swing guide; 2331. Side swing guide rod; 2332. Side swing mounting base;

[0036] 300. Finger segment sensor;

[0037] 400. Thumb device. Detailed Implementation

[0038] 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.

[0039] In existing biomimetic end effectors for robots, especially multi-DOF dexterous manipulators, the degrees of freedom of the thumb and fingers and the actuation method are key factors affecting the manipulator's grasping ability and dexterity. Currently, most manipulators use multiple motors to drive each finger joint individually, achieving flexion, extension, and lateral movements, enabling relatively complex grasping actions. However, this multi-motor actuation method results in complex mechanical structures, larger size, higher energy consumption, and increased difficulty in designing the control system.

[0040] Furthermore, existing robotic arms have shortcomings in achieving lateral swing functionality. Some robotic arms lack a lateral swing mechanism, resulting in fingers that can only perform simple flexion and extension movements, unable to flexibly bring together and separate, limiting the robotic arm's adaptability to objects of different shapes and sizes, and reducing the stability and versatility of grasping. Even robotic arms with lateral swing functionality often rely on complex drive mechanisms, increasing the difficulty of system manufacturing and maintenance.

[0041] Based on this, see Figures 1 to 9 As shown, this utility model embodiment provides an underactuated manipulator 10 with a finger device, which includes a hand plate structure 100 and a finger device 200. The finger device 200 includes a finger flexion and extension mechanism 220, a lateral swing mechanism 230, and multiple finger mechanisms 210. Each finger mechanism 210 includes a finger connecting seat 211 and multiple finger joints 212, which are movably connected, with the finger joints 212 at the ends connected to the finger connecting seat 211. The finger flexion and extension mechanism 220 is disposed on the hand plate structure 100 and is transmittedly connected to the multiple finger joints 212. The finger flexion and extension mechanism 220 is used to drive the multiple finger joints 212 to unfold or bend. The lateral swing mechanism 230 is disposed on the hand plate structure 100 and is transmittedly connected to the multiple finger mechanisms 210. The lateral swing mechanism 230 is used to drive the multiple finger mechanisms 210 to rotate toward or away from each other.

[0042] The underactuated manipulator 10 with finger devices in this embodiment improves upon the problems of insufficient lateral swing function or complex drive systems in existing manipulators by incorporating a finger flexion-extension mechanism 220 and a lateral swing mechanism 230. Specifically, the finger flexion-extension mechanism 220 can effectively drive multiple finger joints 212 to work together to complete grasping actions, improving finger flexion-extension coordination and grasping ability; the lateral swing mechanism 230 drives multiple finger mechanisms 210 to swing closer or further apart, improving the manipulator's adaptability to objects of different shapes and sizes and its grasping stability.

[0043] In one embodiment, multiple finger joints 212 are rotatably connected to form a multi-segment finger structure, specifically including a first finger joint, a second finger joint, and a third finger joint, wherein the third finger joint is connected to a finger connecting seat 211, constituting the basic support component of the finger mechanism 210. The finger flexion and extension mechanism 220 includes a finger drive rope 221 and a finger flexion and extension assembly 222, which is disposed on the hand plate structure 100 and drives the movement of the finger drive rope 221 through a transmission connection.

[0044] One end of the finger drive cord 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 finger drive cord 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 finger drive cord 221 when the finger flexion and extension component 222 drives the finger drive cord 221 to move in the forward or reverse direction. Thus, through the path of the finger drive cord 221 wound around the second and third finger joints, the synchronous driving of multiple finger joints 212 can be achieved.

[0045] Specifically, see Figure 3 In the placement shown, when the finger-driven 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 finger-driven rope 221 passes also undergo corresponding flexion and extension movements, thereby achieving a closing grasping motion of the fingers. Conversely, when the finger-driven rope 221 moves along the X2 direction, each finger joint 212 returns to its extended state, achieving the release of the grasped object. This structure utilizes the winding path of the finger-driven 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.

