A robot and a robot hand

Abstract

The application discloses a mechanical hand and a robot, and relates to the field of robots, and aims to solve the technical problem that the freedom degree of the mechanical hand is insufficient in the prior art, the flexibility is limited, and it is difficult to accurately grasp objects. The mechanical hand comprises a main body, at least four first finger mechanisms and a second finger mechanism. The main body comprises a back side and a palm side. A first direction is a direction in which the back side faces the palm side. The at least four first finger mechanisms are connected to the main body in a second direction. Each first finger mechanism can bend in the first direction and swing in a third direction relative to the main body. The second finger mechanism is connected to the palm side in the second direction. The second finger mechanism can swing in the third direction, swing in a direction close to or away from the palm side, and bend in a direction close to or away from one side of the at least four first finger mechanisms. The first direction, the second direction and the third direction are perpendicular to each other.

Description

Technical Field

[0001] This application relates to, but is not limited to, the field of robotics, and in particular to a robotic arm 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 the robotic hands in related technologies have low degrees of freedom and limited flexibility due to their own structural design, making it difficult to accurately grasp objects. Utility Model Content

[0004] This application provides a robotic hand and robot. By setting at least four first finger mechanisms and second finger mechanisms with multiple degrees of freedom, the robotic hand increases its degrees of freedom, thereby significantly improving its flexibility and achieving a range of motion close to the key functions of a human hand, thus enabling precise grasping of objects.

[0005] To achieve the above objectives, the technical solution of this application embodiment is implemented as follows: In a first aspect, this application provides a robotic hand, which includes a main body, at least four first finger mechanisms, and second finger mechanisms. The main body includes a back side and a palm side, with a first direction being the direction from the back side to the palm side. The at least four first finger mechanisms are connected to the main body in a second direction, and each first finger mechanism can bend relative to the main body along the first direction and swing along a third direction. The second finger mechanisms are connected to the palm side in the second direction, and the second finger mechanisms can swing relative to the palm side along a third direction, swing in a direction close to or away from the palm side, and bend along a side close to or away from the at least four first finger mechanisms. The first direction, the second direction, and the third direction are perpendicular to each other.

[0006] The robotic hand provided in this application has at least four first finger mechanisms connected to the main body in a second direction, and each first finger mechanism can bend relative to the main body in a first direction and swing in a third direction. In other words, the at least four first finger mechanisms contain at least eight degrees of freedom. The second finger mechanisms are connected to the palm side in a second direction, and the second finger mechanisms can swing relative to the palm side in a third direction, swing in a direction close to or away from the palm side, and bend in a direction close to or away from the at least four first finger mechanisms. In other words, the second finger mechanisms contain at least three degrees of freedom. Therefore, the robotic hand contains at least eleven degrees of freedom, significantly increasing its flexibility. Furthermore, the robotic hand includes at least four first finger mechanisms and second finger mechanisms, making it similar to a human hand. Simultaneously, the presence of at least eleven degrees of freedom allows the robotic hand to achieve a range of motion approaching the key functions of a human hand. For example, it can perform finger-to-finger movements between the second finger mechanism and each first finger mechanism, adapting to different grasping patterns and thus enabling precise object grasping. Compared to related technologies where robotic hands suffer from limited freedom and flexibility due to their structural design, making it difficult to accurately grasp objects, the robotic hand provided in this application increases its freedom by incorporating at least four first finger mechanisms and second finger mechanisms with multiple degrees of freedom. This significantly improves its flexibility and enables it to achieve a range of motion close to that of a human hand, allowing for precise grasping of objects.

[0007] In one possible implementation provided in this application, at least four first finger mechanisms include two first finger mechanisms, wherein the distance between the end of one first finger mechanism away from the body and the first position of the body along the second direction is different from the distance between the end of the other first finger mechanism away from the body and the first position of the body along the second direction.

[0008] In one possible implementation provided in this application, at least four first finger mechanisms are detachably connected in a second direction of the body.

[0009] In one possible implementation provided in this application, the robotic arm includes a control module and a first information integration module. The control module is disposed on the main body, and the first information integration module is used to acquire information of at least four first finger mechanisms. The control module and the first information integration module are electrically connected one-to-one.

[0010] In one possible implementation provided in this application, the first information integration module includes a first drive integration component and a first tactile integration component. The first drive integration component is used to acquire drive information of at least four first finger mechanisms, and the first tactile integration component is used to acquire tactile information of at least four first finger mechanisms. The control module is electrically connected to the first drive integration component and the first tactile integration component respectively.

[0011] In one possible implementation provided in this application, the second finger mechanism includes a second driving component and a second knuckle component. The second driving component is connected to the second knuckle component and is connected in a second direction on the palm side. The second driving component can swing relative to the palm side in a third direction and swing in a direction close to or away from the palm side, so as to drive the second knuckle component as a whole to swing relative to the palm side in a third direction and swing in a direction close to or away from the palm side.

[0012] In one possible implementation provided in this application, the second drive component is detachably connected to the second knuckle component.

[0013] In one possible implementation provided in this application, the robotic arm includes a control module and a second information integration module. The control module is disposed on the main body and electrically connected to the second drive component, and the second information integration module is disposed on the second phalanx component. The control module and the second information integration module are electrically connected.

[0014] In one possible implementation provided in this application, the second knuckle component includes a third driving component and a second knuckle assembly. The third driving component is used to drive the second knuckle assembly to bend along a side close to or away from at least four first finger mechanisms. The second information integration module includes a second driving integration component and a second tactile integration component. The second driving integration component is disposed on the third driving component, and the second tactile integration component is disposed on the second knuckle assembly. The control module is electrically connected to the second driving integration component and the second tactile integration component, respectively.

[0015] Secondly, this application provides a robot, which includes an external device and a robotic arm provided in any of the first aspects, wherein the robotic arm is provided with a data interface for connecting to the external device. Attached Figure Description

[0016] Figure 1 This is one of the structural schematic diagrams of the robotic arm provided in the embodiments of this application; Figure 2 This is the second schematic diagram of the structure of the robotic arm provided in the embodiments of this application; Figure 3 The third schematic diagram of the structure of the robotic arm provided in the embodiments of this application; Figure 4 A schematic diagram of the structure of the robotic hand provided in this application embodiment, showing the separation of the second finger joint component from the second drive component; Figure 5 This is a schematic diagram of the structure of the thumb and index finger opposing each other in the robotic hand provided in the embodiments of this application; Figure 6 This is a schematic diagram of the structure of the thumb and middle finger opposing each other in the robotic hand provided in the embodiments of this application; Figure 7A schematic diagram of the structure of the thumb and ring finger opposing each other in the robotic hand provided in the embodiments of this application; Figure 8 This is a schematic diagram of the structure of the thumb and little finger opposing each other in the robotic hand provided in the embodiments of this application; Figure 9 A flowchart illustrating the robotic arm provided in an embodiment of this application; Figure 10 This is a schematic diagram of the structure of the robotic arm in cylindrical grasping mode provided in an embodiment of this application; Figure 11 A schematic diagram of the robotic arm in hook-shaped grasping mode provided in an embodiment of this application; Figure 12 A schematic diagram of the structure of the robotic arm in fingertip grasping mode provided in the embodiments of this application; Figure 13 A schematic diagram of the robotic arm in a spherical grasping mode provided in an embodiment of this application; Figure 14 A schematic diagram of the robotic arm in palm grasping mode provided in an embodiment of this application; Figure 15 This is a schematic diagram of the robotic arm in side-grabbing mode provided in an embodiment of this application.

