WO2024113734A1

WO2024113734A1 - Manipulator and robot

Info

Publication number: WO2024113734A1
Application number: PCT/CN2023/097055
Authority: WO
Inventors: 张璞; 顾建军; 朱世强; 宛敏红; 严敏东; 高广; 钟灵; 黄秋兰
Original assignee: 之江实验室
Priority date: 2022-12-01
Filing date: 2023-05-30
Publication date: 2024-06-06

Abstract

A manipulator (100). The manipulator (100) comprises: a palm portion (1), mechanical fingers (3) and drive structures (2), wherein the palm portion (1) comprises a palm plane (12), and a palm side face (13), which is perpendicular to the palm plane (12); the mechanical fingers (3) are arranged on the palm side face (13); and each drive structure (2) is arranged between the palm portion (1) and the mechanical finger (3) so as to connect the mechanical finger (3) to the palm portion (1) in a connection direction (DE). Each drive structure (2) is configured to drive the mechanical finger (3) to rotate around a rotation axis (RA), which extends in a direction perpendicular to the connection direction (DE) and is parallel to the palm plane (12); and the drive structure (2) is further configured to drive the mechanical finger (3) to rotate around a swing axis (SA), which intersects the palm plane (12) and is perpendicular to the rotation axis (RA). Each mechanical finger (3) can rotate in two different directions, and thus has the degrees of freedom of motion similar to those of a human finger, improving the bionic degree of the manipulator (100). In addition, the arrangement mode of the manipulator (100) can meet the requirements of degrees of freedom of motion of simple movements, and thus the manipulator (100) can fit the posture of a human hand, and has sufficient capability to perform simple hand movements. The present application further relates to a robot.

Description

Manipulators and robots

Technical Field

The present application relates to the field of robots, and in particular to a manipulator and a robot.

Background technique

With the continuous development of humanoid robots, more and more humanoid robots are entering people's field of vision. Humanoid robots can imitate human movements and postures to perform work tasks, so people hope that robots can enter daily life and replace people to perform tedious tasks in daily life.

The robot's manipulator is a key component. How to make the manipulator as human-like as possible and improve the reliability of the manipulator's operation process is a problem that the industry is currently paying more attention to.

Summary of the invention

The present application provides a manipulator and a robot to solve the deficiencies in the related art.

A first aspect of the present application provides a robotic arm, comprising: a palm, comprising a palm plane and a palm side surface perpendicular to the palm plane; a mechanical finger, arranged on the palm side surface; and a driving structure, arranged between the palm and the mechanical finger, so as to connect the mechanical finger and the palm in a connecting direction; wherein the driving structure is used to drive the mechanical finger to perform at least one of a rotation around a rotation axis and a rotation around a swing axis, the rotation axis extends perpendicular to the connecting direction and is parallel to the palm plane, and the swing axis intersects the palm plane and is perpendicular to the rotation axis.

Further, the driving structure includes a pivot drive module for driving the mechanical finger to rotate around the rotation axis; the pivot drive module includes: a pivot motor, fixed to the palm, including a pivot motor body, a pivot motor seat and a pivot shaft, the pivot shaft is movably connected to the pivot motor seat and fixedly connected to the mechanical finger; a pivot driving gear, fixedly connected to the pivot motor body, the active pivot axis of the pivot driving gear extends along the connection direction; a pivot driven gear, fixedly connected to the pivot shaft, the pivot driven gear is meshed with the pivot driving gear, and the driven pivot axis of the pivot driven gear coincides with the rotation axis.

Further, the driving structure includes a swing driving module for driving the mechanical finger to rotate around the rotation axis and driving the mechanical finger to rotate around the swing axis; the swing driving module includes: a swing motor, including a swing motor body, a swing motor seat and a cross shaft fixedly connected to the swing motor seat; the cross shaft includes a first shaft extending along the rotation axis and a second shaft extending along the swing axis; a swing gear set, including a first swing gear and a second swing gear; the first swing gear and the second swing gear are respectively rotatably connected to the first shaft; the swing motor drives the first swing gear and the second swing gear to rotate in the same direction or in the opposite direction; an output gear is arranged between the first swing gear and the second swing gear, and is respectively meshed with the first swing gear and the second swing gear; the axis of the output gear coincides with the swing axis; the output gear is fixedly connected to the mechanical finger; the mechanical finger is rotatably connected to the second shaft.

Furthermore, the swing motor also includes: a first driving gear, fixedly connected to the swing motor body; the first driving gear meshes with the first swing gear; the rotation axis of the first driving gear extends along the connection direction; a second driving gear, fixedly connected to the swing motor body; the second driving gear meshes with the second swing gear; the rotation axis of the second driving gear extends along the connection direction.

Further, the first swing gear includes a first main gear and a first sub-gear fixedly connected; the first main gear is meshed with the first driving gear; the first sub-gear is meshed with the output gear; the diameter of the first main gear is larger than the first sub-gear; and/or, the second swing gear includes a second main gear and a second sub-gear fixedly connected; the second main gear is meshed with the second driving gear; the second sub-gear is meshed with the output gear; the diameter of the second main gear is larger than the second sub-gear.

Furthermore, the mechanical finger includes a palm base unit and a finger unit; the driving structure is also arranged between the palm base unit and the finger unit to connect the palm base unit and the finger unit and drive the finger unit to pivot around a bending axis; the projection of the bending axis intersects with the projection of the rotation axis.

Furthermore, the robotic arm also includes: a fingertip module, including a fingertip panel and a fingertip seat; the fingertip panel and the fingertip seat are slidably connected; a force sensor is arranged on the fingertip module, for detecting the fingertip force of the mechanical finger; at least part of the force sensor is arranged on the side of the fingertip seat facing the fingertip panel.

Further, the side of the fingertip seat facing the finger pad panel includes a guide column; the finger pad panel includes a guide hole that cooperates with the guide column; and/or, the side of the fingertip seat facing the finger pad panel includes a guide hole; the finger pad panel includes a guide column that cooperates with the guide hole.

Furthermore, the fingertip module further comprises an elastic member disposed between the finger web panel and the fingertip seat; One end abuts against the finger web panel, and the other end abuts against the finger tip seat; the elastic member is in a compressed state.

Furthermore, the number of the mechanical fingers includes multiple; each of the mechanical fingers is provided with the corresponding driving structure; the palm side includes a front end face and a side end face perpendicular to the front end face; the multiple mechanical fingers include a first mechanical finger arranged on the side end face, and a second mechanical finger arranged on the front end face; the angle between the extension axis of the first mechanical finger and the palm plane is greater than or equal to 10 degrees and less than or equal to 30 degrees; the fingertip of the first mechanical finger and the fingertip of the second mechanical finger are arranged on the same plane.

The mechanical finger includes a fingertip, an intermediate finger segment and a proximal finger segment arranged along an extension direction; the intermediate finger segment is rotatably connected to the fingertip; the driving structure is connected between the proximal finger segment and the palm; the manipulator also includes: a joint structure, which is arranged between the intermediate finger segment and the proximal finger segment, and is rotatably connected to the intermediate finger segment and the proximal finger segment respectively, for changing the angle between the intermediate finger segment and the proximal finger segment.

Further, the driving structure includes a pivot drive module for driving the mechanical finger to rotate around a rotation axis, and the pivot drive module includes: a pivot motor fixed to the palm, including a pivot motor body, a pivot drive shaft, a pivot motor seat and a pivot shaft; the pivot shaft is movably connected to the pivot motor seat and fixedly connected to the proximal finger segment; a pivot driving gear is fixedly connected to the pivot drive shaft; the active pivot axis of the pivot driving gear extends along the connection direction; a pivot driven gear is fixedly connected to the pivot shaft; the pivot driven gear is meshed with the pivot driving gear, and the driven pivot axis of the pivot driven gear coincides with the rotation axis.

Further, the fingertip includes a first fingertip axis and a second fingertip axis arranged in parallel; the joint structure includes a first joint axis, a second joint axis and a third joint axis arranged in parallel; the proximal finger segment includes a first proximal link and a second proximal link; one end of the first proximal link is fixedly connected to the pivot shaft, and the other end is rotatably connected to the first joint axis and the second joint axis respectively; one end of the second proximal link is rotatably connected to the pivot motor seat, and the other end is rotatably connected to the third joint axis; in the axial direction of the first fingertip axis, the projections of the first proximal link and the second proximal link intersect; the intermediate finger segment includes a first intermediate link and a second intermediate link; one end of the first intermediate link is rotatably connected to the first fingertip axis, and the other end is rotatably connected to the second joint axis; one end of the second intermediate link is rotatably connected to the second fingertip axis, and the other end is rotatably connected to the third joint axis and the first joint respectively; in the axial direction of the first fingertip axis, the projections of the first intermediate link and the second intermediate link intersect.

Furthermore, the joint structure includes a joint motor; the joint motor includes: a joint motor seat, fixedly connected to the proximal finger segment; a joint drive shaft, rotatably connected to the joint motor seat and fixedly connected to the middle finger segment; the joint drive shaft is used to drive the middle finger segment to rotate to change the angle between the middle finger segment and the proximal finger segment; the joint driving gear, the joint driving axis of the joint driving gear extends along the extension direction; a joint motor body, fixed to the joint motor seat and fixedly connected to the joint driving gear, used to drive the joint driving gear to rotate; a joint driven gear, fixedly connected to the joint drive shaft; the joint driven gear is meshed with the joint driving gear; the joint driven axis of the joint driven gear is perpendicular to the joint driving axis.