[0046] It should be noted that the two connection points of the finger drive cable 221 are located on opposite sides of the rotation axis of the finger joint 212, which helps to ensure the stability of the drive cable during joint rotation and prevents the drive cable 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.

[0047] 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. Multiple joints help improve finger dexterity and gripping accuracy, but also increase control complexity and actuation burden. In the three-joint design, the first, second, and third finger joints are connected sequentially to form a reasonable mechanical structure, enabling the fingers to perform more natural and dexterous flexion and extension movements to adapt to the gripping needs of objects of different shapes and sizes.

[0048] Specifically, the finger flexion and extension assembly 222 includes a finger flexion and extension motor 2221, a finger flexion and extension sleeve 2222, and a finger flexion and extension 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.

[0049] A finger flexion-extension motor 2221 is fixedly connected to the hand plate structure 100. Its output end has a threaded portion that passes through the finger flexion-extension sleeve 2222 and engages with the internal thread of the sleeve, achieving a transmission connection. When the motor 2221 is started, the threaded portion rotates with the motor shaft, causing the sleeve to move linearly along the thread direction. This linear motion, through a connection to one end of the finger drive rope 221, drives the rope to tighten or loosen, thereby controlling the flexion and extension movements of multiple finger joints 212 in the finger mechanism 210 to complete the grasping or releasing function.

[0050] The finger drive cord 221 is at least partially wound around the finger 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 finger drive cord 221, ensuring that the finger drive cord 221 maintains a stable path during winding, preventing the finger drive cord 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 finger drive cord 221 and the finger flexion-extension guide wheel 2223, extending the service life of the finger device 200.

[0051] The two ends of the finger 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 finger 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.

[0052] The advantages of this structure are as follows: the linear transmission method driven by threads can precisely control the displacement of the finger drive rope 221, achieving fine control of the finger joint 212 and making the gripping action more accurate; the transmission connection between the finger flexion and extension sleeve 2222 and the threaded part is compact, saving space and suitable for the limited installation space of the robotic hand plate structure 100; the rotation of the finger flexion and extension guide wheel 2223 and the guide groove design ensure the stable operation of the finger drive rope 221, reduce the probability of failure, and facilitate long-term reliable use; the entire finger drive rope 221 system is driven by a single finger flexion and extension motor 2221, realizing an underactuated structure, simplifying the drive mechanism of the robotic hand, and reducing manufacturing and maintenance costs.

[0053] In one embodiment, a finger flexion-extension sleeve 2222 is provided on the outside of the finger flexion-extension adapter 22221. The finger flexion-extension adapter 22221 is used to connect the finger drive rope 221, realizing the transmission connection between the finger flexion-extension sleeve 2222 and the finger drive rope 221. The finger flexion-extension adapter 22221 is preferably combined with the finger flexion-extension sleeve 2222 in a detachable connection manner, for example, by means of threaded connection, snap-fit ​​structure or pin connection.

[0054] The detachable connection design offers several advantages. First, it facilitates the maintenance and replacement of the finger drive rope 221 or the finger flexion / extension sleeve 2222. When the finger drive rope 221 wears or breaks, the finger 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 robotic arm.

[0055] In practical implementation, the structure of the finger flexion / extension adapter 22221 can be optimized based on ease of assembly and disassembly and connection strength. For example, when using a threaded connection, the adapter can be designed with internal threads on the outside, and the sleeve can be fitted with corresponding external threads 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 / disassembly frequency, and mechanical requirements.

[0056] Furthermore, the multiple finger joints 212 of the finger mechanism 210 are rotatably connected through finger joint bearings 2121, ensuring smooth flexion and extension movements between the joints. The finger mechanism 210 is also equipped with finger pulleys 213, which are coaxially arranged with the finger joint bearings 2121, that is, the rotation axis of the finger pulleys 213 coincides with the rotation axis of the finger joint bearings 2121, thereby achieving a compact configuration of the mechanism and saving space.

