Finger mechanism and robot

Abstract

A finger mechanism and a robot, relating to the technical field of robots, solving the technical problem in the related art of finger mechanisms obstructing bending of the palm of a robotic hand and making it difficult for the palm to cooperate with the finger mechanisms to implement grasping. The finger mechanism (12) comprises a rigid driving assembly (121), a linkage assembly (122) and a phalange assembly (123), wherein the linkage assembly is connected to both the rigid driving assembly and the phalange assembly, and the rigid driving assembly drives, by means of the linkage assembly, the phalange assembly to grasp an object to be grasped; the rigid driving assembly, the linkage assembly and the phalange assembly are arranged in a first direction; in a second direction, the connection position between the linkage assembly and the rigid driving assembly is higher than the connection position between the linkage assembly and the phalange assembly, such that the rigid driving assembly is offset relative to the phalange assembly in the second direction; the second direction is the direction away from the phalange assembly, and there is an included angle between the first direction and the second direction.

Description

A finger mechanism and robot

[0001] Cross-reference to related applications

[0002] This disclosure claims priority to Chinese Patent Application No. 202411205336.1, filed on August 29, 2024, by Beijing Galaxy General Robotics Co., Ltd., entitled "A Finger Mechanism and Robot", the entire contents of which are incorporated herein by reference. Technical Field

[0003] This disclosure relates to, but is not limited to, the field of robotics, and particularly to a finger mechanism and a robot. Background Technology

[0004] With the improvement of intelligence, people are using robotic arms on robots to grasp objects. Summary of the Invention

[0005] This disclosure provides a finger mechanism and a robot that increases the degree of bending of the palm, thereby reducing the difficulty of the palm and finger mechanism cooperating to grasp the object to be grasped.

[0006] On one hand, this disclosure provides a finger mechanism, which includes a rigid drive assembly, a linkage assembly, and a knuckle assembly. The linkage assembly is connected to the rigid drive assembly and the knuckle assembly respectively. The rigid drive assembly drives the knuckle assembly to grasp an object through the linkage assembly. The rigid drive assembly, the linkage assembly, and the knuckle assembly are arranged along a first direction. Along a second direction, the connection position between the linkage assembly and the rigid drive assembly is higher than the connection position between the linkage assembly and the knuckle assembly, so that the rigid drive assembly is offset relative to the knuckle assembly along the second direction. The second direction is a direction away from the knuckle assembly, and the first direction and the second direction are perpendicular.

[0007] The finger mechanism provided in this disclosure, along the second direction, has a connection point between the linkage assembly and the rigid drive assembly higher than the connection point between the linkage assembly and the knuckle assembly. This causes the rigid drive assembly to be offset relative to the knuckle assembly along the second direction. When the knuckle assembly is located on the palm side of the robot hand, the rigid drive assembly is offset in a direction away from the palm side. In other words, along the second direction, there is an offset gap between the rigid drive assembly and the palm. When the palm and finger mechanism cooperate to grasp an object, the rigid drive assembly slightly hinders the bending of the palm, thereby reducing the difficulty of the palm and finger mechanism cooperating in grasping. Compared to related technologies, where the rigid drive assembly is close to the palm, hindering the bending of the palm and making it difficult for the palm and finger mechanism to cooperate in grasping, this disclosure, by making the connection point between the linkage assembly and the rigid drive assembly higher in the second direction than the connection point between the linkage assembly and the knuckle assembly, and by offsetting the rigid drive assembly relative to the knuckle assembly in the second direction, achieves the technical effect of increasing the bending of the palm and thus reducing the difficulty of the palm and finger mechanism cooperating in grasping an object.

[0008] In one possible implementation of this disclosure, the finger mechanism further includes a fixing plate, the protective portion of which is fixedly connected to the side of the rigid drive assembly near the knuckle assembly, and the connecting portion of the fixing plate is connected to the linkage assembly. Along the second direction, the knuckle assembly and the protective portion near the knuckle assembly form an offset space, which is used to place a target object.

[0009] In one possible implementation of this disclosure, the rigid drive assembly includes a connecting seat and a power push rod assembly. The connecting seat is fixed to the protective part on one side along the second direction. The connecting seat is provided with a sliding groove assembly. The power push rod assembly is located in the sliding groove assembly and slides relative to the sliding groove assembly to drive the knuckle assembly to grasp the object to be grasped.

[0010] In one possible implementation of this disclosure, the power push rod assembly includes a first power push rod, the sliding groove assembly includes a first sliding groove extending along a first direction on a connecting seat, the first power push rod is disposed in the first sliding groove, the linkage assembly includes a first connecting rod and a second connecting rod, the finger assembly includes a proximal finger, the first connecting rod is connected to the first power push rod via a first rotating shaft, and is connected to both sides of the proximal finger along a third direction via a second rotating shaft, the second connecting rod is connected to both sides of the proximal finger along a third direction via a third rotating shaft, and the second connecting rod is connected to the connecting part via a fourth rotating shaft; wherein, the third direction is perpendicular to the first and second directions, the axes of the first, second, and third rotating shafts are parallel to the third direction, and the axis of the fourth rotating shaft is parallel to the second direction.

[0011] In one possible implementation of this disclosure, the power push rod assembly includes two first power push rods, and the sliding groove assembly includes first sliding grooves symmetrically arranged along a third direction on the connecting seat. The two first power push rods are respectively disposed in the two first sliding grooves. The two first connecting rods are respectively connected to the two first power push rods through a first rotating shaft, and are respectively connected to the two sides of the proximal phalanx along a third direction through a second rotating shaft. The second connecting rod is connected to the two sides of the proximal phalanx along a third direction through a third rotating shaft. The second connecting rod is connected to the connecting fixing plate through a fourth rotating shaft.

[0012] In one possible implementation of this disclosure, the outer contours of both the first and second rotating shafts are spherical.