Furthermore, the fingertip includes a first fingertip axis and a second fingertip axis arranged in parallel; the middle finger segment includes: an active connecting rod, one end of which is fixedly connected to the joint drive axis, and the other end is rotatably connected to the first fingertip axis; the active connecting rod is driven by the joint motor to rotate around the joint drive axis; a driven connecting rod, one end of which is rotatably connected to the second fingertip axis, and the other end is rotatably connected to the joint motor; wherein, in the axial direction of the first fingertip axis, the projections of the active connecting rod and the driven connecting rod intersect.

Furthermore, the active connecting rod includes a first sub-rod and a second sub-rod; one end of the first sub-rod is fixedly connected to the joint driving shaft, and the other end is rotatably connected to the second sub-rod; one end of the second sub-rod away from the first sub-rod is rotatably connected to the first fingertip axis; and the driven connecting rod is rotatably connected to the joint driving shaft.

Furthermore, the middle finger segment also includes an elastic member arranged along the extension direction; one end of the elastic member is fixedly connected to the connection point of the fingertip, and the other end is fixedly connected to the driven connecting rod; the elastic member is in a stretched state; the connection point is away from the extension axis of the second fingertip axis.

Furthermore, the number of the mechanical fingers includes a plurality; each of the mechanical fingers is provided with a corresponding driving structure and/or joint structure.

The second aspect of the present application provides a robot, comprising a trunk, an upper limb, and the manipulator provided by the first aspect above; one end of the upper limb is connected to the manipulator, and the other end is connected to the trunk.

It can be seen from the above embodiments that the mechanical finger of the present application can rotate in two different directions, thereby having a degree of freedom of movement similar to that of human fingers, and improving the anthropomorphism of the manipulator. In addition, the setting method of the manipulator of the present application can meet the requirements of the degree of freedom of movement of simple actions, so that the manipulator can fit the posture of the human hand and has sufficient ability to perform simple hand movements.

It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application, and it is not difficult for ordinary technicians in this field to understand them. In other words, other drawings can be obtained based on these drawings without any creative work.

FIG1 is an overall schematic diagram of an embodiment of a manipulator of the present application.

FIG. 2 is an overall schematic diagram of another embodiment of the manipulator of the present application.

FIG. 3 is an overall schematic diagram of an embodiment of a second mechanical finger of the manipulator of the present application.

FIG. 4 is an overall schematic diagram of an embodiment of a first mechanical finger of the manipulator of the present application.

FIG. 5 is an overall schematic diagram of an embodiment of a swing drive module of the present application.

FIG. 6 is a schematic diagram showing an exploded view of an embodiment of a fingertip module of the manipulator of the present application.

FIG. 7 is a front overall schematic diagram of yet another embodiment of the manipulator of the present application.

FIG. 8 is a schematic overall diagram of the reverse side of the manipulator shown in FIG. 7 .

FIG. 9 is a front overall schematic diagram of an embodiment of a mechanical finger of a manipulator of the present application.

FIG. 10 is a schematic overall diagram of the reverse side of the mechanical finger shown in FIG. 9 .

FIG. 11 is an overall schematic diagram of another embodiment of a mechanical finger of a manipulator of the present application.

FIG. 12 is a schematic overall diagram of the reverse side of another embodiment of the mechanical finger of the manipulator of the present application.

FIG. 13 is a front overall schematic diagram of the mechanical finger shown in FIG. 12 .

FIG. 14 is a simplified diagram showing the joint structure and the mechanical structure of the middle finger segment of an embodiment of the mechanical finger of the present application.

FIG. 15 is a side schematic diagram of an embodiment of the robot arm of the present application.

FIG. 16 is a simplified diagram showing the mechanical structure of the joint structure, the proximal finger segment and the middle finger segment of one embodiment of the mechanical finger of the present application.

Among them, 100 manipulator, 1 palm, 12 palm plane, 13 palm side, 131 front end face, 132 side end face, 2 driving structure, 21 pivot drive module, 211 pivot motor, 212 pivot driving gear, 213 pivot driven gear, 2110 pivot motor body, 2111 pivot drive shaft, 2112 pivot motor seat, 2113 pivot shaft, 22 swing drive module, 221 swing gear set, 222 first swing gear, 2221 first main gear, 2222 first sub gear, 223 second swing gear, 2231 second main gear, 2232 second sub gear, 224 swing motor machine, 2240 swing motor seat, 2241 swing motor body, 2242 first driving gear, 2243 second driving gear, 2244 cross shaft, 22441 first shaft, 22442 second shaft, 2245 first drive shaft, 2246 second drive shaft, 225 output gear, 3 mechanical fingers, 31 first mechanical fingers, 311 palm base unit, 312 finger unit, 32 second mechanical fingers, 321 mechanical index finger, 322 mechanical middle finger, 323 mechanical ring finger, 324 mechanical little finger, 331 fingertip, 332 middle finger segment, 333 proximal finger segment, 3311 first fingertip shaft, 3312 second Fingertip axis, 3321 first intermediate connecting rod, 3322 second intermediate connecting rod, 3323 active connecting rod, 3324 driven connecting rod, 3325 elastic member, 3331 first proximal connecting rod, 3332 second proximal connecting rod, 33231 first sub-rod, 33232 second sub-rod, 33241 connecting hole, 34 fingertip module, 341 finger web panel, 342 fingertip seat, 3421 fingertip inner seat, 3422 fingertip shell, 343 guide column, 344 elastic member, 345 guide hole, 4 force sensor, 5 angle sensor, 7 joint structure, 71 first joint axis, 72 second joint axis, 73 third joint axis , 74 joint motor, 741 joint motor seat, 742 joint drive shaft, 743 joint active gear, 744 joint motor body, 745 joint driven gear, X length direction, Y width direction, Z thickness direction, DE connection direction, DC extension direction, RA rotation axis, SA swing axis, FA bending axis, A1 active pivot axis, A2 driven pivot axis, A3 rotation axis, A4 rotation axis, A5 joint active axis, A6 joint driven axis, A7 first fingertip axis 3311 axial direction, EA extension axis, GS grasping space, α angle, VA lateral viewing angle, VB top viewing angle.

Detailed ways

Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The methods described in the following exemplary embodiments do not represent all methods consistent with the present application. Instead, they are merely examples of devices consistent with some aspects of the present application as detailed in the appended claims.

The terms used in this application are only for the purpose of describing specific embodiments and are not intended to limit this application. Unless otherwise defined, the technical terms or scientific terms used in this application should be understood by people with ordinary skills in the field to which this application belongs. The words "first", "second" and similar words used in the specification and claims of this application do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, similar words such as "one" or "one" do not indicate a quantitative limit, but indicate that there is at least one, and if only "one" is referred to, it will be separately described. "Multiple" or "several" means two or more. Unless otherwise specified, similar words such as "front", "rear", "lower" and/or "upper" are only for the convenience of explanation, and are not limited to one position or one spatial orientation. Similar words such as "include" or "comprise" mean that the elements or objects appearing in front of "include" or "comprise" cover the elements or objects listed after "include" or "comprise" and their equivalents, and do not exclude other elements or objects. The words "connected" or "connected" and the like are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The singular forms "a", "an", "said" and "the" used in this specification and the appended claims are intended to include the plural forms as well, unless The context clearly indicates other meanings.It should also be understood that the term "and/or" used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.

With reference to FIG. 1 and FIG. 2 , the present application provides a first aspect of a manipulator 100, comprising a palm 1, a drive structure 2 and a mechanical finger 3. The palm 1 comprises a palm plane 12 and a palm side surface 13 perpendicular to the palm plane 12. The mechanical finger 3 is arranged on the palm side surface 13. The drive structure 2 is arranged between the palm 1 and the mechanical finger 3 to connect the mechanical finger 3 and the palm 1 in a connection direction DE. In other words, the manipulator 100 forms a structure similar to a human palm. The drive structure 2 is used to drive the mechanical finger 3 to perform at least one of a rotation around a rotation axis RA and a rotation around a swing axis SA. The rotation axis RA extends perpendicular to the connection direction DE and is parallel to the palm plane 12. The swing axis SA intersects with the palm plane 12 and is perpendicular to the rotation axis RA.

Taking the embodiment shown in FIG. 2 as an example, the extension plane of the palm plane 12 is parallel to the plane where the length direction X and the width direction Y are located. When the mechanical finger 3 rotates around the rotation axis RA, the manipulator 100 is actually simulating the movement of human fingers swinging back and forth, that is, the movement of the palm opening and closing. The rotation axis RA is parallel to the palm plane 12, so when the mechanical finger 3 rotates around the rotation axis RA, the angle between the extension axis of the mechanical finger 3 and the palm plane 12 can be changed on the plane where the length direction X and the thickness direction Z are located, or the angle between the extension axis of the mechanical finger 3 and the palm plane 12 can be changed in the width direction Y and the thickness direction Z.

The swing axis SA intersects with the palm plane 12. Therefore, when the mechanical finger 3 rotates around the swing axis SA, the angle between the mechanical finger 3 and the palm plane 12 remains unchanged, but on the plane where the length direction X and the width direction Y are located, the angle between the extension axis of the mechanical finger 3 and the length direction X will change. Therefore, when the mechanical finger 3 rotates around the swing axis SA, the robot 100 is actually simulating the movement of human fingers swinging left and right.

By setting it in this way, the mechanical finger 3 of the present application can rotate in two different directions, so as to have a degree of freedom of movement similar to that of human fingers, and improve the anthropomorphism of the manipulator 100. In addition, in simple actions, humans usually only use left and right swings and forward and backward swings of their fingers. Therefore, the setting method of the manipulator 100 of the present application can meet the degree of freedom of movement requirements for simple actions, so that the manipulator 100 can fit the posture of the human hand and can perform simple hand movements such as playing the piano and pressing the keyboard.

