Robot finger, robotic hand and humanoid robot

Abstract

A robot finger, a robotic hand and a humanoid robot. The robot finger comprises a finger linkage unit (1) and a transmission unit (9); the finger linkage unit (1) comprises a proximal section housing (101), a middle section housing (102) and a distal section housing (103) which are each internally provided with a cavity and are sequentially pivotally connected on the gripping-surface side by means of shafts; a first rocker arm (20) is rotatably provided at the end in the proximal section housing (101) close to the transmission unit (9), and a second rocker arm (21) is rotatably provided at the end in the proximal section housing (101) close to the middle section housing (102), a first connecting rod (22) being provided between the first rocker arm (20) and the second rocker arm (21); a third rocker arm (23) swinging around a pivot shaft (231) is provided in the middle section housing (102); a fourth rocker arm (24) is provided in the distal section housing (103).

Description

A robotic finger, robotic hand, and humanoid robot Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a robotic finger, robotic hand, and humanoid robot. Background Technology

[0002] Legged robots and robotic arms are replacing or assisting humans in completing tasks in various fields such as industry, scientific research, and education. A flexible robotic hand is an essential component for legged robots or robotic arms to perform grasping tasks. Robotic hands can perform simple actions such as grasping (e.g., lifting a cup of water) or pushing / pushing objects (e.g., opening a door), and can also perform interactive functions such as waving or shaking hands. However, existing robotic hands, during the grasping process, have excessively large gaps between the multiple mechanical segments to facilitate movement. This results in fracture zones along the entire grasping surface, making it easy for the object to be grasped to get stuck or damaged.

[0003] Furthermore, to achieve forward and backward, left and right, swaying, and bending movements of the robot finger, the existing robot finger has a very complex structure, requiring complex linkage structures and a large number of motors for control. This results in high manufacturing costs and difficulty in control, which is not conducive to the widespread use of robot fingers.

[0004] The information disclosed in this background section is only for understanding the background of the present invention, and therefore may include information that does not constitute prior art.

[0005] Utility Model Content

[0006] To overcome the shortcomings of existing technologies, the purpose of this utility model is to provide a robotic finger, robotic hand, and humanoid robot. By setting up a finger linkage unit and a transmission unit, the finger can achieve flexion and extension movements with high degree of freedom, flexibly grasping the object to be picked up, realizing the flexion and extension actions of the robotic finger. Moreover, the structure is simple, requires few parts, and has low manufacturing cost. Furthermore, the rotation axis of the finger linkage unit is located on the side close to the gripping surface, so that the gripping surface of the finger linkage unit is continuous without any breaks, thus preventing large gaps from jamming the object to be picked up during the gripping process.

[0007] To overcome the shortcomings of the existing technology, the second objective of this utility model is to provide a robotic finger and a humanoid robot, which assembles the inner surfaces of adjacent gripping surfaces of the middle segment rotation axis and the distal segment rotation axis, so that multiple contact areas of the gripping surface can maintain a continuous connection during movement. This ensures that the gripping surface of the finger is continuous without any breaks. Only a very small rotation gap is needed to achieve the related movements of the proximal segment shell, the middle segment shell, and the distal segment shell. Therefore, there will be no gaps that will get stuck or scrape the object to be picked up during the gripping process, and no foreign objects will fall into the finger through the gaps, causing damage to the internal components of the finger. The structure is simple and practical.

[0008] To overcome the shortcomings of the existing technology, the third objective of this utility model is to provide a robot finger, a robotic hand, and a humanoid robot. Through two parallel motors and an independently moving motor, and in conjunction with the connection structure of the transmission unit, the three motors can realize the forward, backward, left, right, swinging, and bending movements of the robot finger, giving the robot finger high degree of freedom and high flexibility. Moreover, the structure is simple, requires few parts, and has low manufacturing cost.

[0009] To achieve one of the above objectives, the first technical solution of this utility model is as follows:

[0010] A robotic finger, comprising a finger linkage unit and a transmission unit;

[0011] The finger linkage unit includes a proximal segment housing and a middle segment housing, which have internal cavities and are rotatably connected on one side of the grip surface;

[0012] A first rocker arm is rotatably provided inside the proximal housing near the transmission unit, and a second rocker arm is rotatably provided inside the proximal housing near the middle housing. A first connecting rod is provided between the first rocker arm and the second rocker arm.

[0013] The middle section housing is provided with a third rocker arm that swings around a pivot axis;

[0014] The third rocker arm is rotatably connected to the second rocker arm;

[0015] The transmission unit is provided with a first connecting member, which is rotatably connected to the first rocker arm. It is used to sequentially drive the first rocker arm, the second rocker arm, and the third rocker arm to reciprocate, thereby driving the proximal housing and the middle housing to complete the flexion and extension movement.

[0016] This invention enables finger flexion and extension movements through the connection structure of the finger linkage unit and the transmission unit, giving the finger a high degree of freedom and flexibility. Furthermore, the structure is simple, requires few parts, and has low manufacturing costs.

[0017] Meanwhile, the rotation shaft of the finger linkage unit of this utility model is located on the side close to the gripping surface, so that the gripping surface of the finger linkage unit is continuous without any breaks. Therefore, during the gripping process, there will be no large gaps that will trap the object to be picked up or cause damage to the object to be picked up.

[0018] In this application, "holding" means one or more of the following: grasping, clamping, holding, squeezing, or holding.

