Tendon-driven robotic fingers, hands, and robots

Abstract

The application provides a tendon-driven mechanical finger, a mechanical hand and a robot, wherein the tendon-driven mechanical finger comprises a first phalanx, a second phalanx, a first bending tendon, a second bending tendon and a reset tendon; a first end of the first phalanx is used for being connected to a mechanical palm, a second end of the first phalanx is movably connected to a first end of the second phalanx; a first end of the first bending tendon is used for being connected to a first driving mechanism, a second end of the first bending tendon is connected to the first phalanx and is used for pulling the first phalanx to realize bending; a first end of the second bending tendon is used for being connected to a second driving mechanism, a second end of the second bending tendon is connected to the second phalanx and is used for pulling the second phalanx to realize bending; a first end of the reset tendon is used for being connected to a third driving mechanism, a second end of the reset tendon is connected to the second phalanx and is used for pulling the second phalanx to realize straightening of the finger. The tendon-driven mechanical finger of the application realizes independent activity control of each phalanx and reduces the weight of the finger.

Description

Technical Field

[0001] This application relates to the field of robotics technology, and in particular to a tendon-driven mechanical finger, a robotic hand, and a robot. Background Technology

[0002] Currently, the main drive solutions for dexterous hands include direct-drive motors, linkage drives, and a combination of one or more of these. Direct-drive motors mount the motors directly at the joints, similar to a direct-drive robotic arm, with one motor driving each joint. However, direct-drive motors have disadvantages such as low output force, limited by finger size, requiring the use of very small motors due to their low torque and poor movement smoothness. Furthermore, having the motors mounted on the fingers results in a relatively large finger mass. Linkage drives typically embed the motors within the palm, using multiple links as the finger skeleton. However, limited palm space prevents the placement of enough motors, resulting in underactuation, with 1-2 actuators per finger. This leads to strong coupling between finger joints, making decoupling difficult. Additionally, the presence of numerous rotating joints in the linkages contributes to the large size and mass of the fingers. Utility Model Content

[0003] To address at least one technical problem existing in the prior art, this application proposes a tendon-driven mechanical finger, a robotic hand, and a robot.

[0004] In a first aspect, this application provides a tendon-driven mechanical finger for use in a robotic hand, the tendon-driven mechanical finger comprising a first phalanx, a second phalanx, a first flexed tendon cord, a second flexed tendon cord, and a reset tendon cord, characterized in that: The first end of the first phalanx is used to connect to the mechanical hand, and the second end of the first phalanx is movably connected to the first end of the second phalanx. The first end of the first bending tendon cord is connected to the first drive mechanism, and the second end of the first bending tendon cord is connected to the first phalanx for pulling the first phalanx to achieve bending. The first end of the second bending tendon cord is connected to the second drive mechanism, and the second end of the second bending tendon cord is connected to the second phalanx to pull the second phalanx to achieve bending. The first end of the repositioning tendon cord is connected to the third drive structure, and the second end of the repositioning tendon cord is connected to the second phalanx to pull the second phalanx to straighten the finger.

[0005] In some embodiments, a first end of the first phalanx is connected to the mechanical hand via a first bending axis, and the first phalanx is bendable about the first bending axis. The second end of the first phalanx is movably connected to the first end of the second phalanx via a second bending axis, and the second phalanx can be bent around the second bending axis; The second flexed tendon cord passes through the first phalanx, and the first end of the second flexed tendon cord wraps around to the outside of the first flexed shaft and connects to the second drive mechanism, while the second end of the second flexed tendon cord wraps around to the inside of the second flexed shaft and connects to the second phalanx.

[0006] In some embodiments, the repositioning tendon cord is arranged close to the back of the finger, and the first flexing tendon cord is distributed close to the pad of the finger.

[0007] In some embodiments, the second end of the second flexor tendon is connected to the fingertip of the second phalanx, and the first end of the second flexor tendon passes through the fingertip of the first phalanx and exits from the back of the first phalanx.

