Robot Hands and Robots

Abstract

The present invention relates to a robot hand and a robot. The robot hand includes a palm, a mechanical finger, and a drive structure. The palm has a palm plane and a palm side perpendicular to the palm plane. The mechanical finger is provided on the palm side. The drive structure is provided between the palm and the mechanical finger to connect the mechanical finger and the palm in a connecting direction. The drive structure is used to drive the rotation of the mechanical finger around a rotation axis, where the rotation axis extends perpendicular to the connecting direction and is parallel to the palm plane. The drive structure is also used to drive the rotation of the mechanical finger around a swing axis, where the swing axis intersects with the palm plane. The swing axis is perpendicular to the rotation axis. The mechanical finger of the present invention is capable of rotational movement in two different directions, so that it has the same degree of freedom of movement as a human finger, and the degree of anthropomorphism of the robot hand can be improved. In addition, the installation method of the robot hand of the present invention can meet the needs of the degree of freedom of movement of simple movements, so that the robot hand can imitate the posture of a human hand and fully perform simple hand movements.

Description

[Technical field]

[0001] The present invention relates to the field of robotics, and in particular to a robot hand and a robot. [Background technology]

[0002] With the development of humanoid robots, humanoid robots have attracted more and more attention. Humanoid robots can imitate human movements and postures to perform work tasks, so it is hoped that robots can be incorporated into daily life to perform the tedious tasks of daily life instead of humans.

[0003] The robot hand is an important component of the robot. How to make the robot hand as anthropomorphic as possible and to improve the reliability of the robot hand's operation are currently hot topics in the industry. Summary of the Invention

[0004] The present invention provides a robot hand and a robot to solve the deficiencies of the related art.

[0005] A first aspect of the present invention provides a robot hand, the robot hand comprising: a palm portion having a palm plane and a palm side perpendicular to the palm plane; mechanical fingers provided on the palm side; and a drive structure provided between the palm portion and the mechanical fingers and connecting the mechanical fingers and the palm portion in a connection direction, the drive structure being used to drive at least one of rotation of the mechanical fingers about a rotation axis and rotation of the mechanical fingers about a swing axis, the rotation axis extending perpendicular to the connection direction and parallel to the palm plane, and the swing axis intersecting the palm plane and perpendicular to the rotation axis.

[0006] Further, the drive structure comprises a rotary drive module for rotating the mechanical finger around the rotation axis, the rotary drive module comprising a rotary motor fixed to the palm portion and having a rotary motor body, a rotary motor base and a rotary shaft, a rotary main gear fixedly connected to the rotary motor body, and a rotary driven gear fixedly connected to the rotary shaft, the rotary shaft being movably connected to the rotary motor base and fixedly connected to the mechanical finger, the main rotary axis of the rotary main gear extending in the connection direction, the rotary driven gear meshing with the rotary main gear, and the driven rotary axis of the rotary driven gear coinciding with the rotation axis.

[0007] Further, the drive structure includes a swing drive module for rotating the mechanical finger around the rotation axis, and for rotating the mechanical finger around the swing axis, the swing drive module including a swing motor body, a swing motor base, and a cross shaft fixedly connected to the swing motor base, a swing gear set including a first swing gear and a second swing gear, and a swing gear set including a first swing gear and a second swing gear, the first swing gear and the second swing gear are provided between the first swing gear and the second swing gear, and mesh with the first swing gear and the second swing gear, respectively. and an output gear mating with the mechanical finger, the cross shaft having a first shaft extending along the rotation axis and a second shaft extending along the oscillating axis, the first oscillating gear and the second oscillating gear are each rotatably connected to the first shaft, the oscillating motor is used to rotate and drive the first oscillating gear and the second oscillating gear in the same direction or in opposite directions, the axis of the output gear coincides with the oscillating axis, the output gear is fixedly connected to the mechanical finger, and the mechanical finger is rotatably connected to the second shaft.

[0008] Furthermore, the oscillating motor comprises a first main gear fixedly connected to the oscillating motor body, and a second main gear fixedly connected to the oscillating motor body, the first main gear meshing with the first oscillating gear, the rotation axis of the first main gear extending in the connection direction, and the second main gear meshing with the second oscillating gear, the rotation axis of the second main gear extending in the connection direction.

[0009] Further, the first oscillating gear comprises a first main gear and a first sub gear which are fixedly connected, the first main gear meshing with the first driving gear and the first sub gear meshing with the output gear, and the diameter of the first main gear is larger than that of the first sub gear, and / or the second oscillating gear comprises a second main gear and a second sub gear which are fixedly connected, the second main gear meshing with the second driving gear and the second sub gear meshing with the output gear, and the diameter of the second main gear is larger than that of the second sub gear.

[0010] Further, the mechanical finger includes a palm base unit and a finger unit, and the drive structure is further provided between the palm base unit and the finger unit to connect the palm base unit and the finger unit and to drive the finger unit to rotate around a bending axis, and a projection of the bending axis intersects with a projection of the rotation axis.

[0011] The robotic hand further comprises a fingertip module having a finger pad panel and a fingertip base, and a force sensor provided on the fingertip module for detecting a force at the fingertip of the mechanical finger, the finger pad panel being slidingly connected to the fingertip base, and at least a portion of the force sensor being provided on a side of the fingertip base facing the finger pad panel.

[0012] Further, the side of the fingertip base facing the finger pad panel has a guide post, and the finger pad panel has a guide hole into which the guide post is fitted, and / or the side of the fingertip base facing the finger pad panel has a guide hole, and the finger pad panel has a guide post that is fitted into the guide hole.

[0013] Furthermore, the fingertip module further comprises an elastic member provided between the finger pad panel and the fingertip base, one end of the elastic member abutting the finger pad panel and the other end abutting the fingertip base, and the elastic member is in a compressed state.

[0014] Furthermore, the number of mechanical fingers is multiple, each of the mechanical fingers is provided with a corresponding driving structure, the palm surface has a tip surface and a side end surface perpendicular to the tip surface, the multiple mechanical fingers include a first mechanical finger provided on the side end surface and a second mechanical finger provided on the tip surface, the angle between the extension axis of the first mechanical finger and the palm plane is greater than or equal to 10 degrees and less than 30 degrees, and the finger pad of the first mechanical finger and the finger pad of the second mechanical finger are provided on the same plane.

[0015] Furthermore, the mechanical finger has a fingertip, an intermediate finger portion, and a proximal finger portion arranged along the extension direction, the intermediate finger portion is rotatably connected to the fingertip, and the drive structure is connected between the proximal finger portion and the palm portion, and the robot hand further includes a joint structure arranged between the intermediate finger portion and the proximal finger portion, rotatably connected to the intermediate finger portion and the proximal finger portion, respectively, for changing the angle between the intermediate finger portion and the proximal finger portion.

[0016] Further, the drive structure comprises a rotary drive module for rotating the mechanical finger around the rotation axis, the rotary drive module comprising: a rotary motor fixed to the palm portion, the rotary motor having a rotary motor body, a rotary drive shaft, a rotary motor base and a rotary shaft; a rotary main gear fixedly connected to the rotary drive shaft; and a rotary driven gear fixedly connected to the rotary shaft, the rotary shaft being movably connected to the rotary motor base and fixedly connected to the near-end finger portion, the main rotary axis of the rotary main gear extending in the connection direction, the rotary driven gear meshing with the rotary main gear, and the driven rotary axis of the rotary driven gear coinciding with the rotation axis.

[0017] Furthermore, the fingertip has a first fingertip axis and a second fingertip axis arranged in parallel, the joint structure has a first joint axis, a second joint axis, and a third joint axis arranged in parallel, the proximal finger portion has a first proximal link and a second proximal link, one end of the first proximal link is fixedly connected to the rotating axis and the other end is rotatably connected to the first joint axis and the second joint axis, one end of the second proximal link is rotatably connected to the rotating motor base and the other end is rotatably connected to the third joint axis, and in the axial direction of the first fingertip axis, a projection of a first proximal link and a projection of a second proximal link intersect, the intermediate finger portion has a first intermediate link and a second intermediate link, one end of the first intermediate link is rotatably connected to the first fingertip shaft and the other end is rotatably connected to the second joint shaft, one end of the second intermediate link is rotatably connected to the second fingertip shaft and the other end is rotatably connected to the third joint shaft and the first joint shaft, respectively, and a projection of the first intermediate link and a projection of the second intermediate link intersect in the axial direction of the first fingertip shaft.

[0018] Further, the joint structure has a joint motor, the joint motor comprising: a joint motor base fixedly connected to the near-end finger portion; a joint drive shaft rotatably connected to the joint motor base and fixedly connected to the intermediate finger portion; a joint driving gear; a joint motor body fixed to the joint motor base and fixedly connected to the joint driving gear, for rotationally driving the joint driving gear; and a joint driven gear fixedly connected to the joint drive shaft, the joint drive shaft is used to rotationally drive the intermediate finger portion to change an angle between the intermediate finger portion and the near-end finger portion, a joint driving axis of the joint driving gear extends in the extension direction, the joint driven gear meshes with the joint driving gear, and a joint driven axis of the joint driven gear is perpendicular to the joint driving axis.

[0019] Furthermore, the fingertip has a first fingertip axis and a second fingertip axis arranged in parallel, and the intermediate finger portion comprises a driving link having one end fixedly connected to the joint drive shaft and the other end rotatably connected to the first fingertip axis, and a driven link having one end rotatably connected to the second fingertip axis and the other end rotatably connected to the joint motor, the driving link is driven by the joint motor to rotate around the joint drive shaft, and a projection of the driving link and a projection of the driven link intersect in the axial direction of the first fingertip axis.