[0017] Figure Labels 1- Robotic hand; 11- Data interface; 12- Main body; 121- Back of hand; 122- Palm side; 13- At least four first finger mechanisms; 131- First drive component; 132- First knuckle component; 14- Second finger mechanism; 141- Second drive component; 142- Second knuckle component; 1421- Third drive component; 1422- Second knuckle assembly; 15- First information integration module; 151- First drive integration component; 152- First tactile integration component; 16- Second information integration module; A- First direction; B- Second direction; C- Third direction. Detailed Implementation

[0018] 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.

[0019] 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.

[0020] 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.

[0021] 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.

[0022] 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.

[0023] 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.

[0024] 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.

[0025] With the rapid development of the humanoid robot industry, unprecedented demands have been placed on the flexibility and adaptability of robot end effectors. The human hand, with its at least twenty-one degrees of freedom and precise coordinated control, exhibits unparalleled dexterity and has long been a target of emulation in the field of robotics. Therefore, the development of multi-degree-of-freedom robotic hands with highly anthropomorphic maneuvering capabilities has become one of the key directions in robot technology development.

[0026] Specifically, refer to Figure 1This application provides a robot, which includes an external device and a robotic arm 1 provided in this application embodiment. Here, the external device can be a workstation; the external device can be a robotic arm; the external device can be a master controller, and this application embodiment does not limit this. In one possible implementation provided in this application embodiment, the external device can be a robotic arm.

[0027] This application provides a robotic arm 1, which is equipped with a data interface 11. The data interface 11 is used to connect with external devices to realize data transmission and power supply between the external devices and the robotic arm 1.

[0028] In this embodiment, the connection between the data interface 11 and the external device can be a wired connection, for example, the data interface 11 and the external device can be connected via a cable; the connection between the data interface 11 and the external device can also be a wireless connection, for example, the data interface 11 and the external device can be connected via a standard stylus module; this embodiment does not limit the connection in this regard. In one possible implementation provided by this embodiment, the data interface 11 and the external device can be connected via a standard stylus module. This achieves both data transmission and power supply between the external device and the robotic arm 1, and also enables hidden data transmission and power supply between the external device and the robotic arm 1. Besides its aesthetic appeal, this hidden data transmission and power supply significantly improves the security and stability of the connection.

[0029] Reference Figure 1 , Figure 2 , Figure 3 and Figure 4 This application provides a robotic hand 1, which includes a main body 12, at least four first finger mechanisms 13, and second finger mechanisms 14. The main body 12 includes a back side 121 and a palm side 122, with a first direction A being the direction from the back side 121 to the palm side 122. The at least four first finger mechanisms 13 are connected to the main body 12 in a second direction B, and each first finger mechanism can bend relative to the main body 12 along the first direction A and swing along a third direction C. The second finger mechanisms 14 are connected to the palm side 122 in the second direction B, and the second finger mechanisms 14 can swing relative to the palm side 122 along a third direction C, swing in a direction close to or away from the palm side 122, and bend along a side close to or away from the at least four first finger mechanisms 13. The first direction A, the second direction B, and the third direction C are perpendicular to each other.

[0030] In this embodiment, at least four first finger mechanisms 13 are connected to the main body 12 in the second direction B. Each first finger mechanism can bend relative to the main body 12 along the first direction A and swing along the third direction C. Here, the structures of the at least four first finger mechanisms 13 can be completely identical; of course, the structures of the at least four first finger mechanisms 13 can be partially the same and partially different; in addition, the structures of the at least four first finger mechanisms 13 can also be completely different; this embodiment does not limit this. In one possible implementation provided by this embodiment, the structures of the at least four first finger mechanisms 13 are completely identical, thus allowing for mutual substitution, enabling the mass production of standardized parts, and reducing the unit production cost of the first finger mechanism.

[0031] In this embodiment, at least four first finger mechanisms 13 are connected to the main body 12 in the second direction B. Each first finger mechanism can bend relative to the main body 12 along the first direction A and swing along the third direction C. Here, the at least four first finger mechanisms 13 can be four first finger mechanisms, similar to a human hand. The four first finger mechanisms can be referred to as the index finger, middle finger, ring finger, and index finger. Of course, the at least four first finger mechanisms 13 can also be five first finger mechanisms, six first finger mechanisms, etc., and this embodiment does not limit this. In one possible implementation provided by this embodiment, the at least four first finger mechanisms 13 are four first finger mechanisms.

[0032] In this embodiment, at least four first finger mechanisms 13 are connected to the second direction B of the main body 12. Each first finger mechanism can be bent relative to the main body 12 along the first direction A and swing along the third direction C. Here, the connection method of at least four first fingers connected to the second direction B of the main body 12 can be a detachable connection. For example, at least four first finger mechanisms 13 are snap-fitted to the second direction B of the main body 12; or, for example, at least four first finger mechanisms 13 are threadedly connected to the second direction B of the main body 12 by screws. Of course, the connection method of at least four first finger mechanisms 13 connected to the second direction B of the main body 12 can be a non-detachable connection. For example, at least four first finger mechanisms 13 are welded to the second direction B of the main body 12; or, for example, at least four first finger mechanisms 13 are bonded to the second direction B of the main body 12. This embodiment does not limit the scope of this application. In one possible implementation provided in this application embodiment, at least four first finger mechanisms 13 are connected to the main body 12 in the second direction B by screw threads. In this way, the at least four first finger mechanisms 13 realize a modular design, reducing the cost of a single component. When at least four first finger mechanisms 13 are damaged, only the corresponding first finger mechanism needs to be replaced, which greatly simplifies the maintenance process and shortens the downtime.