[0013] In one possible implementation of this disclosure, the power push rod assembly includes a second power push rod; the sliding groove assembly includes a second sliding groove extending in a first direction between two symmetrical first sliding grooves on the connecting seat; in the second direction, the first sliding groove is higher than the first sliding groove; the linkage assembly includes a third link and a fourth link; the third link is connected to the second power push rod via a fifth pivot; the third link and the second link are connected via a sixth pivot; the outer contours of the fifth and sixth pivots are both spherical; the third link and the fourth link are connected via a seventh pivot; the proximal phalanx forms a first receiving cavity with an opening in the first direction; the third link and the fourth link are located within the first receiving cavity; and the phalanx assembly includes a first middle phalanx, a second middle phalanx, and... The distal phalanx, the first middle phalanx and the proximal phalanx are connected by an eighth pivot along both sides of a third direction, the first middle phalanx and the distal phalanx are connected by a ninth pivot along both sides of a third direction, the first middle phalanx forms a second receiving cavity with an opening along a first direction, at least a portion of the second middle phalanx is located in the second receiving cavity, the second middle phalanx and the proximal phalanx are connected by a tenth pivot along both sides of a third direction, the fourth link is connected to the second middle phalanx by an eleventh pivot, and the second middle phalanx and the distal phalanx are connected by a twelfth pivot along both sides of a third direction; wherein the axial directions of the fifth, sixth, seventh, eighth, ninth, tenth, eleventh and twelfth pivots are all the same as the third direction.

[0014] In one possible implementation of this disclosure, the first sliding groove includes a first limiting portion disposed toward the knuckle assembly. When the first power push rod slides relative to the first sliding groove, the first limiting portion abuts against the side of the first power push rod toward the knuckle assembly. The second sliding groove includes a second limiting portion disposed along a second direction. When the second power push rod slides relative to the second sliding groove, the second limiting portion abuts against the side of the second power push rod along the second direction.

[0015] In one possible implementation of this disclosure, the finger mechanism further includes an elastic pretensioner, the first end of which is fixed to a third link, and the second end of which is fixed to a fourth link. On the other hand, this disclosure provides a robot comprising the finger mechanism, manipulator, and robotic arm provided in any of the first aspects, wherein the manipulator forms a receiving cavity, the knuckle assembly of the finger mechanism is located outside the receiving cavity, and a rigid drive assembly is disposed within the receiving cavity.

[0016] The robot provided in this disclosure includes the finger mechanism provided in any of the first aspects. The driving rigid component in the finger mechanism is offset relative to the knuckle component in a direction away from the knuckle component, and the knuckle component and the palm are located on the same side. In other words, the offset of the driving rigid component relative to the knuckle component in a direction away from the palm increases the distance between the driving rigid component and the palm, thereby reducing the degree to which the driving rigid component hinders the bending of the palm and increasing the degree of bending of the palm. At this time, when the robot controls the manipulator to grasp the object to be grasped, the palm can cooperate with the fingers to bend to a greater degree, so as to provide more directional limits for the object to be grasped, thereby making the robot grasp the object to be grasped more accurately. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this disclosure, the accompanying drawings used in the embodiments of this disclosure will be described below.

[0018] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the specification, serve to illustrate the technical solutions of this disclosure.

[0019] Figure 1 is a schematic diagram of the structure of the robot provided in an embodiment of this disclosure;

[0020] Figure 2 is a schematic diagram of the structure of the finger mechanism in the robot provided in the embodiment of this disclosure, excluding the proximal phalanx;

[0021] Figure 3 is a schematic diagram of the drive component in the finger mechanism of the robot provided in the embodiment of this disclosure;

[0022] Figure 4 is a schematic diagram of the structure of the finger mechanism in the robot provided in the embodiment of this disclosure, in which only the proximal phalanx is bent;

[0023] Figure 5 is a schematic diagram of the structure of the finger mechanism in the robot provided in the embodiment of this disclosure, in which only the proximal phalanx deflects and swings.

[0024] Figure 6 is a schematic diagram of the structure of the proximal phalanx, the first middle phalanx, the second middle phalanx and the distal phalanx of the robot provided in the embodiment of this disclosure, in which the proximal phalanx, the first middle phalanx, the second middle phalanx and the distal phalanx are all bent.

[0025] Figure 7 is a mechanical analysis diagram of the finger mechanism in the robot provided in the embodiments of this disclosure and the finger mechanism in related technologies.

[0026] Explanation of reference numerals in the attached drawings: 1-Manipulator; 11-Fixing plate; 12-Finger mechanism; 121-Rigid drive assembly; 1211-Connecting seat; 12111-First sliding groove; 12112-Second sliding groove; 1212-Power push rod assembly; 12121-First power push rod; 12122-Second power push rod; 122-Link assembly; 1221-First link; 1222-Second link; 1223-Third link; 1224-Fourth link; 123-Knuckle assembly; 1231-Proximal phalanx; 1232-First middle phalanx; 1233 - Second middle finger joint; 1234 - End finger joint; 13 - Elastic preload; 14 - First pivot; 15 - Second pivot; 16 - Third pivot; 17 - Fourth pivot; 18 - Fifth pivot; 19 - Sixth pivot; 20 - Seventh pivot; 21 - Eighth pivot; 22 - Ninth pivot; 23 - Tenth pivot; 24 - Eleventh pivot; 25 - Twelfth pivot; A - First direction; B - Second direction; C - Third direction. Detailed Implementation

[0027] Various exemplary embodiments, features, and aspects of this disclosure will now be described in detail with reference to the accompanying drawings. The same reference numerals in the drawings denote elements that have the same or similar functions. Although various aspects of the embodiments are shown in the drawings, they are not necessarily drawn to scale unless specifically indicated otherwise.

[0028] To make the objectives, technical solutions, and advantages of the embodiments of this disclosure clearer, the specific technical solutions of this disclosure will be further described in detail below with reference to the accompanying drawings of the embodiments of this disclosure. The following embodiments are used to illustrate this disclosure, but are not intended to limit the scope of this disclosure.

[0029] In the embodiments of this disclosure, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of this disclosure, unless otherwise stated, "a plurality of" means two or more.