[0020] Furthermore, the driving link has a first sub-link and a second sub-link, one end of the first sub-link is fixedly connected to the joint drive shaft and the other end is rotatably connected to the second sub-link, an end of the second sub-link remote from the first sub-link is rotatably connected to the first fingertip shaft, and the driven link is rotatably connected to the joint drive shaft.

[0021] Furthermore, the intermediate finger portion further has an elastic member arranged along the extension direction, one end of the elastic member is fixedly connected to the connection point of the fingertip and the other end is fixedly connected to the driven link, the elastic member is in a stretched state, and the connection point is away from the extension axis of the second fingertip axis.

[0022] Furthermore, the number of the mechanical fingers is multiple, and each of the mechanical fingers is provided with a corresponding drive structure and / or joint structure.

[0023] A second aspect of the present invention provides a robot comprising a torso portion, an upper limb portion, and the robot hand described in the second aspect above, one end of the upper limb portion being connected to the robot hand and the other end being connected to the torso portion.

[0024] As can be seen from the above embodiment, the mechanical finger of the present invention can rotate in two different directions, so that it has the same degree of freedom of movement as a human finger, and can improve the degree of anthropomorphism of the robot hand. In addition, the installation method of the robot hand of the present invention can meet the needs of the degree of freedom of movement of simple actions, so that the robot hand can imitate the posture of a human hand and fully perform simple hand actions.

[0025] It is to be understood that the foregoing general description and the following detailed description are exemplary or explanatory but are not restrictive of the invention. [Brief description of the drawings]

[0026] In order to more clearly describe the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments are briefly described below. Obviously, the drawings in the following description are only some embodiments of the present invention, and those skilled in the art can obtain other drawings based on these drawings without creative efforts. [Figure 1] 1 is an overall schematic diagram of an embodiment of a robot hand of the present invention. FIG. [Diagram 2] FIG. 2 is an overall schematic diagram of another embodiment of a robot hand of the present invention. [Diagram 3] FIG. 2 is an overall schematic diagram of one embodiment of a second mechanical finger of a robot hand of the present invention. [Figure 4] FIG. 2 is an overall schematic diagram of one embodiment of a first mechanical finger of a robot hand of the present invention. [Diagram 5] 1 is an overall schematic view of an embodiment of a swing drive module of the present invention; [Figure 6] FIG. 2 is an exploded schematic diagram of one embodiment of a fingertip module of a robot hand of the present invention. [Figure 7] FIG. 13 is a front overall schematic view of another embodiment of a robot hand of the present invention. [Figure 8] FIG. 8 is an overall schematic diagram of the back surface of the robot hand shown in FIG. 7. [Figure 9]FIG. 1 is a front overall schematic diagram of one embodiment of a mechanical finger of a robotic hand of the present invention. [Figure 10] FIG. 10 is an overall schematic diagram of the underside of the mechanical finger shown in FIG. [Figure 11] FIG. 13 is a general schematic diagram of another embodiment of a mechanical finger of the robotic hand of the present invention. [Figure 12] FIG. 13 is a general schematic diagram of the underside of another embodiment of a mechanical finger of the robotic hand of the present invention. [Figure 13] FIG. 13 is a schematic overall front view of the mechanical finger shown in FIG. [Figure 14] FIG. 1 is a simplified diagram of the joint structure and mechanical structure of an intermediate finger of one embodiment of a mechanical finger of the present invention. [Figure 15] FIG. 1 is a schematic side view of one embodiment of a robot hand of the present invention. [Figure 16] FIG. 2 is a simplified diagram of the mechanical structure of a joint structure, a proximal finger portion, and an intermediate finger portion of one embodiment of a mechanical finger of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0027] Reference will now be made in detail to exemplary embodiments illustrated in the drawings. Where the following description refers to the drawings, the same numerals in different drawings represent the same or similar elements unless otherwise indicated. The methods described in the following exemplary embodiments do not represent all methods consistent with the present invention. On the contrary, they are merely examples of apparatus consistent with some aspects of the present invention as detailed in the appended claims.

[0028] The terms used in the present invention are only for describing a particular embodiment and are not intended to limit the present invention. Unless otherwise defined, technical or scientific terms used in the present invention should have the ordinary meaning understood by a person having ordinary skill in the field to which the present invention belongs. The terms "first", "second" and similar terms used in the present specification and claims do not indicate any order, quantity or importance, but are used to distinguish different components. Similarly, similar terms such as "one" and "one" do not indicate a quantity limit, but indicate that there is at least one, and when referring to only "one", they are explained separately. "Multiple" or "several" mean two or more. Unless otherwise specified, similar terms such as "front", "rear", "lower" and / or "upper" are used for convenience of description and are not limited to one position or one spatial direction. Similar terms such as "comprise" or "have" mean that the element or item included or having is covered or equivalent to the element or item "comprise" or "have" it, and do not exclude other elements or items. Similar terms such as "connect" or "couple" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. As used in the present specification and the appended claims, the singular forms "a," "the," and "said" are intended to include the plural forms unless the context clearly indicates otherwise. As will be understood, the term "and / or" as used herein is meant to include any or all possible combinations of one or more associated items.

[0029] 1 and 2, a first embodiment of the present invention provides a robot hand 100 including a palm portion 1, a drive structure 2, and mechanical fingers 3. The palm portion 1 has a palm plane 12 and a palm side 13 perpendicular to the palm plane 12. The mechanical fingers 3 are provided on the palm side 13. The drive structure 2 is provided between the palm portion 1 and the mechanical fingers 3, and connects the mechanical fingers 3 and the palm portion 1 in a connecting direction DE. In other words, the robot hand 100 forms a structure like a human hand. The drive structure 2 is used to drive at least one of the rotation of the mechanical fingers 3 about a rotation axis RA and a swing axis SA. The rotation axis RA extends perpendicular to the connecting direction DE and is parallel to the palm plane 12. The swing axis SA intersects with the palm plane 12 and is perpendicular to the rotation axis RA.

[0030] The embodiment shown in FIG. 2 will be taken as an example for explanation. The extension plane of the palm plane 12 is parallel to the plane on which the length direction X and the width direction Y are located. When the mechanical finger 3 rotates around the rotation axis RA, the robot hand 100 actually imitates the back and forth swing of a human finger, i.e., the opening and closing of the palm. Since the rotation axis RA is parallel to the palm plane 12, when the mechanical finger 3 rotates around the rotation axis RA, the angle between the extension axis of the mechanical finger 3 and the palm plane 12 may be changed on the plane on which the length direction X and the thickness direction Z are located, or the angle between the extension axis of the mechanical finger 3 and the palm plane 12 may be changed on the plane on which the width direction Y and the thickness direction Z are located.

[0031] The swing axis SA intersects with the palm plane 12. Therefore, when the mechanical finger 3 rotates around the swing axis SA, the angle between the mechanical finger 3 and the palm plane 12 is constant. However, on the plane where the length direction X and the width direction Y are located, the angle between the extension axis of the mechanical finger 3 and the length direction X changes. Therefore, when the mechanical finger 3 rotates around the swing axis SA, the robot hand 100 actually imitates the left and right swing of a human finger.

[0032] With this installation, the mechanical finger 3 of the present invention can rotate in two different directions, so that it has the same degree of freedom of movement as a human finger, and the degree of anthropomorphism of the robot hand 100 can be improved. Also, for simple movements, humans usually only use left-right and forward-backward swings of their fingers. Therefore, the installation method of the robot hand 100 of the present invention can meet the needs for the degree of freedom of movement of simple movements, and the robot hand 100 can imitate the posture of a human hand and perform simple hand movements such as playing the piano or pressing a keyboard.

[0033] In order to clearly explain the movement of the robot hand 100, the above description has been given using reference directions, namely, the length direction X, the width direction Y, and the thickness direction Z. Note that the length direction X, the width direction Y, and the thickness direction Z are all perpendicular to each other, and so a description thereof will be omitted here. Furthermore, the left-right swing described in this specification can be regarded as the movement of the fingertip of the mechanical finger 3 in the width direction Y, and the front-back swing can be regarded as the movement of the fingertip of the mechanical finger 3 in the thickness direction Z.

[0034] The palmar surface 13 has a tip surface 131 and a side end surface 132 perpendicular to the tip surface 131. The mechanical fingers 3 may be provided on the tip surface 131 or the side end surface 132, and the present invention is not limited to this. In addition, the robot hand 100 may be provided with one, two, or more mechanical fingers 3, and the present invention is not limited to this.

[0035] It should be noted that the mechanical fingers 3 may be provided on the tip surface 131 or the side end surface 132, so that the extension directions DC of different mechanical fingers 3 are different. As shown in FIG. 1, the extension directions DC of the mechanical fingers 3 provided on the side end surface 132 are different from those of the mechanical fingers 3 provided on the tip surface 131. In addition, the connection direction DE and the extension direction DC of the mechanical fingers 3 may be the same or different. Taking the embodiment shown in FIG. 1 as an example, the connection direction DE and the extension direction DC of the mechanical fingers 3 provided on the tip surface 131 are both perpendicular to the tip surface 131. The connection direction DE of the mechanical fingers 3 provided on the side end surface 132 is perpendicular to the extension direction DC.

[0036] In some embodiments, the number of mechanical fingers 3 is multiple, which makes the robot hand 100 closer to a human hand and improves the degree of anthropomorphism. In this embodiment, each mechanical finger 3 is provided with a corresponding drive structure 2, and is connected to the palm part 1 via the drive structure 2, so that the robot hand 100 can drive each mechanical finger 3 to move and perform more complex movements. Alternatively, a part of the mechanical fingers 3 may be provided with a corresponding drive structure 2, and a part of the mechanical fingers 3 may be directly connected to the palm part 1. Of these, the robot hand 100 can drive and move only the mechanical fingers 3 provided with the drive structure 2, and the other mechanical fingers 3 remain fixed to the palm part 1. Among the multiple fingers of a human, there are fingers that play a leading role, such as the index finger and middle finger, and fingers that play an auxiliary role, such as the ring finger. Therefore, a person skilled in the art can install the mechanical fingers 3 that play a leading role so as to be connected to the palm part 1 via the drive structure 2, and install the mechanical fingers 3 that play an auxiliary role so as to be fixedly connected to the palm part 1, thereby maximally maintaining the functionality of the robot hand 100 and reducing production costs to a certain extent.