[0057] The finger drive rope 221 at least partially abuts against the outer wall of the finger pulley 213, forming a pulley-rope mating structure. This structure effectively limits and guides the range of motion of the finger drive rope 221 through the finger pulley 213, ensuring that the finger drive rope 221 moves stably along a predetermined trajectory during finger flexion and extension, and preventing the finger drive rope 221 from deviating, detaching, or becoming excessively slack due to changes in force or mechanical interference.

[0058] The implementation of this limiting and guiding function helps ensure the transmission stability and motion accuracy of the finger device 200 during continuous and repetitive movements, and reduces the risk of mechanical jamming or failure of the finger drive rope 221 due to abnormal positioning. Especially when the finger joint 212 moves rapidly or frequently, the restraining effect of the finger pulley 213 on the finger drive rope 221 can effectively reduce wear and mechanical fatigue, and improve the service life and reliability of the system.

[0059] In practice, the outer wall of the finger pulley 213 can be designed with a guide groove suitable for the finger 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 finger 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.

[0060] Specifically, the hand plate structure 100 also includes a finger flexion and extension anchor block 130 and a finger flexion and extension drive seat 140, which play a key guiding and driving force transmission role in the motion control of the finger mechanism 210.

[0061] Specifically, the finger flexion-extension anchor block 130 has a finger flexion-extension guide hole 131, through which the finger drive rope 221 passes. This guide hole accurately guides the finger drive rope 221, allowing it to slide smoothly along a predetermined path during flexion-extension movements, preventing deviations, entanglement, or detachment due to force changes or movement errors. By guiding the finger drive rope 221 through the finger flexion-extension anchor block 130, the stability and reliability of the finger mechanism 210's flexion-extension movements can be effectively ensured.

[0062] The material and structural design of the finger flexion-extension anchor block 130 should possess sufficient strength and wear resistance to withstand the friction and tension generated by the finger 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 finger drive rope 221. For example, the diameter of the guide hole can be 1.1 to 1.5 times the diameter of the finger drive rope 221 to ensure that the rope can pass smoothly without generating excessive swaying space, thereby reducing wear and movement errors.

[0063] On the other hand, the finger flexion / extension guide wheel 2223 is rotatably connected to the finger drive seat, forming another important component for tensioning and guiding the finger drive rope 221. The arrangement of the finger flexion / extension guide wheel 2223 helps to change the transmission direction of the finger drive rope 221, reduces the frictional resistance when the rope contacts the structure, and improves transmission efficiency. The rotatable connection between this guide wheel and the finger drive seat ensures that the guide wheel can rotate flexibly during finger flexion / extension movements, reducing wear and fatigue of the drive rope and extending the service life of the overall drive system.

[0064] In one embodiment, there are two finger pulleys 213, which are coaxially arranged, and the opposite ends of the finger drive rope 221 are respectively wound around the two finger pulleys 213. Specifically, the coaxial arrangement of the two finger 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 finger drive rope 221 and the control of the transmission path.

[0065] By setting two finger pulleys 213 to engage with the two ends of the finger drive rope 221 respectively, the two sections of the finger 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 finger drive rope 221 maintains appropriate tension when the finger 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 finger mechanism 210.

[0066] Furthermore, the two finger 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 finger-driven rope 221 changes due to different movements of the finger 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.

[0067] 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 finger 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.

[0068] In another embodiment, the finger pulley 213 has a first finger groove 2131 and a second finger groove 2132. The opposite ends of the finger drive rope 221 are respectively connected to the finger joint 212, and the finger drive rope 221 is wound around the first finger groove 2131 and the second finger groove 2132 respectively. This design effectively achieves the separation and guidance of the two ends of the finger drive rope 221 by setting two independent grooves on the same finger pulley 213.