[0030] Furthermore, in the embodiments of this disclosure, directional terms such as "up," "down," "left," and "right" are defined relative to the orientation in which the components are schematically placed in the accompanying drawings. It should be understood that these directional terms are relative concepts, used for relative description and clarification, and can change accordingly depending on the orientation in which the components are placed in the accompanying drawings.

[0031] In the embodiments disclosed herein, unless otherwise expressly specified and limited, the term "connection" should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral part; it can be a direct connection or an indirect connection through an intermediate medium.

[0032] In embodiments of this disclosure, the terms "comprising," "including," or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0033] In this disclosure, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or illustration. Any embodiment or design described as "exemplary" or "for example" in this disclosure should not be construed as being more preferred or advantageous than other embodiments or designs. Rather, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0034] With the rapid development of technology, intelligent robots that replace humans in performing complex and repetitive tasks have emerged. This disclosure provides a robot that can be a humanoid robot that simulates a human shape or a plant robot that simulates a plant, such as a radish robot. It should be noted that this disclosure does not limit the type of robot.

[0035] In some embodiments, referring to Figures 1 and 2, this disclosure provides a robot that may include a robotic arm and a robotic hand 1 connected to the robotic arm. The robot may also include a finger mechanism 12, with the robotic hand 1 forming a receiving cavity. The knuckle assembly 123 of the finger mechanism 12 is located outside the receiving cavity, and the rigid drive assembly 121 is disposed inside the receiving cavity to grasp objects to be grasped, in order to meet various needs in application scenarios.

[0036] In some embodiments, this disclosure also provides a finger mechanism 12, which includes a rigid drive assembly 121, a link assembly 122, and a knuckle assembly 123. The link assembly 122 is connected to the rigid drive assembly 121 and the knuckle assembly 123, respectively. The rigid drive assembly 121 drives the knuckle assembly 123 to grasp the object to be grasped through the link assembly 122. The rigid drive assembly 121, the link assembly 122, and the knuckle assembly 123 are arranged along a first direction A. Along a second direction B, the connection position between the link assembly 122 and the rigid drive assembly 121 is higher than the connection position between the link assembly 122 and the knuckle assembly 123, so that the rigid drive assembly 121 is offset relative to the knuckle assembly 123 along the second direction B. The second direction B is a direction away from the knuckle assembly 123. The first direction A and the second direction B have an included angle.

[0037] In some embodiments, the rigid drive assembly 121, the linkage assembly 122, and the knuckle assembly 123 are arranged along a first direction A. Here, if the first direction A is the same as the extension direction of the plane where the palm is located, the finger mechanism 12 can also be called a palm-finger mechanism, and the second direction B away from the knuckle assembly 123 can be the direction of the palm towards the back of the hand; if the first direction A is perpendicular to the extension direction of the plane where the palm is located, the finger mechanism 12 can also be called a thumb mechanism, and the direction away from the knuckle assembly 123 can be the direction of the palm towards the wrist. In some embodiments, the finger mechanism 12 can be a palm-finger mechanism or a thumb mechanism.

[0038] In some embodiments, the robotic arm 1 may have only one finger mechanism 12 or multiple finger mechanisms 12. When multiple finger mechanisms 12 are provided, each finger mechanism 12 can be of the same type, such as a palmar finger mechanism, or can be of different types, such as a palmar finger mechanism and a thumb mechanism. This disclosure does not limit this. Furthermore, if multiple finger mechanisms 12 are provided, one finger mechanism 12 can be a thumb mechanism, and the rest can be palmar finger mechanisms. In one possible implementation provided by this disclosure, the robotic arm 1 has four finger mechanisms 12, one of which is a thumb mechanism, and the remaining three are palmar finger mechanisms. Similarly, for the case of five finger mechanisms 12, the example of four finger mechanisms 12 described above can be used, where one finger mechanism 12 is a thumb mechanism, and the other four are palmar finger mechanisms.

[0039] In some embodiments, the linkage assembly 122 is connected to the rigid drive assembly 121 and the knuckle assembly 123 respectively. The rigid drive assembly 121 drives the knuckle assembly 123 to grasp the object to be grasped through the linkage assembly 122. Here, the knuckle assembly 123 may have one degree of freedom, such as the knuckle assembly 123 being flexible; of course, the knuckle assembly 123 may also have multiple degrees of freedom, such as the knuckle assembly 123 being flexible and swingable. This disclosure does not limit this aspect. In one possible implementation provided by the embodiments of this disclosure, the knuckle assembly 123 may have three degrees of freedom, including the flexibility and swingability of the proximal knuckle 1231 and the flexibility of the distal knuckle 1234.

[0040] In some embodiments, the linkage assembly 122 is connected to the rigid drive assembly 121 and the knuckle assembly 123 respectively. The rigid drive assembly 121 drives the knuckle assembly 123 to grasp the object to be grasped through the linkage assembly 122. Here, the driving method of the rigid drive assembly 121 driving the knuckle assembly 123 to grasp the object to be grasped through the linkage assembly 122 can be hydraulic drive, and correspondingly, the rigid drive assembly 121 can be a hydraulic cylinder. The driving method of the rigid drive assembly 121 driving the knuckle assembly 123 to grasp the object to be grasped through the linkage assembly 122 can also be electric drive, and correspondingly, the rigid drive assembly 121 can be a power push rod. Here, it should be noted that the power of the power push rod is electric. Of course, the rigid drive assembly 121 can also drive the knuckle assembly 123 to grasp the object to be grasped in other driving methods. This embodiment of the present disclosure does not limit this.

[0041] In some embodiments, the linkage assembly 122 is connected to both the rigid drive assembly 121 and the knuckle assembly 123. The rigid drive assembly 121 drives the knuckle assembly 123 to grip the object to be gripped via the linkage assembly 122. Here, the linkage assembly 122 can be a two-link assembly, a three-link assembly, etc., and this disclosure does not limit this. In one possible implementation provided by this disclosure, the linkage assembly 122 is a six-link assembly.