[0037] As shown in FIG. 1, the multiple mechanical fingers 3 include a first mechanical finger 31 provided on the side end surface 132 and multiple second mechanical fingers 32 provided on the tip surface 131. In the embodiment shown in FIG. 1 and FIG. 2, the multiple second mechanical fingers 32 may include a mechanical index finger 321, a mechanical middle finger 322, a mechanical ring finger 323, and a mechanical little finger 324. The first mechanical finger 31 provided on the side end surface 132 may be the thumb of the robot hand 100. In this way, the robot hand 100 can mimic the distribution of fingers on a human hand and further improve the degree of anthropomorphism of the robot hand 100.

[0038] It should be noted that the second mechanical fingers 32 may include at least one of the mechanical index finger 321, the mechanical middle finger 322, the mechanical ring finger 323, and the mechanical little finger 324, and the present invention is not limited thereto. Also, as in the above-mentioned embodiment, at least one of the first mechanical fingers 31 and the second mechanical fingers 32 may be connected to the palm part 1 by the drive structure 2. In an embodiment in which there are a plurality of second mechanical fingers 32, some of the second mechanical fingers 32 may be provided with the drive structure 2, and some of the second mechanical fingers 32 may be directly connected to the palm part 1, and the present invention is not limited thereto.

[0039] 15, in order to mimic the relaxed posture of a human hand and enable the robot hand 100 to better grasp an object in the grasping space GS formed by the palm portion 1 and the first mechanical finger 31, in some embodiments, the angle α between the extension axis EA of the first mechanical finger 31 and the palm plane 12 is 10 degrees or more and 30 degrees or less. For example, the angle α between the extension axis EA of the first mechanical finger 31 and the palm plane 12 may be 10 degrees, 20 degrees, or 30 degrees. If the angle α is too small, the robot hand 100 appears tense and stiff, making it difficult to grasp an object. If the angle α is too large, the robot hand 100 becomes unnatural, and the first mechanical finger 31 opens too much, occupies space, and makes grasping unstable. In addition, the second mechanical finger 32 can be in a slightly bent state, which can mimic the naturally relaxed posture of a human hand and improve the degree of anthropomorphism of the robot hand 100.

[0040] Furthermore, in an embodiment in which the robot hand 100 is used to play a piano or press a keyboard, this angle range allows the first mechanical finger 31 to imitate the posture of a human thumb placed on a keyboard or piano keys. As shown in Fig. 1, in this embodiment, the finger pad of the first mechanical finger 31 and the finger pad of the second mechanical finger 32 are provided on the same plane. With this arrangement, the robot hand 100 may perform operations such as playing a piano or pressing a keyboard by imitating the posture of a human hand naturally placed on a keyboard or piano keys.

[0041] In order to drive the mechanical finger 3 to rotate about the rotation axis RA, the driving structure 2 may be a motor. The motor is directly connected to the mechanical finger 3 and directly drives and rotates the mechanical finger 3. Referring to FIG. 3, in some embodiments, the driving structure 2 includes a rotary drive module 21 for driving the mechanical finger 3 to rotate about the rotation axis RA. The rotary drive module 21 includes a rotary driving gear 212, a rotary motor 211, and a rotary driven gear 213. The rotary motor 211 is fixed to the palm 1 and includes a rotary motor body 2110, a rotary motor base 2112, and a rotary shaft 2113. Here, the rotary shaft 2113 is movably connected to the rotary motor base 2112 and fixedly connected to the mechanical finger 3. The rotary driving gear 212 is fixedly connected to the rotary motor body 2110, and the rotary motor body 2110 drives the rotary driving gear 212 to rotate. The main rotation axis A1 of the rotating main gear 212 extends along the connection direction DE. The rotating driven gear 213 is fixedly connected to the rotating shaft 2113. The rotating driven gear 213 meshes with the rotating main gear 212, and the driven rotation axis A2 of the rotating driven gear 213 coincides with the rotation axis RA. That is, the driven rotation axis A2 is perpendicular to the main rotation axis A1.

[0042] Taking the machine middle finger 322 shown in Figure 3 as an example, the rotation axis RA extends in the width direction Y. The main rotation axis A1 extends in the connection direction DE, and in this embodiment, the main rotation axis A1 extends in the length direction X. The driven rotation axis A2 coincides with the rotation axis RA, and in this embodiment, the driven rotation axis A2 extends in the width direction Y.

[0043] The rotary motor 211 drives the rotary master gear 212 to rotate about the master rotation axis A1, and the rotary motion is converted into the rotation of the rotary slave gear 213 about the slave rotation axis A2 by the meshing of the rotary master gear 212 and the rotary slave gear 213. The rotary slave gear 213 and the mechanical finger 3 are fixedly connected, so that the mechanical finger 3 can rotate about the rotation axis RA.

[0044] 9 and 10, in some embodiments, a rotary motor body 2110 of a rotary motor 211 may be provided with a rotary drive shaft 2111, and a rotary main gear 212 is fixedly connected to the rotary drive shaft 2111. This allows the rotary motor body 2110 to rotate the rotary main gear 212 via the rotary drive shaft 2111.

[0045] By providing the rotation drive module 21, the robot hand 100 can realize the transformation of the motion plane by gear transmission. Therefore, the rotation motor 211 can be provided along the connection direction DE so as to coincide with the extension direction DC of the mechanical fingers 3, and thus can be hidden in the palm 1, improving the aesthetics of the robot hand 100. Compared with an embodiment in which the motor directly drives the mechanical fingers 3 to rotate and needs to be installed along the direction of the rotation axis RA, the rotation drive module 21 can make more rational use of the space of the robot hand 100, and can compactly install multiple mechanical fingers 3 side by side, improving the anthropomorphism and compactness of the structure of the robot hand 100.

[0046] Furthermore, the diameter of the rotating main gear 212 may be smaller than the diameter of the rotating driven gear 213. In this way, the torque can be increased by the gear ratio (gear ratio) of the gears, and the required parameters of the rotating motor 211 can be reduced. In addition, since the main rotation axis A1 extends along the connecting direction DE, and the rotation axis of the rotating driven gear 213 extends along the rotation axis RA, the change in the diameter of the mechanical finger 3 can reflect the change in the diameter of the rotating main gear 212, and the change in the length of the mechanical finger 3 can reflect the change in the diameter of the rotating driven gear 213. Since the length of a human finger is much larger than the diameter of a finger, this installation method can imitate the size of a human finger, increase the torque, and at the same time improve the degree of anthropomorphism and lightness of the mechanical finger 3.

[0047] 4, the mechanical finger 3 includes a palm base unit 311 and a finger unit 312. The rotation drive module 21 is further provided between the palm base unit 311 and the finger unit 312 to connect the palm base unit 311 and the finger unit 312 and drive the finger unit 312 to rotate about a bending axis FA. Here, a projection of the bending axis FA intersects with a projection of the rotation axis RA.

[0048] In this embodiment, the mechanical finger 3 is the first mechanical finger 31, which imitates the movement of the thumb of a human hand. The rotational movement between the first mechanical finger 31 and the palm part 1 is realized by the rotational drive module 21 at the end of the palm root unit 311 that is separated from the finger unit 312. In addition, the rotational drive module 21 between the palm root unit 311 and the finger unit 312 can drive the bending of the first mechanical finger 31, and since the direction of bending is different from the direction of rotation of the first mechanical finger 31, the degree of freedom of movement of the first mechanical finger 31 is increased by one. In this way, the first mechanical finger 31 can perform more complicated movements. In an embodiment in which the robot hand 100 is used to play the piano, such an installation method allows the first mechanical finger 31 to not only move up and down to press and release the keys of the piano, but also to move left and right, so that the robot hand 100 can play keys in more different positions without moving the entire robot hand 100, which can imitate the playing posture of a human hand and improve the degree of anthropomorphism of the robot hand 100.

[0049] Of course, in another embodiment, the mechanical index finger 321, the mechanical middle finger 322, etc. of the second mechanical finger 32 may include a palm base unit 311 and a finger unit 312, and the palm base unit 311 and the finger unit 312 may be connected via the rotation drive module 21, and the present invention is not limited thereto.

[0050] 5, the drive structure 2 further comprises a swing drive module 22. The swing drive module 22 is used to drive the machine finger 3 to rotate about the rotation axis RA and drive the machine finger 3 to rotate about the swing axis SA. The swing drive module 22 comprises a swing gear set 221, a swing motor 224, and an output gear 225. The swing motor 224 comprises a swing motor base 2240 and a cross shaft 2244 fixedly connected to the swing motor base 2240. The cross shaft 2244 has a first shaft 22441 extending along the rotation axis RA and a second shaft 22442 extending along the swing axis SA. The swing gear set 221 comprises a first swing gear 222 and a second swing gear 223. The swing motor 224 is used to drive the first swing gear 222 and the second swing gear 223 to rotate in the same direction or in the opposite direction. The first oscillating gear 222 and the second oscillating gear 223 are each rotatably connected to the first shaft 22441. The output gear 225 is provided between the first oscillating gear 222 and the second oscillating gear 223, and meshes with the first oscillating gear 222 and the second oscillating gear 223, respectively. The axis of the output gear 225 coincides with the oscillation axis SA, and the output gear 225 is fixedly connected to the mechanical finger 3. Here, the mechanical finger 3 is rotatably connected to the second shaft 22442.