[0069] Specifically, the design of the first finger groove 2131 and the second finger groove 2132 allows the two ends of the finger 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 finger drive rope 221 are respectively connected to the finger joint 212, so that the flexion and extension movements of the finger mechanism 210 can be effectively transmitted and controlled through the tension and slack of the rope.

[0070] In this embodiment, a separate finger pulley 213 is used to engage with both ends of the finger 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 plate structure 100.

[0071] In addition, the size and shape of the first finger groove 2131 and the second finger groove 2132 can be reasonably designed according to the diameter and movement trajectory of the finger drive rope 221. For example, the width of the groove can be 1.1 to 1.5 times the diameter of the finger 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.

[0072] This design uses a single finger pulley 213 to position and tension the drive ropes at both ends, maintaining appropriate tension in the finger drive rope 221 during unfolding and bending movements, ensuring the accuracy and responsiveness of the finger mechanism 210. Furthermore, reducing the number of pulleys helps reduce mechanical wear points and simplifies maintenance.

[0073] Furthermore, the finger flexion and extension mechanism 220 also includes a finger flexion and extension sleeve 223, which is connected to the hand plate structure 100. The finger drive rope 221 is movably inserted into the finger flexion and extension sleeve 223. By setting the finger flexion and extension sleeve 223 in the flexion and extension drive path of the finger drive rope 221, the rope length of the finger drive rope 221 can be effectively maintained constant, preventing the rope from changing length due to path instability during movement, thereby ensuring that the finger mechanism 210 receives accurate power transmission during flexion and extension movements.

[0074] Furthermore, the finger flexion / extension sleeve 223 limits the swing range of the finger drive rope 221, preventing accidental coiling, tangling, or friction during movement, reducing the risk of rope wear and breakage, and improving the overall lifespan 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.

[0075] The finger flexion / extension sleeve 223 is preferably made of a rigid material, such as a metal alloy, stainless steel, or engineering plastic (e.g., polyoxymethylene, nylon, etc.). The rigid sleeve provides stronger mechanical protection for the finger drive rope 221, preventing deformation or damage when the drive rope is subjected to external pressure 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 finger drive rope 221.

[0076] In practice, the inner diameter of the finger flexion / extension sleeve 223 should be designed reasonably according to the outer diameter of the finger 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 finger mechanism 210 to ensure that the drive rope is within the sleeve's protection range throughout the entire flexion / extension process.

[0077] Specifically, the lateral swing mechanism 230 includes a lateral swing motor 231 and a lateral swing transmission assembly 232. The lateral swing motor 231 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 232 is connected to the lateral swing motor 231 and multiple finger mechanisms 210 respectively, and is used to transmit the output power of the lateral swing motor 231 to each finger mechanism 210 to realize the lateral rotation of the finger mechanism 210.

[0078] Specifically, the lateral swing motor 231 outputs torque through the lateral swing transmission assembly 232, driving multiple finger mechanisms 210 to perform lateral swing motions around their respective rotation axes, allowing the finger mechanisms 210 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.

[0079] This design utilizes a single side-swing motor 231 to drive multiple finger mechanisms 210, 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 210 facilitates flexible closing and unfolding movements between the fingers, enhancing the robotic arm's adaptability and stability in grasping different objects.

[0080] Furthermore, the transmission ratio and transmission path of the side-swing transmission assembly 232 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 210 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 230 maintains reliable operation under long-term and repeated movements.

[0081] In summary, the lateral swing mechanism 230 drives the lateral swing transmission component 232 through the lateral swing motor 231 to realize the lateral swing approach or unfolding action of multiple finger mechanisms 210. While ensuring system simplification and low energy consumption, it improves the gripping flexibility and adaptability of the robotic arm.