[0008] When only the first phalanx is bent, the first flexion tendon is in a taut state, while the second flexion tendon and the reset tendon are in a relaxed state. When the first phalanx is extended, the repositioning tendon cord and the second flexion tendon cord are in a taut state, and the first flexion tendon cord is in a relaxed state. When the second phalanx is bent, the first and second bending tendon ropes are in a taut state, and the reset tendon rope is in a relaxed state. When the second phalanx is extended, the repositioning tendon cord and the first flexion tendon cord are in a taut state, while the second flexion tendon cord is in a relaxed state. When both the first and second phalanges are bent, both the first and second flexed tendon ropes are in a taut state, while the reset tendon rope is in a relaxed state.

[0009] In some embodiments, the tendon-driven mechanical finger further includes a third phalanx, and the second phalanx and the third phalanx are connected by a coupling mechanism, the coupling mechanism being configured such that when the second phalanx is bent, the third phalanx is bent under the action of the coupling mechanism.

[0010] In some embodiments, the coupling mechanism includes: a first coupling wheel and a second coupling wheel, the first coupling wheel being fixedly installed at the second end of the first phalanx, the second coupling wheel being fixedly installed at the first end of the third phalanx, and a curved coupling tendon rope and a stretched coupling tendon rope being provided between the first coupling wheel and the second coupling wheel in a cross-reverse winding manner.

[0011] In some embodiments, the second coupling wheel includes an inner coupling wheel and an outer coupling wheel, the first end of the flexed coupling tendon is wound around the first coupling wheel in a first direction, and the second end of the flexed coupling tendon is wound around the inner coupling wheel in a second direction; the first end of the extended coupling tendon is wound around the first coupling wheel in a second direction, and the second end of the extended coupling tendon is wound around the outer coupling wheel in a first direction.

[0012] In some embodiments, the tendon-driven mechanical finger further includes a finger swinging structure, the first end of which is movably connected to the mechanical hand via a swinging shaft to realize the swinging of the finger; the second end of which is movably connected to the first end of the first phalanx via a first bending shaft to realize the bending of the first phalanx; wherein the swinging shaft and the first bending shaft are perpendicular to each other.

[0013] In some embodiments, the swing axis is symmetrically provided with a left swing tendon ligament mounting structure for mounting the left swing tendon ligament and a right swing tendon ligament mounting structure for mounting the right swing tendon ligament.

[0014] In some embodiments, the tendon-driven mechanical finger further includes a first fingertip mounted on the fingertip side of the first phalanx and a second fingertip mounted on the fingertip side of the second phalanx; wherein, the upper end of the first fingertip is provided with a first limiting portion, and the lower end of the second fingertip is provided with a second limiting portion, and when the second phalanx is at its maximum bending angle, the first limiting portion and the second limiting portion are in surface contact; and / or, the lower end of the first fingertip is provided with a third limiting portion, and when the first phalanx is at its maximum bending angle, the third limiting portion abuts against the finger swinging structure; and / or, the upper end of the second fingertip is provided with a fourth limiting portion, and when the third phalanx connected to the upper end of the second phalanx is at its maximum bending angle, the fourth limiting portion abuts against the lower end of the third phalanx.

[0015] Secondly, embodiments of this application also provide a robotic hand, which includes the fingers described in any embodiment of this application.

[0016] Thirdly, embodiments of this application also provide a robot, which includes the robotic arm described in any embodiment of this application.

[0017] The tendon-driven mechanical finger of this application achieves independent movement control of each phalanx through the connection and driving relationship between the first bending tendon cord, the second bending tendon cord, and the reset tendon cord and the first and second phalanges, and does not require a separate drive mechanism for each phalanx, thus reducing the weight of the finger. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments 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.

[0019] Figure 1 This is a cross-sectional view of the structure of one embodiment of the tendon-driven mechanical finger of this application; Figure 2 This is a cross-sectional view of another embodiment of the tendon-driven mechanical finger of this application; Figure 3 This is a three-dimensional structural schematic diagram of an embodiment of the tendon-driven mechanical finger of this application; Figure 4 for Figure 3 A three-dimensional structural schematic diagram of the tendon-driven mechanical finger from another perspective in the embodiment; Figure 5 This is a schematic diagram of the connection structure between the metacarpophalangeal joint and the base in this application; Figure 6 This is a side view of one embodiment of the coupling mechanism in this application; Figure 7 As shown Figure 6 The diagram shows the exploded structure of the coupling mechanism. Detailed Implementation