[0033] In this embodiment, at least four first finger mechanisms 13 are connected to the body 12 in the second direction B. Each first finger mechanism can bend relative to the body 12 along the first direction A and swing along the third direction C. Here, the at least four first finger mechanisms 13 include two first finger mechanisms, wherein the distance between the end of the first finger mechanism away from the body 12 and the first position of the body 12 along the second direction B is different from the distance between the end of the other first finger mechanism away from the body 12 and the first position of the body 12 along the second direction B. Of course, the at least four first finger mechanisms 13 may include two first finger mechanisms, wherein the distance between the end of the first finger mechanism away from the body 12 and the first position of the body 12 along the second direction B is the same as the distance between the end of the other first finger mechanism away from the body 12 and the first position of the body 12 along the second direction B. This embodiment does not limit this aspect. In one possible implementation provided in this application embodiment, at least four first finger mechanisms 13 include four first finger mechanisms, and the distance between each first finger mechanism and the first position of the main body 12 along the second direction B is different. In this way, when the robotic arm 1 grasps an object, the four first finger mechanisms can be similar to a human hand, forming a better enveloping effect, which helps to grasp the object better.

[0034] Reference Figure 9 In this embodiment of the application, the robotic arm 1 includes a control module and a first information integration module 15. The control module is disposed on the main body 12, and the first information integration module 15 is used to acquire information of at least four first finger mechanisms 13. The control module and the first information integration module 15 are electrically connected one-to-one.

[0035] Furthermore, the control module and the first information integration module 15 are electrically connected. It should be explained that the control module and the first information integration module 15 are electrically connected via a wired connection, for example, via a cable. Alternatively, the control module and the first information integration module 15 can be electrically connected wirelessly, for example, via WAFI. This embodiment of the application does not limit the scope of the connection.

[0036] In this embodiment, the robotic arm 1 includes a control module and a first information integration module 15. The control module is disposed on the main body 12, and the first information integration module 15 is used to acquire information of at least four first finger mechanisms 13. The control module and the first information integration module 15 are electrically connected one-to-one. In this way, the user can directly obtain the corresponding information of the corresponding first finger mechanism through the control module, which facilitates the control of the robotic arm 1.

[0037] In this embodiment of the application, the first finger mechanism includes a first driving component 131 and a first knuckle component 132. The first driving component 131 is connected to the first knuckle component 132. The first driving component 131 is located on the back side 121 of the hand. The first driving component 131 is used to drive the first knuckle component 132 to bend relative to the main body 12 along a first direction A and swing along a third direction C.

[0038] Furthermore, the driving force by which the first driving component 131 drives the first knuckle component 132 to bend relative to the main body 12 along the first direction A and swing relative to the third direction C can be an electric driving force; the driving force by which the first driving component 131 drives the first knuckle component 132 to bend relative to the main body 12 along the first direction A and swing relative to the third direction C can be a hydraulic driving force; this application embodiment does not limit this. In one possible implementation provided by the application embodiment, the first driving component 131 is a motor, and the driving force by which the first driving component 131 drives the first knuckle component 132 to bend relative to the main body 12 along the first direction A and swing relative to the third direction C is an electric driving force.

[0039] Furthermore, a first tactile sensor can be provided on the fingertip of the first knuckle component 132. The first tactile sensor is used to display whether the object to be grasped is in contact with the first knuckle component 132, so that the user can intuitively obtain information. It can achieve stable grip force control, accurate texture shape recognition, slip detection to prevent the object from falling, and provide safe physical interaction force, detect the position of the contact point, pressure distribution and the characteristics of the object surface.

[0040] Correspondingly, the first information integration module 15 includes a first drive integration component 151 and a first tactile integration component 152. The first drive integration component 151 is used to acquire drive information of at least four first finger mechanisms 13, and the first tactile integration component 152 is used to acquire tactile information of at least four first finger mechanisms 13. The control module is electrically connected to the first drive integration component 151 and the first tactile integration component 152 respectively.

[0041] Based on this, the first information integration module 15 also includes a status indicator light, which is electrically connected to the first tactile integration component 152. The user can obtain relevant information about the first tactile integration component 152 through the status indicator light. For example, when the first tactile sensor transmits the information of the first knuckle component 132 contacting an object to the first tactile integration component 152, the status indicator light will be green; otherwise, it will be red.

[0042] In one possible implementation provided in this application embodiment, at least four first finger mechanisms 13 can be referred to as index finger, middle finger, ring finger, and little finger, respectively. The first driving components 131 correspondingly disposed on the first finger mechanisms can be referred to as index finger driving component, middle finger driving component, ring finger driving component, and little finger driving component, respectively. The first tactile sensors correspondingly disposed on the first finger mechanisms can be referred to as index finger tactile sensor, middle finger tactile sensor, ring finger tactile sensor, and little finger tactile sensor, respectively. The first driving integrated component 151 can also be referred to as the first driving hub, and the first tactile integrated component 152 can also be referred to as the first tactile hub.

[0043] In this embodiment of the application, the first information integration module 15 includes a first driving integration component 151 and a first tactile integration component 152. The first driving integration component 151 is used to acquire driving information of at least four first finger mechanisms 13, and the first tactile integration component 152 is used to acquire tactile information of at least four first finger mechanisms 13. The control module is electrically connected to the first driving integration component 151 and the first tactile integration component 152 respectively. In this way, a reliable connection between the control module and the first driving integration component 151 and the first tactile integration component 152 can be guaranteed.

[0044] In this embodiment of the application, the first information integration module 15 includes a first driving integration component 151 and a first tactile integration component 152. Here, there can be at least four first driving integration components 151, so that each first finger mechanism is provided with a first driving integration component 151, thus facilitating information acquisition. Similarly, there can be at least four first tactile integration components 152, so that each first finger mechanism is provided with a first tactile integration component 152, thus facilitating information acquisition.

[0045] In this embodiment of the application, the second finger mechanism 14 includes a second driving component 141 and a second knuckle component 142. The second driving component 141 is connected to the second knuckle component 142. The second driving component 141 is connected to the palm side 122 in a second direction B. The second driving component 141 can swing relative to the palm side 122 in a third direction C and swing in a direction close to or away from the palm side 122, so as to drive the second knuckle component 142 to swing relative to the palm side 122 in a third direction C and swing in a direction close to or away from the palm side 122.

[0046] Furthermore, the second driving component 141 can swing relative to the palm side 122 along a third direction C and in a direction closer to or farther from the palm side 122, so as to drive the second knuckle component 142 as a whole to swing relative to the palm side 122 along a third direction C. The driving force for swinging in the direction closer to or farther from the palm side 122 can be an electric driving force. The second driving component 141 can swing relative to the palm side 122 along a third direction C and in a direction closer to or farther from the palm side 122, so as to drive the second knuckle component 142 as a whole to swing relative to the palm side 122 along a third direction C. The driving force for swinging in the direction closer to or farther from the palm side 122 can be a hydraulic driving force. In this respect, the embodiments of this application do not limit the scope of the application. In one possible implementation provided in this application embodiment, the second driving component 141 is a motor. The second driving component 141 can swing relative to the palm side 122 along a third direction C and swing in a direction close to or away from the palm side 122, so as to drive the second knuckle component 142 as a whole to swing relative to the palm side 122 along a third direction C. The driving force for swinging in the direction close to or away from the palm side 122 is an electric driving force.