[0082] In one embodiment, the lateral swing transmission assembly 232 includes a lateral swing drive plate 2321 and multiple lateral swing transmission frames 2322. The lateral swing drive plate 2321 is connected to the lateral swing motor 231 via a transmission connection and can receive power input from the lateral swing motor 231. The multiple lateral swing transmission frames 2322 are rotatably connected to the lateral swing drive plate 2321 and are fixed to the hand plate structure 100 via a rotatable connection. The finger connecting seat 211 is further fixedly connected to each lateral swing transmission frame 2322. This structure allows the lateral swing motor 231 to drive the movement of the lateral swing drive plate 2321, thereby causing the multiple lateral swing transmission frames 2322 to rotate relative to the hand plate structure 100 around their connection points, thus realizing the lateral swing action of the multiple finger mechanisms 210.

[0083] Furthermore, to achieve a compact and efficient side-swing drive structure, the end of the side-swing motor 231 is provided with a threaded portion, and the side-swing drive plate 2321 is provided with a side-swing moving portion 23212 that mates with the threaded portion. The side-swing moving portion 23212 is sleeved on the threaded portion and engages with it in transmission. When the side-swing motor 231 starts, the rotational motion of the side-swing motor 231 is converted into linear movement of the side-swing drive plate 2321 through the threaded portion. This linear motion drives the side-swing drive plate 2321 to rotate multiple side-swing transmission frames 2322 relative to the hand plate structure 100, thereby realizing the side-swing drive function of the side-swing mechanism 230.

[0084] This threaded transmission method not only ensures smooth and reliable power transmission, but also makes the side-swing mechanism 230 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 2321, the rotation angle of the side-swing transmission frame 2322 can be precisely controlled, thereby achieving fine adjustment of the side-swing amplitude of the finger mechanism 210 to meet different gripping needs.

[0085] Specifically, the side-swing drive plate 2321 has multiple drive grooves 23211, which are distributed in a diffuse manner along the surface of the side-swing drive plate 2321. Multiple side-swing transmission frames 2322 include frame bodies 23221 and sliding pins 23223. The frame bodies 23221 are connected to the finger connecting seat 211, and the sliding pins 23223 are rotatably or movably connected to the frame bodies 23221, and the sliding pins 23223 are slidably engaged with the drive grooves 23211 on the side-swing drive plate 2321.

[0086] This structure achieves the rotation of multiple side-swing transmission frames 2322 relative to the handplate structure 100 by the sliding movement of the sliding pin 23223 within the drive groove 23211. Specifically, as the side-swing drive plate 2321 moves in a linear direction under the action of threaded transmission, the sliding pin 23223 slides along its corresponding drive groove 23211, and the drive frame body 23221 rotates around the rotation axis fixed to the handplate structure 100, thereby driving the finger connecting seat 211 and the finger mechanism 210 connected thereto to complete the side-swing action.

[0087] The design of multiple drive slots 23211 distributed in a diffused pattern allows for different lateral swing transmission frames 2322 to be assigned to each finger mechanism 210 according to its spatial layout. This enables the sliding pins 23223 of each lateral swing transmission frame 2322 to slide along a predetermined trajectory, thereby allowing each finger mechanism 210 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.

[0088] The sliding engagement between the sliding pin 23223 and the drive groove 23211 ensures smooth and controlled relative movement during transmission, preventing misalignment and jamming between structures. This engagement reduces backlash and friction in mechanical transmission, improving transmission accuracy and response speed. Furthermore, the simple structure of the sliding pin 23223 and drive groove 23211 facilitates manufacturing and assembly, promoting compact integration of the robot's structure.

[0089] The overall assembly structure is compact. The side-swing drive plate 2321, multiple drive slots 23211, and sliding pins 23223 of the side-swing transmission frame 2322 cooperate to enable the side-swing mechanism 230 to achieve coordinated side-swing movements of multiple finger mechanisms 210 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.

[0090] Furthermore, the lateral swing transmission assembly 232 also includes a lateral swing buffer 2323 for connecting the lateral swing transmission frame 2322 and the finger connecting seat 211 to achieve a flexible connection function. Specifically, the lateral swing buffer 2323 can elastically deform in response to the resistance encountered by a certain finger mechanism 210 when multiple finger mechanisms 210 are performing lateral swing movements, thereby avoiding the negative impact of the resistance on the lateral swing movements of other finger mechanisms 210 and ensuring the coordination and continuity of the overall lateral swing movements.