[0042] The finger mechanism 12 provided in this embodiment has a second direction B. Since the connection position between the link assembly 122 and the rigid drive assembly 121 is higher than the connection position between the link assembly 122 and the knuckle assembly 123, the rigid drive assembly is offset relative to the knuckle assembly 123 along the second direction B. When the knuckle assembly 123 is located on the palm side of the robot hand 1, the rigid drive assembly 121 is offset in a direction away from the palm side. That is, along the second direction B, there is an offset gap between the rigid drive assembly 121 and the palm. When the palm and finger mechanism 12 cooperate to grasp the object, the rigid drive assembly 121 provides less resistance to the bending of the palm, thereby reducing the difficulty of the palm and finger mechanism 12 cooperating in grasping. It should be noted that palm bending refers to bending a portion of the palm away from the reference plane, with the extended surface of the palm plane as the reference plane, and this direction is opposite to the direction the palm faces towards the back of the hand. Compared to related technologies, where the rigid drive assembly 121 fits against the palm, hindering palm bending and making it difficult for the palm and finger mechanism 12 to grip and cooperate, this disclosure improves the degree of palm bending by making the connection position of the linkage assembly 122 and the rigid drive assembly 121 higher along the second direction B than the connection position of the linkage assembly 122 and the knuckle assembly 123. The rigid drive assembly 121 is offset relative to the knuckle assembly 123 along the second direction B, thereby improving the degree of palm bending and reducing the difficulty of the palm and finger mechanism 12 cooperating to grip the object.

[0043] In some embodiments, referring to Figures 1, 2 and 3, this disclosure also provides a finger mechanism 12, which further includes a fixing plate 11. The protective portion of the fixing plate 11 is fixedly connected to the side of the rigid drive assembly 121 near the knuckle assembly 123. The connecting portion of the fixing plate 11 is connected to the link assembly 122. Along the second direction B, the knuckle assembly 123 and the side of the protective portion near the knuckle assembly 123 form an offset space, which is used to place a target object.

[0044] In some embodiments, the protective portion of the fixing plate 11 is fixedly connected to the side of the rigid drive assembly 121 near the knuckle assembly 123, the connecting portion of the fixing plate 11 is connected to the link assembly 122, and the rigid drive assembly 121 is also connected to the link assembly 122. At this time, the fixing plate 11, the link assembly 122 and the rigid drive assembly 121 are adjacent to each other, making the finger mechanism 12 more stable.

[0045] In some embodiments, the protective portion of the fixing plate 11 is fixedly connected to the side of the rigid drive assembly 121 near the knuckle assembly 123. Here, "fixedly connected" refers to a fixed connection, meaning the relative positions do not change. The connection method can be a non-removable connection, such as welding or bonding. Of course, the connection method can also be a detachable connection, such as a threaded connection or a snap-fit ​​connection. This disclosure does not limit the specific method. In one possible implementation provided by this disclosure, the protective portion of the fixing plate 11 is welded to the side of the rigid drive assembly 121 near the knuckle assembly 123.

[0046] In some embodiments, the connecting portion of the fixing plate 11 is connected to the link assembly 122. Here, the connection method between the connecting portion of the fixing plate 11 and the link assembly 122 is not limited; in other words, the position between the connecting portion and the link assembly 122 can change. For example, the link assembly 122 can rotate relative to the connecting portion, or it can translate relative to the connecting portion. This disclosure does not limit this aspect. In one possible implementation provided by this disclosure, the link assembly 122 can rotate relative to the connecting portion.

[0047] In some embodiments, the bias space is further used to place a target object. Here, the target object can be a sensor that enables the robotic arm 1 to interact with the outside world more effectively and intelligently, facilitating more accurate grasping of the object to be grasped by the robotic arm 1, thereby improving the intelligence level of the robotic arm 1. Of course, the target object can also be other components; this disclosure does not limit the specific components. In one possible implementation provided by this disclosure, the bias space is used to place an information acquisition device for collecting the grasping information of the object to be grasped.

[0048] The finger mechanism 12 provided in this embodiment of the present disclosure forms an offset space by setting the knuckle assembly 123 and the protective part close to the side of the knuckle assembly 123. The offset space is used to place the target object to adapt to different user needs.

[0049] In some embodiments, referring to Figures 1, 2 and 3, this disclosure provides a finger mechanism 12. The rigid drive assembly 121 includes a connecting seat 1211 and a power push rod assembly 1212. The connecting seat 1211 is fixed to the protective part along the second direction B. A sliding groove assembly is provided on the connecting seat 1211. The power push rod assembly 1212 is located in the sliding groove assembly and slides relative to the sliding groove assembly to drive the knuckle assembly 123 to grasp the object to be grasped.

[0050] In some embodiments, the rigid drive assembly 121 may further include a feedback sensor, which may be disposed on the power push rod assembly 1212 to obtain the specific and precise position of the power push rod assembly 1212 in the sliding groove assembly.

[0051] The finger mechanism 12 provided in this embodiment of the present disclosure, by positioning the power push rod assembly 1212 within a sliding groove and sliding it relative to the sliding groove assembly, exhibits higher rigidity and bending resistance during the gripping process of the knuckle assembly 123, thereby improving the durability of the power push rod assembly 1212 and the stability and accuracy of the knuckle assembly 123. In one possible implementation provided in this embodiment of the present disclosure, the knuckle assembly 123 can achieve a horizontal fingertip contact force of 15.3N.

[0052] In some embodiments, referring to Figures 1, 2, 3, and 4, this disclosure provides a finger mechanism 12. A power push rod assembly 1212 includes a first power push rod 12121. A sliding groove assembly includes a first sliding groove 12111 extending along a first direction A on a connecting seat 1211. The first power push rod 12121 is disposed within the first sliding groove 12111. A connecting rod assembly 122 includes a first connecting rod 1221 and a second connecting rod 1222. A knuckle assembly 123 includes a proximal knuckle 1231. The first connecting rod 1221 and the first connecting rod 1222 are connected... A power push rod 12121 is connected via a first rotating shaft 14 and connected to the proximal phalanx 1231 along the third direction via a second rotating shaft 15. A second connecting rod 1222 is connected to the proximal phalanx 1231 along the third direction via a third rotating shaft 16. The second connecting rod 1222 is connected to the connecting part via a fourth rotating shaft 17. The third direction is perpendicular to the first direction A and the second direction B. The axes of the first rotating shaft 14, the second rotating shaft 15 and the third rotating shaft 16 are parallel to the third direction. The axis of the fourth rotating shaft 17 is parallel to the second direction B.