[0051] Next, the driving process of the swing drive module 22 will be described. When the swing motor 224 drives the first swing gear 222 and the second swing gear 223 to rotate them at the same speed in the same direction in a lateral view VA, taking clockwise rotation as an example, the output gear 225 tends to rotate counterclockwise due to the meshing between the first swing gear 222 and the output gear 225, and the output gear 225 tends to rotate clockwise due to the meshing between the second swing gear 223 and the output gear 225. Therefore, the forces acting on both sides of the output gear 225 are offset, and the output gear 225 maintains a stationary state. At this time, the output gear 225, the first swing gear 222, and the second swing gear 223 are in a relatively stationary state, that is, they do not rotate around the swing axis SA. Therefore, the rotation of the first oscillating gear 222 and the second oscillating gear 223 is expressed as the cross shaft 2244, the output gear 225, the first oscillating gear 222, and the second oscillating gear 223 all rotating around the rotation axis RA. Meanwhile, the machine finger 3 and the second shaft 22442 are rotatably connected, and the axis of the second shaft 22442 is perpendicular to the rotation axis RA, so that the second shaft 22442 rotates the machine finger 3 around the rotation axis RA, and the rotational motion of the entire machine finger 3 around the rotation axis RA is realized.

[0052] When the first oscillating gear 222 and the second oscillating gear 223 rotate in opposite directions at the same speed from a lateral viewpoint VA, for example, the first oscillating gear 222 rotates counterclockwise and the second oscillating gear 223 rotates clockwise. The meshing between the first oscillating gear 222 and the output gear 225 tends to rotate the output gear 225 clockwise, and the meshing between the second oscillating gear 223 and the output gear 225 also tends to rotate clockwise. Therefore, at this time, the output gear 225 rotates clockwise around the oscillation axis SA. Since the output gear 225 and the mechanical finger 3 are fixedly connected and the mechanical finger 3 and the second shaft 22442 are rotatably connected, the output gear 225 rotates the entire mechanical finger 3 around the oscillation axis SA.

[0053] With such an installation, the swing drive module 22 can realize not only the rotational movement of the mechanical finger 3 around the rotation axis RA, but also the rotational movement of the mechanical finger 3 around the swing axis SA. It can be seen that the single swing drive module 22 can provide the mechanical finger 3 with two degrees of freedom of movement. Compared with an embodiment in which separate motors are provided for the rotational movement around the swing axis SA and the rotational movement around the rotation axis RA, the swing drive module 22 can drive the rotational movement around the swing axis SA and the rotational movement around the rotation axis RA with only the swing motor 224. This reduces the number of motors and increases the compactness of the structure of the robot hand 100, thereby increasing the space utilization rate inside the robot hand 100. Therefore, the swing drive module 22 is advantageous for reducing the overall volume of the robot hand 100 and improving the degree of anthropomorphism and aesthetics of the robot hand 100.

[0054] Further, the swing motor 224 may include a swing motor body 2241, a first main driving gear 2242, and a second main driving gear 2243. The rotation axis A3 of the first main driving gear 2242 and the rotation axis A4 of the second main driving gear 2243 respectively extend in the connecting direction DE. The first main driving gear 2242 is fixedly connected to the swing motor body 2241, and the second main driving gear 2243 is fixedly connected to the swing motor body 2241, so that the swing motor body 2241 can respectively drive the rotational motion of the first main driving gear 2242 and the second main driving gear 2243. The first main driving gear 2242 meshes with the first swing gear 222, and the second main driving gear 2243 meshes with the second swing gear 223.

[0055] In some embodiments, the oscillating motor body 2241 may be provided with a first drive shaft 2245 and a second drive shaft 2246, with the first main driving gear 2242 fixedly connected to the first drive shaft 2245 and the second main driving gear 2243 fixedly connected to the second drive shaft 2246. This allows the oscillating motor body 2241 to rotate the first main driving gear 2242 and the second main driving gear 2243 via the first drive shaft 2245 and the second drive shaft 2246, respectively.

[0056] The rotation direction of the first main driving gear 2242 in the overhead view VB is opposite to the rotation direction of the first oscillating gear 222 in the side view VA. In other words, when the first main driving gear 2242 rotates clockwise, the first oscillating gear 222 can be rotated counterclockwise. When the first main driving gear 2242 rotates counterclockwise, the first oscillating gear 222 can be rotated clockwise.

[0057] Similarly, the rotation direction of the second main driving gear 2243 in the overhead view VB is the same as the rotation direction of the second oscillating gear 223 in the side view VA. In other words, when the second main driving gear 2243 rotates clockwise, the second oscillating gear 223 can be rotated clockwise. When the second main driving gear 2243 rotates counterclockwise, the second oscillating gear 223 can be rotated counterclockwise.

[0058] As can be seen from the above description, when the first oscillating gear 222 and the second oscillating gear 223 rotate in the same direction, the oscillating drive module 22 rotates the mechanical finger 3 around the rotation axis RA, and the rotation directions of the first main gear 2242 and the second main gear 2243 are opposite. When the first oscillating gear 222 and the second oscillating gear 223 rotate in the opposite direction, the oscillating drive module 22 rotates the mechanical finger 3 around the oscillation axis SA, and the rotation directions of the first main gear 2242 and the second main gear 2243 are the same.

[0059] Therefore, the swing motor body 2241 can control the rotation directions of the first driving gear 2242 and the second driving gear 2243, respectively, to control the movement direction of the mechanical finger 3. Since the rotation axis A3 of the first driving gear 2242 and the rotation axis A4 of the second driving gear 2243 extend along the connection direction DE, the swing motor 224 can be installed along the extension direction DC of the mechanical finger 3 and installed in the palm part 1, which is advantageous for hiding the swing motor 224 and improving the aesthetics of the robot hand 100. In addition, providing the swing motor 224 in the palm part 1 not only increases the compactness of the structure of the robot hand 100 and reduces the overall volume of the robot hand 100, but also is advantageous for improving the degree of anthropomorphism of the robot hand 100, since most of the exposed parts are the palm part 1 and the mechanical finger 3.

[0060] In some embodiments, the diameters of the first main gear 2242 and the first oscillating gear 222 may be the same. In another embodiment, the diameter of the first main gear 222 may be larger than that of the first main gear 2242. In this way, due to the reduction ratio between the first oscillating gear 222 and the first main gear 2242, the first oscillating gear 222 can amplify the torque, which is advantageous to reduce the required parameters of the oscillating motor body 2241 and reduce the volume and cost of the oscillating drive module 22. Similarly, the diameter of the second main gear 2243 may be equal to or smaller than the diameter of the second oscillating gear 223, and the description is omitted here.

[0061] Further, the first oscillating gear 222 includes a first main gear 2221 and a first sub gear 2222 that are fixedly connected. The first main gear 2221 meshes with the first driving gear 2242, and the first sub gear 2222 meshes with the output gear 225. The diameter of the first main gear 2221 is larger than that of the first sub gear 2222. Similarly, the second oscillating gear 223 includes a second main gear 2231 and a second sub gear 2232 that are fixedly connected. The second main gear 2231 meshes with the second driving gear 2243, and the second sub gear 2232 meshes with the output gear 225. The diameter of the second main gear 2231 is larger than that of the second sub gear 2232. Such an installation method is advantageous in utilizing the space in the lateral direction (the direction indicated by the rotation axis RA) of the oscillating drive module 22 to increase the space utilization rate of the oscillating drive module 22. In addition, since the first sub-gear 2222 and the second sub-gear 2232, which are relatively small in size, are opposed to and close to each other on the rotation axis RA, the size of the output gear 225 meshing with the first sub-gear 2222 and the second sub-gear 2232 can be reduced, thereby enhancing the compactness of the structure. Also, such an installation makes it possible to increase the sizes of the first main gear 2221 and the second main gear 2231, which is advantageous in further increasing the reduction ratio between the first oscillating gear 222 and the first driving gear 2242 and the reduction ratio between the second oscillating gear 223 and the second driving gear 2243, and further amplifying the torque of the oscillating motor body 2241.

[0062] Of course, in another embodiment, the oscillating drive module 22 may have only the first oscillating gear 222 including the first main gear 2221 and the first sub-gear 2222, or may have only the second oscillating gear 223 including the second main gear 2231 and the second sub-gear 2232, and the present invention is not limited thereto.

[0063] It should be noted that in an embodiment in which the robot hand 100 includes multiple mechanical fingers 3, the drive structures 2 of the mechanical fingers 3 may be the same or different. For example, the drive structures 2 of all the mechanical fingers 3 are swing drive modules 22, so that all the mechanical fingers 3 can perform forward and backward swing and left and right swing. Alternatively, some of the mechanical fingers 3 may be provided with the rotation drive module 21, and some of the mechanical fingers 3 may be provided with the swing drive module 22. Therefore, some of the mechanical fingers 3 can only swing forward and backward, and some of the mechanical fingers 3 can swing forward and backward and left and right. In this way, the drive structure 2 of the present invention has excellent versatility and portability, and a person skilled in the art can arrange different drive structures 2 on different mechanical fingers 3 according to actual needs, and can make the robot hand 100 perform the desired operation.

[0064] In the embodiment shown in FIG. 2, the first mechanical finger 31 is provided on the side end surface 132 and includes a palm root unit 311 and a finger unit 312. The palm root unit 311 is connected to the palm portion 1 via the rotation drive module 21, and is also connected to the finger unit 312 via the rotation drive module 21. The second mechanical finger 32 is provided on the tip surface 131 and includes a mechanical index finger 321, a mechanical middle finger 322, a mechanical ring finger 323, and a mechanical little finger 324. Here, the mechanical index finger 321 is connected to the palm portion 1 via the swing drive module 22. The mechanical middle finger 322, the mechanical ring finger 323, and the mechanical little finger 324 are each connected to the palm portion 1 via the rotation drive module 21. In this way, the first mechanical finger 31 and the mechanical index finger 321 each have two degrees of freedom, and the mechanical middle finger 322, the mechanical ring finger 323, and the mechanical little finger 324 each have one degree of freedom. This installation method allows the robot hand 100 to have an appearance similar to that of a human hand. In addition, the robot hand 100 can effectively imitate the posture of a human hand when playing a key while using a small number of drive structures 2.