[0019] As a preferred technical measure:

[0020] The finger linkage unit also includes a distal segment housing;

[0021] A fourth rocker arm is provided inside the distal segment housing;

[0022] The fourth rocker arm is rotatably connected to the end of the third rocker arm;

[0023] Or / and, the transmission unit includes a transmission base, a first linear mechanism, a second linear mechanism and a third linear mechanism disposed on the transmission base, the first linear mechanism drives the first connecting member, and the second linear mechanism and the third linear mechanism can drive the finger linkage unit to swing back and forth and left and right around the transmission base;

[0024] Or / and, the first rocker arm, the second rocker arm, the third rocker arm and the fourth rocker arm are respectively an arc-shaped structure, a bent structure or a square structure, which are made of sheet material or block material;

[0025] Or / and, the proximal segment shell, the middle segment shell, and the distal segment shell are respectively an arc-shaped structure, a square structure, or a biomimetic structure; or / and, the proximal segment shell, the middle segment shell, and the distal segment shell are sequentially rotatably connected to form a gripping surface with multiple contact areas. The gripping surface has a proximal segment rotation shaft between the finger root and the proximal segment shell; the gripping surface has a middle segment rotation shaft between the proximal segment shell and the middle segment shell; the gripping surface has a distal segment rotation shaft between the middle segment shell and the distal segment shell; the inner surfaces of adjacent gripping surfaces are fitted with the middle segment rotation shaft and the distal segment rotation shaft so that the multiple contact areas of the gripping surface can maintain a continuous connection during operation.

[0026] As a preferred technical measure:

[0027] The first linear mechanism includes a first lead screw shaft and a first lead screw nut that are adapted to each other, and the first connecting member is rotatably connected to the first lead screw nut;

[0028] Or / and, the second linear mechanism includes a second connecting member, a mutually adapted second lead screw shaft and a second lead screw nut, one end of the second connecting member being rotatably connected to the second lead screw nut, and the other end being rotatably connected to the proximal housing;

[0029] Or / and, the third linear mechanism includes a third connector, a mutually adapted third lead screw shaft and a third lead screw nut, one end of the third connector being rotatably connected to the third lead screw nut, and the other end being rotatably connected to the proximal housing;

[0030] The first connector, the second connector, and the third connector are respectively a round rod-shaped structure, a square rod-shaped structure, or a strip-shaped structure, and all three are equipped with ball bearings at their ends.

[0031] As a preferred technical measure: a motor unit is provided on the side of the transmission base, the motor unit including a first motor for driving the first linear mechanism, a second motor for driving the second linear mechanism, and a third motor for driving the third linear mechanism; one or more reduction gears are provided between the first motor and the first linear mechanism, between the second motor and the second linear mechanism, and between the third motor and the third linear mechanism.

[0032] The motor arrangement of this invention, combined with the connection structure of the transmission unit, allows three motors to realize the forward, backward, left, right, swinging, and bending movements of the robot's finger. This gives the finger a high degree of freedom and flexibility, and also results in a simple structure, fewer required parts, and low manufacturing cost.

[0033] To achieve one of the above objectives, the second technical solution of this utility model is as follows:

[0034] A robotic finger, equipped with a thumb unit;

[0035] The thumb unit includes a middle thumb housing and a distal thumb housing that are rotatably connected on one side of the gripping surface.

[0036] The middle shell of the thumb and the distal shell of the thumb are rotatably connected to form a gripping surface with multiple contact areas;

[0037] The grip surface is provided with bionic skin, and its multiple contact areas form a connection structure that does not overlap or misalign with each other.

[0038] This invention achieves the flexion and extension movement of the thumb by means of the relative movement between the middle shell and the distal shell of the thumb. This gives the thumb a high degree of freedom and flexibility, and the structure is simple, requires few parts, and has low manufacturing cost.

[0039] Meanwhile, the axial connection position of the thumb middle shell and the thumb distal shell of this utility model is located on the side close to the gripping surface, so that multiple contact areas form a connection structure that does not overlap or stagger each other, thereby ensuring that the gripping surface of the thumb is continuous without any broken bands. Therefore, during the gripping process, there will be no large gaps that will trap the object to be picked up or cause damage to the object to be picked up.

[0040] As a preferred technical measure:

[0041] The thumb unit also includes a finger root micro-joint actuator, a dual-headed rudder arm driven by the finger root micro-joint actuator, and a palm base.

[0042] Or / and, the dual-headed rudder arm is provided with a third link, one end of which is rotatably connected to the dual-headed rudder arm;

[0043] Or / and, the palm base is provided with a palm micro joint actuator, the palm micro joint actuator and the finger root micro joint actuator are assembled in the palm position of the robot hand, and a fourth link is rotatably provided between the two. The palm micro joint actuator drives the finger root micro joint actuator to rotate through the fourth link, thereby driving the thumb unit to rotate on the palm base.

[0044] Or / and, the shapes of the middle shell of the thumb and the distal shell of the thumb are arc-shaped, square, or biomimetic structures, respectively.

[0045] To achieve one of the above objectives, the third technical solution of this utility model is as follows:

[0046] A robotic finger,

[0047] Includes the near-segment shell and the middle segment shell;

[0048] The proximal and middle sections of the housing are rotatably connected to form a gripping surface with multiple contact areas.

[0049] The gripping surface has a middle section rotation shaft between the proximal section shell and the middle section shell;

[0050] The inner surfaces of the adjacent gripping surfaces are assembled with the middle section rotating shaft, so that multiple contact areas of the gripping surfaces can maintain a continuous connection during operation.