[0020] 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, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0021] like Figure 1The diagram shows a cross-sectional view of an embodiment of the tendon-driven robotic finger of this application. In this embodiment, the tendon-driven robotic finger includes: a proximal phalanx 303 (i.e., the first phalanx), a middle phalanx 403 (i.e., the second phalanx), a metacarpophalangeal joint flexion tendon 601 (i.e., the first flexion tendon 601), a proximal phalanx tendon 602 (i.e., the second flexion tendon 602), and a repositioning tendon 603. The upper end of the proximal phalanx 303 is movably connected to the lower end of the middle phalanx 403 via a proximal phalanx axis 401, allowing the middle phalanx 403 to flex around the proximal phalanx axis 401. The other end of the proximal phalanx 303 is movably connected to the robotic hand, and the proximal phalanx 303 can flex relative to the robotic hand. The upper end of the metacarpophalangeal joint flexion tendon 601 is connected to the fingertip of the proximal phalanx 303, and the other end is connected to the first drive mechanism; the upper end of the proximal phalanx tendon 602 is connected to the fingertip of the middle phalanx 403, and the other end is connected to the second drive mechanism; the upper end of the repositioning tendon 603 is connected to the back of the middle phalanx 403, and the other end is connected to the third drive mechanism. The first to third drive mechanisms in the above embodiment can be located in the palm space of the robotic hand. Under the drive of the first and third drive mechanisms: when the metacarpophalangeal joint flexion tendon 601 is pulled, it generates a torque on the metacarpophalangeal joint flexion axis 301, thereby causing the proximal phalanx 303 to flex and rotate; when the proximal phalanx tendon 602 is pulled, it generates a torque on the proximal phalanx axis 401, thereby causing the middle phalanx 403 to flex and rotate; when the repositioning tendon 603 is pulled, it generates a reverse torque on the proximal phalanx axis 401, thereby causing the middle phalanx 403 to rotate in the opposite direction, and can also cause the proximal phalanx 303 to rotate in the opposite direction.

[0022] The tendon-driven mechanical finger of this application has three tendon cords that work together to independently perform extension and flexion movements at the metacarpophalangeal joints and proximal interphalangeal joints, thereby achieving independent control over the extension and flexion movements of the proximal phalanx 303 and the middle phalanx 403. That is, through the connection relationship between the metacarpophalangeal joint flexion tendon cord 601, the proximal interphalangeal joint tendon cord 602, and the repositioning tendon cord 603, combined with the proximal phalanx 303 and the middle phalanx 403, the tendon-driven mechanical finger of this application achieves independent movement control of each phalanx without requiring a separate drive mechanism for each phalanx, thus reducing the weight of the finger.

[0023] In some embodiments, when only the first phalanx is bent, the first bending tendon cord is in a taut state, while the second bending tendon cord and the reset tendon cord are in a relaxed state. For example, when bending is desired only at the metacarpophalangeal joint (corresponding to the lower end of the proximal phalanx), the metacarpophalangeal joint bending tendon cord 601 is pulled, while the proximal phalanx tendon cord 602 and the reset tendon cord 603 are relaxed. The torques of the proximal phalanx tendon cord 602 and the reset tendon cord 603 on the proximal phalanx axis 401 are opposite, and their antagonism ensures that the proximal phalanx does not bend.

[0024] In some embodiments, when the first phalanx is extended, the reset tendon cord and the second flexion tendon cord are in a taut state, and the first flexion tendon cord is in a relaxed state. For example, when extension at the metacarpophalangeal joint is desired, pulling the reset tendon cord 603 and the proximal phalanx tendon cord 602 utilizes their antagonistic effect on the proximal phalanx axis 401 to ensure that the proximal phalanx does not bend. Relaxing the metacarpophalangeal joint flexion tendon cord 601 allows for extension.

[0025] In some embodiments, when the middle phalanx is bent, the first bending tendon cord and the second bending tendon cord are in a taut state, and the reset tendon cord is in a relaxed state. For example, when bending is desired at the proximal interphalangeal joint (corresponding to the upper end of the proximal phalanx or the lower end of the middle phalanx), the proximal interphalangeal joint tendon cord 602 is pulled, and the reset tendon cord 603 is relaxed, thus causing bending at the proximal interphalangeal joint. During the bending movement, a torque is generated on the metacarpophalangeal joint bending axis 301. By controlling the torque of the metacarpophalangeal joint bending tendon cord 601 on the metacarpophalangeal joint bending axis 301, ensuring that the resultant torque is 0, bending or extension movements at the metacarpophalangeal joint are prevented.