In order to clearly describe the movement of the manipulator 100, the reference directions, i.e., the length direction X, the width direction Y, and the thickness direction Z, are used in the above description. It should be noted that the length direction X, the width direction Y, and the thickness direction Z are perpendicular to each other, which will not be described in detail below. In addition, the left and right swings described in the text can be regarded as the movement of the fingertip of the mechanical finger 3 in the width direction Y; the forward and backward swings can be regarded as the movement of the fingertip of the mechanical finger 3 in the thickness direction Z.

The palm side 13 includes a front end face 131 and a side end face 132 perpendicular to the front end face 131. The mechanical finger 3 can be set on the front end face 131 or the side end face 132, and the present application does not limit this. In addition, the manipulator 100 can be provided with only one, two, or more mechanical fingers 3, and the present application does not limit this.

It should be noted that, since the mechanical finger 3 can be arranged on the front end face 131 or the side end face 132, the extension direction DC of different mechanical fingers 3 is different. As shown in FIG1 , the extension direction DC of the mechanical finger 3 arranged on the side end face 132 is different from that of the mechanical finger 3 arranged on the front end face 131. In addition, the connection direction DE and the extension direction DC of the mechanical finger 3 can be the same or different. Taking the embodiment shown in FIG1 as an example, the connection direction DE and the extension direction DC of the mechanical finger 3 arranged on the front end face 131 are both perpendicular to the front end face 131. The connection direction DE and the extension direction DC of the mechanical finger 3 arranged on the side end face 132 are perpendicular.

In some embodiments, the number of mechanical fingers 3 includes multiple ones, so as to further approach the form of human hands and improve the anthropomorphism of the manipulator 100. In this embodiment, each mechanical finger 3 may be provided with a corresponding drive structure 2, and connected to the palm 1 through the drive structure 2, so that the manipulator 100 can drive each mechanical finger 3 to move, so that it can complete a more complex action. Alternatively, some mechanical fingers 3 may be respectively provided with corresponding drive structures 2, and some mechanical fingers 3 may be directly connected to the palm 1. Among them, the manipulator 100 can only drive the mechanical fingers 3 provided with the drive structure 2 to move, and the other mechanical fingers 3 remain fixed to the palm 1. Because among the multiple fingers of humans, there are fingers that play a leading role, such as the index finger and the middle finger, and there are also fingers that play an auxiliary role, such as the ring finger. Those skilled in the art can set the leading mechanical finger 3 to be connected to the palm 1 through the drive structure 2, and set the auxiliary mechanical finger 3 to be fixedly connected to the palm 1, so as to retain the functionality of the manipulator 100 to the greatest extent, and can also reduce the production cost to a certain extent.

As shown in FIG1 , the plurality of mechanical fingers 3 include a first mechanical finger 31 disposed on the side end surface 132, and a plurality of second mechanical fingers 32 disposed on the front end surface 131. In the embodiments shown in FIG1 and FIG2 , the plurality of second mechanical fingers 32 may include a mechanical index finger 321, a mechanical middle finger 322, a mechanical ring finger 323, and a mechanical little finger 324. The first mechanical finger 31 disposed on the side end surface 132 may be the thumb of the manipulator 100. In this way, the manipulator 100 can simulate the finger distribution of a human hand, so that the manipulator 100 has a higher degree of anthropomorphism.

It should be noted that the second mechanical finger 32 may include at least one of a mechanical index finger 321, a mechanical middle finger 322, a mechanical ring finger 323, and a mechanical pinky finger 324, and the present application does not limit this. In addition, similar to the aforementioned embodiment, at least one of the first mechanical finger 31 and the second mechanical finger 32 may be connected to the palm 1 via a drive structure 2. In an embodiment where the number of the second mechanical fingers 32 includes a plurality, some of the second mechanical fingers 32 may be provided with a drive structure 2, and some of the second mechanical fingers 32 may be directly connected to the palm 1, and the present application does not limit this.

Referring to FIG. 15 , in order to simulate the relaxed posture of a human hand and enable the manipulator 100 to better grasp an object in the grasping space GS formed by the palm 1 and the first mechanical finger 31, in some embodiments, the angle α between the extension axis EA of the first mechanical finger 31 and the palm plane 12 is greater than or equal to 10 degrees and less than or equal to 30 degrees. For example, the angle α between the extension axis EA of the first mechanical finger 31 and the palm plane 12 can be 10 degrees, 20 degrees or 30 degrees. If the angle α is too small, the manipulator 100 will appear to be in a tense and stiff state, and it will be difficult to grasp an object. If the angle α is too large, the manipulator 100 will be unnatural, and the space will be occupied and the grasping will be unstable due to the excessive opening of the first mechanical finger 31. Further, the second mechanical finger 32 can be in a slightly bent state, thereby simulating the natural relaxed posture of a human hand and improving the anthropomorphism of the manipulator 100.

In addition, in the embodiment where the manipulator 100 is used to play the piano, press the keyboard, etc., the angle range enables the first mechanical finger 31 to simulate the human The thumb of the hand is placed on the keyboard or piano keys. As shown in FIG1 , in this embodiment, the fingertips of the first mechanical finger 31 and the second mechanical finger 32 are arranged on the same plane. By such an arrangement, the manipulator 100 can simulate the natural posture of a human hand placed on the keyboard, so as to perform operations such as playing the piano and pressing keys.

In order to drive the mechanical finger 3 to move around the rotation axis RA, the driving structure 2 can be a motor. The motor is directly connected to the mechanical finger 3, thereby directly driving the mechanical finger 3 to complete the rotation. Referring to Figure 3, in some embodiments, the driving structure 2 includes a pivoting driving module 21 for driving the mechanical finger 3 to rotate around the rotation axis RA. The pivoting driving module 21 includes a pivoting driving gear 212, a pivoting motor 211, and a pivoting driven gear 213. The pivoting motor 211 is fixed to the palm 1, and includes a pivoting motor body 2110, a pivoting motor seat 2112, and a pivoting shaft 2113. Among them, the pivoting shaft 2113 is movably connected to the pivoting motor seat 2112 and fixedly connected to the mechanical finger 3. The pivoting driving gear 212 is fixedly connected to the pivoting motor body 2110, and the pivoting motor body 2110 drives the pivoting driving gear 212 to rotate. The active pivot axis A1 of the pivoting driving gear 212 extends along the connection direction DE. The pivoting driven gear 213 is fixedly connected to the pivoting shaft 2113. The pivot driven gear 213 meshes with the pivot driving gear 212, and the driven pivot axis A2 of the pivot driven gear 213 coincides with the rotation axis RA. In other words, the driven pivot axis A2 and the driving pivot axis A1 are perpendicular.

Taking the mechanical middle finger 322 shown in FIG3 as an example, the rotation axis RA extends along the width direction Y. The active pivot axis A1 extends along the connection direction DE. In this embodiment, the active pivot axis A1 extends along the length direction X. The driven pivot axis A2 coincides with the rotation axis RA. In this embodiment, the driven pivot axis A2 extends along the width direction Y.

The pivot motor 211 drives the pivot driving gear 212 to rotate around the active pivot axis A1, and the engagement of the pivot driving gear 212 and the pivot driven gear 213 transforms the rotational motion into the rotation of the pivot driven gear 213 around the driven pivot axis A2. Since the pivot driven gear 213 and the mechanical finger 3 are fixedly connected, the mechanical finger 3 can be driven to rotate around the rotation axis RA.

In some embodiments, as shown in FIGS. 9-10 , a pivoting motor body 2110 of the pivoting motor 211 may be provided with a pivoting drive shaft 2111, and the pivoting main gear 212 is fixedly connected to the pivoting drive shaft 2111. In this way, the pivoting motor body 2110 can drive the rotation of the pivoting driving gear 212 through the pivoting drive shaft 2111.

By setting the pivot drive module 21, the manipulator 100 can achieve the transformation of the motion plane by means of gear transmission. Therefore, the pivot motor 211 can be set along the connection direction DE, coinciding with the extension direction DC of the mechanical finger 3, so that it can be hidden in the palm 1, improving the aesthetics of the manipulator 100. Compared with the embodiment in which the motor directly drives the mechanical finger 3 to rotate so that the motor needs to be arranged along the direction of the rotation axis RA, the pivot drive module 21 can more reasonably utilize the space of the manipulator 100, so that multiple mechanical fingers 3 can be compactly arranged side by side, improving the anthropomorphism and structural compactness of the manipulator 100.

Furthermore, the diameter of the pivot driving gear 212 can be smaller than the diameter of the pivot driven gear 213. In this way, the torque can be increased by the transmission ratio of the gears, thereby reducing the parameter requirements for the pivot motor 211. In addition, since the active pivot axis A1 extends along the connection direction DE and the rotation axis of the pivot driven gear 213 extends along the rotation axis RA, the change in the diameter of the pivot driving gear 212 can be reflected in the change in the diameter of the mechanical finger 3, and the change in the diameter of the pivot driven gear 213 can be reflected in the change in the length of the mechanical finger 3. Since the length of a human finger is much larger than the diameter of the finger, this arrangement can also fit the size of a human finger, and can increase the anthropomorphism and lightness of the mechanical finger 3 while increasing the torque.

4 , the mechanical finger 3 includes a palm base unit 311 and a finger unit 312. The pivot drive module 21 is also disposed between the palm base unit 311 and the finger unit 312 to connect the palm base unit 311 and the finger unit 312 and drive the finger unit 312 to pivot around the bending axis FA. The projection of the bending axis FA intersects with the projection of the rotation axis RA.