[0047] Furthermore, the second drive component 141 is connected to the second knuckle component 142. This connection can be detachable, for example, the second knuckle component 142 can be snap-fitted onto the second drive component 141; or, for example, the second knuckle component 142 can be threaded onto the second drive component 141. Alternatively, the connection can be non-detachable, for example, the second knuckle component 142 can be welded onto the second drive component 141; or, for example, the second knuckle component 142 can be adhesively bonded to the second drive component 141. This embodiment does not limit the specific method used. In one possible implementation provided by this embodiment, the second drive component 141 is threaded onto the second drive component 142, thus achieving a modular design for the second knuckle component 142 and reducing the cost per unit. When the second knuckle component 142 is damaged, only the second knuckle component 142 needs to be replaced, significantly simplifying the maintenance process and shortening downtime.

[0048] In this embodiment, the robotic arm 1 includes a control module and a second information integration module 16. The control module is disposed on the main body 12 and electrically connected to the second drive component 141. The second information integration module 16 is disposed on the second knuckle component 142, and the control module is electrically connected to the second information integration module 16.

[0049] Furthermore, the control module is electrically connected to the second information integration module 16. It should be explained that the control module and the second information integration module 16 are electrically connected via a wired connection, for example, via a cable; of course, the control module and the second information integration module 16 can also be electrically connected wirelessly, for example, via WAFI; however, this embodiment does not limit the scope of the connection.

[0050] In this embodiment, the robotic arm 1 includes a control module and a second information integration module 16. The control module is disposed on the main body 12, and the second information integration module 16 is used to acquire information of the second finger mechanism 14. The control module is electrically connected to the second information integration module 16. In this way, the user can directly acquire the corresponding information of the second finger mechanism 14 through the control module, which facilitates the control of the robotic arm 1.

[0051] In this embodiment, a second tactile sensor may be provided on the fingertip of the second knuckle component 142. The second tactile sensor is used to display whether the object to be grasped is in contact with the second knuckle component 142, so that the user can intuitively obtain information. It can achieve stable grip force control, accurate texture shape recognition, slip detection to prevent the object from falling, and provide safe physical interaction force, detect the position of the contact point, pressure distribution and the characteristics of the object surface.

[0052] In this embodiment, the second knuckle component 142 includes a third driving component 1421 and a second knuckle assembly 1422. The third driving component 1421 is used to drive the second knuckle assembly 1422 to bend along a side close to or away from at least four first finger mechanisms 13. The second information integration module 16 includes a second driving integration component and a second tactile integration component. The second driving integration component is disposed on the third driving component 1421, and the second tactile integration component is disposed on the second knuckle assembly 1422. The control module is electrically connected to the second driving integration component and the second tactile integration component respectively.

[0053] Furthermore, the driving force used by the third driving component 1421 to drive the second knuckle assembly 1422 to bend along the side close to or away from the at least four first finger mechanisms 13 can be an electric driving force; the driving force used by the third driving component 1421 to drive the second knuckle assembly 1422 to bend along the side close to or away from the at least four first finger mechanisms 13 can be a hydraulic driving force; however, this application embodiment does not limit this. In one possible implementation provided by the embodiment of this application, the third driving component 1421 is a motor, and the driving force used by the third driving component 1421 to drive the second knuckle assembly 1422 to bend along the side close to or away from the at least four first finger mechanisms 13 is an electric driving force.

[0054] In one possible implementation provided in this application embodiment, the second finger mechanism 14 can be referred to as the thumb, the second driving component 141 can be referred to as the thumb driving component, the third driving component 1421 can be referred to as the thumb knuckle driving component, the second tactile sensor can be referred to as the thumb tactile sensor, and the second driving integrated component and the second tactile integrated component can also be referred to as the thumb hub.

[0055] Based on this, refer to Figure 5 , Figure 6 , Figure 7 and Figure 8 The second phalanx assembly 1422 may include two second sub-phalanges, which are arranged along a second direction B. One of the second sub-phalanges is connected to the third drive component 1421, and the other second sub-phalange is connected to a corresponding second sub-phalange. In this case, the third drive component 1421 can also be used to drive the other second sub-phalange away from the third drive component 1421 to bend relative to the second sub-phalange connected to the third drive component 1421 along a first direction A. At this time, the second finger mechanism 14 has four degrees of freedom: it can swing relative to the palm side 122 along a third direction C, swing in a direction close to or away from the palm side 122, bend in a direction close to or away from at least four first finger mechanisms 13, and bend the other second sub-phalange relative to one of the second sub-phalanges. Each first finger mechanism has two degrees of freedom. In other words, the robotic hand 1 has at least twelve degrees of freedom, realizing a range of motion close to the key functions of a human hand, and realizing the finger-to-finger action between the second finger mechanism 14 and each first finger mechanism. In one possible implementation provided in this application embodiment, at least four first finger mechanisms 13 can be referred to as index finger, middle finger, ring finger, and little finger, respectively, and the second finger mechanism 14 is referred to as thumb. The finger-opposing action between the second finger mechanism 14 and each finger mechanism can be referred to as finger-opposing between index finger and thumb, finger-opposing between middle finger and thumb, finger-opposing between ring finger and thumb, and finger-opposing between little finger and thumb. The continuous finger-opposing action of the four fingers can realize the adjustment of the rolling posture of the object in the palm during the grasping process, ensuring the best posture for grasping the object, so that the dexterous hand can deal with the sorting of messy items more flexibly.

[0056] The robotic hand 1 provided in this application embodiment has at least four first finger mechanisms 13 connected to the main body 12 in the second direction B, and each first finger mechanism can bend relative to the main body 12 along the first direction A and swing along the third direction C. In other words, the at least four first finger mechanisms 13 contain at least eight degrees of freedom. The second finger mechanism 14 is connected to the palm side 122 in the second direction B, and the second finger mechanism 14 can swing relative to the palm side 122 along the third direction C, swing along the direction close to or away from the palm side 122, and bend along the side close to or away from the at least four first finger mechanisms 13. In other words, the second finger mechanism 14 contains at least three degrees of freedom. The robotic hand 1 contains at least eleven degrees of freedom, which greatly increases the degrees of freedom of the robotic hand 1, thereby significantly improving its flexibility. In addition, the robotic hand 1 includes at least four first finger mechanisms 13 and second finger mechanisms 14, making the robotic hand 1 similar to a human hand. At the same time, it includes at least eleven degrees of freedom, enabling the robotic hand 1 to achieve a range of motion close to the key functions of a human hand. For example, it can realize the finger-to-finger action between the second finger mechanism 14 and each of the first finger mechanisms, adapt to different grasping modes, and thus accurately grasp objects.