[0091] The technical principle behind this design is that the side-swing buffer 2323, acting as a flexible connecting element, allows the finger mechanism 210 to exhibit a certain degree of passive compliance when encountering resistance. Thus, when a finger mechanism 210 encounters resistance due to contact with an external object or structural constraint, the side-swing buffer 2323 can absorb part of the resistance through elastic deformation, preventing the resistance from being transmitted to the side-swing transmission frame 2322 and other finger mechanisms 210. This avoids jamming or forced movement of the overall side-swing mechanism, improving the gripping adaptability and safety of the robotic arm.

[0092] In specific implementation, the side-swing buffer 2323 preferably adopts a torsion spring structure. The two movable ends of the torsion spring are connected to the frame body 23221 of the side-swing transmission frame 2322 and the finger connecting seat 211, respectively. When the side-swing of the finger mechanism 210 is obstructed, the torsion spring generates 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.

[0093] In addition, in some embodiments, the lateral swing buffer 2323 can also be in the form of a flexible shaft, with its two ends connected to the lateral swing transmission frame 2322 and the finger connector 211, respectively. The flexible shaft has good torsional elasticity and transmission characteristics, and can provide a certain degree of elastic cushioning while transmitting power during lateral swinging motion, making it suitable for applications that require multi-level adjustment of cushioning stiffness.

[0094] To ensure the stability of the installation position of the side-swing buffer 2323 and the accuracy of force transmission, the frame body 23221 is provided with a first positioning groove 23222, and the finger connector 211 is provided with a second positioning groove 2111. Both ends of the side-swing buffer 2323 are respectively fixed in the first positioning groove 23222 and the second positioning groove 2111 by snap-fit, achieving precise positioning and secure connection of the side-swing buffer 2323. This prevents loosening or detachment due to vibration or external force, improving the durability and reliability of the system.

[0095] Through the above structural design, the side-swing buffer 2323 not only provides elasticity and compliance to the side-swing mechanism 230, 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, ensuring the 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.

[0096] In one embodiment, the lateral swing mechanism 230 further includes a lateral swing guide 233, which includes a lateral swing guide rod 2331 and a lateral swing mounting base 2332. The lateral swing mounting base 2332 is fixedly connected to the hand plate structure 100, serving as a fixed base for the guide; the lateral swing guide rod 2331 is mounted on the lateral swing mounting base 2332 via a connecting device, forming a rigid support structure. The lateral swing drive plate 2321 in the lateral swing transmission assembly 232 slides in conjunction with the lateral swing guide rod 2331, defining the movement path of the lateral swing drive plate 2321 and achieving accurate guidance for its linear movement.

[0097] Specifically, the side-swing guide rod 2331 is a slender rod-shaped structure. The side-swing drive plate 2321 cooperates with the side-swing guide rod 2331 through sliding grooves, guide holes, or rolling bearings, so that the side-swing drive plate 2321 slides smoothly along a predetermined straight direction under the threaded transmission driven by the side-swing motor 231. The side-swing guide rod 2331 effectively prevents the side-swing drive plate 2321 from deviating, wobbling, or tilting during movement, ensuring the accuracy and stability of the overall movement of the side-swing transmission assembly 232, thereby improving the synchronization and smoothness of the side-swing movements of the multiple side-swing transmission frames 2322 driving the finger mechanism 210.

[0098] Preferably, the side-swing guide 233 employs multiple sets of side-swing guide rods 2331 arranged in parallel, with each set of side-swing guide rods 2331 cooperating with a corresponding guide component of the side-swing drive plate 2321. The design of multiple sets of parallel side-swing guide rods 2331 can distribute the load, enhance the guiding rigidity and load-bearing capacity, further improve the smoothness of movement of the side-swing drive plate 2321, and reduce mechanical deformation or vibration caused by excessive load on a single guide rod.