[0026] In some embodiments, when the middle finger joint is extended, the reset tendon cord and the first flexion tendon cord are in a taut state, while the second flexion tendon cord is in a relaxed state. Exemplarily, when extension is desired at the proximal interphalangeal joint, the reset tendon cord 603 is pulled, the proximal interphalangeal joint tendon cord 602 is relaxed, and the tension of the metacarpophalangeal joint flexion tendon cord 601 is controlled to ensure that no bending or extension movement occurs at the metacarpophalangeal joint.

[0027] In some embodiments, when both the first and second phalanges are bent, both the first and second flexion tendon cords are taut, and the reset tendon cord is relaxed. For example, when it is desired that both the metacarpophalangeal joint and proximal interphalangeal joint bends are present, the metacarpophalangeal joint flexion tendon cord 601 and the proximal interphalangeal joint tendon cord 602 are pulled, and the reset tendon cord 603 is relaxed. Figure 2 The diagram shows a cross-sectional view of another embodiment of the tendon-driven mechanical finger of this application. In this embodiment, the flexion tendon 601 of the metacarpophalangeal joint and the proximal phalanx tendon 602 are both in a taut state, the repositioning tendon 603 is in a relaxed state, and the proximal phalanx 303, middle phalanx 403 and distal phalanx 502 of the tendon-driven mechanical finger are all in a maximally flexed state.

[0028] like Figure 1 and Figure 2As shown, the tendon-driven mechanical finger of this application also includes a tendon cord sleeve 304 for the proximal interphalangeal tendon cord 602 to pass through. This sleeve can restrain the path of the proximal interphalangeal tendon cord 602 and isolate it from other structural components, preventing friction and wear between these components and the tendon cord 602, thus protecting it. The arrangement of the tendon cord sleeve 304 matches the arrangement path of the proximal interphalangeal tendon cord 602. The tendon cord sleeve 304 extends transversely from the phalangeal side of the proximal phalanx 303 to the dorsal side.

[0029] like Figure 3 The figure shown is a three-dimensional structural schematic diagram of an embodiment of the tendon-driven mechanical finger of this application. Figure 4 for Figure 3 A three-dimensional structural schematic diagram of the tendon-driven mechanical finger from another perspective of the embodiment. In this embodiment, the tendon-driven mechanical finger includes a base 101, a metacarpophalangeal joint 203, a proximal phalanx 303, a middle phalanx 403, and a distal phalanx 502. The lower end of the proximal phalanx 303 is movably connected to the base 101 via the metacarpophalangeal joint 203 to achieve lateral and flexion movements of the proximal phalanx 303; the upper end of the proximal phalanx 303 is movably connected to the lower end of the middle phalanx 403 via a proximal phalanx joint axis 401 to achieve flexion movements around the proximal phalanx joint axis 401; the upper end of the middle phalanx 403 and the lower end of the distal phalanx 502 are movably connected via a distal phalanx joint axis 501 to achieve flexion movements around the distal phalanx joint axis 501.

[0030] Continue to refer to Figure 3 and Figure 4 The lower end of the metacarpophalangeal joint 203 (i.e., the finger swinging structure) is movably connected to the base 101 via the metacarpophalangeal joint swinging axis 201 (i.e., the swinging axis) to realize the lateral swinging motion of the proximal phalanx 303 around the metacarpophalangeal joint swinging axis 201; the upper end of the metacarpophalangeal joint 203 is movably connected to the lower end of the proximal phalanx 303 via the metacarpophalangeal joint bending axis 301 (i.e., the first bending axis) to realize the bending motion of the proximal phalanx 303 around the metacarpophalangeal joint bending axis 301. The base 101 can be a separately installed component or part of the robotic hand; this application does not limit this.

[0031] The tendon-driven mechanical finger of this application embodiment has four degrees of freedom: lateral oscillation of the proximal phalanx 303 around the metacarpophalangeal joint swing axis 201, flexion of the proximal phalanx 303 around the metacarpophalangeal joint bending axis 301, flexion of the middle phalanx 403 around the proximal phalanx axis 401, and flexion of the distal phalanx 502 around the distal phalanx axis 501. The metacarpophalangeal joint swing axis 201 and the metacarpophalangeal joint bending axis 301 are perpendicular to each other, while the metacarpophalangeal joint bending axis 301, the proximal phalanx axis 401, and the distal phalanx axis 501 are parallel to each other.