[0051] Through continuous exploration and experimentation, this utility model assembles the inner surfaces of the adjacent gripping surfaces of the middle joint rotating shaft. This ensures that multiple contact areas of the gripping surface maintain a continuous connection during operation, resulting in a continuous gripping surface without any breaks. Only a very small rotational gap is needed to achieve the related movements of the proximal and middle joint shells. Therefore, during gripping, there will be no gaps that may trap or scrape the object being retrieved, and no debris may fall into the fingers through gaps, causing damage to internal finger components. The structure is simple and practical. As a preferred technical measure:

[0052] It also includes the distal segment housing;

[0053] The distal segment rotating shaft is mounted on the inner surface of the adjacent gripping surface of the distal segment housing, so that multiple contact areas of the gripping surface can maintain a continuous connection during operation;

[0054] Or / and, the gripping surface has a proximal phalanx rotation axis between the base of the finger and the proximal phalanx shell;

[0055] or / and, multiple means two or more;

[0056] Or / and, the shapes of the proximal shell, middle shell, and distal shell are arc-shaped, square, or biomimetic structures, respectively;

[0057] Or / and, the robot's fingers are the thumb, index finger, middle finger, ring finger, or little finger.

[0058] This invention assembles the proximal joint rotation shaft, middle joint rotation shaft, and distal joint rotation shaft onto the inner surface of the gripping surface, ensuring that the multiple contact areas of the gripping surface maintain a continuous connection during operation. This results in a continuous gripping surface without any breaks, requiring only a small gap for rotation to achieve the related movements of the proximal joint shell, middle joint shell, and distal joint shell. Consequently, there will be no gaps that may trap or scrape the object being retrieved during gripping, and no foreign objects may fall into the fingers through the gaps, causing damage to the internal components of the fingers. The structure is simple and practical.

[0059] Furthermore, in this application, "adjacent" means that the rotating shaft is as close as possible to the inner surface of the grip surface, so that the gap between the multiple contact areas of the grip surface is as small as possible; the distance between the rotating shaft and the inner surface of the grip surface can be reasonably set according to actual needs. Furthermore, in some scenarios, the grip surface can also be directly mounted on the rotating shaft, in which case the distance between the rotating shaft and the inner surface of the grip surface is zero.

[0060] As a preferred technical measure:

[0061] The proximal segment housing, the middle segment housing, and the distal segment housing are assembled into a transmission unit to realize the robot finger's forward and backward movement, left and right movement, swinging movement, and bending movement;

[0062] Or / and, the proximal housing is provided with a first contact surface; the middle housing is provided with a second contact surface; the distal housing is provided with a third contact surface; the inner surfaces of the adjacent gripping surfaces of the middle and distal rotating shafts are assembled and moved away from the transmission unit, so that the first, second, and third contact surfaces are tightly joined together with a small gap.

[0063] Or / and, a first rocker arm is provided rotatably at one end of the proximal housing near the transmission unit, and a second rocker arm is provided rotatably at one end of the proximal housing near the middle housing, and a first connecting rod is provided between the first rocker arm and the second rocker arm;

[0064] The middle section housing is provided with a third rocker arm that swings around a pivot axis;

[0065] A fourth rocker arm is provided inside the distal segment housing;

[0066] One end of the third rocker arm is rotatably connected to the second rocker arm, and the other end is rotatably connected to the fourth rocker arm;

[0067] The transmission unit includes a first connector, a transmission base, a first linear mechanism, a second linear mechanism, and a third linear mechanism disposed on the transmission base. The first linear mechanism drives the first connector, and the second and third linear mechanisms drive the finger linkage unit to swing back and forth and left and right around the transmission base.

[0068] The first connector is rotatably connected to the first rocker arm, and sequentially drives the first rocker arm, the second rocker arm, the third rocker arm, and the fourth rocker arm to reciprocate, thereby driving the proximal housing, the middle housing, and the distal housing to complete flexion and extension movements.

[0069] The transmission base is provided with a motor unit on its side. The motor unit includes a first motor for driving the first linear mechanism, a second motor for driving the second linear mechanism, and a third motor for driving the third linear mechanism. One or more reduction gears are provided between the first motor and the first linear mechanism, between the second motor and the second linear mechanism, and between the third motor and the third linear mechanism.

[0070] The second and third motors form a parallel drive structure, which, together with the first motor and the transmission unit, enables the robot's fingers to move forward, backward, left, right, swing, and bend.

[0071] This invention utilizes two parallel motors and an independently moving motor, along with a transmission unit connection structure, to enable the robot finger to perform forward, backward, left, right, swing, and bending movements with just three motors. This gives the robot finger high freedom and flexibility, and the structure is simple, requires few parts, and has low manufacturing costs.

[0072] To achieve one of the above objectives, the fourth technical solution of this utility model is as follows:

[0073] A robotic hand, comprising:

[0074] Palm base;

[0075] A robotic finger with a proximal segment shell and a middle segment shell, wherein multiple robotic fingers are provided on the palm base;

[0076] Or / and the aforementioned robotic finger with a thumb unit disposed on the palm base.

[0077] To achieve one of the above objectives, the fifth technical solution of this utility model is as follows:

[0078] A humanoid robot, including the aforementioned robotic hand.

[0079] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0080] This invention enables finger flexion and extension movements through the connection structure of the finger linkage unit and the transmission unit, giving the finger a high degree of freedom and flexibility. Furthermore, the structure is simple, requires few parts, and has low manufacturing costs.