[0057] Compared to the technical problems in related technologies where the robotic hand 1 has low degrees of freedom and limited flexibility due to its own structure, making it difficult to accurately grasp objects, the robotic hand 1 provided in this application increases the degrees of freedom of the robotic hand 1 by setting at least four first finger mechanisms 13 and second finger mechanisms 14 with multiple degrees of freedom, thereby significantly improving flexibility and achieving a range of motion close to the key functions of the human hand, thus enabling accurate grasping of objects.

[0058] The robotic arm 1 provided in this application has the following advantages: Significantly enhances dexterity: It achieves a range of motion close to the key functions of the human hand through at least 12 active degrees of freedom (configured with two degrees of freedom for the first finger mechanism and four degrees of freedom for the second finger mechanism 14), enabling finger-to-finger movements of the thumb and four fingers, and supporting six grasping modes and fine manipulation.

[0059] Achieving a high degree of modularity: The design standardizes the finger mechanism and outer segment interface. Each finger mechanism integrates drive, transmission, sensing, and communication units, enabling independent operation and plug-and-play functionality. Users can flexibly configure the number of fingers and select finger types according to task requirements.

[0060] Reduced overall costs and improved maintainability: Modular design allows for mass production of standardized parts, reducing unit costs; partial damage only requires replacement of the corresponding module, greatly simplifying maintenance processes and shortening downtime; standard interfaces also facilitate the integration of third-party modules or sensors.

[0061] Facilitating technological iteration and application expansion: The modular architecture provides a convenient platform for subsequent functional upgrades (such as integration of haptic, force / torque, and temperature sensing), and greatly expands the application potential of dexterous hands in diverse robot platforms and scenarios.

[0062] Tactile sensing capabilities: Tactile sensors are laid on the fingertips to achieve stable grip force control, accurate texture / shape recognition, slip detection to prevent drops, and provide safe physical interaction force, detect contact point position, pressure distribution and object surface characteristics.

[0063] Furthermore, this application also provides a control method for a robotic hand 1. The robotic hand 1 includes: a main body 12, at least four first finger mechanisms 13, and second finger mechanisms 14. The main body 12 includes a back side 121 and a palm side 122. A first direction is the direction from the back side 121 to the palm side 122. At least four first finger mechanisms 13 are connected to the main body 12 in a second direction B. Each first finger mechanism can bend relative to the main body 12 along the first direction A and swing along a third direction C. The second finger mechanisms 14 are connected to the palm side 122 in the second direction B. The second finger mechanisms 14 can swing relative to the palm side 122 along a third direction C, swing in a direction close to or away from the palm side 122, and bend along a side close to or away from the at least four first finger mechanisms 13. The first direction A, the second direction B, and the third direction C are perpendicular to each other. Control methods include: Step 1: In response to a grasping command for an object, control at least one of the four first finger mechanisms 13 to bend relative to the body 12 along a first direction A, and / or swing along a third direction C. The second finger mechanism 14 is controlled to swing relative to the palm side 122 in a third direction C, and / or swing in a direction close to or away from the palm side 122, and / or bend in a direction close to or away from the side of at least four first finger mechanisms 13. Step 2: Control the corresponding first finger mechanism and second finger mechanism 14 to grasp the object.

[0064] In this embodiment, the object can be a fragile object; the object can be a metal object; the object can be a cylindrical object, etc.; this embodiment does not limit the scope of the object.

[0065] In this embodiment of the application, there is no relative sequential order between controlling at least one of the four first finger mechanisms 13 to bend relative to the body 12 along a first direction A, and / or swing along a third direction C, and controlling the second finger mechanism 14 to swing relative to the palm side 122 along a third direction C, and / or swing in a direction close to or away from the palm side 122, and / or bend along a side close to or away from the at least four first finger mechanisms 13. One of them can be controlled first, and the other can be controlled later; of course, both can also be controlled simultaneously. This embodiment of the application does not limit this.

[0066] Furthermore, when the robotic arm 1 needs to grasp an object, if it is found that the current shape and position of the robotic arm 1 cannot grasp the object, then it is necessary to control at least one of the four first finger mechanisms 13 to bend relative to the main body 12 along the first direction A, and / or swing along the third direction C; control the second finger mechanism 14 to swing relative to the palm side 122 along the third direction C, and / or swing in a direction close to or away from the palm side 122, and / or bend along a side close to or away from the at least four first finger mechanisms 13, until the current shape and position of the robotic arm 1 can grasp the object. At this time, the corresponding first finger mechanism and second finger mechanism 14 are then controlled to grasp the object.

[0067] Furthermore, when the robotic arm 1 needs to release an object, the corresponding first finger mechanism and second finger mechanism 14 can be controlled to perform the opposite action to that when grasping the object, thus releasing the object.

[0068] Reference Figure 10 This application also provides a control method for a robotic arm 1, the robotic arm 1 including a cylindrical grasping mode; the control method includes: in response to an instruction that the object needs to be grasped in the cylindrical grasping mode, controlling each first finger mechanism to bend relative to the main body 12 along a first direction A; The second finger mechanism 14 is controlled to swing relative to the palm side 122 along a third direction C between two adjacent first finger mechanisms, the second finger mechanism 14 swings along a direction close to the palm side 122 to the outer contour of the object, and bends along a side close to at least four first finger mechanisms 13. Control the corresponding bent first finger mechanism and bent second finger mechanism 14 to grasp the object.

[0069] In this embodiment, the robotic arm 1 includes a cylindrical grasping mode. It should be explained that the cylindrical grasping mode refers to a mode in which all the first finger mechanisms and second finger mechanisms 14 on the robotic arm 1 need to participate, and the second finger mechanism 14 needs to swing relative to the palm side 122 along a third direction C to grasp the fingertips of two adjacent first finger mechanisms. Furthermore, in response to an instruction that an object needs to be grasped using the cylindrical grasping mode, the object requiring the cylindrical grasping mode can be quasi-cylindrical, for example, a cylindrical glass cup, or a mineral water bottle; however, this embodiment does not impose any limitations on this.