[0065] Referring to FIG. 1, in some embodiments, the robot hand 100 further includes an angle sensor 5 to detect the rotational movement of the mechanical finger 3 of the drive structure 2 around the rotation axis RA. The angle sensor 5 is provided at the base of the mechanical finger 3 and is used to measure the angle between the mechanical finger 3 and the palm 1. The base of the mechanical finger 3 may be at the connection position between the mechanical finger 3 and the drive structure 2, on the drive structure 2, or at the connection position between the drive structure 2 and the palm 1. With such an installation, it is possible to monitor whether the operation of the drive structure 2 is normal. For example, the actual rotation degree of the mechanical finger 3 around the rotation axis RA may be monitored, and then the desired rotation degree driven by the drive structure 2 and the actual rotation degree may be compared. This allows the user to know whether the drive structure 2 of the robot hand 100 has a fault, which is advantageous for the monitoring maintenance and adjustment of the robot hand 100, and can improve the motion accuracy of the robot hand 100.

[0066] Referring to FIG. 2, the mechanical finger 3 has a fingertip module 34. The fingertip module 34 is used to contact the work surface. In some embodiments, the robot hand 100 that plays the piano, the robot hand 100 that hits the keys of the keyboard, etc., needs to press the work surface via the fingertip module 34. In this embodiment, the robot hand 100 may include a force sensor 4 (shown in FIG. 6) provided on the fingertip module 34. The force sensor 4 is used to detect the force of the fingertip of the mechanical finger 3. This makes it possible to detect whether the fingertip module 34 is in contact with the work surface, and to control the force with which the fingertip module 34 presses the work surface based on the numerical value returned by the force sensor 4. For example, by controlling the force with which the robot hand 100 presses the piano keys based on the data from the force sensor 4, the robot hand 100 can play musical emotions such as softness, intensity, and melancholy, thereby improving the degree of anthropomorphism of the robot hand 100 and the user's usability.

[0067] Referring to FIG. 6, the fingertip module 34 has a finger pad panel 341 and a fingertip base 342. In some embodiments, the force sensor 4 is provided on the side of the finger pad panel 341 away from the fingertip base 342. That is, the force sensor 4 is provided on the side of the fingertip module 34 that contacts the work surface, thereby allowing it to directly contact the work surface and improving the accuracy of detection. In another embodiment, the finger pad panel 341 is slidingly connected to the fingertip base 342, and the force sensor 4 is provided on the side of the fingertip base 342 that faces the finger pad panel 341. When the fingertip module 34 presses the work surface, the finger pad panel 341 slides toward the fingertip base 342 and presses the force sensor 4 provided between the finger pad panel 341 and the fingertip base 342. With such an installation, the fingertip module 34 can accommodate the force sensor 4, provide a sealed protection for the force sensor 4, and avoid substances such as water vapor and dust from affecting the force sensor 4 and causing a decrease in the sensitivity of the force sensor 4. Moreover, only when the fingertip module 34 comes into contact with the work surface, the finger pad panel 341 presses the force sensor 4. By providing the force sensor 4 inside the fingertip module 34, the accuracy of the detection data can be improved compared to an embodiment in which the force sensor 4 is exposed to the fingertip module 34 and there is a possibility of erroneous contact by the user or an external object. Also, by pressing the force sensor 4 by moving the finger pad panel 341, the measurement area of ​​the force sensor 4 can be increased.

[0068] In some embodiments, the fingertip base 342 has an intra-fingertip base 3421 and a fingertip housing 3422. The intra-fingertip base 3421 is housed in the fingertip housing 3422, and the fingertip panel 341 is connected to the intra-fingertip base 3421. The space between the intra-fingertip base 3421 and the fingertip housing 3422 is used to house the circuit structure such as the force sensor 4 and a circuit board, and can further realize sealing of the circuit structure. A part of the force sensor 4 passes through a hole pre-formed in the intra-fingertip base 3421 and is exposed between the fingertip panel 341 and the intra-fingertip base 3421 so as to contact the fingertip panel 341. Since the fingertip panel 341 and the fingertip base 342 are connected by sliding, impurities may enter the fingertip module 34 through the gap between the fingertip panel 341 and the fingertip base 342 and adversely affect the circuit structure such as the force sensor 4. By providing fingertip internal base 3421 and fingertip housing 3422 which are fixedly connected, the sealing properties of fingertip base 342 can be improved, and the protection of the circuit structure can be strengthened.

[0069] The sliding connection between the fingertip base 342 and the finger pad panel 341 may be realized by the outer wall of the finger pad panel 341 entirely covering the outer surface of the fingertip base 342. Alternatively, in another embodiment, the side of the fingertip base 342 facing the finger pad panel 341 has a guide post 343. The finger pad panel 341 has a guide hole 345 into which the guide post 343 is fitted. The processing and assembly of the guide post 343 and the guide hole 345 are simple, and the degree of fitting is good. Of course, the side of the fingertip base 342 facing the finger pad panel 341 may have the guide hole 345, and the finger pad panel 341 may have the guide post 343 that is fitted into the guide hole 345. Alternatively, the fingertip base 342 may have the guide hole 345 and the guide post 343, and the finger pad panel 341 may have the fitting guide post 343 and the guide hole 345, but the present invention is not limited thereto.

[0070] The fingertip module 34 further includes an elastic member 344 provided between the finger pad panel 341 and the fingertip base 342 to assist the restoration of the finger pad panel 341. One end of the elastic member 344 abuts against the finger pad panel 341, the other end abuts against the fingertip base 342, and the elastic member 344 is in a compressed state. When the finger pad panel 341 comes into contact with the work surface, the elastic member 344 is further compressed, and the finger pad panel 341 can come into contact with the force sensor 4. Since the elastic member 344 is always in a compressed state, when the finger pad panel 341 is not in contact with the work surface, the elastic member 344 continues to apply a force to the finger pad panel 341 to move away from the fingertip base 342, and the finger pad panel 341 can be maintained in a state of being moved away from the force sensor 4.

[0071] In an embodiment in which the fingertip base 342 has the guide post 343 and the finger pad panel 341 has the guide hole 345, the elastic member 344 is fitted into the guide post 343, and the force of the elastic member 344 can be maintained such that it is directed from the fingertip base 342 to the finger pad panel 341. This ensures the restoring effect of the elastic member 344 on the finger pad panel 341. Of course, the elastic member 344 may be directly installed between the finger pad panel 341 and the fingertip base 342, and the present invention is not limited thereto.

[0072] 7 and 8, in some embodiments, the mechanical finger 3 has a fingertip 331, an intermediate finger portion 332, and a proximal finger portion 333 provided along the extension direction DC. One end of the intermediate finger portion 332 is rotatably connected to the fingertip 331. A drive structure 2 is connected between the proximal finger portion 333 and the palm portion 1. That is, the drive structure 2 is provided on the palm surface 13 and is connected to an end of the proximal finger portion 333 away from the intermediate finger portion 332, thereby connecting the mechanical finger 3 and the palm portion 1 in the connection direction DE. A joint structure 7 is provided between the intermediate finger portion 332 and the proximal finger portion 333, and the joint structure 7 is rotatably connected to the intermediate finger portion 332 and the proximal finger portion 333, respectively. The joint structure 7 can change the angle between the intermediate finger portion 332 and the proximal finger portion 333 so that the mechanical finger 3 can perform a finger bending operation like a human hand.

[0073] This arrangement allows the robot hand 100 to have high adaptability to the shape of an object. The robot hand 100 can grasp different objects by changing the angle between the mechanical fingers 3 and the palm portion 1 and the angle between the proximal finger portion 333 and the middle finger portion 332. Furthermore, because the robot hand 100 has high adaptability, the mechanical fingers 3 can be in close contact with the surface of an object as much as possible, allowing the robot hand 100 to grasp an object more stably.

[0074] As with the drive structure 2, in an embodiment in which there are a plurality of mechanical fingers 3, all of the mechanical fingers 3 may be provided with the joint structure 7, or some of the mechanical fingers 3 may be provided with the joint structure 7. In addition, the drive structure 2 and the joint structure 7 may be provided simultaneously in the mechanical finger 3 to increase the flexibility of the mechanical finger 3. Alternatively, the mechanical finger 3 may be provided with only the joint structure 7 to reduce the production cost of the mechanical finger 3.

[0075] In some embodiments in which the mechanical finger 3 has a fingertip 331, an intermediate finger portion 332, and a proximal finger portion 333 arranged along the extension direction DC, the drive structure 2 comprises a rotation drive module 21. Hereinafter, a specific description will be given of the mechanical ring finger 323 as an example with reference to Figs. 7 to 10. The rotation drive module 21 comprises a rotation motor 211, a rotation main gear 212, and a rotation driven gear 213. The rotation motor 211 is fixed to the palm portion 1 and comprises a rotation motor main body 2110, a rotation drive shaft 2111, a rotation motor base 2112, and a rotation shaft 2113. The rotation shaft 2113 is movably connected to the rotation motor base 2112 and fixedly connected to the proximal finger portion 333 of the mechanical finger 3. The axis of the rotation shaft 2113 extends along the rotation axis RA. The rotating main gear 212 is fixedly connected to the rotating drive shaft 2111, and the main rotation axis A1 of the rotating main gear 212 extends in the connection direction DE. The rotating driven gear 213 is fixedly connected to the rotating shaft 2113, and the rotating driven gear 213 meshes with the rotating main gear 212.