[0053] In some embodiments, two first sliding grooves 12111 can be symmetrically arranged on the connecting seat 1211 along a third direction. The power push rod assembly 1212 includes two first power push rods 12121, which are respectively arranged in the first sliding grooves 12111 to improve the stability of its sliding.

[0054] In some embodiments, the first rotating shaft 14 connection refers to the connection via a first rotating shaft and a first rotating shaft hole. Alternatively, it can be connected via a first rotating shaft and a first bearing hole. The explanations for the second rotating shaft 15 connection, the third rotating shaft 16 connection, and the fourth rotating shaft 17 connection are the same. In one possible implementation provided by this disclosure embodiment, only the fourth rotating shaft 17 connection uses a fourth rotating shaft equipped with a fourth rotating shaft hole.

[0055] In some embodiments, when the two first power push rods 12121 are pushed out at the same speed and in the same direction, the third rotating shaft 16 can rotate clockwise or counterclockwise, thereby causing the proximal phalanx 1231 to bend, similar to the bending of the human first phalanx, so as to realize the degree of freedom of the proximal phalanx 1231 in the finger mechanism 12 to bend. In one possible implementation provided in this disclosure, the rotation angle is 0 degrees to 90 degrees.

[0056] In some embodiments, the two first power push rods 12121 are pushed out at the same speed in the direction close to the proximal phalanx 1231. At this time, the proximal phalanx 1231 rotates clockwise about the axis of the third pivot 16, thereby causing the proximal phalanx 1231 to bend along the side close to the finger.

[0057] This disclosure provides a finger mechanism 12, a power push rod assembly 1212 including two first power push rods 12121, a sliding groove assembly including first sliding grooves 12111 symmetrically arranged along a third direction on a connecting seat 1211, two first power push rods 12121 respectively disposed in two first sliding grooves 12111, two first connecting rods 1221 respectively connected to the two first power push rods 12121 via first rotating shafts 14, and respectively connected to the two sides of the proximal phalanx 1231 along a third direction via second rotating shafts 15, a second connecting rod 1222 connected to the two sides of the proximal phalanx 1231 along a third direction via third rotating shafts 16, and a second connecting rod 1222 connected to a fixing plate 11 via a fourth rotating shaft 17.

[0058] In some embodiments, referring to Figures 1, 2, 3 and 5, this disclosure provides a finger mechanism 12, wherein the outer contours of the first rotating shaft 14 and the second rotating shaft 15 are both spherical.

[0059] In some embodiments, the first rotating shaft 14 connection refers to the connection via a first rotating shaft and a first rotating shaft hole. The spherical outer contour of the first rotating shaft 14 means that the outer contour of the first rotating shaft 14 adapted to the first rotating shaft hole is spherical, allowing the two first connecting rods 1221 to be spherically hinged to the two first power push rods 12121 respectively. For example, when the first power push rod 12121 is provided with the first rotating shaft 14 and the first connecting rod 1221 is provided with the first rotating shaft hole, the spherical shape means that the diameter is the same in any direction, causing the first connecting rod 1221 with the first rotating shaft hole to deflect in any spherical direction.

[0060] In some embodiments, the second pivot 15 connection refers to the connection via a second pivot 15 fitted with a second pivot hole. The spherical outer contour of the second pivot 15 means that the outer contour of the second pivot 15 adapted to the second pivot hole is spherical, allowing the two first connecting rods 1221 to be spherically hinged to the proximal phalanx 1231. For example, when the first connecting rod 1221 has a second pivot hole, and the proximal phalanx 1231 has a second pivot 15, the spherical shape means that the diameter is the same in any direction, causing the proximal phalanx 1231 with the second pivot hole to be able to deflect in any spherical direction.

[0061] In some embodiments, the first link 1221 can be deflected and oscillated axially along the first rotating shaft 14 relative to the first power push rod 12121. Correspondingly, the first link 1221 can also be deflected and oscillated axially along the second rotating shaft 15 relative to the proximal phalanx 1231 to realize the degree of freedom of the proximal phalanx 1231 in the finger mechanism 12 to deflect and oscillate. When the two first power push rods 12121 are pushed out at the same speed and in opposite directions at the same time, the proximal phalanx 1231 rotates relative to the fourth rotating shaft 17, and the rotation angle is ±27 degrees.

[0062] In some embodiments, when one of the first power push rods 12121 moves in a direction close to the proximal phalanx 1231 and the other power push rod moves in a direction away from the proximal phalanx 1231, the first link 1221 connected to the first power push rod 12121 moving in the direction close to the proximal phalanx 1231 deflects and swings toward the other first link 1221, and the other first link 1221 also deflects and swings in the same direction. At this time, the proximal phalanx 1231 rotates axially relative to the fourth pivot 17, thereby achieving its deflection. It should be noted that the direction of the deflection swing is always toward the side of the first power push rod 12121 that moves away from the proximal phalanx 1231.