[0081] Meanwhile, the rotation shaft of the finger linkage unit of this utility model is located on the side close to the gripping surface, so that the gripping surface of the finger linkage unit is continuous without any breaks. This ensures that the gripping surfaces do not overlap or misalign with each other, thus preventing obvious gaps. Therefore, during the gripping process, there will be no large gaps that may trap the object to be retrieved or cause damage to the object.

[0082] Furthermore, this invention enables the flexion and extension of the thumb through the relative movement of the middle shell and the distal shell of the thumb, giving the thumb of this invention a high degree of freedom and flexibility. It also has a simple structure, requires fewer parts, and has a low manufacturing cost.

[0083] Furthermore, through continuous exploration and experimentation, this utility model assembles the inner surfaces of the adjacent gripping surfaces of the middle joint rotation shaft, so that multiple contact areas of the gripping surface can maintain a continuous connection during operation. This ensures that the gripping surface of the fingers is continuous without any breaks. Only a very small rotation gap is needed to achieve the related movements of the proximal and middle joint shells. Therefore, during the gripping process, there will be no gaps that may trap or scrape the object to be picked up, and no foreign objects will fall into the fingers through the gaps, causing damage to the internal components of the fingers. The structure is simple and practical.

[0084] Furthermore, this utility model provides a robotic finger, a robotic hand, and a humanoid robot. Through a linkage mechanism consisting of a first rocker arm, a first connecting rod, a second rocker arm, a third rocker arm, and a fourth rocker arm connected in sequence, the finger linkage unit, composed of a proximal segment shell, a middle segment shell, and a distal segment shell, grips the object to be grasped, achieving flexion and extension movements of the robotic finger. This results in a robotic finger with high freedom and flexibility, a simple structure, fewer required components, and low manufacturing cost. Simultaneously, the rotating shafts are all located near the gripping surface, ensuring a continuous gripping surface without breaks, thus preventing large gaps from obstructing the object during gripping.

[0085] Furthermore, this invention utilizes two parallel motors and an independently moving motor, along with a transmission unit connection structure, to enable the robot finger to perform forward, backward, left, right, swing, and bending movements with just three motors. This gives the robot finger high freedom and flexibility, and also features a simple structure, fewer required components, and low manufacturing cost.

[0086] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments. Attached Figure Description

[0087] Figure 1 is a schematic diagram of an overall structure (two sections) of the robot finger provided by this utility model;

[0088] Figure 2 is an exploded view (two segments) of a robotic finger provided by this utility model;

[0089] Figure 3 is a partial exploded view (two segments) of the robot finger provided by this utility model;

[0090] Figure 4 is a partial structural diagram (two sections) of the robotic finger provided by this utility model.

[0091] Figure 5 is a structural schematic diagram of a robot finger (two segments) provided by this utility model;

[0092] Figure 6 is a diagram of a bending posture of the robot finger (two segments) provided by this utility model.

[0093] Figure 7 is another bending posture diagram (two segments) of the robot finger provided by this utility model;

[0094] Figure 8 is a schematic diagram of an overall structure (three sections) of the robot finger provided by this utility model.

[0095] Figure 9 is an exploded view (three sections) of a robotic finger provided by this utility model.

[0096] Figure 10 is a structural schematic diagram of a robot finger (three sections) provided by this utility model.

[0097] Figure 11 is a diagram of a bending posture (three segments) of the robot finger provided by this utility model.

[0098] Figure 12 is a simplified diagram (three sections) of a linkage mechanism for the finger linkage unit of the robot finger provided by this utility model.

[0099] Figure 13 is a structural schematic diagram of a robotic finger (thumb) provided by this utility model;

[0100] Figure 14 is an exploded view of a drive module for the thumb unit of the robot hand provided by this utility model;

[0101] Figure 15 is a partial structural diagram of a robot hand provided by this utility model; Figure 16 is a partial structural diagram of a robot hand provided by this utility model;

[0102] Figure 17 is an overall structural diagram of a robot hand provided by this utility model.

[0103] Explanation of reference numerals in the attached figures:

[0104] 1. Finger linkage unit; 101. Proximal segment housing; 102. Middle segment housing; 103. Distal segment housing; 104. Proximal segment rotation shaft; 105. Middle segment rotation shaft; 106. Distal segment rotation shaft; 20. First rocker arm; 21. Second rocker arm; 22. First connecting rod; 23. Third rocker arm; 231. Pivot shaft; 24. Fourth rocker arm; 3. First connecting member; 31. Second connecting member; 32. Third connecting member; 4. Transmission base; 41. First lead screw shaft; 42. First lead screw nut; 43. Second lead screw shaft; 44. Second lead screw nut; 45. Third lead screw shaft; 46. Third lead screw nut; 4 7. Fourth lead screw shaft; 48. Fourth lead screw nut; 49. Fifth lead screw shaft; 50. Fifth lead screw nut; 51. First motor; 52. Second motor; 53. Third motor; 54. Fourth motor; 55. Fifth motor; 6. Hand base; 61. Hand micro-joint actuator; 7. Finger root micro-joint actuator; 71. Double-headed rudder arm; 72. Thumb middle housing; 73. Thumb distal housing; 74. Drive base; 75. Second link; 76. Fifth rocker arm; 77. Sixth rocker arm; 78. Seventh rocker arm; 79. Third link; 8. Fourth link; 9. Transmission unit; 10. Motor unit. Embodiments of the present invention

[0105] The present invention will be further described below with reference to the accompanying drawings and specific embodiments. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0106] It should be noted that when two elements are "rotatably connected," the two elements can be directly connected or there may be an intermediate element. Conversely, when an element is said to be "directly on" another element, there is no intermediate element. The terms "front," "back," "left," "right," "up," "down," and similar expressions used in this document are for illustrative purposes only.