In this embodiment, the mechanical finger 3 is a first mechanical finger 31, which simulates the movement of the thumb of a human hand. The pivoting movement between the first mechanical finger 31 and the palm 1 is realized by the pivoting drive module 21 at one end of the palm base unit 311 away from the finger unit 312. The pivoting drive module 21 between the palm base unit 311 and the finger unit 312 can drive the bending of the first mechanical finger 31, and the bending direction is different from the rotation direction of the first mechanical finger 31, so that the first mechanical finger 31 increases a degree of freedom of movement. In this way, the first mechanical finger 31 can complete more complex movements. In the embodiment in which the manipulator 100 is used to play the piano, this setting method enables the first mechanical finger 31 to not only move up and down to complete the pressing and releasing of the keys, but also move left and right, so that the first mechanical finger 31 can play more keys located in different positions while the manipulator 100 remains motionless as a whole, simulating the playing posture of a human hand, and improving the anthropomorphism of the manipulator 100.

Indeed, in other embodiments, the mechanical index finger 321, the mechanical middle finger 322, etc. of the second mechanical finger 32 may include a palm base unit 311 and a finger unit 312, and the palm base unit 311 and the finger unit 312 are connected via a pivot drive module 21, and the present application does not limit this.

Referring to FIG5 , the driving structure 2 further includes a swing driving module 22. The swing driving module 22 is used to drive the mechanical finger 3 to rotate around the rotation axis RA and to drive the mechanical finger 3 to rotate around the swing axis SA. The swing driving module 22 includes a swing gear set 221, a swing motor 224 and an output gear 225. The swing motor 224 includes a swing motor seat 2240 and a cross shaft 2244 fixedly connected to the swing motor seat 2240. The cross shaft 2244 includes a first shaft 22441 extending along the rotation axis RA and a second shaft 22442 extending along the swing axis SA. The swing gear set 221 includes a first swing gear 222 and a second swing gear 223. The swing motor 224 is used to drive the first swing gear 222 and the second swing gear 223 to rotate in the same direction or in the opposite direction. The first swing gear 222 and the second swing gear 223 are respectively connected to the first shaft 22441 for rotation. The output gear 225 is disposed between the first swing gear 222 and the second swing gear 223 and meshes with the first swing gear 222 and the second swing gear 223 respectively. The axis of the output gear 225 coincides with the swing axis SA, and the output gear 225 is fixedly connected to the mechanical finger 3. The mechanical finger 3 is rotationally connected to the second shaft 22442.

The driving process of the swing drive module 22 is described below. When the swing motor 224 drives the first swing gear 222 and the second swing gear 223 to rotate in the same direction at the same speed in the horizontal viewing angle VA, taking clockwise rotation as an example, the meshing of the first swing gear 222 and the output gear 225 makes the output gear 225 have a tendency to rotate counterclockwise, while the meshing of the second swing gear 223 and the output gear 225 makes the output gear 225 have a tendency to rotate clockwise. Therefore, the forces on both sides of the output gear 225 are offset, so that the output gear 225 remains stationary. At this time, the output gear 225, the first swing gear 222 and the second swing gear 223 are in a relatively stationary state, that is, they do not rotate around the swing axis SA. Therefore, the rotation of the first swing gear 222 and the second swing gear 223 is expressed as the cross shaft 2244, the output gear 225, the first swing gear 222 and the second swing gear 223 rotating together around the rotation axis RA Since the mechanical finger 3 is rotationally connected to the second shaft 22442 and the axis of the second shaft 22442 is perpendicular to the rotation axis RA, the second shaft 22442 drives the mechanical finger 3 to rotate around the rotation axis RA, thereby realizing the rotational movement of the mechanical finger 3 as a whole around the rotation axis RA.

When the first swing gear 222 and the second swing gear 223 rotate in opposite directions at the same speed in the horizontal viewing angle VA, taking the first swing gear 222 rotating counterclockwise and the second swing gear 223 rotating clockwise as an example, the meshing of the first swing gear 222 and the output gear 225 makes the output gear 225 have a tendency to rotate clockwise, and the meshing of the second swing gear 223 and the output gear 225 also makes the output gear 225 have a tendency to rotate clockwise. Therefore, at this time, the output gear 225 rotates clockwise around the swing axis SA. Since the output gear 225 and the mechanical finger 3 are fixed, and the mechanical finger 3 is rotationally connected to the second shaft 22442, the output gear 225 drives the mechanical finger 3 as a whole to rotate around the swing axis SA.

By such an arrangement, the swing drive module 22 can not only realize the rotational movement of the mechanical finger 3 around the rotation axis RA, but also realize the rotational movement of the mechanical finger 3 around the swing axis SA. It can be seen that a single swing drive module 22 can enable the mechanical finger 3 to have two degrees of freedom of movement. Compared with the embodiment in which motors are respectively provided for the rotational movement around the swing axis SA and the rotational movement around the rotation axis RA, the swing drive module 22 only needs a swing motor 224 to drive the rotational movement around the swing axis SA and around the rotation axis RA. Therefore, the number of motors can be reduced, the structural compactness of the manipulator 100 can be improved, and the space utilization rate inside the manipulator 100 can be improved. Therefore, the swing drive module 22 is conducive to reducing the overall volume of the manipulator 100 and improving the anthropomorphism and aesthetics of the manipulator 100.

Further, the swing motor 224 may include a swing motor body 2241, a first driving gear 2242, and a second driving gear 2243. The rotation axis A3 of the first driving gear 2242 and the rotation axis A4 of the second driving gear 2243 extend along the connection direction DE, respectively. The first driving gear 2242 is fixedly connected to the swing motor body 2241, and the second driving gear 2243 is fixedly connected to the swing motor body 2241, so that the swing motor body 2241 can drive the rotation of the first driving gear 2242 and the second driving gear 2243, respectively. The first driving gear 2242 is meshed with the first swing gear 222, and the second driving gear 2243 is meshed with the second swing gear 223.

In some embodiments, the swing motor body 2241 may be provided with a first drive shaft 2245 and a second drive shaft 2246, the first driving gear 2242 is fixedly connected to the first drive shaft 2245, and the second driving gear 2243 is fixedly connected to the second drive shaft 2246. In this way, the swing motor body 2241 can drive the rotation of the first driving gear 2242 and the second driving gear 2243 through the first driving shaft 2245 and the second driving shaft 2246, respectively.

The rotation direction of the first driving gear 2242 in the top view VB is opposite to the rotation direction of the first swing gear 222 in the horizontal view VA. In other words, when the first driving gear 2242 rotates clockwise, it can drive the first swing gear 222 to rotate counterclockwise. When the first driving gear 2242 rotates counterclockwise, it can drive the first swing gear 222 to rotate clockwise.

Similarly, the rotation direction of the second driving gear 2243 in the top view angle VB is the same as the rotation direction of the second swing gear 223 in the horizontal view angle VA. In other words, when the second driving gear 2243 rotates clockwise, it can drive the second swing gear 223 to rotate clockwise. When the second driving gear 2243 rotates counterclockwise, it can drive the second swing gear 223 to rotate counterclockwise.

According to the above discussion, when the first swing gear 222 and the second swing gear 223 rotate in the same direction, the swing driving module 22 drives the mechanical finger 3 to rotate around the rotation axis RA, and at this time, the first driving gear 2242 and the second driving gear 2243 rotate in opposite directions. When the first swing gear 222 and the second swing gear 223 rotate in opposite directions, the swing driving module 22 drives the mechanical finger 3 to rotate around the swing axis SA, and at this time, the first driving gear 2242 and the second driving gear 2243 rotate in the same direction.

Therefore, the swing motor body 2241 can control the rotation direction of the first driving gear 2242 and the second driving gear 2243 respectively to control the movement direction of the mechanical finger 3. Since the rotation axis A3 of the first driving gear 2242 and the rotation axis A4 of the second driving gear 2243 extend along the connection direction DE, the swing motor 224 can be arranged along the extension direction DC of the mechanical finger 3 and set in the palm 1, which is conducive to hiding the swing motor 224 and improving the aesthetics of the manipulator 100. In addition, the setting of the swing motor 224 in the palm 1 is not only conducive to improving the structural compactness of the manipulator 100 and reducing the overall volume of the manipulator 100; since most of the exposed components are the palm 1 and the mechanical finger 3, it is also conducive to improving the anthropomorphism of the manipulator 100.

In some embodiments, the diameters of the first driving gear 2242 and the first swinging gear 222 may be the same. In other embodiments, the diameter of the first swinging gear 222 may be greater than the first driving gear 2242. In this way, the reduction ratio between the first swinging gear 222 and the first driving gear 2242 enables the first swinging gear 222 to amplify the torque, which is beneficial to reduce the parameter requirements of the swing motor body 2241, thereby reducing the volume and cost of the swing driving module 22. Similarly, the diameter of the second driving gear 2243 may be less than or equal to the diameter of the second swinging gear 223, which will not be repeated in this application.

Further, the first swing gear 222 includes a first main gear 2221 and a first sub-gear 2222 that are fixedly connected. The first main gear 2221 is meshed with the first driving gear 2242, and the first sub-gear 2222 is meshed with the output gear 225. The diameter of the first main gear 2221 is larger than the first sub-gear 2222. Similarly, the second swing gear 223 includes a second main gear 2231 and a second sub-gear 2232 that are fixedly connected. The second main gear 2231 is meshed with the second driving gear 2243, and the second sub-gear 2232 is meshed with the output gear 225. The diameter of the second main gear 2231 is larger than the second sub-gear 2232. By setting it in this way, it is beneficial to utilize the lateral space (the direction shown by the rotation axis RA) of the swing drive module 22, thereby improving the space utilization rate of the swing drive module 22. And because the first sub-gear 2222 and the second sub-gear 2232 of smaller size are opposite to each other and close to each other on the rotation axis RA, it is helpful to reduce the size of the output gear 225 meshing with the first sub-gear 2222 and the second sub-gear 2232, thereby improving the compactness of the structure. In addition, this arrangement allows the size of the first main gear 2221 and the second main gear 2231 to increase, which is helpful to further increase the reduction ratio between the first swing gear 222 and the first driving gear 2242, the reduction ratio between the second swing gear 223 and the second driving gear 2243, and further amplify the torque of the swing motor body 2241.