[0063] In some embodiments, referring to Figures 1, 2, 3, and 6, this disclosure provides a finger mechanism 12. A power push rod assembly 1212 includes a second power push rod 12122. A sliding groove assembly includes a second sliding groove 12112 extending along a first direction A, disposed between two symmetrical first sliding grooves 12111 on a connecting seat 1211. Along a second direction B, the first sliding groove 12111 is higher than the first sliding groove 12111. A linkage assembly 122 includes a third link 1223 and a fourth link 122. 4. The third link 1223 is connected to the second power push rod 12122 via the fifth pivot 18, and the third link 1223 is connected to the second link 1222 via the sixth pivot 19. The outer contours of the fifth pivot 18 and the sixth pivot 19 are both spherical. The third link 1223 is connected to the fourth link 1224 via the seventh pivot 20. The proximal phalanx 1231 forms a first receiving cavity with an opening along the first direction A. The third link 1223 and the fourth link 1224 are located within the first receiving cavity. Pelvic assembly 1 23 includes a first intermediate phalanx 1232, a second intermediate phalanx 1233, and a distal phalanx 1234. The first intermediate phalanx 1232 is connected to the proximal phalanx 1231 on both sides along a third direction via an eighth pivot 21. The first intermediate phalanx 1232 is connected to the distal phalanx 1234 on both sides along a third direction via a ninth pivot 22. The first intermediate phalanx 1232 forms a second receiving cavity with an opening along a first direction A. At least a portion of the second intermediate phalanx is located within the second receiving cavity. The second intermediate phalanx 1233... 33 is connected to the proximal phalanx 1231 along both sides of the third direction via the tenth pivot 23; the fourth link 1224 is connected to the second middle phalanx 1233 via the eleventh pivot 24; the second middle phalanx 1233 and the distal phalanx 1234 are connected to both sides of the third direction via the twelfth pivot 25; wherein the axial directions of the fifth pivot 18, sixth pivot 19, seventh pivot 20, eighth pivot 21, ninth pivot 22, tenth pivot 23, eleventh pivot 24 and twelfth pivot 25 are all the same as those of the third direction.

[0064] In some embodiments, the third link 1223 is connected to the second power push rod 12122 via the fifth pivot 18, and the third link 1223 is connected to the second link 1222 via the sixth pivot 19. The outer contours of the fifth pivot 18 and the sixth pivot 19 are both spherical. In other words, the third link 1223 is spherically hinged to the second power push rod 12122. When the first link 1221 deflects and swings relative to the first power push rod 12121 along the axial direction of the first pivot 14, and when the first link 1221 deflects and swings relative to the proximal phalanx 1231, the third link 1223 can achieve synchronous deflection and swing, reducing the phenomenon of the finger mechanism 12 getting stuck due to only the first link 1221 deflecting and swinging.

[0065] In some embodiments, the proximal phalanx 1231 forms a first receiving cavity with openings on both sides along the first direction A. The third link 1223 and the fourth link 1224 are located within the first receiving cavity. Concealing the third link 1223 and the fourth link 1224 within the first receiving cavity, and integrating the link assembly 122 and the proximal phalanx 1231 into a single design, enhances aesthetics. Simultaneously, the proximal phalanx 1231 provides mechanical restraint in the event of loss of control of the third link and the fourth link 1224, ensuring high reliability. Furthermore, a sensor cable can be routed through the phalanx assembly 123 within the first receiving cavity, improving overall safety. Similarly, the first intermediate phalanx 1232 forms a second receiving cavity with openings on both sides along the first direction A. At least a portion of the second intermediate phalanx is located within the second receiving cavity. The first intermediate phalanx provides mechanical restraint for the second intermediate phalanx, ensuring high reliability. Additionally, a sensor cable can be routed through the phalanx assembly 123 within the second receiving cavity, further improving overall safety.

[0066] In some embodiments, the fifth shaft 18 connection refers to a connection via a fifth shaft and a fifth shaft hole. Alternatively, it can be connected via a fifth shaft and a fifth bearing hole. The interpretation is the same for the second shaft 15 connection, the third shaft 16 connection, and the fourth shaft 17 connection. In one possible implementation provided by this disclosure, only the eighth shaft 21 connection, the eleventh shaft 24 connection, and the twelfth shaft 25 connection use the shaft-bearing-hole connection method, thus reducing the coefficient of friction.

[0067] In some embodiments, the first middle joint 1232 and the second middle joint 1233 can both simulate human joints and serve as linkages. Therefore, the first middle joint 1232 can be called the fifth link and the second middle joint 1233 can be called the sixth link, thus realizing the integration of the joint assembly 123 and the linkage assembly 122.

[0068] In some embodiments, when the second power push rod 12122 slides along the second sliding groove 12112, the distal phalanx 1234, under the rotation of the fifth rotating shaft 18, the sixth rotating shaft 19, the seventh rotating shaft 20, the eighth rotating shaft 21, the ninth rotating shaft 22, the tenth rotating shaft 23, the eleventh rotating shaft 24 and the second rotating shaft 15, drives the first middle phalanx 1232, the second middle phalanx 1233 and the distal phalanx 1234 to move clockwise or counterclockwise, thereby causing the distal phalanx 1234 to bend, similar to the bending of the second phalanx of a human, so as to realize the degree of freedom of bending of the distal phalanx 1234 in the finger mechanism 12. In one possible implementation method provided by the embodiments of this disclosure, the bending angle of the distal phalanx 1234 is 0 degrees to 76.3 degrees.

[0069] In some embodiments, when the second power push rod 12122 moves away from the finger assembly 123, the third link 1223 moves away from the finger assembly 123. At this time, the third link 1223 moves counterclockwise around the third pivot 16. At this time, the fourth link 1224 moves away from the finger assembly 123. The first middle finger joint 1232 rotates clockwise around the axis of the eighth pivot 21, and the second middle finger joint 1233 rotates clockwise around the axis of the tenth pivot 23. This, in turn, drives the end finger joint 1234 to rotate clockwise around the axes of the ninth pivot 22 and the twelfth pivot 25, thereby achieving bending of the end finger joint 1234.

[0070] In some embodiments, referring to Figures 1, 2, and 7, the present disclosure also provides that the rigid drive assembly 121 is offset relative to the knuckle assembly 123 along the second direction B via the linkage assembly 122, which can also be referred to as an offset linkage mechanism; in related technologies, the drive assembly is not offset from the knuckle assembly along the second direction, which can also be referred to as a concentric linkage mechanism. This is achieved by translating the power push rod assembly 1212, thereby causing the linkage assembly 122 to move, and finally by rotating the knuckle assembly 123 around the pivot to achieve bending of the knuckle assembly 123.