[0099] In addition, the parallel arrangement of multiple sets of side-swing guides 233 improves the anti-eccentric load capability of the side-swing drive plate 2321 in high-speed or frequent side-swing movements, avoids the side-swing transmission component 232 from shifting position due to unstable power output from the side-swing motor 231 or external impact, and ensures the reliability and motion accuracy of the robot in long-term operation.

[0100] The side-swing guide 233 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 2332 should ensure the firmness of the installation and the positioning accuracy to avoid loosening or displacement during the operation of the robot.

[0101] In summary, the lateral swing guide 233, through the sliding engagement between the lateral swing guide rod 2331 and the lateral swing drive plate 2321, ensures the precise and smooth movement path of the lateral swing transmission assembly 232, thereby improving the overall performance and durability of the lateral swing mechanism 230. The arrangement of multiple sets of parallel lateral swing guides 233 further enhances the guiding rigidity and motion stability, meeting the high-precision requirements of the robot's multi-finger lateral swing motion.

[0102] Furthermore, the underactuated manipulator 10 with finger devices also includes a finger segment sensor 300, which is disposed on the finger mechanism 210 and is mainly used to acquire pressure signals between the finger mechanism 210 and external objects.

[0103] Specifically, the finger segment sensor 300 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 300 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.

[0104] The finger segment sensor 300 works closely with the finger 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 200 grasps the object, the finger segment sensor 300 collects pressure and displacement data in real time and feeds the signals back to the control module of the underactuated manipulator 10 with the finger device. Based on the sensor feedback information, the control module adaptively adjusts the driving force of the finger 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.

[0105] Specifically, the number of finger segment sensors 300 can be one, two, or more, depending on the design requirements of the finger mechanism 210 and the grasping accuracy requirements. Setting up multiple finger segment sensors 300 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.

[0106] In one embodiment, the underactuated manipulator 10 with finger devices also includes at least one thumb device 400. Multiple thumb devices 400 are respectively mounted on the hand plate structure 100 via movable connections, enabling them to perform bending and extending movements relative to the hand plate structure 100. Specifically, the movable connections can employ various mechanical connection methods such as hinge connections, pin connections, or flexible connections to ensure that the finger devices 200 possess a certain degree of freedom of movement and stability, meeting multi-directional grasping requirements.

[0107] By incorporating multiple thumb devices 400 in conjunction with finger devices 200, the underactuated manipulator 10 with finger devices can achieve a wrapping grasp of objects when the finger mechanism 210 and thumb devices 400 simultaneously bend. The coordinated movement of multiple finger devices 200 can form a grasping shape similar to that of a human hand, improving the hand's adaptability to objects of different shapes and sizes.

[0108] The multiple thumb 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 thumb devices 400 also distributes grasping pressure, reducing the load on individual fingers and improving the durability and lifespan of the robotic arm.

[0109] Specifically, the handplate structure 100 has a finger mounting hole 110, a finger motor hole 121, and a lateral swing motor hole 122. A finger connector 211 passes through the finger mounting hole 110 and is rotatably connected to the handplate structure 100, allowing the finger connector 211 to rotate freely relative to the handplate structure 100. This design ensures the installation stability of the finger mechanism 210 and guarantees the smoothness of the lateral swing motion.

[0110] Meanwhile, the finger flexion-extension motor 2221 is at least partially inserted into the finger motor hole 121, and the lateral swing motor 231 is at least partially inserted into the lateral swing motor hole 122. By inserting the two motors into their respective mounting holes, the motors are positioned and fixed, avoiding misalignment 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 hand plate structure 100, allowing the drive components of the rotation mechanism and the finger flexion-extension mechanism 220 to be compactly arranged, reducing the overall thickness of the underactuated manipulator 10 with finger devices.