[0107] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "or / and" as used herein includes any and all combinations of one or more of the associated listed items.

[0108] As shown in Figures 1-7, the first specific embodiment of the robot finger of this utility model is as follows:

[0109] A robotic finger includes a finger linkage unit 1 and a transmission unit 9;

[0110] The finger linkage unit 1 includes a proximal segment housing 101 and a middle segment housing 102, which have internal cavities and are rotatably connected on one side of the grip surface.

[0111] The proximal housing 101 has a first rocker arm 20 rotatably disposed at one end near the transmission unit, and the proximal housing 101 has a second rocker arm 21 rotatably disposed at one end near the middle housing 102, and a first connecting rod 22 is provided between the first rocker arm 20 and the second rocker arm 21.

[0112] The middle section housing 102 is provided with a third rocker arm 23 that swings around a pivot 231;

[0113] The third rocker arm 23 is rotatably connected to the second rocker arm 21;

[0114] The transmission unit is provided with a first connecting member 3, which is rotatably connected to the first rocker arm 20. It is used to sequentially drive the first rocker arm 20, the second rocker arm 21, and the third rocker arm 23 to reciprocate, thereby driving the proximal housing 101 and the middle housing 102 to complete flexion and extension movements.

[0115] Robotic fingers can be the thumb, index finger, middle finger, ring finger, or little finger.

[0116] A second specific embodiment of the robotic finger of this utility model:

[0117] A robotic finger includes a proximal segment housing 101 and a middle segment housing 102;

[0118] The proximal housing 101 and the middle housing 102 are rotatably connected to form a gripping surface with multiple contact areas;

[0119] The gripping surface has a middle section rotation shaft 105 between the proximal section housing 101 and the middle section housing 102;

[0120] The inner surfaces of the adjacent gripping surfaces of the middle section rotating shaft 105 are assembled so that multiple contact areas of the gripping surfaces can maintain a continuous connection during operation.

[0121] As shown in Figures 8-12, the third specific embodiment of the robot finger of this utility model is as follows:

[0122] A robotic finger includes a finger linkage unit 1 and a transmission unit. The finger linkage unit 1 includes a proximal segment housing 101, a middle segment housing 102, and a distal segment housing 103, each with an internal cavity and rotatably connected to the gripping surface. A first rocker arm 20 is rotatably disposed within the proximal segment housing 101 near the transmission unit, and a second rocker arm 21 is rotatably disposed within the proximal segment housing 101 near the middle segment housing 102. A first connecting rod 22 is provided between the first rocker arm 20 and the second rocker arm 21. A pivot is provided within the middle segment housing 102. The pivot 231 has a third rocker arm 23 that swings; the distal segment housing 103 has a fourth rocker arm 24; one end of the third rocker arm 23 is rotatably connected to the second rocker arm 21, and the other end is rotatably connected to the fourth rocker arm 24; the transmission unit has a first connecting member 3, which is rotatably connected to the first rocker arm 20, and sequentially drives the first rocker arm 20, the second rocker arm 21, the third rocker arm 23, and the fourth rocker arm 24 to swing back and forth, thereby driving the proximal segment housing 101, the middle segment housing 102, and the distal segment housing 103 to complete flexion and extension movements.

[0123] The robot finger of this invention has a high degree of freedom, can flexibly grasp the object to be picked up, and realize the flexion and extension movements of the robot finger. It also has a simple structure, requires few parts, and has low manufacturing cost. Furthermore, the rotation shaft of the finger linkage unit 1 is located on the side close to the gripping surface, so that the gripping surface of the finger linkage unit 1 is continuous without any broken bands. Therefore, there will be no large gaps that will jam the object to be picked up during the gripping process.

[0124] In this embodiment, the transmission unit includes a transmission base 4, a first linear mechanism, a second linear mechanism, and a third linear mechanism disposed on the transmission base 4. The first linear mechanism drives the first connecting member 3, and the second linear mechanism and the third linear mechanism can drive the finger linkage unit 1 to swing back and forth and left and right around the transmission base 4.

[0125] In this embodiment, the first linear mechanism includes a first lead screw shaft 41 and a first lead screw nut 42 that are adapted to each other, and the first connecting member 3 is rotatably connected to the first lead screw nut 42;

[0126] The second linear mechanism includes a second connecting member 31, a second lead screw shaft 43 and a second lead screw nut 44 that are mutually adapted to each other. One end of the second connecting member 31 is rotatably connected to the second lead screw nut 44, and the other end is rotatably connected to the proximal housing 101.

[0127] The third linear mechanism includes a third connector 32, a mutually adapted third lead screw shaft 45, and a third lead screw nut 46. One end of the third connector 32 is rotatably connected to the third lead screw nut 46, and the other end is rotatably connected to the proximal housing 101.

[0128] In this embodiment, a motor unit 10 is provided on the side of the rotating base. The motor unit 10 includes a first motor 51 for driving the first linear mechanism, a second motor 52 for driving the second linear mechanism, and a third motor 53 for driving the third linear mechanism. One or more reduction gears are provided between the first motor 51 and the first linear mechanism, between the second motor 52 and the second linear mechanism, and between the third motor 53 and the third linear mechanism.