[0071] A brief kinematic analysis of the described mechanism is performed. The initial angle between the first link 1221 and / or the third link 1223 and the first power push rod 12121 or the second power push rod 12122 in the horizontal displacement direction is β1. The initial angle between the proximal phalanx 1231 and the horizontal plane is α1. The initial angle between the first link 1221 and / or the third link 1223 and the proximal phalanx 1231 is Ω1. When the first power push rod 12121 or the second power push rod 12122 moves from the first position... When the device moves to the second position, the angle between the first link 1221 and / or the third link 1223 and the first power push rod 12121 and / or the second power push rod 12122 in the horizontal displacement direction becomes β2, and β2 < β1, that is, the angle decreases; the angle between the proximal phalanx 1231 and the horizontal plane increases to α2, that is, the degree of finger bending increases; the angle between the first link 1221 and / or the third link 1223 and the proximal phalanx 1231 becomes Ω2, and Ω2 > Ω1, that is, the angle increases.

[0072] A brief mechanical analysis is performed on the described mechanism, and the thrust of the first power push rod 12121 and / or the second power push rod 12121 is set as F. 动力推杆 The force acting on the first link 1221 and / or the third link 1223 along the extension direction of the link is F. 偏置连杆机构 =F 动力推杆×cosβ1, and then this force is transmitted by the first link 1221 and / or the third link 1223 to the connection between the first link 1221 and / or the third link 1223 and the proximal phalanx 1231. The magnitude and direction are the same as described above. This force can then drive the proximal phalanx 1231 to rotate about the axis of rotation, which is manifested as a change in the magnitude of α, for example, α1 and α2, and the force F that drives the proximal phalanx 1231 is... 偏置近端指节 =F 偏置连杆机构 ×sinΩ1. Combining kinematic analysis, when the first power push rod 12121 and / or the second power push rod 12122 move to the left (i.e., the push rod is extended), β1 decreases, therefore Cosβ1 increases, and F... 偏置连杆机构 It also increases accordingly; and as Ω1 increases, SinΩ1 increases, so F 偏置 近端指节 The force will also increase, meaning the bending torque of the fingers will increase, and the force at the fingertips will gradually increase during the grasping process. This allows for the grasping of heavier objects and a more stable hold on the object being grasped. Furthermore, the force at the fingertips can be flexibly controlled through pressure feedback from the fingertip sensor.

[0073] In a center-to-center linkage mechanism, its F 对心连杆机构 =F 对心动力推杆 ×γ1, when the first power push rod moves from the first position to the second position, γ1 increases to γ2, then Cosγ1 will decrease, corresponding to F 对心连杆机构 The force transmitted from the first and / or third links to the proximal phalanx connection point will decrease when the thrust of the first and / or second power push rods is equal. Furthermore, since the angle ρ1 between the force transmitted along the direction of the first and / or third links and the proximal phalanx gradually increases to an obtuse angle ρ2, the force F′ driving the rotation of the proximal phalanx will be F′=F ... 对心连杆机构 ×Sinρ1 will decrease again, thus the fingertip force will be significantly reduced.

[0074] By comparison, it can be found that the first power push rod 12121 and / or the second power push rod 12122 of the offset linkage mechanism can achieve the rotation of the proximal phalanx 1231 at an equal angle by moving a relatively small distance.

[0075] In some embodiments, referring to Figures 1, 2, and 3, this disclosure provides a finger mechanism 12. A first sliding groove 12111 includes a first limiting portion disposed toward the knuckle assembly 123. When a first power push rod 12121 slides relative to the first sliding groove 12111, the first limiting portion abuts against the side of the first power push rod 12121 toward the knuckle assembly 123. A second sliding groove 12112 includes a second limiting portion disposed along a second direction B. When a second power push rod 12122 slides relative to the second sliding groove 12112, the second limiting portion abuts against the side of the second power push rod 12122 along the second direction B.

[0076] The finger mechanism 12 provided in this embodiment reduces the risk of the first power push rod 12121 sliding out of the first sliding groove 12111 by providing a first limiting part in the direction of the knuckle assembly 123. When the first power push rod 12121 slides relative to the first sliding groove 12111, the first limiting part abuts against the side of the first power push rod 12121 facing the knuckle assembly 123, thus reducing the risk of the first power push rod 12121 sliding out of the first sliding groove 12111. Similarly, by including a second limiting part in the second sliding groove 12112 along the second direction B, when the second power push rod 12122 slides relative to the second sliding groove 12112, the second limiting part abuts against the side of the second power push rod 12122 along the second direction B, thus reducing the risk of the second power push rod 12122 sliding out of the second sliding groove 12112.

[0077] In some embodiments, referring to Figures 1, 2 and 3, this disclosure provides a finger mechanism 12, which further includes an elastic pretensioner 13. The first end of the elastic pretensioner 13 is fixed to a third link 1223, and the second end of the elastic pretensioner 13 is fixed to a fourth link 1224.

[0078] In some embodiments, the elastic pretensioner 13 can be a tension spring, a spring deflector, etc. This disclosure does not limit this. In one possible implementation provided by this disclosure, the elastic pretensioner 13 is a tension spring.

[0079] In some embodiments, the tension spring may be exposed outside the proximal phalanx 1231 or concealed within the first receiving cavity of the proximal phalanx 1231. In one possible implementation provided by the embodiments of this disclosure, the tension spring is concealed within the first receiving cavity to improve the overall aesthetics of the finger mechanism 12. Furthermore, for ease of fixation, both ends of the tension spring may be configured as hooks.

[0080] The finger mechanism 12 provided in this embodiment has an elastic pretensioner 13 between the third link 1223 and the fourth link 1224. When the fourth link 1224 rotates around the third link 1223, the elastic pretensioner 13 changes length and generates a pretension force, which acts on the entire link assembly 122. This keeps the third link 1223 and the fourth link 1224 in a taut state, reducing the play in the third link 1223 and the fourth link 1224, thereby reducing the play in the entire link assembly 122 and the gap in the entire finger mechanism 12, and achieving higher precision position control of the knuckle assembly 123.