Of course, in other embodiments, the swing drive module 22 may only have the first swing gear 222 including the first main gear 2221 and the first sub-gear 2222; or, may only have the second swing gear 223 including the second main gear 2231 and the second sub-gear 2232, and the present application does not limit this.

It should be noted that in the embodiment where the manipulator 100 includes a plurality of mechanical fingers 3, the driving structures 2 of the mechanical fingers 3 may be the same. It can also be different. For example, the driving structures 2 of all mechanical fingers 3 may be swinging drive modules 22, so all mechanical fingers 3 can swing back and forth and left and right. Alternatively, some mechanical fingers 3 may be provided with pivot drive modules 21, and other mechanical fingers 3 may be provided with swing drive modules 22. Therefore, some mechanical fingers 3 can only swing back and forth, and other mechanical fingers 3 can swing back and forth and left and right. It can be seen that the driving structure 2 of the present application has good versatility and portability, so that those skilled in the art can configure different driving structures 2 for different mechanical fingers 3 according to actual needs, so that the manipulator 100 can complete the desired action.

In the embodiment shown in FIG. 2 , the first mechanical finger 31 is arranged on the side end surface 132 and includes a palm base unit 311 and a finger unit 312. The palm base unit 311 is connected to the palm 1 through the pivot drive module 21 and is connected to the finger unit 312 through the pivot drive module 21. The second mechanical finger 32 is arranged on the front end surface 131 and includes a mechanical index finger 321, a mechanical middle finger 322, a mechanical ring finger 323 and a mechanical little finger 324. Among them, the mechanical index finger 321 is connected to the palm 1 through the swing drive module 22. The mechanical middle finger 322, the mechanical ring finger 323 and the mechanical little finger 324 are connected to the palm 1 through the pivot drive module 21, respectively. In this way, the first mechanical finger 31 and the mechanical index finger 321 have two degrees of freedom respectively, and the mechanical middle finger 322, the mechanical ring finger 323 and the mechanical little finger 324 have one degree of freedom respectively. This arrangement makes the manipulator 100 have an appearance similar to that of a human hand. In addition, the robot 100 can well fit the posture of human hands when playing keys while using a smaller number of driving structures 2.

Referring to FIG1 , in some embodiments, in order to detect the rotational movement of the mechanical finger 3 driven by the driving structure 2 around the rotation axis RA, the manipulator 100 further includes an angle sensor 5. The angle sensor 5 is disposed at the root of the mechanical finger 3, and is used to measure the angle between the mechanical finger 3 and the palm 1. The root of the mechanical finger 3 may be the connection position between the mechanical finger 3 and the driving structure 2, on the driving structure 2, or the connection position between the driving structure 2 and the palm 1. By such an arrangement, it is possible to monitor whether the operation of the driving structure 2 is normal, for example, the actual rotation degree of the mechanical finger 3 around the rotation axis RA may be monitored, and then the expected rotation degree driven by the driving structure 2 and the actual rotation degree are compared. It can be thus concluded whether the driving structure 2 of the manipulator 100 is faulty, which is beneficial to the monitoring, maintenance and adjustment of the manipulator 100, and improves the motion accuracy of the manipulator 100.

Referring to FIG2 , the mechanical finger 3 includes a fingertip module 34. The fingertip module 34 is used to contact the working surface. In some embodiments, for example, a mechanical hand 100 playing a piano, a mechanical hand 100 hitting a keyboard key, etc., need to press the working surface through the fingertip module 34. In this embodiment, the mechanical hand 100 may include a force sensor 4 (as shown in FIG6 ) arranged on the fingertip module 34. The force sensor 4 is used to detect the fingertip force of the mechanical finger 3. By setting it in this way, it is possible to detect whether the fingertip module 34 has contacted the working surface, and the force with which the fingertip module 34 presses the working surface can be controlled according to the numerical value returned by the force sensor 4. For example, the force with which the mechanical hand 100 presses the piano keys can be controlled according to the data of the force sensor 4, so that the mechanical hand 100 can play soft, strong, sad and other musical emotions, thereby improving the anthropomorphism of the mechanical hand 100 and the user's experience.

Referring to FIG6 , the fingertip module 34 includes a fingertip panel 341 and a fingertip seat 342. In some embodiments, the force sensor 4 is arranged on the side of the fingertip panel 341 away from the fingertip seat 342. In other words, the force sensor 4 is arranged on the side of the fingertip module 34 that contacts the working surface, so that it can directly contact the working surface and improve the accuracy of detection. In other embodiments, the fingertip panel 341 and the fingertip seat 342 are slidably connected, and the force sensor 4 is arranged on the side of the fingertip seat 342 facing the fingertip panel 341. When the fingertip module 34 is pressed on the working surface, the fingertip panel 341 slides toward the fingertip seat 342, thereby pressing the force sensor 4 arranged between the fingertip panel 341 and the fingertip seat 342. By setting it in this way, the fingertip module 34 can accommodate the force sensor 4, thereby providing airtight protection for the force sensor 4, avoiding the influence of water vapor, dust and other substances on the force sensor 4, causing the sensitivity of the force sensor 4 to decrease. In addition, only after the fingertip module 34 contacts the working surface, the fingertip panel 341 will press the force sensor 4. Compared with the embodiment where the force sensor 4 is exposed to the fingertip module 34 and may be accidentally touched by the user or an external object, the force sensor 4 is arranged inside the fingertip module 34 to improve the accuracy of the detection data. In addition, the force sensor 4 can be pressed by moving the finger pad panel 341 to increase the measurement area of the force sensor 4.

In some embodiments, the fingertip seat 342 includes a fingertip inner seat 3421 and a fingertip outer shell 3422. The fingertip inner seat 3421 is accommodated in the fingertip outer shell 3422, and the fingertip panel 341 is connected to the fingertip inner seat 3421. The space between the fingertip inner seat 3421 and the fingertip outer shell 3422 can be used to accommodate circuit structures such as the force sensor 4 and the circuit board, and further achieve the sealing of the circuit structure. Part of the force sensor 4 passes through the hole preset on the fingertip inner seat 3421, so that it can be exposed between the fingertip panel 341 and the fingertip inner seat 3421, and contact with the fingertip panel 341. Since the fingertip panel 341 and the fingertip seat 342 are connected in a sliding manner, impurities can enter the fingertip module 34 through the gap between the fingertip panel 341 and the fingertip seat 342, and have a negative impact on the circuit structure such as the force sensor 4. By setting the fingertip inner seat 3421 and the fingertip outer shell 3422 that are fixedly connected, the sealing of the fingertip seat 342 can be improved, and the protection of the circuit structure can be strengthened.

The sliding connection between the fingertip seat 342 and the finger belly panel 341 can be achieved by the outer wall of the finger belly panel 341 wrapping the outer side of the fingertip seat 342 as a whole. Alternatively, in other embodiments, the side of the fingertip seat 342 facing the finger belly panel 341 includes a guide column 343. The finger belly panel 341 includes a guide hole 345 that cooperates with the guide column 343. The processing and assembly of the guide column 343 and the guide hole 345 are simple, and the degree of cooperation is good. Of course, it is also possible that the side of the fingertip seat 342 facing the finger belly panel 341 includes the guide hole 345, and the finger belly panel 341 includes the guide column 343 that cooperates with the guide hole 345. Alternatively, the fingertip seat 342 includes the guide hole 345 and the guide column 343, and the finger belly panel 341 includes the matching guide column 343 and the guide hole 345, and the present application does not limit this.

In order to help the fingertip panel 341 rebound and reset, the fingertip module 34 also includes an elastic member 344 disposed between the fingertip panel 341 and the fingertip seat 342. One end of the elastic member 344 abuts against the fingertip panel 341, and the other end abuts against the fingertip seat 342, and the elastic member 344 is in a compressed state. When the fingertip panel 341 contacts the working surface, the elastic member 344 is further compressed, so that the fingertip panel 341 can contact the force sensor 4. Since the elastic member 344 is always in a compressed state, when the fingertip panel 341 is not in contact with the working surface, the elastic member 344 continues to apply a force to the fingertip panel 341 away from the fingertip seat 342, so that the fingertip panel 341 can remain away from the force sensor 4.

In the embodiment where the fingertip seat 342 includes the guide post 343 and the finger pad panel 341 includes the guide hole 345, the elastic member 344 can be sleeved on the guide post 343, so that the force of the elastic member 344 is kept from the fingertip seat 342 to the finger pad panel 341, thereby ensuring the return effect of the elastic member 344 on the finger pad panel 341. Of course, the elastic member 344 can also be directly placed between the finger pad panel 341 and the fingertip seat 342. This application is not limited thereto.

Referring to FIG. 7 and FIG. 8 , in some embodiments, the mechanical finger 3 includes a fingertip 331, an intermediate finger segment 332, and a proximal finger segment 333 arranged along an extension direction DC. One end of the intermediate finger segment 332 is rotationally connected to the fingertip 331. A driving structure 2 is connected between the proximal finger segment 333 and the palm 1. That is, the driving structure 2 is arranged on the palm side 13, and is connected to one end of the proximal finger segment 333 away from the intermediate finger segment 332, so as to connect the mechanical finger 3 and the palm 1 in the connection direction DE. A joint structure 7 is arranged between the intermediate finger segment 332 and the proximal finger segment 333, and the joint structure 7 is rotationally connected to the intermediate finger segment 332 and the proximal finger segment 333, respectively. The joint structure 7 can change the angle between the fingertip 331 of the intermediate finger segment 332 and the proximal finger segment 333, so that the mechanical finger 3 can complete a finger bending action similar to that of a human hand.