[0129] In this embodiment, the linkage relationship of the finger linkage unit can be seen in Figure 12. In Figure 12, segment AB represents the proximal segment housing, segment BC represents the middle segment housing, and segment CD represents the distal segment housing; KJ represents the first linkage 22, IH represents the second rocker arm 21, and HG represents the third rocker arm 23.

[0130] The fourth specific embodiment of the robot finger of this utility model:

[0131] A robotic finger includes a proximal segment shell 101, a middle segment shell 102, and a distal segment shell 103;

[0132] The proximal housing 101, the middle housing 102 and the distal housing 103 are rotatably connected in sequence to form a gripping surface with multiple contact areas;

[0133] The gripping surface has a proximal joint rotation shaft 104 between the base of the finger and the proximal joint shell 101;

[0134] The gripping surface has a middle section rotation shaft 105 between the proximal section housing 101 and the middle section housing 102; the gripping surface has a distal section rotation shaft 106 between the middle section housing 102 and the distal section housing 103.

[0135] The inner surfaces of the adjacent gripping surfaces of the middle section rotating shaft 105 and the distal section rotating shaft 106 are assembled so that multiple contact areas of the gripping surfaces can maintain a continuous connection during operation.

[0136] The fifth specific embodiment of the robot finger of this utility model:

[0137] A robotic finger, equipped with a thumb unit;

[0138] The thumb unit includes a middle thumb housing and a distal thumb housing that are rotatably connected on one side of the gripping surface.

[0139] The middle shell of the thumb and the distal shell of the thumb are rotatably connected to form a gripping surface with multiple contact areas;

[0140] The grip surface is provided with bionic skin, and its multiple contact areas form a connection structure that does not overlap or misalign with each other.

[0141] In this embodiment, the thumb unit further includes a finger root micro-joint actuator, a double-headed rudder arm driven by the finger root micro-joint actuator, and a palm base;

[0142] The dual-headed rudder arm is provided with a third link, one end of which is rotatably connected to the dual-headed rudder arm;

[0143] In this embodiment, a palm micro-joint actuator is provided on the palm base. The palm micro-joint actuator and the finger root micro-joint actuator are assembled in the palm position of the robot hand. A fourth link is rotatably provided between the two. The palm micro-joint actuator drives the finger root micro-joint actuator to rotate through the fourth link, thereby driving the thumb unit to rotate on the palm base.

[0144] In this embodiment, the shapes of the middle shell of the thumb and the distal shell of the thumb are respectively an arc-shaped structure, a square structure, or a biomimetic structure.

[0145] As shown in Figures 13 and 14, the sixth specific embodiment of the robot finger of this utility model is as follows:

[0146] A robotic finger, equipped with a thumb unit;

[0147] The thumb unit includes a thumb middle housing 72 and a thumb distal housing 73 that are rotatably connected on one side of the gripping surface. The thumb middle housing 72 and the thumb distal housing 73 are provided with a linkage mechanism, which drives the thumb middle housing 72 and the thumb distal housing 73 to rotate relative to each other.

[0148] As shown in Figures 15-17, a specific embodiment of the robot hand of this utility model is as follows:

[0149] A robotic hand includes a palm base 6, a plurality of robotic fingers as described above disposed on the palm base 6, and a thumb unit disposed on the palm base 6.

[0150] The present invention provides a robotic hand in which the fingers, through a linkage mechanism consisting of a first rocker arm 20, a first connecting rod 22, a second rocker arm 21, a third rocker arm 23, and a fourth rocker arm 24 connected in sequence, drive a finger linkage unit 1 composed of a proximal segment housing, a middle segment housing 102, and a distal segment housing 103 to grasp an object to be picked up. The rotation axes are all located on the side close to the gripping surface, so that the gripping surface of the finger linkage unit 1 is continuous without any breaks, and therefore there will be no large gaps that will jam the object to be picked up during the gripping process.

[0151] In this embodiment, the thumb unit includes a finger root micro joint actuator 7, a double-headed steering arm 71 driven by the finger root micro joint actuator 7, a drive module, a thumb middle housing 72 and a thumb distal housing 73 with internal cavities and rotatably connected on one side of the gripping surface, and a linkage mechanism is provided in the thumb middle housing 72 and the thumb distal housing 73, which drives the thumb middle housing 72 and the thumb distal housing 73 to rotate relative to each other;

[0152] The drive module includes a drive base 74, a fourth motor 54 disposed in the drive base 74, a fourth lead screw shaft 47 and a fourth lead screw nut 48 driven by the fourth motor 54, a fifth motor 55 disposed in the drive base 74, a fifth lead screw shaft 49 and a fifth lead screw nut 50 driven by the fifth motor 55, and the drive base 74 is rotatably connected to the double-headed rudder arm 71;

[0153] The linkage mechanism includes a second link 75, a fifth rocker arm 76, a sixth rocker arm 77, and a seventh rocker arm 78 that are rotatably connected in sequence. The second link 75 is rotatably connected to the fourth lead screw nut 48. The fifth rocker arm 76 is rotatably disposed within the drive base 74. The sixth rocker arm 77 is rotatably disposed within the thumb middle housing 72. The seventh rocker arm 78 is rotatably disposed within the thumb distal housing 73. The fourth motor 54 drives the linkage mechanism through the fourth lead screw shaft 47 and the fourth lead screw nut 48.