[0032] Continue to refer to Figure 4The tendon-driven mechanical finger of this application also includes a metacarpophalangeal joint flexion limiting portion 202, a proximal phalanx pad 302, a middle phalanx pad 402, and a distal phalanx pad. The metacarpophalangeal joint flexion limiting portion 202 is disposed on the metacarpophalangeal joint 203 and located on one side of the finger pad; the proximal phalanx pad 302 is disposed on the finger pad side of the proximal phalanx 303; the middle phalanx pad 402 is disposed on the finger pad side of the middle phalanx 403; and the distal phalanx pad is disposed on the finger pad side of the distal phalanx 502.

[0033] In some embodiments, after the proximal phalanx 303 bends at a first preset angle, the lower end of the proximal phalanx pad 302 abuts against the metacarpophalangeal joint bending limiting portion 202, thereby limiting the proximal phalanx 303. The first preset angle is the maximum angle at which the proximal phalanx 303 can bend, and this maximum angle matches the structure of the portion where the lower end of the proximal phalanx pad 302 abuts against the metacarpophalangeal joint bending limiting portion 202. Figure 1 As shown, the lower end of the proximal phalanx 302 can be configured as a downward-sloping surface (i.e., the third limiting part), and the metacarpophalangeal joint flexion limiting part 202 can be configured as an upward-sloping surface. When the proximal phalanx 303 is bent to its maximum angle, the two slopes abut against each other (i.e., surface contact), achieving stable support and limiting of the proximal phalanx 303 and preventing compression damage to other structures. The inclination degree of the two slopes can be set according to the required maximum angle value. Figure 2 The embodiment shown is a schematic diagram of the proximal phalanx 302 and the metacarpophalangeal joint bending limit portion 202 abutting against each other after the proximal phalanx 303 is bent at 90°.

[0034] In some embodiments, after the middle knuckle 403 is bent at a second preset angle, the lower end of the middle knuckle pad 402 abuts against the upper end of the proximal knuckle pad 302, thereby limiting the movement of the middle knuckle 403. The second preset angle is the maximum angle at which the middle knuckle 403 can be bent, and this maximum angle matches the structure of the portion where the upper end of the proximal knuckle pad 302 abuts against the lower end of the middle knuckle pad 402. Figure 1 As shown, the lower end of the middle phalanx pad 402 can be configured as a downward-sloping surface (i.e., the second limiting part), and the upper end of the proximal phalanx pad 302 can be configured as an upward-sloping surface (i.e., the first limiting part). When the middle phalanx 403 is bent to its maximum angle, the two slopes abut against each other (i.e., surface contact), achieving stable support and limiting of the middle phalanx 403 and preventing compression damage to other structures. The inclination degree of the two slopes can be set according to the required maximum angle value. Figure 2 The embodiment shown is a schematic diagram of the lower end of the middle phalanx 402 and the upper end of the proximal phalanx 302 abutting against each other after the middle phalanx 403 is bent at 90°.

[0035] In some embodiments, when the distal phalanx 502 bends at a third preset angle, the lower end of the distal phalanx pad abuts against the upper end of the middle phalanx pad 402, thereby limiting the distal phalanx 502. The third preset angle is the maximum angle at which the distal phalanx 502 can bend, and this maximum angle matches the structure of the portion where the lower end of the distal phalanx pad abuts against the upper end of the middle phalanx pad 402. Figure 1 As shown, the lower end of the fingertip 402 can be set as a horizontal plane (perpendicular to the length of the finger), and the upper end of the middle phalanx 402 can be set as an upward-sloping plane (i.e., the fourth limiting part). When the distal phalanx 502 is bent to its maximum angle, the two surfaces abut against each other (i.e., surface contact), achieving stable support and limiting of the distal phalanx 502 and preventing damage to other structures by compression. The degree of inclination of the two surfaces can be set according to the required maximum angle value. Figure 2 The illustrated embodiment shows a schematic diagram of the lower end of the distal phalanx 502 contacting the upper end of the middle phalanx 402 after the distal phalanx 502 is bent to its maximum angle (less than 90°).