By such arrangement, the manipulator 100 has high adaptability to the shape of the object. The manipulator 100 can grasp different objects by changing the angle between the mechanical finger 3 and the palm 1, and the angle between the proximal finger segment 333 and the middle finger segment 332. And because the manipulator 100 has high adaptability, the mechanical finger 3 can fit the surface of the object as closely as possible, so that the manipulator 100 can grasp the object more stably.

Similar to the driving structure 2, in the embodiment where the number of mechanical fingers 3 includes a plurality, all mechanical fingers 3 may be provided with the joint structure 7, or some mechanical fingers 3 may be provided with the joint structure 7. In addition, the mechanical finger 3 may be provided with the driving structure 2 and the joint structure 7 at the same time, so that the mechanical finger 3 can have a higher degree of flexibility. Alternatively, the mechanical finger 3 may also be provided with only the joint structure 7, thereby reducing the production cost of the mechanical finger 3.

In some embodiments in which the mechanical finger 3 includes a fingertip 331, an intermediate finger segment 332, and a proximal finger segment 333 arranged along an extension direction DC, the drive structure 2 includes a pivot drive module 21. The following is a specific description with reference to FIGS. 7 to 10 and taking the mechanical ring finger 323 as an example. The pivot drive module 21 includes a pivot motor 211, a pivot driving gear 212, and a pivot driven gear 213. The pivot motor 211 is fixed to the palm 1, and includes a pivot motor body 2110, a pivot drive shaft 2111, a pivot motor seat 2112, and a pivot shaft 2113. The pivot shaft 2113 is movably connected to the pivot motor seat 2112 and is fixedly connected to the proximal finger segment 333 of the mechanical finger 3. The axis of the pivot shaft 2113 extends along the rotation axis RA. The pivot driving gear 212 is fixedly connected to the pivot drive shaft 2111, and the active pivot axis A1 of the pivot driving gear 212 extends along the connection direction DE. The pivot driven gear 213 is fixedly connected to the pivot shaft 2113 , and the pivot driven gear 213 is meshed with the pivot driving gear 212 .

The pivot motor 211 drives the pivot drive shaft 2111 to rotate, so the pivot drive shaft 2111 can drive the pivot driving gear 212 to rotate around the active pivot axis A1, and the engagement of the pivot driving gear 212 and the pivot driven gear 213 transforms the rotational motion into rotation around the rotation axis RA. Since the pivot driven gear 213 and the pivot shaft 2113 are fixedly connected, and the proximal finger segment 333 is also fixedly connected to the pivot shaft 2113, the rotation of the pivot driven gear 213 can drive the mechanical finger 3 to rotate around the rotation axis RA.

In some embodiments where the mechanical finger 3 includes a fingertip 331, an intermediate finger segment 332, and a proximal finger segment 333 arranged along the extension direction DC, as shown in FIG11 , the drive structure 2 may further include a swing drive module 22. The structure of the swing drive module 22 and the connection relationship between the swing drive module 22 and the proximal finger segment 333 of the mechanical finger 3 may refer to the above description of FIG5 , which will not be repeated here.

When the user uses the manipulator 100 to grasp an object, after the manipulator 100 changes the angle between the mechanical finger 3 and the palm 1 through the drive structure 2, the user can manually adjust the angle between the proximal finger segment 333 and the middle finger segment 332, for example, by bending the middle finger segment 332 to pivot around the joint structure 7, so that the mechanical finger 3 can fit the surface of the object for grasping. Further, with continued reference to FIG. 11, in some embodiments, the joint structure 7 includes a joint motor 74. The joint motor 74 is disposed at one end of the proximal finger segment 333 away from the drive structure 2, and is used to drive the middle finger segment 332 to rotate to change the angle between the middle finger segment 332 and the proximal finger segment 333. Through such a configuration, when the user uses the manipulator 100 to grasp an object, there is no need to manually adjust the angle between the proximal finger segment 333 and the middle finger segment 332, and the user only needs to control the movement of the joint motor 74, which is convenient and practical, and improves the intelligence and automation of the manipulator 100.

In the embodiment shown in FIG. 11 , the joint motor 74 may include a joint motor seat 741 and a joint drive shaft 742. The joint motor seat 741 is fixedly connected to the proximal finger segment 333. The joint drive shaft 742 is rotationally connected to the joint motor seat 741 and is fixedly connected to the middle finger segment 332. The joint motor body 744 (as shown in FIG. 12 ) is fixed to the joint motor seat 741 and is hidden in the joint motor seat 741 in the embodiment shown in FIG. 11 . The joint motor body 744 may be a worm gear structure, and the worm gear structure is arranged on the joint drive shaft 742. The rotation of the turbine in the joint motor body 744 drives the rotation of the joint drive shaft 742, thereby driving the middle finger segment 332 to perform rotational motion.

With reference to FIGS. 12 and 13 , in other embodiments, the joint motor 74 further comprises a joint driving gear 743 and a joint driven gear 745. The joint driving axis A5 of the joint driving gear 743 extends along the extension direction DC. The joint motor body 744 and the joint driving gear 743 are fixedly connected to drive the joint driving gear 743 to rotate. The joint driven gear 745 is fixedly connected to the joint driving shaft 742, and the joint driven gear 745 is meshed with the joint driving gear 743. The joint driven axis A6 of the joint driven gear 745 is perpendicular to the joint driving axis A5.

In fact, this structure is similar to the pivot drive module 21 of the drive structure 2. The joint motor body 744 drives the joint driving gear 743 to rotate around the joint driving axis A5, and the meshing of the joint driving gear 743 and the joint driven gear 745 transforms the rotational motion into a rotation around the joint driven axis A6. Since the joint driven gear 745 and the joint driving shaft 742 are fixedly connected, and the middle finger segment 332 is also fixedly connected to the joint driving shaft 742, the rotation of the joint driven gear 745 can drive the middle finger segment 332 to rotate, thereby changing the angle between the middle finger segment 332 and the proximal finger segment 333.

In some embodiments, the structure of the joint structure 7 may be the same as the pivot drive module 21 of the drive structure 2 .

Based on the above embodiment described for the joint motor 74, referring to FIG11, the fingertip 331 may include a first fingertip shaft 3311 and a second fingertip shaft 3312 arranged in parallel. The middle finger segment 332 includes an active link 3323 and a driven link 3324. One end of the active link 3323 is fixedly connected to the joint drive shaft 742, and the other end is rotatably connected to the first fingertip shaft 3311. The active link 3323 is driven by the joint motor 742. The motor 74 is driven to rotate around the joint drive shaft 742. One end of the driven link 3324 is rotatably connected to the second fingertip shaft 3312, and the other end is rotatably connected to the joint motor 74. In the axial direction A7 of the first fingertip shaft 3311, the projections of the active link 3323 and the driven link 3324 intersect.

The simplified diagram of the mechanical structure of FIG14 is used for explanation. When the active link 3323 rotates around the joint drive shaft 742, the active link 3323 drives the first fingertip shaft 3311 to rotate around the joint drive shaft 742. Since the first fingertip shaft 3311 and the second fingertip shaft 3312 are connected to the fingertip 331, the active link 3323 can indirectly drive the second fingertip shaft 3312 to rotate, thereby driving the driven link 3324 connected to the second fingertip shaft 3312 to rotate. The lengths of the driven link 3324 and the active link 3323 are fixed, and the first fingertip shaft 3311 and the active link 3323 are rotationally connected, and the second fingertip shaft 3312 and the driven link 3324 are rotationally connected. Therefore, the active link 3323 and the driven link 3324 are mutually restrained, so that the fingertip 331 can switch between the state of pointing to the palm 1 and the state of leaving the palm 1 in the extension direction DC. Thus, when the manipulator 100 needs to grasp a small object, the fingertips 331 can be bent toward the palm 1 to hook the object to prevent it from falling. Therefore, this arrangement can improve the adaptability of the manipulator 100 to the sizes of different objects and expand the scope of application of the manipulator 100.

In this embodiment, one end of the driven link 3324 connected to the joint motor 74 may be connected to the joint motor seat 741, so that the angle and other parameters of the active link 3323 and the driven link 3324 can be adjusted by adjusting the connection position of the driven link 3324 and the joint motor seat 741, thereby controlling the movement of the fingertip 331. In addition, referring to FIG. 12 and FIG. 13, taking the mechanical finger 3 as the first mechanical finger 31 as an example, the driven link 3324 can be rotatably connected to the joint drive shaft 742. In this embodiment, the active link 3323 includes a first sub-rod 33231 and a second sub-rod 33232. One end of the first sub-rod 33231 is fixedly connected to the joint drive shaft 742, and the other end is connected to the second sub-rod 33232. One end of the second sub-rod 33232 away from the first sub-rod 33231 is rotatably connected to the first fingertip shaft 3311.

The rotation of the joint drive shaft 742 drives the first sub-rod 33231 to rotate, and the first sub-rod 33231 pushes the second sub-rod 33232 to move, and the second sub-rod 33232 pushes the movement of the driven link 3324 by pushing the fingertip 331, so that the fingertip 331 can switch between the state of pointing to the palm 1 and the state of being away from the palm 1 in the extension direction DC. Through such a setting, the active link 3323 can be split into two independent sub-rods, and the user can adjust the angle between the second sub-rod 33232 and the driven link 3324 by adjusting the length of the first sub-rod 33231 and the second sub-rod 33232. Compared with the embodiment of changing the connection position on the joint motor seat 741, this setting method can easily adjust the relationship between the active link 3323 and the driven link 3324, and then adjust the movement mode of the fingertip 331.