[0154] A third link 79 is provided between the dual-headed rudder arm 71 and the drive base 74. One end of the third link 79 is rotatably connected to the dual-headed rudder arm 71, and the other end is rotatably connected to the fifth lead screw nut 50. The fifth motor 55 drives the drive module to rotate relative to the dual-headed rudder arm 71 through the fifth lead screw shaft 49 and the fifth lead screw nut 50.

[0155] In this embodiment, a palm micro-joint actuator 61 is provided on the palm base 6. The palm micro-joint actuator 61 and the finger root micro-joint actuator 7 are assembled in the palm position of the robot hand. A fourth link 8 is rotatably provided between the two. The palm micro-joint actuator 61 drives the finger root micro-joint actuator 7 to rotate through the fourth link 8, thereby driving the thumb unit to rotate on the palm base 6.

[0156] A specific embodiment of the humanoid robot of this utility model:

[0157] A humanoid robot, comprising one of the aforementioned robotic fingers and / or one robotic hand.

[0158] The present invention provides a humanoid robot whose hand fingers are driven by a linkage mechanism consisting of a first rocker arm 20, a first connecting rod 22, a second rocker arm 21, a third rocker arm 23, and a fourth rocker arm 24 connected in sequence to grip an object to be picked up. The linkage mechanism drives a finger linkage unit 1 consisting of a proximal segment shell, a middle segment shell 102, and a distal segment shell 103. The rotation axes are all located on the side close to the gripping surface, so that the gripping surface of the finger linkage unit 1 is continuous without any breaks, and therefore there will be no large gaps that will jam the object to be picked up during the gripping process.

[0159] The above embodiments are merely preferred embodiments of this utility model and should not be construed as limiting the scope of protection of this utility model. Any non-substantial changes and substitutions made by those skilled in the art based on this utility model shall fall within the scope of protection claimed by this utility model.

Claims

1. A robotic finger, comprising: It includes a finger linkage unit (1) and a transmission unit (9); The finger linkage unit (1) includes a proximal segment housing (101) and a middle segment housing (102) with an internal cavity and rotatably connected on one side of the gripping surface. The proximal housing (101) has a first rocker arm (20) rotatably disposed at one end near the transmission unit (9), and the proximal housing (101) has a second rocker arm (21) rotatably disposed at one end near the middle housing (102), and a first connecting rod (22) is provided between the first rocker arm (20) and the second rocker arm (21). The middle section housing (102) is provided with a third rocker arm (23) that swings around a pivot (231). The third rocker arm (23) is rotatably connected to the second rocker arm (21); The transmission unit (9) is provided with a first connector (3), which is rotatably connected to the first rocker arm (20) and is used to drive the first rocker arm (20), the second rocker arm (21), and the third rocker arm (23) to reciprocate, thereby driving the proximal housing (101) and the middle housing (102) to complete the flexion and extension movement.

2. The robotic finger as described in claim 1, characterized in that, The finger link unit (1) also includes a distal segment housing (103); The distal housing (103) is provided with a fourth rocker arm (24); The fourth rocker arm (24) is rotatably connected to the end of the third rocker arm (23); Or / and, the transmission unit includes a transmission base (4), a first linear mechanism, a second linear mechanism and a third linear mechanism disposed on the transmission base (4), the first linear mechanism drives the first connecting member (3), and the second linear mechanism and the third linear mechanism can drive the finger linkage unit (1) to swing back and forth and left and right around the transmission base (4); Or / and, the first rocker arm (20), the second rocker arm (21), the third rocker arm (23) and the fourth rocker arm (24) are respectively arc-shaped, bent or square structures, and are made of sheet material or block material; Or / and, the proximal segment shell (101), the middle segment shell (102), and the distal segment shell (103) are respectively an arc-shaped structure, a square structure, or a biomimetic structure; or / and, the proximal segment shell (101), the middle segment shell (102), and the distal segment shell (103) are sequentially rotatably connected to form a gripping surface with multiple contact areas. The gripping surface has a proximal segment rotation shaft (104) between the finger root and the proximal segment shell (101); the gripping surface has a middle segment rotation shaft (105) between the proximal segment shell (101) and the middle segment shell (102); the gripping surface has a distal segment rotation shaft (106) between the middle segment shell (102) and the distal segment shell (103); the middle segment rotation shaft (105) and the distal segment rotation shaft (106) are fitted on the inner surfaces of adjacent gripping surfaces so that the multiple contact areas of the gripping surface can maintain a continuous connection state during operation.

3. A robotic finger as described in claim 2, characterized in that, The first linear mechanism includes a first lead screw shaft (41) and a first lead screw nut (42) that are adapted to each other, and the first connecting member (3) is rotatably connected to the first lead screw nut (42); Or / and, the second linear mechanism includes a second connector (31), a mutually adapted second lead screw shaft (43) and a second lead screw nut (44), one end of the second connector (31) being rotatably connected to the second lead screw nut (44), and the other end being rotatably connected to the proximal housing (101); Or / and, the third linear mechanism includes a third connector (32), a mutually adapted third lead screw shaft (45) and a third lead screw nut (46), one end of the third connector (32) is rotatably connected to the third lead screw nut (46), and the other end is rotatably connected to the proximal housing (101); The first connector (3), the second connector (31), and the third connector (32) are respectively a round rod structure, a square rod structure, or a strip structure, and all three are provided with ball bearings at their ends.

4. A robotic finger as in claim 3, wherein, The transmission base (4) is provided with a motor unit (10) on its side. The motor unit (10) includes a first motor (51) for driving the first linear mechanism, a second motor (52) for driving the second linear mechanism, and a third motor (53) for driving the third linear mechanism. One or more reduction gears are provided between the first motor (51) and the first linear mechanism, between the second motor (52) and the second linear mechanism, and between the third motor (53) and the third linear mechanism.