[0070] In this embodiment, there is no relative sequence between controlling each first finger mechanism to bend relative to the main body 12 along the first direction A and controlling the second finger mechanism 14 to swing relative to the palm side 122 along the third direction C to between two adjacent first finger mechanisms, the second finger mechanism 14 swinging along the direction close to the palm side 122 to the outer contour of the object and bending along one side of at least four first finger mechanisms 13. One of them can be controlled first and the other can be controlled later; of course, both can be controlled simultaneously. This embodiment does not limit this.

[0071] Furthermore, when the robotic arm 1 needs to grasp an object, if it is found that the current shape and position of the robotic arm 1 cannot grasp the object, and the robotic arm 1 needs to be adjusted to a cylindrical grasping mode to grasp the object, then it is necessary to control each first finger mechanism to bend relative to the main body 12 along the first direction A; control the second finger mechanism 14 to swing relative to the palm side 122 along the third direction C to between two adjacent first finger mechanisms, control the second finger mechanism 14 to swing along the direction close to the palm side 122 to the outer contour of the object, and bend along the side close to at least four first finger mechanisms 13 to adjust to the cylindrical grasping mode, until the current shape and position of the robotic arm 1 can grasp the object, and then control the corresponding bent first finger mechanism and bent second finger mechanism 14 to grasp the object.

[0072] Furthermore, when the robotic arm 1 needs to release an object, the corresponding first finger mechanism and second finger mechanism 14 can be controlled to perform the opposite action to that when grasping the object, thus releasing the object.

[0073] Reference Figure 11 This application also provides a control method for a robotic arm 1, the robotic arm 1 including a hook-shaped grasping mode; the control method includes: In response to an instruction that the object requires a hook-like grasping mode for grasping, each first finger mechanism is controlled to pass through the hook-like part of the object and each first finger mechanism is bent relative to the body 12 along a first direction A. The control second finger mechanism 14 is bent relative to the palm side 122 along a side close to at least four first finger mechanisms 13; Control the corresponding bent first finger mechanism and bent second finger mechanism 14 to grasp the object.

[0074] In this embodiment, the robotic arm 1 includes a hook-shaped grasping mode. It should be explained that the hook-shaped grasping mode refers to a mode for grasping objects with hook-shaped parts. In other words, it requires each first finger mechanism to pass through the hook-shaped part of the object and each first finger mechanism to bend relative to the main body 12 along a first direction A. Furthermore, the robotic arm 1 includes a hook-shaped grasping mode, and the object responding to the instruction to grasp using the hook-shaped grasping mode can be an object with hook-shaped parts; for example, the object can be a door handle with hook-shaped parts; for example, the object can be a rice spoon with hook-shaped parts, etc.; this embodiment does not limit this.

[0075] In this embodiment, there is no relative sequential order between controlling each first finger mechanism to pass through the hook-shaped portion of the object and each first finger mechanism to bend relative to the main body 12 along the first direction A and controlling the second finger mechanism 14 to bend relative to the palm side 122 along the side close to at least four first finger mechanisms 13. One of them can be controlled first and the other can be controlled later; of course, both can be controlled simultaneously. This embodiment does not limit this.

[0076] Furthermore, when the robotic arm 1 needs to grasp an object, if it is found that the current shape and position of the robotic arm 1 cannot grasp the object, and the robotic arm 1 needs to be adjusted to a hook-shaped grasping mode to grasp the object, then it is necessary to control each first finger mechanism to pass through the hook-shaped part of the object and each first finger mechanism to bend relative to the main body 12 along the first direction A; control the second finger mechanism 14 to bend relative to the palm side 122 along the side close to at least four first finger mechanisms 13 until it is adjusted to the hook-shaped grasping mode, until the current shape and position of the robotic arm 1 can grasp the object, and then control the corresponding bent first finger mechanism and bent second finger mechanism 14 to grasp the object.

[0077] Furthermore, when the robotic arm 1 needs to release an object, the corresponding first finger mechanism and second finger mechanism 14 can be controlled to perform the opposite action to that when grasping the object, thus releasing the object.

[0078] Reference Figure 12 This application also provides a control method for a robotic arm 1, the robotic arm 1 including a fingertip grasping mode; the control method includes: In response to the object requiring a fingertip grasping mode, control at least four first finger mechanisms 13, the first finger mechanism closest to the second finger mechanism 14, to bend relative to the body 12 along a first direction A; The second finger mechanism 14 is controlled to swing relative to the palm side 122 along a third direction C to be opposite to the first finger mechanism 14 among at least four first finger mechanisms 13 that is close to the second finger mechanism 14; the second finger mechanism 14 swings along the direction close to the palm side 122 to the outer contour of the object; and the second finger mechanism 14 bends along one side of the corresponding bent first finger mechanism. The first finger mechanism and the second finger mechanism 14 control the bending of objects.

[0079] In this embodiment, the robotic hand 1 includes a fingertip grasping mode. It should be explained that the fingertip grasping mode refers to a mode in which only the fingertips of the first finger mechanism and the second finger mechanism 14 are required to grasp. In other words, the second finger mechanism 14 needs to swing relative to the palm side 122 along a third direction C to be opposite to the first finger mechanism 14 among at least four first finger mechanisms 13 closest to the second finger mechanism 14. Furthermore, the robotic hand 1 includes a fingertip grasping mode. The object requiring the fingertip grasping mode to grasp can be a tiny object, for example, a strand of hair; or, for example, a lint or fuzz; this embodiment does not limit this.

[0080] In this embodiment, controlling the first finger mechanism 13 closest to the second finger mechanism 14 among the at least four first finger mechanisms 13 to bend relative to the main body 12 along a first direction A, and controlling the second finger mechanism 14 to swing relative to the palm side 122 along a third direction C to be opposite to the first finger mechanism 14 among the at least four first finger mechanisms 13 closest to the second finger mechanism 14, the second finger mechanism 14 swinging along the direction close to the palm side 122 to the outer contour of the object, and the second finger mechanism 14 bending along one side of the corresponding bent first finger mechanism, there is no relative sequential order between the two. One can be controlled first and the other can be controlled later; of course, both can be controlled simultaneously. This embodiment does not limit this.

[0081] Furthermore, when the robotic arm 1 needs to grasp an object, and it is found that the current shape and position of the robotic arm 1 cannot grasp the object, and the robotic arm 1 needs to be adjusted to a fingertip grasping mode to grasp the object, then the first finger mechanism of at least four first finger mechanisms 13 closest to the second finger mechanism 14 is controlled to bend relative to the main body 12 along a first direction A; the second finger mechanism 14 is controlled to swing relative to the palm side 122 along a third direction C to be opposite to the first finger mechanism of at least four first finger mechanisms 13 closest to the second finger mechanism 14, the second finger mechanism 14 swings along the direction close to the palm side 122 to the outer contour of the object, and the second finger mechanism 14 bends along one side of the corresponding bent first finger mechanism until it is adjusted to a fingertip grasping mode, until the current shape and position of the robotic arm 1 can grasp the object, and then the bent first finger mechanism and the bent second finger mechanism 14 are controlled to grasp the object.