[0036] like Figure 5 The diagram shows the connection structure between the metacarpophalangeal joint and the base in this application. In this embodiment, the metacarpophalangeal joint 203 is fixedly connected to the metacarpophalangeal joint swing shaft 201, and then movably connected to the base 101 (for example, movably connected to the base 101 via a bearing, which is not shown in the figure and is not limited in this application), so that the metacarpophalangeal joint 203 can drive the finger to swing laterally relative to the base.

[0037] Continue to refer to Figure 5 The left swing tendon 604 and the right swing tendon 605 are connected to the metacarpophalangeal joint swing axis 201 (for example, the connection of the left swing tendon 604 and the right swing tendon 605 to the metacarpophalangeal joint swing axis 201 can be achieved by knotting or end bonding).

[0038] When the left swinging tendon 604 is pulled, the metacarpophalangeal joint swing axis 201 will be subjected to torque and rotate counterclockwise, thereby causing the metacarpophalangeal joint 203 to rotate counterclockwise. Similarly, when the right swinging tendon 605 is pulled, it will cause the metacarpophalangeal joint 203 to rotate clockwise.

[0039] Continue to refer to Figure 5The metacarpophalangeal joint swing shaft 201 has two routing grooves forming a left-side swing tendon ligament mounting structure and a right-side swing tendon ligament mounting structure, which are used to limit the left-side swing tendon ligament 604 and the right-side swing tendon ligament 605, respectively, and the two routing grooves have the same radius. When the left-side swing tendon ligament 604 is pulled, causing the metacarpophalangeal joint swing shaft 201 to rotate counterclockwise, its length wound around the metacarpophalangeal joint swing shaft 201 will decrease, while the winding length of the right-side swing tendon ligament 605 will increase. Since both are wound on the same circumference, the increase in length of the right-side swing tendon ligament 605 is equal to the decrease in length of the left-side swing tendon ligament 604. Therefore, the same actuator can be used to drive it. The forward and reverse movements of the actuator drive the metacarpophalangeal joint swing shaft 201 to rotate clockwise and counterclockwise, respectively.

[0040] In some embodiments, the distal phalanx 502 and the middle phalanx 403 are connected by a coupling mechanism, which is configured such that when the middle phalanx 403 is bent, the distal phalanx 502 bends under the action of the coupling mechanism.

[0041] like Figure 6 The image shown is a side view of one embodiment of the coupling mechanism in this application. Figure 7 As shown Figure 6 The diagram shows an exploded view of the coupling mechanism. In this embodiment, the coupling mechanism includes a proximal phalanx coupling wheel 306 (i.e., the first coupling wheel) and a distal phalanx coupling wheel (i.e., the second coupling wheel, including an inner distal phalanx coupling wheel 504 and an outer distal phalanx coupling wheel 505). The proximal phalanx coupling wheel 306 is fixedly installed at the upper end of the proximal phalanx 303, and the distal phalanx coupling wheels (504, 505) are fixedly installed at the lower end of the distal phalanx 502. A curved coupling tendon rope 606 and a stretched coupling tendon rope 607, interlaced and wound in opposite directions, are provided between the proximal phalanx coupling wheel 306 and the distal phalanx coupling wheels (504, 505) (i.e., coupling is achieved using a figure-eight rope winding method).

[0042] The first end of the flexed coupling tendon 606 is wound around the proximal phalanx coupling wheel 306 along the first direction, and the second end of the flexed coupling tendon 606 is wound around the medial distal phalanx coupling wheel 504 along the second direction; the first end of the extended coupling tendon 607 is wound around the proximal phalanx coupling wheel 306 along the second direction, and the second end of the extended coupling tendon 607 is wound around the lateral distal phalanx coupling wheel 505 along the first direction.

[0043] like Figure 7 As shown, the inner coupling wheel 504 of the distal phalanx is fixedly connected to the distal phalanx fixing member 503 by bolts 506, and the outer coupling wheel 505 of the distal phalanx is fixedly connected to the inner coupling wheel 504 of the distal phalanx by bolts 507.