[0111] Furthermore, inserting the motor into the mounting hole helps reduce vibration transmission when the robot is under stress, improving the stability and lifespan of the drive system. This installation method also facilitates quick disassembly and assembly of the motor for inspection or replacement by maintenance personnel, thus improving the maintenance efficiency of the robot.

[0112] In summary, the hand plate structure 100 is provided with finger mounting holes 110, finger motor holes 121 and side swing motor holes 122, and in conjunction with the finger connector 211 and the insertion and installation of the two types of motors, it realizes the stable positioning and compact arrangement of the finger device 200, effectively reduces the thickness of the underactuated manipulator 10 with finger device, and improves the assembly accuracy and mechanical performance of the structure.

[0113] 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.

[0114] 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.

[0115] 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.

[0116] 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.

[0117] 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 manipulator having a finger device, characterized by, include: Prototype structure; as well as A finger device includes a finger flexion and extension mechanism, a lateral swing mechanism, and multiple finger mechanisms. Each finger mechanism includes a finger connector and multiple finger joints, which are movably connected, with the finger joints located at the ends connected to the finger connector. The finger flexion and extension mechanism is disposed on the hand plate structure and is respectively driven to multiple finger joints. The finger flexion and extension mechanism is used to drive multiple finger joints to unfold or bend. The lateral swing mechanism is disposed on the hand plate structure and is driven to multiple finger mechanisms. The lateral swing mechanism is used to drive multiple finger mechanisms to rotate in a direction closer to or further away from each other.

2. The underactuated manipulator with a finger device according to claim 1, wherein Multiple finger joints are rotatably connected. The finger flexion and extension mechanism includes a finger drive rope and a finger flexion and extension assembly. The finger flexion and extension assembly is disposed on the hand plate structure and is throttle-connected to the finger drive rope. One end of the finger drive rope is connected to at least one finger joint of the finger mechanism away from the hand plate structure.

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

4. The underactuated manipulator with a finger device according to claim 3, wherein The multiple finger joints are rotatably connected by finger joint bearings. The finger mechanism also includes a finger pulley, which is coaxially arranged with the finger joint bearings, and the finger drive rope at least partially abuts against the outer wall of the finger pulley.

5. The underactuated manipulator with finger devices according to claim 4, wherein, The number of finger pulleys is two, and the two finger pulleys are coaxially arranged. The two ends of the finger drive rope are respectively wound around the two finger pulleys. Alternatively, the finger pulley may have a first finger groove and a second finger groove, and the opposite ends of the finger drive rope may be connected to the finger joint, with the finger drive rope wound around the first finger groove and the second finger groove respectively.

6. The underactuated manipulator with finger devices of claim 2, wherein, The finger flexion and extension mechanism also includes a finger flexion and extension sleeve, which is connected to the hand plate structure, and the finger drive rope is movably threaded through the finger flexion and extension sleeve.

7. The underactuated manipulator with finger devices of claim 1, wherein, 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 with finger devices according to claim 7, wherein, The side-swing transmission assembly includes a side-swing drive plate and multiple side-swing transmission frames. The side-swing drive plate is tractively connected to the side-swing motor, and the multiple side-swing transmission frames are movably connected to the side-swing drive plate. The side-swing transmission frames are rotatably connected to the hand plate structure, and the finger connecting seat is connected to the side-swing transmission frame.

9. The underactuated manipulator with finger devices according to claim 8, wherein, 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 finger connecting seat, the sliding pin is connected to the frame body, and the sliding pin is slidably engaged 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 finger connector respectively.

10. The underactuated manipulator with a finger device according to claim 7, wherein The side-swing mechanism further includes a side-swing guide, which includes a side-swing guide rod and a side-swing mounting base. The side-swing mounting base is connected to the hand plate structure, and the side-swing guide rod is connected to the side-swing mounting base. The side-swing transmission assembly is slidably engaged with the side-swing guide rod.

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