The first sub-rod 33231 and the second sub-rod 33232 may be fixedly connected to form a bent active link 3323. In the embodiment where the active link 3323 is integrally formed, when the driven link 3324 touches an object, the object can block the further pivoting of the driven link 3324, so the integrally formed active link 3323 is also difficult to continue to pivot. Therefore, in some embodiments, the first sub-rod 33231 and the second sub-rod 33232 are rotationally connected. When the driven link 3324 touches an object, the driven link 3324 no longer moves, so the position of the second fingertip axis 3312 is fixed. At this time, the first sub-rod 33231 can still continue to rotate, pushing the second sub-rod 33232 to continue to move toward the fingertip 331, thereby driving the first fingertip axis 3311 to rotate around the second fingertip axis 3312, and realizing the rotation of the fingertip 331 around the second fingertip axis 3312.

Through such an arrangement, when the manipulator 100 grasps an object, when the proximal finger segment 333 and the middle finger segment 332 have abutted against the object and cannot move further, the manipulator 100 can still change the angle between the fingertip 331 and the middle finger segment 332, so that the fingertip 331 can hold the object in the grasping space GS as shown in FIG. 15, thereby improving the grasping stability of the manipulator 100.

Furthermore, the middle finger segment 332 also includes an elastic member 3325 arranged along the extension direction DC. One end of the elastic member 3325 is fixedly connected to the connection point (not shown) of the fingertip 331, and the other end is fixedly connected to the driven connecting rod 3324, and the elastic member 3325 is in a stretched state. Among them, the connection point is far away from the axis of the second fingertip axis 3312. When the fingertip 331 rotates around the second fingertip axis 3312, since the connection point is far away from the axis of the second fingertip axis 3312, the connection point will also rotate around the second fingertip axis 3312. Hereinafter, the rotation of the fingertip 331 toward the middle finger segment 332 is referred to as forward rotation, and the rotation of the fingertip 331 away from the middle finger segment 332 is referred to as reverse rotation. When the fingertip 331 rotates forward, the straight-line distance between the connection point and the fixed point of the elastic member 3325 on the driven connecting rod 3324 increases, and the elastic member 3325 is further stretched. When the fingertip 331 rotates in the reverse direction, the linear distance between the connection point and the fixing point of the elastic member 3325 on the driven connecting rod 3324 decreases. Since the elastic member 3325 is in a stretched state, the pulling force of the elastic member 3325 can assist in pulling the fingertip 331 back to its original position.

Those skilled in the art can set the fixed position of the elastic member 3325 on the driven connecting rod 3324 according to actual needs. For example, when the length of the elastic member 3325 is shorter, the fixed position can be close to the second fingertip axis 3312. When the length of the elastic member 3325 is longer, the fixed position can be close to the joint drive shaft 742. As shown in FIG. 13 , the driven connecting rod 3324 includes a plurality of connecting holes 33241 in its extension direction DC. Those skilled in the art can replace the elastic member 3325 of different lengths and elastic coefficients according to the state of the manipulator 100, or can conveniently replace a plurality of elastic members 3325 of different specifications, so that the mechanical finger 3 can be suitable for a variety of elastic members 3325 available on the market, thereby reducing maintenance costs.

In the embodiment where the middle finger segment 332 includes a driving connecting rod 3323 and a driven connecting rod 3324, the joint motor 74 may be a worm gear structure as described above, or may be a structure provided with a joint driving gear 743 and a joint driven gear 745, or may be a structure where, for example, a motor directly drives the joint driving shaft 742. The present application is not limited thereto.

In other embodiments, the joint structure 7 is not provided with a joint motor 74. In this embodiment, the joint structure 7 cooperates with the pivot drive module 21 to drive the change of the angle between the middle finger segment 332 and the proximal finger segment 333. Referring to Figures 9 and 10, the joint structure 7 includes a first joint axis 71, a second joint axis 72, and a third joint axis 73 arranged in parallel. The proximal finger segment 333 includes a first proximal link 3331 and a second proximal link 3332. The middle finger segment 332 includes a first intermediate link 3321 and a second intermediate link 3322. One end of the first proximal link 3331 is fixedly connected to the pivot shaft 2113, and the other end is rotatably connected to the first joint axis 71. At the pivot shaft 2113 Between the first proximal link 3331 and the first joint shaft 71, the first proximal link 3331 is also rotatably connected to the second joint shaft 72. One end of the second proximal link 3332 is rotatably connected to the pivot motor seat 2112, and the other end is rotatably connected to the third joint shaft 73. One end of the first intermediate link 3321 is rotatably connected to the first fingertip shaft 3311, and the other end is rotatably connected to the second joint shaft 72. One end of the second intermediate link 3322 is rotatably connected to the second fingertip shaft 3312, and the other end is rotatably connected to the third joint shaft 73. Between the second fingertip shaft 3312 and the third joint shaft 73, the second intermediate link 3322 is also rotatably connected to the first joint shaft 71. Among them, in the axial direction A7 of the first fingertip shaft 3311, the projections of the first proximal link 3331 and the second proximal link 3332 intersect, and the projections of the first intermediate link 3321 and the second intermediate link 3322 intersect.

This is described in conjunction with FIG. 16 . The pivot shaft 2113 drives the first proximal link 3331 to rotate. The first proximal link 3331 is rotatably connected to the first joint shaft 71 and the second joint shaft 72, respectively, so the first proximal link 3331 can drive the second intermediate link 3322 connected to the first joint shaft 71 and the first intermediate link 3321 connected to the second joint shaft 72 to move. The second intermediate link 3322 is also connected to the third joint shaft 73 and the second fingertip shaft 3312, so the movement of the second intermediate link 3322 can also drive the rotation of the second proximal link 3332 connected to the third joint shaft 73 and the movement of the fingertip 331. The first intermediate link 3321 is also connected to the first fingertip shaft 3311, so the movement of the first intermediate link 3321 can drive the movement of the fingertip 331.

When the driving shaft drives the first proximal link 3331 to move, the first proximal link 3331, the second proximal link 3332, the first intermediate link 3321 and the second intermediate link 3322 are limited by their respective lengths and angles with each other, and can present a bent shape of the mechanical finger 3 as shown in FIG16 .

With such an arrangement, the mechanical finger 3 does not need to be provided with a joint motor 74 for the joint structure 7. By associating the proximal finger segment 333 and the middle finger segment 332 with the driving structure 2, the driving structure 2 can not only drive the mechanical finger 3 to change the angle between the extension direction DC and the palm plane 12, but also drive the change of the angle between the proximal finger segment 333 and the middle finger segment 332, thereby improving the utilization rate of the driving structure 2, simplifying the structure of the mechanical finger, and reducing the production cost of the mechanical finger 3.

Taking the embodiment shown in FIG. 7 as an example, the driving structure 2 of the mechanical ring finger 323 and the mechanical little finger 324 can bend the mechanical finger 3. When the ring finger and the little finger of the human hand are close to the palm, the fingers are usually bent. Therefore, this setting structure improves the anthropomorphism of the manipulator 100. In addition, since the mechanical ring finger 323 and the mechanical little finger 324 usually play an auxiliary role rather than a leading role when grasping an object, this setting method eliminates the existence of the joint motor 74, and uses fewer joint motors 74 to fit most of the grasping postures, which is conducive to reducing the production cost of the manipulator 100 while ensuring the normal operation of the manipulator 100.

In addition, in the embodiment shown in Figure 7, the joint structure 7 of the first mechanical finger 31, the mechanical index finger 321 and the mechanical middle finger 322 is provided with a joint motor 74, thereby improving the adjustment flexibility of the first mechanical finger 31, the mechanical index finger 321 and the mechanical middle finger 322, so that the manipulator 100 can grasp objects of different sizes and irregular outer surfaces.

Furthermore, similar to the flexibility of the index finger and thumb of a human hand, the driving structure 2 of the first mechanical finger 31 and the mechanical index finger 321 is a swing driving module 22, so that the first mechanical finger 31 and the mechanical index finger 321 of the manipulator 100 can swing relative to the palm side 13, so that the gripping position can be adjusted when grasping objects, which is beneficial to improving the adaptability and flexibility of the manipulator 100 to grasp objects of different sizes.

It should be noted that the embodiment shown in FIG. 7 should be taken as an example rather than a limitation. Those skilled in the art can set different numbers of mechanical fingers 3 according to actual needs, or set the drive structures 2 of the first mechanical finger 31, the mechanical index finger 321, the mechanical middle finger 322, the mechanical ring finger 323 and the mechanical little finger 324 to be the same, or set the joint structure 7 to be the same, etc., and this is not limited in the art. The joint structure 7 and the drive structure 2 of the present application can be set on the mechanical finger 3 according to needs, so that the mechanical finger 3 can have different movement capabilities and degrees of freedom of movement, so the joint structure 7 and the drive structure 2 have strong adaptability and high transplantability.

The second aspect of the present application provides a robot, including a trunk, an upper limb, and the manipulator 100 described in the above embodiment. One end of the upper limb is connected to the manipulator, and the other end is connected to the trunk, so as to form a structure similar to the human body. The mechanical finger 3 of the manipulator 100 can rotate in two different directions, so that the robot can complete actions similar to human hand movements, such as playing the piano, pressing the keyboard, etc., to improve the anthropomorphism of the robot. The robot is provided with electronic components such as a power supply, a driver, and a controller, so that it can be used to drive the mechanical movement of the manipulator 100. It is understandable that these electronic components can be arranged in the trunk or the upper limb, so as to improve the structural compactness and integrity of the robot. Or it can also be arranged outside the robot, and the present application does not limit this. It should be noted that the beneficial effects described above for each embodiment of the manipulator 100 can also be used to describe the robot of the present application. For the sake of simplicity of description, the present application will not repeat them here.