[0044] In the embodiments of this application, the distal phalanx 502 is coupled to the middle phalanx 403. When the middle phalanx 403 moves, the distal phalanx 502 moves along with it through the coupling mechanism. The implementation of the coupling mechanism is as follows: Figure 6 and Figure 7 Coupling is achieved using the common figure-eight rope winding method. The proximal knuckle coupling wheel 306 is the proximal knuckle side cover 305 (see...). Figure 4 The distal phalanx 502 is fixed to the proximal phalanx 303, the distal phalanx fixing member 503 and the distal phalanx inner coupling wheel 504 and the distal phalanx outer coupling wheel 505 are fixed to each other, and the distal phalanx 502 is fixedly installed through the distal phalanx fixing hole 5031 on the distal phalanx fixing member 503.

[0045] The flexion coupling tendon 606 and extension coupling tendon 607 need to be tensioned, and since the two tendon ties are wound in opposite directions, they need to be tensioned separately. Furthermore, the tendon ties have volume and cannot be arranged in the same plane. Therefore, this application uses separate distal phalanx inner coupling wheel 504 and distal phalanx outer coupling wheel 505 to wind the flexion coupling tendon 606 and extension coupling tendon 607 respectively.

[0046] In some embodiments, the coupling mechanism is assembled as follows: one end of the bent coupling tendon 606 is first fixed to the proximal phalanx coupling wheel 306, then wrapped around the distal phalanx inner coupling wheel 504 and fixed thereto. Both coupling wheels of the distal phalanx have hexagonal locking features 701 at their centers, into which a hexagonal torque wrench can be inserted. Inserting the torque wrench and rotating the distal phalanx inner coupling wheel 504 to reach the set torque completes the tendon tension. Then, a bolt 506 is passed through the arc-shaped groove of the distal phalanx inner coupling wheel 504 and locked onto the distal phalanx fixing member 503, thus completing the tendon tension. The installation method of the extension coupling tendon 607 is similar to that of the bent coupling tendon 606, except that the winding direction is reversed. Finally, a bolt 507 is used to lock the distal phalanx outer coupling wheel 505 onto the distal phalanx inner coupling wheel 504. Finally, the distal phalanx fixing member 503, the inner coupling wheel 504 of the distal phalanx, and the outer coupling wheel 505 of the distal phalanx are fixed together, enabling the entire coupling mechanism to be implemented.

[0047] like Figure 6 and Figure 7As shown, the starting end of the flexion coupling tendon 606 is fixed to the proximal phalanx coupling wheel 306, and the end is fixed to the inner coupling wheel 504 of the distal phalanx, both wound around the grooves on their outer edges. Similarly, the starting end of the extension coupling tendon 607 is also fixed to the proximal phalanx coupling wheel 306, and the end is fixed to the outer coupling wheel 505 of the distal phalanx, both wound around the grooves on their outer edges. However, the two tendons are fixed in different positions and wound in opposite directions. When the middle phalanx 403 moves, it drives the distal phalanx 502 to move via the distal phalanx joint axis 501. This causes the wrap angles of the flexion coupling tendon 606 and the extension coupling tendon 607 on each coupling wheel (i.e., the central angle corresponding to the arc length of the tendon wrapped around the wheel) to change, thereby causing the distal phalanx 502 to rotate relative to the middle phalanx 403, completing the coupling action.

[0048] In this embodiment, the tendon-driven mechanical finger only requires the cooperation of three tendon cords to achieve independent bending control of the proximal and middle phalanges, as well as coupled bending control of the distal phalanges. This eliminates the need for a separate drive mechanism for each phalanx, simplifying the drive structure of the mechanical finger, reducing its size and weight.

[0049] In some embodiments, this application also provides a robotic hand, which includes the fingers described in any embodiment of this application. The robotic hand in this embodiment, by employing the tendon-driven robotic fingers of the above embodiments, achieves a small and lightweight robotic hand.

[0050] In some embodiments, this application also provides a robot that includes the robotic arm described in any embodiment of this application.

[0051] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing 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, and therefore should not be construed as a limitation of this application.

[0052] Furthermore, 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 technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

[0053] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a communication connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0054] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0055] The foregoing disclosure provides many different implementations or examples for carrying out different structures of this application. To simplify the disclosure, specific examples of components and arrangements are described above. Of course, these are merely examples and are not intended to limit the scope of this application. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various implementations and / or arrangements discussed.