5. A robotic finger, comprising: It has a thumb unit; The thumb unit includes a thumb middle shell (72) and a thumb distal shell (73) that are rotatably connected on one side of the gripping surface. The middle shell of the thumb (72) and the distal shell of the thumb (73) are rotatably connected to form a gripping surface with multiple contact areas; The grip surface is provided with bionic skin, and its multiple contact areas form a connection structure that does not overlap or misalign with each other.

6. A robotic finger as described in claim 5, characterized in that, The thumb unit also includes a finger root micro-joint actuator (7), a double-headed rudder arm (71) driven by the finger root micro-joint actuator (7), and a palm base (6). Or / and, the double-headed rudder arm (71) is provided with a third link (79), one end of the third link (79) being rotatably connected to the double-headed rudder arm (71); Or / and, the palm base (6) is provided with a palm micro joint actuator (61), the palm micro joint actuator (61) and the finger root micro joint actuator (7) are assembled in the palm position of the robot hand, and a fourth link (8) is rotatably provided between the two. The palm micro joint actuator (61) drives the finger root micro joint actuator (7) to rotate through the fourth link (8), thereby driving the thumb unit to rotate on the palm base (6); Or / and, the shapes of the middle shell of the thumb (72) and the distal shell of the thumb (73) are arc-shaped, square, or biomimetic structures, respectively.

7. A robotic finger, characterized in that, It includes a proximal shell (101) and a middle shell (102); The proximal shell (101) and the middle shell (102) are rotatably connected to form a gripping surface with multiple contact areas; The gripping surface is provided with a middle section rotation shaft (105) between the proximal section housing (101) and the middle section housing (102). The inner surface of the adjacent gripping surface is assembled with the middle section rotating shaft (105) so that multiple contact areas of the gripping surface can maintain a continuous connection during operation.

8. A robotic finger as described in claim 7, characterized in that, It also includes the distal segment housing (103); The distal segment housing (103) is fitted with a distal segment rotating shaft (106) on the inner surface of the adjacent gripping surface, so that multiple contact areas of the gripping surface can maintain a continuous connection during operation; Or / and, the gripping surface is provided with a proximal joint rotation shaft (104) between the base of the finger and the proximal joint shell (101). or / and, multiple refers to two or more; Or / and, the shapes of the proximal shell (101), the middle shell (102) and the distal shell (103) are arc-shaped, square, or biomimetic structures, respectively; Or / and, the robot's fingers are the thumb, index finger, middle finger, ring finger, or little finger.

9. A robotic finger as described in claim 8, characterized in that, The proximal segment housing (101), the middle segment housing (102), and the distal segment housing (103) are assembled with a transmission unit for realizing the robot's finger's forward and backward movement, left and right movement, swinging movement, and bending movement; Or / and, the proximal housing (101) is provided with a first contact surface; the middle housing (102) is provided with a second contact surface; the distal housing (103) is provided with a third contact surface; the inner surfaces of the adjacent gripping surfaces of the middle rotating shaft (105) and the distal rotating shaft (106) are assembled and moved away from the transmission unit, so that the first contact surface, the second contact surface and the third contact surface are tightly laid together with a small gap; Or / and, a first rocker arm (20) is provided rotatably at one end of the proximal housing (101) near the transmission unit, and a second rocker arm (21) is provided rotatably at one end of the proximal housing (101) near the middle housing (102), and a first connecting rod (22) is provided between the first rocker arm (20) and the second rocker arm (21). The middle section housing (102) is provided with a third rocker arm (23) that swings around a pivot axis. The distal housing (103) is provided with a fourth rocker arm (24); One end of the third rocker arm (23) is rotatably connected to the second rocker arm (21), and the other end is rotatably connected to the fourth rocker arm (24); The transmission unit is provided with a first connector (3), a transmission base (4), a first linear mechanism, a second linear mechanism and a third linear mechanism provided on the transmission base (4). The first linear mechanism drives the first connector (3), and the second linear mechanism and the third linear mechanism drive the finger linkage unit (1) to swing back and forth and left and right around the transmission base (4). The first connector (3) is rotatably connected to the first rocker arm (20), and sequentially drives the first rocker arm (20), the second rocker arm (21), the third rocker arm (23), and the fourth rocker arm (24) to reciprocate, thereby driving the proximal housing (101), the middle housing (102), and the distal housing (103) to complete flexion and extension movements; The transmission base (4) is provided with a motor unit on its side. The motor unit includes a first motor (51) for driving the first linear mechanism, a second motor (52) for driving the second linear mechanism, and a third motor (53) for driving the third linear mechanism. One or more reduction gears are provided between the first motor (51) and the first linear mechanism, between the second motor (52) and the second linear mechanism, and between the third motor (53) and the third linear mechanism. The second motor (52) and the third motor (53) form a parallel drive structure, and together with the first motor (51) and the transmission unit, realize the forward, backward, left and right, swing and bending movements of the robot's fingers.

10. A robotic hand, characterized by, include: Hand base (6); Multiple robotic fingers as described in any one of claims 1-4, or multiple robotic fingers as described in any one of claims 7-9, disposed on the palm base (6); Or / and a robotic finger as described in any one of claims 5-6 disposed on the palm base (6).

11. A humanoid robot, characterized by, Including a robotic hand as described in claim 10.

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