[0082] Furthermore, when the robotic arm 1 needs to release an object, the corresponding first finger mechanism and second finger mechanism 14 can be controlled to perform the opposite action to that when grasping the object, thus releasing the object.

[0083] Reference Figure 13 This application also provides a control method for a robotic arm 1, the robotic arm 1 including a ball-shaped grasping mode; the control method includes: In response to an instruction that the object requires a spherical grasping mode for grasping, each first finger mechanism is controlled to bend relative to the main body 12 along a first direction A; The second finger mechanism 14 is controlled to swing relative to the palm side 122 along a third direction C to the side of the first finger mechanism 13 closest to the second finger mechanism 14, the second finger mechanism 14 swings along the direction close to the palm side 122 to the outer contour of the object, and the second finger mechanism 14 bends along the side close to the at least four first finger mechanisms 13. Control the corresponding bent first finger mechanism and bent second finger mechanism 14 to grasp the object.

[0084] In this embodiment, the robotic arm 1 includes a spherical grasping mode. It should be explained that this spherical grasping mode refers to a mode in which each first finger mechanism is bent relative to the main body 12, while the second finger mechanism 14 swings relative to the palm side 122 along a third direction C to the side of the first finger mechanism 13 of at least four first finger mechanisms 13. Furthermore, the robotic arm 1 includes a spherical grasping mode. Objects requiring spherical grasping can be spherical or similar; for example, a basketball; or a ping-pong ball, etc. This embodiment does not impose any limitations on this.

[0085] In this embodiment, controlling each first finger mechanism to bend relative to the main body 12 along a first direction A, and controlling the second finger mechanism 14 to swing relative to the palm side 122 along a third direction C to the side of the first finger mechanism 14 closest to the first finger mechanism 13 among at least four first finger mechanisms 13, the second finger mechanism 14 swinging along the direction close to the palm side 122 to the outer contour of the object, and the second finger mechanism 14 bending along the side close to at least four first finger mechanisms 13, are not in any relative sequential order. One can be controlled first and the other can be controlled later; of course, both can also be controlled simultaneously. This embodiment does not limit this.

[0086] Furthermore, when the robotic arm 1 needs to grasp an object, and it is found that the current shape and position of the robotic arm 1 cannot grasp the object, and the robotic arm 1 needs to be adjusted to a spherical grasping mode to grasp the object, then each first finger mechanism is controlled to bend relative to the main body 12 along the first direction A; the second finger mechanism 14 is controlled to swing relative to the palm side 122 along the third direction C to the side of the first finger mechanism 14 closest to the first finger mechanism 14 among at least four first finger mechanisms 13, the second finger mechanism 14 swings towards the outer contour of the object in the direction close to the palm side 122, and the second finger mechanism 14 bends along the side close to at least four first finger mechanisms 13; the spherical grasping mode is adjusted until the current shape and position of the robotic arm 1 can grasp the object, and the corresponding bent first finger mechanism and bent second finger mechanism 14 are controlled to grasp the object.

[0087] Furthermore, when the robotic arm 1 needs to release an object, the corresponding first finger mechanism and second finger mechanism 14 can be controlled to perform the opposite action to that when grasping the object, thus releasing the object.

[0088] Reference Figure 14 This application also provides a control method for a robotic arm 1, the robotic arm 1 including a palm grasping mode; the control method includes: In response to an instruction that the object needs to be grasped in a palm grasping mode, the two adjacent first finger mechanisms 13 closest to the second finger mechanism 14 are controlled to bend relative to the body 12 along a first direction A, wherein the degree of bending of the first finger mechanism closer to the second finger mechanism 14 is less than the degree of bending of the first finger mechanism farther away from the second finger mechanism 14. The second finger mechanism 14 is controlled to swing relative to the palm side 122 along a third direction C to be opposite to the first finger mechanism closer to the second finger mechanism 14 among two adjacent first finger mechanisms; the second finger mechanism 14 swings along the direction closer to the palm side 122 to the outer contour of the object; and the second finger mechanism 14 bends along the side of the first finger mechanism closer to the second finger mechanism 14 among two adjacent first finger mechanisms. Control the corresponding bent first finger mechanism and bent second finger mechanism 14 to grasp the object.

[0089] In this embodiment, the robotic arm 1 includes a palm gripping mode. Here, it should be explained that the palm gripping mode refers to a mode in which two adjacent first finger mechanisms 14 of the at least four first finger mechanisms 13 are bent relative to the main body 12 along the first direction A and the degree of bending is different. In addition, the robotic arm 1 includes a palm gripping mode. The object that needs to be gripped in a spherical gripping mode can be a ballpoint pen; it can also be a calligraphy brush, etc. In this embodiment, there is no limitation.

[0090] In this embodiment, at least four first finger mechanisms 13 are controlled to bend along a first direction A relative to the main body 12, with the two adjacent first finger mechanisms near the second finger mechanism 14 being less bent than the first finger mechanism far from the second finger mechanism 14. There is no relative sequence between controlling the second finger mechanism 14 to swing relative to the palm side 122 along a third direction C to be opposite the first finger mechanism near the second finger mechanism 14 among the two adjacent first finger mechanisms, controlling the second finger mechanism 14 to swing along the direction near the palm side 122 to the outer contour of the object, and controlling the second finger mechanism 14 to bend along the side of the first finger mechanism near the second finger mechanism 14 among the two adjacent first finger mechanisms. One can be controlled first, followed by the other; of course, both can be controlled simultaneously. This embodiment does not limit this.

[0091] Furthermore, when the robotic arm 1 needs to grasp an object, and it is found that the current shape and position of the robotic arm 1 cannot grasp the object, and the robotic arm 1 needs to be adjusted to a palm grasping mode to grasp the object, then the two adjacent first finger mechanisms 13 closest to the second finger mechanism 14 are controlled to bend relative to the main body 12 along the first direction A, wherein the degree of bending of the first finger mechanism closer to the second finger mechanism 14 is less than the degree of bending of the first finger mechanism farther away from the second finger mechanism 14; the second finger mechanism 14 is controlled to swing relative to the palm side 122 along the third direction C to be opposite to the first finger mechanism closer to the second finger mechanism 14 among the two adjacent first finger mechanisms; the second finger mechanism 14 swings along the direction closer to the palm side 122 to the outer contour of the object; and the second finger mechanism 14 bends along the side of the first finger mechanism closer to the second finger mechanism 14 among the two adjacent first finger mechanisms until it is adjusted to the palm grasping mode, until the current shape and position of the robotic arm 1 can grasp the object, and the corresponding bent first finger mechanism and bent second finger mechanism 14 are controlled to grasp the object.