[0056] 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. A tendon-driven mechanical finger for use in a robotic hand, characterized in that, The tendon-driven mechanical finger comprises a first phalanx, a second phalanx, a first flexed tendon cord, a second flexed tendon cord, and a repositioning tendon cord, characterized in that: The first end of the first phalanx is used to connect to the mechanical hand, and the second end of the first phalanx is movably connected to the first end of the second phalanx. The first end of the first bending tendon cord is connected to the first drive mechanism, and the second end of the first bending tendon cord is connected to the first phalanx for pulling the first phalanx to achieve bending. The first end of the second bending tendon cord is connected to the second drive mechanism, and the second end of the second bending tendon cord is connected to the second phalanx to pull the second phalanx to achieve bending. The first end of the repositioning tendon cord is connected to the third drive structure, and the second end of the repositioning tendon cord is connected to the second phalanx to pull the second phalanx to straighten the finger.

2. The finger according to claim 1, characterized in that, The first end of the first phalanx is connected to the mechanical hand via a first bending axis, and the first phalanx can be bent around the first bending axis; The second end of the first phalanx is movably connected to the first end of the second phalanx via a second bending axis, and the second phalanx can be bent around the second bending axis; The second flexed tendon cord passes through the first phalanx, and the first end of the second flexed tendon cord wraps around to the outside of the first flexed shaft and connects to the second drive mechanism, while the second end of the second flexed tendon cord wraps around to the inside of the second flexed shaft and connects to the second phalanx.

3. The finger according to claim 2, characterized in that, The repositioning tendon cord is arranged near the back of the finger, and the first bending tendon cord is distributed near the fingertip. The second end of the second bending tendon cord is connected to the fingertip of the second phalanx, and the first end of the second bending tendon cord enters from the fingertip of the first phalanx and exits from the back of the first phalanx.

4. The finger according to claim 3, characterized in that, When only the first phalanx is bent, the first flexion tendon is in a taut state, while the second flexion tendon and the reset tendon are in a relaxed state. When the first phalanx is extended, the repositioning tendon cord and the second flexion tendon cord are in a taut state, and the first flexion tendon cord is in a relaxed state. When the second phalanx is bent, the first and second bending tendon ropes are in a taut state, and the reset tendon rope is in a relaxed state. When the second phalanx is extended, the repositioning tendon cord and the first flexion tendon cord are in a taut state, while the second flexion tendon cord is in a relaxed state. When both the first and second phalanges are bent, both the first and second flexed tendon ropes are in a taut state, while the reset tendon rope is in a relaxed state.

5. The finger according to claim 2, characterized in that, It also includes a third phalanx, and the second phalanx and the third phalanx are connected by a coupling mechanism, which is configured such that when the second phalanx is bent, the third phalanx bends under the action of the coupling mechanism.

6. The finger according to any one of claims 1-5, characterized in that, It also includes a finger swinging structure, the first end of which is movably connected to the mechanical hand via a swinging shaft to realize the swinging of the finger; the second end of which is movably connected to the first end of the first phalanx via a first bending shaft to realize the bending of the first phalanx; wherein the swinging shaft and the first bending shaft are perpendicular to each other.

7. The finger according to claim 6, characterized in that, The swing axis is symmetrically provided with a left swing tendon ligament mounting structure for mounting the left swing tendon ligament and a right swing tendon ligament mounting structure for mounting the right swing tendon ligament.

8. The finger according to claim 7, characterized in that, It also includes a first fingertip installed on the side of the first phalanx and a second fingertip installed on the side of the second phalanx; Wherein, the upper end of the first fingertip is provided with a first limiting part, and the lower end of the second fingertip is provided with a second limiting part. When the second phalanx is at its maximum bending angle, the first limiting part and the second limiting part are in surface contact; and / or, the lower end of the first fingertip is provided with a third limiting part. When the first phalanx is at its maximum bending angle, the third limiting part abuts against the finger swinging structure; and / or, the upper end of the second fingertip is provided with a fourth limiting part. When the third phalanx connected to the upper end of the second phalanx is at its maximum bending angle, the fourth limiting part abuts against the lower end of the third phalanx.

9. A robotic arm, characterized in that, Includes the finger as described in any one of claims 1-8.

10. A robot, characterized in that, Including the robotic arm as described in claim 9.

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