[0081] The above are merely preferred embodiments of this disclosure and are not intended to limit the scope of protection of this disclosure. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure. Industrial applicability

[0082] This disclosure provides a finger mechanism comprising a rigid drive assembly, a linkage assembly, and a knuckle assembly. The linkage assembly is connected to both the rigid drive assembly and the knuckle assembly. The rigid drive assembly drives the knuckle assembly to grasp an object via the linkage assembly. The rigid drive assembly, linkage assembly, and knuckle assembly are arranged along a first direction. Along a second direction, the connection point between the linkage assembly and the rigid drive assembly is higher than the connection point between the linkage assembly and the knuckle assembly, causing the rigid drive assembly to be offset relative to the knuckle assembly along the second direction, which is a direction away from the knuckle assembly. The first and second directions are perpendicular. This technical solution improves the flexibility of the palm, thereby reducing the difficulty of the palm and finger mechanism coordinating to grasp an object.

Claims

1. A finger mechanism, comprising: Rigid drive components; Linkage assembly; The finger joint assembly, the linkage assembly is connected to the rigid drive assembly and the finger joint assembly respectively, the rigid drive assembly drives the finger joint assembly to grasp the object to be grasped through the linkage assembly, the rigid drive assembly, the linkage assembly and the finger joint assembly are arranged along a first direction, and along a second direction, the connection position of the linkage assembly and the rigid drive assembly is higher than the connection position of the linkage assembly and the finger joint assembly, so that the rigid assembly is offset relative to the finger joint assembly in the second direction; The second direction is the direction away from the knuckle assembly, and the first direction is perpendicular to the second direction.

2. The finger mechanism according to claim 1, wherein, The finger mechanism further includes a fixing plate, the protective portion of which is fixedly connected to the rigid drive assembly on the side near the knuckle assembly, and the connecting portion of which is connected to the linkage assembly. Along the second direction, the knuckle assembly and the protective portion on the side near the knuckle assembly form an offset space, which is used to place a target object.

3. The finger mechanism according to claim 2, wherein, The rigid drive assembly includes a connecting seat and a power push rod assembly. The connecting seat is fixed to the protective part on one side along the second direction. The connecting seat is provided with a sliding groove assembly. The power push rod assembly is located in the sliding groove assembly and slides relative to the sliding groove assembly to drive the knuckle assembly to grasp the object to be grasped.

4. The finger mechanism according to claim 3, wherein, The power push rod assembly includes a first power push rod, the sliding groove assembly includes a first sliding groove extending along the first direction on the connecting seat, the first power push rod is disposed in the first sliding groove, the connecting rod assembly includes a first connecting rod and a second connecting rod, the knuckle assembly includes a proximal knuckle, the first connecting rod is connected to the first power push rod through a first rotating shaft, and is connected to both sides of the proximal knuckle along a third direction through a second rotating shaft, the second connecting rod is connected to both sides of the proximal knuckle along the third direction through a third rotating shaft, and the second connecting rod is connected to the connecting part through a fourth rotating shaft; Wherein, the third direction is perpendicular to the first direction and the second direction, the axes of the first, second and third rotating shafts are parallel to the third direction, and the axis of the fourth rotating shaft is parallel to the second direction.

5. The finger mechanism according to claim 4, wherein, The power push rod assembly includes two first power push rods. The sliding groove assembly includes first sliding grooves symmetrically arranged along a third direction on the connecting seat. The two first power push rods are respectively disposed in the two first sliding grooves. The two first connecting rods are respectively connected to the two first power push rods through a first rotating shaft, and respectively connected to the two sides of the proximal phalanx along the third direction through a second rotating shaft. The second connecting rod is connected to the two sides of the proximal phalanx along the third direction through a third rotating shaft. The second connecting rod is connected to the connecting fixing plate through a fourth rotating shaft.

6. The finger mechanism according to claim 5, wherein, The outer contours of both the first and second rotating shafts are spherical.

7. The finger mechanism according to claim 6, wherein, The power push rod assembly includes a second power push rod. The sliding groove assembly includes a second sliding groove extending along the first direction, symmetrically disposed between two first sliding grooves on the connecting seat. Along the second direction, the first sliding groove is higher than the first sliding groove. The linkage assembly includes a third link and a fourth link. The third link is connected to the second power push rod via a fifth pivot. The third link and the second link are connected via a sixth pivot. The outer contours of the fifth and sixth pivots are both spherical. The third link and the fourth link are connected via a seventh pivot. The proximal phalanx forms a first receiving cavity with an opening along the first direction. The third link and the fourth link are located in the first receiving cavity. Inside the cavity, the knuckle assembly includes a first intermediate knuckle, a second intermediate knuckle, and a distal knuckle. The first intermediate knuckle and the proximal knuckle are connected along the third direction by an eighth pivot. The first intermediate knuckle and the distal knuckle are connected along the third direction by a ninth pivot. The first intermediate knuckle forms a second receiving cavity with an opening along the first direction. At least a portion of the second intermediate knuckle is located within the second receiving cavity. The second intermediate knuckle and the proximal knuckle are connected along the third direction by a tenth pivot. The fourth link is connected to the second intermediate knuckle by an eleventh pivot. The second intermediate knuckle and the distal knuckle are connected along the third direction by a twelfth pivot. The axial directions of the fifth, sixth, seventh, eighth, ninth, tenth, eleventh, and twelfth rotating axes are all the same as those of the third axis.

8. The finger mechanism according to claim 7, wherein, The first sliding groove includes a first limiting part disposed toward the knuckle assembly. When the first power push rod slides relative to the first sliding groove, the first limiting part abuts against the side of the first power push rod toward the knuckle assembly. The second sliding groove includes a second limiting part disposed along a second direction. When the second power push rod slides relative to the second sliding groove, the second limiting part abuts against the side of the second power push rod along the second direction.

9. The finger mechanism according to claim 7 or 8, wherein, The finger mechanism also includes an elastic pretensioner, the first end of which is fixed to the third link, and the second end of which is fixed to the fourth link.

10. A robot comprising: The finger mechanism according to any one of claims 1 to 9; A robotic arm, wherein the robotic arm forms a receiving cavity, the knuckle assembly of the finger mechanism is located outside the receiving cavity, and the rigid drive assembly is disposed inside the receiving cavity; A robotic arm, which is connected to the robotic hand.

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