[0076] The rotary motor 211 rotates and drives the rotary drive shaft 2111, so that the rotary drive shaft 2111 can rotate the rotary main gear 212 about the main rotation axis A1, and the rotary main gear 212 and the rotary driven gear 213 mesh with each other, so that the rotary motion is converted into rotation about the rotation axis RA. The rotary driven gear 213 and the rotary shaft 2113 are fixedly connected, and the near-end finger portion 333 is also fixedly connected to the rotary shaft 2113, so that the rotation of the rotary driven gear 213 can rotate the mechanical finger 3 about the rotation axis RA.

[0077] 11, in some embodiments in which the mechanical finger 3 has a fingertip 331, an intermediate finger portion 332, and a proximal finger portion 333 arranged along the extension direction DC, the drive structure 2 may further include an oscillating drive module 22. For the configuration of the oscillating drive module 22 and the connection relationship between the oscillating drive module 22 and the proximal finger portion 333 of the mechanical finger 3, reference may be made to the description of FIG. 5 above, and the description will be omitted here.

[0078] When the user uses the robot hand 100 to grasp an object, after the robot hand 100 changes the angle between the mechanical finger 3 and the palm 1 by the drive structure 2, the user can manually adjust the angle between the proximal finger 333 and the intermediate finger 332, for example, manually rotate the intermediate finger 332 around the joint structure 7 so that the mechanical finger 3 can grip the surface of the object in close contact with it. Further, referring to FIG. 11 , in some embodiments, the joint structure 7 has a joint motor 74. The joint motor 74 is provided at an end of the proximal finger 333 away from the drive structure 2, and is used to rotate and drive the intermediate finger 332 to change the angle between the intermediate finger 332 and the proximal finger 333. With such an installation, when the user uses the robot hand 100 to grasp an object, the user does not need to manually adjust the angle between the proximal finger 333 and the intermediate finger 332, but only needs to control the joint motor 74, which is practical and convenient, and can improve the intelligence and automation of the robot hand 100.

[0079] As in the embodiment shown in FIG. 11, the joint motor 74 may include a joint motor base 741 and a joint drive shaft 742. The joint motor base 741 is fixedly connected to the proximal finger 333. The joint drive shaft 742 is rotatably connected to the joint motor base 741 and fixedly connected to the middle finger 332. The joint motor body 744 (shown in FIG. 12) is fixed to the joint motor base 741 and is hidden in the joint motor base 741 in the embodiment shown in FIG. 11. The joint motor body 744 may be a worm gear structure, where the worm structure is provided on the joint drive shaft 742, and the rotation of the gear in the joint motor body 744 drives the rotation of the joint drive shaft 742, which rotates the middle finger 332.

[0080] 12 and 13, in another embodiment, the joint motor 74 further includes a joint driving gear 743 and a joint driven gear 745. The joint driving axis A5 of the joint driving gear 743 extends along the extension direction DC. The joint motor body 744 is fixedly connected to the joint driving gear 743 and is used to drive the rotation of the joint driving gear 743. The joint driven gear 745 is fixedly connected to the joint driving shaft 742, and the joint driven gear 745 meshes with the joint driving gear 743. The joint driven axis A6 of the joint driven gear 745 is perpendicular to the joint driving axis A5.

[0081] In fact, this structure is similar to the rotary drive module 21 of the drive structure 2. The joint motor body 744 drives the joint driving gear 743 to rotate around the joint driving axis A5, and the joint driving gear 743 and the joint driven gear 745 mesh with each other, and the rotational motion is converted into rotation around the joint driven axis A6. The joint driven gear 745 and the joint driving shaft 742 are fixedly connected, and the middle finger 332 is also fixedly connected to the joint driving shaft 742, so that the rotation of the joint driven gear 745 drives the middle finger 332 to rotate, and the angle between the middle finger 332 and the near-end finger 333 can be changed.

[0082] In some embodiments, the structure of the articulated structure 7 may be the same as the pivoting drive module 21 of the drive structure 2 .

[0083] Based on the above embodiment in which the joint motor 74 has been described, with reference to FIG. 11, the fingertip 331 may have a first fingertip axis 3311 and a second fingertip axis 3312 arranged in parallel. The middle finger 332 includes a driving link 3323 and a driven link 3324. One end of the driving link 3323 is fixedly connected to the joint drive shaft 742, and the other end is rotatably connected to the first fingertip axis 3311. The driving link 3323 is driven by the joint motor 74 to rotate around the joint drive shaft 742. One end of the driven link 3324 is rotatably connected to the second fingertip axis 3312, and the other end is rotatably connected to the joint motor 74. Here, in the axial direction A7 of the first fingertip axis 3311, the projection of the driving link 3323 and the projection of the driven link 3324 intersect.

[0084] The following will be explained with reference to the simplified diagram of the mechanical structure in Fig. 14. When the driven link 3323 rotates around the joint drive shaft 742, the driven link 3323 rotates the first fingertip shaft 3311 around the joint drive shaft 742. Since the first fingertip shaft 3311 and the second fingertip shaft 3312 are connected to the fingertip 331, the driven link 3323 indirectly rotates the second fingertip shaft 3312, which in turn rotates the driven link 3324 connected to the second fingertip shaft 3312. Since the lengths of the driven link 3324 and the driving link 3323 are fixed, the first fingertip axis 3311 is rotatably connected to the driving link 3323, and the second fingertip axis 3312 is rotatably connected to the driven link 3324, the driving link 3323 and the driven link 3324 are mutually inhibited, and the fingertip 331 can be switched between a state in which it points toward the palm 1 in the extension direction DC and a state in which it moves away from the palm 1. In this way, when the robot hand 100 needs to grasp an object with a relatively small volume, the fingertip 331 can be bent toward the palm 1 and hooked on the object so that it does not fall off. Therefore, such an installation method can improve the adaptability of the robot hand 100 to different sizes of objects and expand the range of application of the robot hand 100.

[0085] In this embodiment, one end of the driven link 3324 that connects to the joint motor 74 may be connected to the joint motor base 741, so that the movement of the fingertip 331 can be controlled by adjusting the connection position between the driven link 3324 and the joint motor base 741 and adjusting parameters such as the angle between the driving link 3323 and the driven link 3324. Also, with reference to FIG. 12 and FIG. 13, the mechanical finger 3 will be described as the first mechanical finger 31. The driven link 3324 may be rotatably connected to the joint drive shaft 742. In this embodiment, the driving link 3323 has a first sub-link 33231 and a second sub-link 33232. One end of the first sub-link 33231 is fixedly connected to the joint drive shaft 742, and the other end is connected to the second sub-link 33232. An end of the second sub-link 33232 that is away from the first sub-link 33231 is rotatably connected to the first fingertip shaft 3311.

[0086] The first sub-link 33231 is rotated by the rotation of the joint drive shaft 742, and the first sub-link 33231 moves the second sub-link 33232, which moves the fingertip 331 to move the driven link 3324, so that the fingertip 331 can be switched between a state in which it is in the extension direction DC and points toward the palm 1 and a state in which it is away from the palm 1. With this installation, the driving link 3323 can be divided into two independent sub-links, and the user can adjust the angle between the second sub-link 33232 and the driven link 3324 by adjusting the lengths of the first sub-link 33231 and the second sub-link 33232. Compared to an embodiment in which the connection position on the joint motor base 741 is changed, this installation method makes it possible to easily adjust the relationship between the driving link 3323 and the driven link 3324 and adjust the motion of the fingertip 331.

[0087] The first sub-link 33231 and the second sub-link 33232 may be fixedly connected to form a bent driven link 3323. In an embodiment in which the driven link 3323 is integrally formed, when the driven link 3324 contacts an object, the object prevents the driven link 3324 from further rotating, so that the integrally formed driven link 3323 is also unlikely to rotate further. Therefore, in some embodiments, the first sub-link 33231 and the second sub-link 33232 are rotatably connected. When the driven link 3324 contacts an object, the driven link 3324 is immobilized, so that the position of the second fingertip axis 3312 is fixed. At this time, the first sub-link 33231 can continue to rotate, moving the second sub-link 33232 toward the fingertip 331, rotating the first fingertip axis 3311 around the second fingertip axis 3312, and realizing the rotation of the fingertip 331 around the second fingertip axis 3312.

[0088] With this arrangement, even if the proximal finger portion 333 and the intermediate finger portion 332 come into contact with the object and cannot move any further when the robotic hand 100 grasps an object, the robotic hand 100 can change the angle between the fingertip 331 and the intermediate finger portion 332 so that the fingertip 331 can grasp the object within the grasping space GS shown in FIG. 15, thereby increasing the grasping stability of the robotic hand 100.

[0089] Furthermore, the middle finger portion 332 further has an elastic member 3325 provided along the extension direction DC. One end of the elastic member 3325 is fixedly connected to a connection point (not shown) of the fingertip 331, and the other end is fixedly connected to the driven link 3324, and the elastic member 3325 is in a stretched state. Here, the connection point moves away from the extension axis of the second fingertip axis 3312. When the fingertip 331 rotates around the second fingertip axis 3312, the connection point moves away from the extension axis of the second fingertip axis 3312, so that the connection point also rotates around the second fingertip axis 3312. Hereinafter, the rotation of the fingertip 331 toward the middle finger portion 332 is referred to as a forward rotation, and the rotation of the fingertip 331 away from the middle finger portion 332 is referred to as a reverse rotation. When the fingertip 331 rotates forward, the linear distance between the connection point and the fixed point of the elastic member 3325 on the driven link 3324 increases, and at this time the elastic member 3325 stretches further. When the fingertip 331 rotates backward, the linear distance between the connection point and the fixed point of the elastic member 3325 on the driven link 3324 decreases. Since the elastic member 3325 is in a stretched state, the tensile force of the elastic member 3325 can assist the fingertip 331 in returning to its original position.