[0092] Furthermore, when the robotic arm 1 needs to release an object, the corresponding first finger mechanism and second finger mechanism 14 can be controlled to perform the opposite action to that when grasping the object, thus releasing the object.

[0093] Reference Figure 15 This application also provides a control method for a robotic arm 1, the robotic arm 1 including a side-grabbing mode; the control method includes: In response to an instruction that the object needs to be grasped in a side-grabbing mode, the first finger mechanism of at least four first finger mechanisms 13 on the side closest to the second finger mechanism 14 is controlled to bend relative to the main body 12 along the first direction A. The second finger mechanism 14 is controlled to swing relative to the palm side 122 along a third direction C to the side of the first finger mechanism 13 that is close to the second finger mechanism 14 and bent, the second finger mechanism 14 swings in a direction away from the palm side 122 to the outer contour of the object, and the second finger mechanism 14 bends along the side of the first finger mechanism 13 that is close to the second finger mechanism 14 and bent. Control the corresponding bent first finger mechanism and bent second finger mechanism 14 to grasp the object.

[0094] In this embodiment, the robotic arm 1 includes a side-grabbing mode. Here, it should be explained that the side-grabbing mode refers to a mode in which the second finger mechanism 14 is located on the side of the first finger mechanism and bent toward the side of the first finger mechanism. In addition, the robotic arm 1 includes a side-grabbing mode. The object that needs to be grasped in response to the side-grabbing mode can be a piece of paper or sheet metal. This embodiment does not limit this.

[0095] In this embodiment, controlling the first finger mechanism 13 of at least four first finger mechanisms 13 to bend relative to the main body 12 along a first direction A, and controlling the second finger mechanism 14 to swing relative to the palm side 122 along a third direction C to the side of the first finger mechanism 13 that is close to the second finger mechanism 14 and bent, the second finger mechanism 14 to swing in a direction away from the palm side 122 to the outer contour of the object, and the second finger mechanism 14 to bend along the side of the first finger mechanism 13 that is close to the second finger mechanism 14 and bent, there is no relative sequential order between the two. One can be controlled first and the other can be controlled later. Of course, both can also be controlled simultaneously. This embodiment does not limit this.

[0096] Furthermore, when the robotic arm 1 needs to grasp an object, and it is found that the current shape and position of the robotic arm 1 cannot grasp the object, and the robotic arm 1 needs to be adjusted to a side-grabbing mode to grasp the object, then the first finger mechanism on the side closest to the second finger mechanism 14 among the at least four first finger mechanisms 13 is controlled to bend relative to the main body 12 along the first direction A; the second finger mechanism 14 is controlled to swing relative to the palm side 122 along the third direction C to the side of the first finger mechanism 14 closest to the second finger mechanism 14 and bent among the at least four first finger mechanisms 13, the second finger mechanism 14 swings in a direction away from the palm side 122 to the outer contour of the object, and the second finger mechanism 14 bends along the side of the first finger mechanism 14 closest to the second finger mechanism 14 and bent among the at least four first finger mechanisms 13, adjusting to the side-grabbing mode, until the current shape and position of the robotic arm 1 can grasp the object, and then the corresponding bent first finger mechanism and bent second finger mechanism 14 are controlled to grasp the object.

[0097] Furthermore, when the robotic arm 1 needs to release an object, the corresponding first finger mechanism and second finger mechanism 14 can be controlled to perform the opposite action to that when grasping the object, thus releasing the object.

[0098] 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 robotic arm, characterized in that, include: The main body includes a back side and a palm side, with a first direction being the direction from the back side of the hand to the palm side; at least four first finger mechanisms are connected to the main body in a second direction, each of the first finger mechanisms being able to bend relative to the main body along the first direction and swing along a third direction; second finger mechanisms are connected to the palm side in the second direction, the second finger mechanisms being able to swing relative to the palm side along the third direction, swing in a direction close to or away from the palm side, and bend along a side close to or away from the at least four first finger mechanisms; wherein the first direction, the second direction, and the third direction are perpendicular to each other.

2. The robotic arm according to claim 1, characterized in that, The at least four first finger mechanisms include two first finger mechanisms, wherein the distance between the end of one first finger mechanism away from the body and the first position of the body along the second direction is different from the distance between the end of the other first finger mechanism away from the body and the first position of the body along the second direction.

3. The robotic arm according to claim 1, characterized in that, At least four of the first finger mechanisms are detachably connected in the second direction of the body.

4. The robotic arm according to any one of claims 1 to 3, characterized in that, The robotic arm includes a control module and a first information integration module. The control module is disposed on the main body, and the first information integration module is used to acquire information of at least four of the first finger mechanisms. The control module is electrically connected to the first information integration module one by one.

5. The robotic arm according to claim 4, characterized in that, The first information integration module includes a first drive integration component and a first tactile integration component. The first drive integration component is used to acquire drive information of at least four first finger mechanisms, and the first tactile integration component is used to acquire tactile information of at least four first finger mechanisms. The control module is electrically connected to the first drive integration component and the first tactile integration component, respectively.

6. The robotic arm according to any one of claims 1 to 3, characterized in that, The second finger mechanism includes a second driving component and a second knuckle component. The second driving component is connected to the second knuckle component and is connected to the palm side in the second direction. The second driving component can swing relative to the palm side in the third direction and swing in a direction close to or away from the palm side, so as to drive the second knuckle component as a whole to swing relative to the palm side in the third direction and swing in a direction close to or away from the palm side.

7. The robotic arm according to claim 6, characterized in that, The second drive component is detachably connected to the second knuckle component.

8. The robotic arm according to claim 6, characterized in that, The robotic arm includes a control module and a second information integration module. The control module is disposed on the main body and electrically connected to the second drive component. The second information integration module is disposed on the second knuckle component, and the control module is electrically connected to the second information integration module.

9. The robotic arm according to claim 8, characterized in that, The second knuckle component includes a third driving component and a second knuckle assembly. The third driving component is used to drive the second knuckle assembly to bend along a side close to or away from at least four of the first finger mechanisms. The second information integration module includes a second driving integration component and a second tactile integration component. The second driving integration component is disposed on the third driving component, and the second tactile integration component is disposed on the second knuckle assembly. The control module is electrically connected to the second driving integration component and the second tactile integration component, respectively.

10. A robot, characterized in that, include: External device; the robotic arm according to any one of claims 1 to 9, wherein the robotic arm is provided with a data interface for connecting to the external device.

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