[0090] Those skilled in the art can set the fixing position of the elastic member 3325 in the driven link 3324 according to actual needs. For example, when the length of the elastic member 3325 is short, the fixing position can be brought closer to the second fingertip axis 3312. When the length of the elastic member 3325 is long, the fixing position can be brought closer to the joint drive axis 742. As shown in FIG. 13, the driven link 3324 has a plurality of connection holes 33241 in its extension direction DC, and those skilled in the art can replace the elastic members 3325 having different lengths and spring constants according to the state of the robot hand 100, or can easily replace the elastic members 3325 of a plurality of different specifications, so that the mechanical finger 3 can be compatible with a plurality of types of elastic members 3325 available on the market, and the maintenance cost can be reduced.

[0091] In an embodiment in which the middle finger 332 includes a driving link 3323 and a driven link 3324, the joint motor 74 may be the above-mentioned worm gear structure, or may be a structure in which a joint driving gear 743 and a joint driven gear 745 are provided, or may be a structure in which the motor directly drives the joint drive shaft 742, for example. The present invention is not limited to this.

[0092] In another embodiment, the joint structure 7 does not include a joint motor 74. In this embodiment, the joint structure 7 and the rotation drive module 21 cooperate to drive the change in angle between the middle finger 332 and the near-end finger 333. Referring to FIG. 9 and FIG. 10, the joint structure 7 has a first joint shaft 71, a second joint shaft 72, and a third joint shaft 73 arranged in parallel. The near-end finger 333 has a first near-end link 3331 and a second near-end link 3332. The middle finger 332 has a first intermediate link 3321 and a second intermediate link 3322. One end of the first near-end link 3331 is fixedly connected to the rotation shaft 2113, and the other end is rotatably connected to the first joint shaft 71. Between the rotation shaft 2113 and the first joint shaft 71, the first near-end link 3331 is also rotatably connected to the second joint shaft 72. One end of the second near-end link 3332 is rotatably connected to the rotary motor base 2112, and the other end is rotatably connected to the third joint shaft 73. One end of the first intermediate link 3321 is rotatably connected to the first fingertip shaft 3311, and the other end is rotatably connected to the second joint shaft 72. One end of the second intermediate link 3322 is rotatably connected to the second fingertip shaft 3312, and the other end is rotatably connected to the third joint shaft 73. Between the second fingertip shaft 3312 and the third joint shaft 73, the second intermediate link 3322 is also rotatably connected to the first joint shaft 71. Here, in the axial direction A7 of the first fingertip shaft 3311, the projection of the first near-end link 3331 intersects with the projection of the second near-end link 3332, and the projection of the first intermediate link 3321 intersects with the projection of the second intermediate link 3322.

[0093] The description will be given with reference to FIG. 16. The rotating shaft 2113 rotates the first near-end link 3331. Since the first near-end link 3331 is rotatably connected to the first joint shaft 71 and the second joint shaft 72, the first near-end link 3331 can move the second intermediate link 3322 connected to the first joint shaft 71 and the first intermediate link 3321 connected to the second joint shaft 72. Since the second intermediate link 3322 is also connected to the third joint shaft 73 and the second fingertip shaft 3312, the movement of the second intermediate link 3322 can rotate the second near-end link 3332 connected to the third joint shaft 73 and move the fingertip 331. Since the first intermediate link 3321 is also connected to the first fingertip shaft 3311, the movement of the first intermediate link 3321 can move the fingertip 331.

[0094] When the pivot shaft 2113 drives the first near-end link 3331, the first near-end link 3331, the second near-end link 3332, the first intermediate link 3321 and the second intermediate link 3322 are limited by their respective lengths and angles relative to each other, allowing the mechanical finger 3 to assume a bent shape as shown in FIG. 16.

[0095] With this installation, the mechanical finger 3 does not need to have a joint motor 74 in the joint structure 7. By associating the proximal finger portion 333 and the middle finger portion 332 with the drive structure 2, the drive structure 2 can drive the mechanical finger 3 to change the angle between the extension direction DC and the palm plane 12, as well as change the angle between the proximal finger portion 333 and the middle finger portion 332, thereby improving the utilization rate of the drive structure 2, simplifying the structure of the mechanical finger 3, and reducing the production cost of the mechanical finger 3.

[0096] Taking the embodiment shown in FIG. 7 as an example, the drive structure 2 of the mechanical ring finger 323 and the mechanical little finger 324 can perform bending of the mechanical finger 3. When the ring finger and little finger of a human hand approach the center of the palm, the fingers are usually also bent. Therefore, such an installation structure improves the degree of anthropomorphism of the robot hand 100. In addition, since the mechanical ring finger 323 and the mechanical little finger 324 usually play an auxiliary role rather than a leading role when grasping an object, such an installation method does not require the installation of the joint motor 74, and most grasping postures can be imitated with a small number of joint motors 74, which is advantageous for ensuring the normal operation of the robot hand 100 while reducing the production cost of the robot hand 100.

[0097] In addition, in the embodiment shown in FIG. 7, the joint structures 7 of the first mechanical finger 31, the mechanical index finger 321, and the mechanical middle finger 322 are provided with joint motors 74, thereby increasing the flexibility of adjustment of the first mechanical finger 31, the mechanical index finger 321, and the mechanical middle finger 322, and enabling the robot hand 100 to grasp objects of different sizes and irregular outer surfaces.

[0098] In addition, similar to the flexibility of movement of the index finger and thumb of a human hand, the drive structure 2 of the first mechanical finger 31 and the mechanical index finger 321 is an oscillating drive module 22, which allows the first mechanical finger 31 and the mechanical index finger 321 of the robot hand 100 to oscillate relative to the palm surface 13, thereby adjusting the grasping position when grasping an object, and improving the grasping adaptability and flexibility of the robot hand 100 for objects of different sizes.

[0099] It should be noted that the embodiment shown in FIG. 7 is illustrative and not limiting. Those skilled in the art may install different numbers of mechanical fingers 3 according to actual needs, and the drive structures 2 and joint structures 7 of the first mechanical finger 31, the mechanical index finger 321, the mechanical middle finger 322, the mechanical ring finger 323, and the mechanical little finger 324 may be the same, and the present invention is not limited thereto. The joint structure 7 and the drive structure 2 of the present invention can be provided on the mechanical finger 3 according to demand, and the mechanical finger 3 can have different movement capabilities and freedom of movement, so that the adaptability of the joint structure 7 and the drive structure 2 is high and the portability is high.

[0100] The second aspect of the present invention provides a robot comprising a trunk, an upper limb, and the robot hand 100 according to the above embodiment. One end of the upper limb is connected to the robot hand, and the other end is connected to the trunk to form a structure similar to that of a human body. Since the mechanical fingers 3 of the robot hand 100 are capable of rotational movement in two different directions, the robot can perform movements similar to those of a human hand, such as playing a piano or pressing a keyboard, and the degree of anthropomorphism of the robot can be improved. Electronic components such as power elements, drivers, and controllers are installed in the robot and are used to drive the mechanical movements of the robot hand 100. As can be understood, these electronic components can be installed in the trunk or upper limb to improve the compactness and completeness of the structure of the robot. Alternatively, they may be installed outside the robot, and the present invention is not limited thereto. It should be noted that the beneficial effects described above for each embodiment of the robot hand 100 can be similarly described for the robot of the present invention, and for the sake of simplicity, the description thereof will be omitted in the present invention.

[0101] The specific embodiments described herein are merely illustrative of the spirit of the present invention, and those skilled in the art may make various modifications, supplements, or substitutes in a similar manner to the specific embodiments described herein without departing from the spirit of the present invention or beyond the scope defined in the appended claims.

[0102] Each of the technical features of the above embodiments can be combined in any combination, and for the sake of brevity, not all possible combinations of each of the technical features in the above embodiments are described, but as long as there is no contradiction in the combination of these technical features, it should be considered to be within the scope of this specification. [Explanation of symbols]

[0103] 100 Robot Hand 1 Palm 12 palmar plane 13 Palmar aspect 131 Tip surface 132 Side end face 2 Drive structure 21 Rotational drive module 211 Rotary motor 212 Rotating main drive gear 213 Rotating driven gear 2110 Rotary motor body 2111 Rotating drive shaft 2112 Rotating motor base 2113 Rotating shaft 22 Oscillating drive module 221 Oscillating gear set 222 First oscillating gear 2221 1st main gear 2222 1st sub gear 223 Second oscillating gear 2231 2nd main gear 2232 2nd sub gear 224 Swing Motor 2240 Swing Motor Base 2241 Swing motor body 2242 First driving gear 2243 Second main driving gear 2244 Cross axis 22441 1st axis 22442 2nd axis 2245 First drive shaft 2246 2nd drive shaft 225 Output gear 3 mechanical fingers 31 1st mechanical finger 311 Palmar Unit 312 Finger Unit 32 Second mechanical finger 321 Mechanical Index Finger 322 Mechanical middle finger 323 Mechanical Ring Finger 324 Mechanical Little Finger 331 Fingertips 332 Middle finger 333 Proximal finger 3311 1st fingertip axis 3312 2nd fingertip axis 3321 1st intermediate link 3322 2nd intermediate link 3323 Active Link 3324 Follower link 3325 Elastic members 3331 1st near-end link 3332 2nd near-end link 33231 1st sublink 33232 Second sublink 33241 Connection hole 34 Fingertip Module 341 Finger pad panel 342 Fingertip Base 3421 Fingertip Base 3422 Fingertip housing 343 Guide Post 344 Elastic Members 345 Guide hole 4 Force Sensor 5 Angle Sensor 7 Joint Structure 71 First joint axis 72 Second joint axis 73 Third joint axis 74 Joint Motor 741 Joint Motor Base 742 Articulated Drive Shaft 743 Joint Drive Gear 744 Joint motor body 745 Joint Driven Gear X length direction Y Width direction Z thickness direction DE Connection Direction DC extension direction RA Rotation axis SA Swing axis FA bending axis A1 Main rotation axis A2 Driven rotation axis A3 Rotation axis A4 Rotation axis A5 Joint axis A6 Joint driven axis A7 Axial direction of the first fingertip axis 3311 EA extension axis GS gripping space α angle VA Side View VB Bird's-eye view

Claims

1. A robotic hand, A palm portion having a palm plane and a palm side perpendicular to the palm plane; A mechanical finger provided on the palm surface; A drive structure is provided between the palm portion and the mechanical fingers, and connects the mechanical fingers and the palm portion in a connection direction, The drive structure is used to drive at least one of the rotation of the mechanical finger around a rotation axis and the rotation of the mechanical finger around a swing axis, the rotation axis extending perpendicular to the connection direction and parallel to the palm plane, and the swing axis intersecting the palm plane and perpendicular to the rotation axis. A robot hand characterized by

2. The drive structure comprises a rotary drive module for driving the mechanical finger in rotation about the rotation axis, the rotary drive module comprising: a rotary motor fixed to the palm portion and including a rotary motor body, a rotary motor base, and a rotary shaft; A rotary drive gear fixedly connected to the rotary motor body; a rotating driven gear fixedly connected to the rotating shaft; The rotary shaft is movably connected to the rotary motor base and fixedly connected to the mechanical finger; The main rotation axis of the rotating main driving gear extends in the connection direction, The rotating driven gear meshes with the rotating main gear, and the driven rotation axis of the rotating driven gear coincides with the rotation axis. The robot hand according to claim 1 .

3. The drive structure comprises a swing drive module for driving the mechanical finger in rotation about the rotation axis and for driving the mechanical finger in rotation about the swing axis, the swing drive module comprising: a swing motor including a swing motor body, a swing motor base, and a cross shaft fixedly connected to the swing motor base; a wobbler gear set including a first wobbler gear and a second wobbler gear; an output gear provided between the first oscillating gear and the second oscillating gear and meshing with the first oscillating gear and the second oscillating gear, The cross shaft has a first shaft extending along the rotation axis and a second shaft extending along the swing axis, the first oscillating gear and the second oscillating gear are each rotatably connected to the first shaft, and the oscillating motor is used to rotate the first oscillating gear and the second oscillating gear in the same direction or in opposite directions; The axis of the output gear coincides with the swing axis, the output gear is fixedly connected to the mechanical finger, and the mechanical finger is rotatably connected to the second shaft. The robot hand according to claim 1 .

4. The rocking motor is A first main gear fixedly connected to the oscillating motor body; a second main gear fixedly connected to the oscillating motor body; The first main driving gear meshes with the first oscillating gear, and a rotation axis of the first main driving gear extends in the connection direction, The second main driving gear meshes with the second oscillating gear, and a rotation axis of the second main driving gear extends in the connection direction. The robot hand according to claim 3 .

5. The first oscillating gear comprises a first main gear and a first sub gear which are fixedly connected, the first main gear meshes with the first driving gear, the first sub gear meshes with the output gear, and the diameter of the first main gear is larger than that of the first sub gear; and / or The second oscillating gear includes a second main gear and a second sub gear which are fixedly connected to each other, the second main gear meshes with the second driving gear, the second sub gear meshes with the output gear, and the diameter of the second main gear is larger than that of the second sub gear. The robot hand according to claim 4 .

6. The mechanical finger includes a palm base unit and a finger unit, and the drive structure is further provided between the palm base unit and the finger unit to connect the palm base unit and the finger unit and to drive the finger unit to rotate around a bending axis; The projection of the bending axis and the projection of the rotation axis intersect. The robot hand according to claim 1 .

7. The robot hand includes: a fingertip module having a finger pad panel and a fingertip base; a force sensor provided in the fingertip module for detecting a force of the fingertip of the mechanical finger; the finger pad panel is slidingly connected to the fingertip base; At least a portion of the force sensor is provided on a side of the fingertip base facing the finger pad panel. The robot hand according to claim 1 .

8. The side of the fingertip base facing the finger pad panel has a guide post, and the finger pad panel has a guide hole for fitting the guide post, and / or the side of the fingertip base facing the finger pad panel has a guide hole, and the finger pad panel has a guide post that fits into the guide hole. The robot hand according to claim 7 .

9. The fingertip module further includes an elastic member provided between the finger pad panel and the fingertip base, one end of the elastic member abutting against the finger pad panel and the other end abutting against the fingertip base, the elastic member being in a compressed state. The robot hand according to claim 7 .

10. The number of the mechanical fingers is plural, and each of the mechanical fingers is provided with a corresponding drive structure; The palmar surface has a tip surface and a side end surface perpendicular to the tip surface, and the multiple mechanical fingers include a first mechanical finger provided on the side end surface and a second mechanical finger provided on the tip surface, and an angle between an extension axis of the first mechanical finger and the palmar plane is 10 degrees or more and 30 degrees or less, The pad of the first mechanical finger and the pad of the second mechanical finger are provided on the same plane. The robot hand according to claim 1 .

11. The mechanical finger has a fingertip, an intermediate finger portion, and a proximal finger portion provided along an extension direction, the intermediate finger portion is rotatably connected to the fingertip, and the drive structure is connected between the proximal finger portion and the palm portion, The robot hand includes: a joint structure provided between the intermediate finger portion and the proximal finger portion, rotatably connected to the intermediate finger portion and the proximal finger portion, for changing an angle between the intermediate finger portion and the proximal finger portion; The robot hand according to claim 1 .

12. The drive structure comprises a rotary drive module for driving the mechanical finger in rotation about the rotation axis, the rotary drive module comprising: a rotary motor fixed to the palm portion and including a rotary motor body, a rotary drive shaft, a rotary motor base, and a rotary shaft; a rotating main driving gear fixedly connected to the rotating drive shaft; a rotating driven gear fixedly connected to the rotating shaft; the pivot shaft is movably connected to the pivot motor base and fixedly connected to the proximal finger; The main rotation axis of the rotating main driving gear extends in the connection direction, The rotating driven gear meshes with the rotating main gear, and the driven rotation axis of the rotating driven gear coincides with the rotation axis. The robot hand according to claim 11 .

13. the fingertip has a first fingertip axis and a second fingertip axis provided in parallel, the joint structure has a first joint axis, a second joint axis, and a third joint axis provided in parallel, the proximal finger portion has a first proximal link and a second proximal link, one end of the first proximal link is fixedly connected to the rotating shaft, and the other end is rotatably connected to the first joint shaft and the second joint shaft, one end of the second proximal link is rotatably connected to the rotating motor base, and the other end is rotatably connected to the third joint shaft; a projection of the first proximal link and a projection of the second proximal link intersect in an axial direction of the first fingertip shaft; The intermediate finger portion has a first intermediate link and a second intermediate link, one end of the first intermediate link is rotatably connected to the first fingertip shaft and the other end is rotatably connected to the second joint shaft, one end of the second intermediate link is rotatably connected to the second fingertip shaft and the other end is rotatably connected to the third joint shaft and the first joint shaft, and a projection of the first intermediate link intersects with a projection of the second intermediate link in the axial direction of the first fingertip shaft. The robot hand according to claim 12 .

14. The joint structure has a joint motor, and the joint motor an articulation motor base fixedly connected to the proximal finger; a joint drive shaft rotatably connected to the joint motor base and fixedly connected to the middle finger; A joint drive gear; a joint motor body fixed to the joint motor base and fixedly connected to the joint driving gear for rotationally driving the joint driving gear; a joint driven gear fixedly connected to the joint drive shaft, the articulation drive shaft is used to rotate the intermediate finger portion to change an angle between the intermediate finger portion and the proximal finger portion; A joint drive axis of the joint drive gear extends in the extension direction, The joint driven gear meshes with the joint driving gear, and the joint driven axis of the joint driven gear is perpendicular to the joint driving axis. The robot hand according to claim 11 .

15. The fingertip has a first fingertip axis and a second fingertip axis that are arranged in parallel, and the middle finger portion has a driving link having one end fixedly connected to the joint drive shaft and the other end rotatably connected to the first fingertip shaft; a driven link having one end rotatably connected to the second fingertip shaft and the other end rotatably connected to the joint motor, the drive link is driven by the joint motor so as to rotate around the joint drive shaft, In the axial direction of the first fingertip shaft, a projection of the driving link and a projection of the driven link intersect. The robot hand according to claim 14 .

16. The driving link has a first sub-link and a second sub-link, one end of the first sub-link is fixedly connected to the joint drive shaft, the other end is rotatably connected to the second sub-link, an end of the second sub-link remote from the first sub-link is rotatably connected to the first fingertip shaft, and the driven link is rotatably connected to the joint drive shaft. The robot hand according to claim 15 .

17. The intermediate finger further has an elastic member provided along the extension direction, one end of the elastic member is fixedly connected to the connection point of the fingertip and the other end is fixedly connected to the driven link, the elastic member is in a stretched state, and the connection point is away from the extension axis of the second fingertip axis. The robot hand according to claim 16 .

18. The number of the mechanical fingers is plural, and each of the mechanical fingers is provided with a corresponding drive structure and / or joint structure. The robot hand according to claim 11 .

19. A robot comprising a trunk, an upper limb, and the robot hand according to any one of claims 1 to 18, wherein one end of the upper limb is connected to the robot hand and the other end is connected to the trunk. A robot characterized by:

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