The specific embodiments described herein are merely examples of the spirit of the present application. A person skilled in the art of the present application may make various modifications, supplements, or replace the specific embodiments described, but this will not deviate from the spirit of the present application or exceed the scope defined by the attached claims.

The technical features of the above embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

Claims

A robot, characterized by comprising:

A palm portion, comprising a palm plane and a palm side surface perpendicular to the palm plane;

A mechanical finger, disposed on the palm side; and

a driving structure, disposed between the palm and the mechanical finger, to connect the mechanical finger and the palm in a connecting direction;

Wherein, the driving structure is used to drive the mechanical finger to perform at least one of rotation around a rotation axis and rotation around a swing axis, the rotation axis extends perpendicular to the connection direction and is parallel to the palm plane, and the swing axis intersects the palm plane and is perpendicular to the rotation axis.
The manipulator according to claim 1, characterized in that the driving structure comprises a pivot driving module for driving the mechanical finger to rotate around the rotation axis; the pivot driving module comprises:

A pivot motor is fixed to the palm, comprising a pivot motor body, a pivot motor seat and a pivot shaft, wherein the pivot shaft is movably connected to the pivot motor seat and fixedly connected to the mechanical finger;

A pivot driving gear fixedly connected to the pivot motor body, wherein the driving pivot axis of the pivot driving gear extends along the connection direction;

The pivot driven gear is fixedly connected to the pivot shaft, the pivot driven gear is meshed with the pivot driving gear, and the driven pivot axis of the pivot driven gear coincides with the rotation axis.
The manipulator according to claim 1, characterized in that the driving structure comprises a swing driving module, which is used to drive the mechanical finger to rotate around the rotation axis and drive the mechanical finger to rotate around the swing axis; the swing driving module comprises:

The swing motor comprises a swing motor body, a swing motor seat and a cross shaft fixedly connected to the swing motor seat; the cross shaft comprises a first shaft extending along the rotation axis and a second shaft extending along the swing axis;

The swing gear set includes a first swing gear and a second swing gear; the first swing gear and the second swing gear are respectively connected to the first shaft for rotation; the swing motor drives the first swing gear and the second swing gear to rotate in the same direction or in the opposite direction;

The output gear is arranged between the first swing gear and the second swing gear, and meshes with the first swing gear and the second swing gear respectively; the axis of the output gear coincides with the swing axis; the output gear is fixedly connected to the mechanical finger; the mechanical finger is rotationally connected to the second shaft.
The manipulator according to claim 3, characterized in that the swing motor further comprises:

A first driving gear is fixedly connected to the swing motor body; the first driving gear is meshed with the first swing gear; the rotation axis of the first driving gear extends along the connection direction;

The second driving gear is fixedly connected to the swing motor body; the second driving gear is meshed with the second swing gear; and the rotation axis of the second driving gear extends along the connection direction.
The manipulator according to claim 4 is characterized in that the first swing gear comprises a first main gear and a first sub-gear fixedly connected; the first main gear is meshed with the first driving gear; the first sub-gear is meshed with the output gear; the diameter of the first main gear is larger than that of the first sub-gear; and/or,

The second swing gear comprises a second main gear and a second sub-gear which are fixedly connected; the second main gear is meshed with the second driving gear; the second sub-gear is meshed with the output gear; and the diameter of the second main gear is larger than that of the second sub-gear.
The manipulator according to claim 1 is characterized in that the mechanical finger includes a palm base unit and a finger unit; the driving structure is also arranged between the palm base unit and the finger unit to connect the palm base unit and the finger unit and drive the finger unit to pivot around a bending axis; the projection of the bending axis intersects with the projection of the rotation axis.
The manipulator according to claim 1, characterized in that the manipulator further comprises:

The fingertip module comprises a fingertip panel and a fingertip seat; the fingertip panel and the fingertip seat are slidably connected;

A force sensor is arranged on the fingertip module and is used to detect the fingertip force of the mechanical finger; at least part of the force sensor is arranged on a side of the fingertip seat facing the finger web panel.
The manipulator according to claim 7 is characterized in that the side of the fingertip seat facing the finger pad panel includes a guide column; the finger pad panel includes a guide hole that cooperates with the guide column; and/or the side of the fingertip seat facing the finger pad panel includes a guide hole; the finger pad panel includes a guide column that cooperates with the guide hole.
The manipulator according to claim 7 is characterized in that the fingertip module also includes an elastic member arranged between the fingertip panel and the fingertip seat; one end of the elastic member abuts against the fingertip panel, and the other end abuts against the fingertip seat; the elastic member is in a compressed state.
The manipulator according to claim 1, characterized in that the number of the mechanical fingers includes a plurality; each of the mechanical fingers is provided with a corresponding driving structure;

The palm side includes a front end face and a side end face perpendicular to the front end face; the plurality of mechanical fingers include a first mechanical finger arranged on the side end face and a second mechanical finger arranged on the front end face; the angle between the extension axis of the first mechanical finger and the palm plane is greater than or equal to 10 degrees and less than or equal to 30 degrees;

The finger pad of the first mechanical finger and the finger pad of the second mechanical finger are arranged on the same plane.
The manipulator according to claim 1 is characterized in that the mechanical finger comprises a fingertip, an intermediate finger segment and a proximal finger segment arranged along the extension direction; the intermediate finger segment is rotatably connected to the fingertip; the driving structure is connected between the proximal finger segment and the palm;

The manipulator also includes:

The joint structure is arranged between the middle finger segment and the proximal finger segment, and is respectively connected to the middle finger segment and the proximal finger segment. A movable connection is provided for changing the angle between the middle finger segment and the proximal finger segment.
The manipulator according to claim 11, characterized in that the driving structure comprises a pivot driving module for driving the mechanical finger to rotate around a rotation axis, and the pivot driving module comprises:

A pivot motor is fixed to the palm, comprising a pivot motor body, a pivot drive shaft, a pivot motor seat and a pivot shaft; the pivot shaft is movably connected to the pivot motor seat and fixedly connected to the proximal finger segment;

A pivot driving gear fixedly connected to the pivot driving shaft; a driving pivot axis of the pivot driving gear extends along the connection direction;

The pivot driven gear is fixedly connected to the pivot shaft; the pivot driven gear is meshed with the pivot driving gear, and the driven pivot axis of the pivot driven gear coincides with the rotation axis.
The manipulator according to claim 12, characterized in that the fingertip comprises a first fingertip axis and a second fingertip axis arranged in parallel; the joint structure comprises a first joint axis, a second joint axis and a third joint axis arranged in parallel;

The proximal finger segment includes a first proximal connecting rod and a second proximal connecting rod; one end of the first proximal connecting rod is fixedly connected to the pivot shaft, and the other end is rotatably connected to the first joint shaft and the second joint shaft respectively; one end of the second proximal connecting rod is rotatably connected to the pivot motor seat, and the other end is rotatably connected to the third joint shaft; in the axial direction of the first fingertip shaft, the projections of the first proximal connecting rod and the second proximal connecting rod intersect;

The middle finger segment includes a first middle link and a second middle link; one end of the first middle link is rotationally connected to the first fingertip axis, and the other end is rotationally connected to the second joint axis; one end of the second middle link is rotationally connected to the second fingertip axis, and the other end is rotationally connected to the third joint axis and the first joint respectively; in the axial direction of the first fingertip axis, the projections of the first middle link and the second middle link intersect.
The manipulator according to claim 11, characterized in that the joint structure includes a joint motor; the joint motor includes:

A joint motor seat, fixedly connected to the proximal finger segment;

A joint drive shaft is rotatably connected to the joint motor seat and fixedly connected to the middle finger segment; the joint drive shaft is used to drive the middle finger segment to rotate so as to change the angle between the middle finger segment and the proximal finger segment;

A joint driving gear, wherein the joint driving axis of the joint driving gear extends along the extension direction;

The joint motor body is fixed to the joint motor seat and is fixedly connected to the joint driving gear, and is used to drive the joint driving gear to rotate;

The joint driven gear is fixedly connected to the joint driving shaft; the joint driven gear is meshed with the joint driving gear; the joint driven axis of the joint driven gear is perpendicular to the joint driving axis.
The manipulator according to claim 14, characterized in that the fingertip comprises a first fingertip axis and a second fingertip axis arranged in parallel; and the middle finger segment comprises:

An active connecting rod, one end of which is fixedly connected to the joint drive shaft and the other end of which is rotatably connected to the first fingertip shaft; the active connecting rod is driven by the joint motor to rotate around the joint drive shaft;

A driven link, one end of which is rotationally connected to the second fingertip shaft, and the other end of which is rotationally connected to the joint motor; wherein, in the axial direction of the first fingertip shaft, the projections of the active link and the driven link intersect.
The manipulator according to claim 15 is characterized in that the active connecting rod includes a first sub-rod and a second sub-rod; one end of the first sub-rod is fixedly connected to the joint drive shaft, and the other end is rotatably connected to the second sub-rod; one end of the second sub-rod away from the first sub-rod is rotatably connected to the first fingertip shaft; and the driven connecting rod is rotatably connected to the joint drive shaft.
The manipulator according to claim 16 is characterized in that the middle finger segment also includes an elastic member arranged along the extension direction; one end of the elastic member is fixedly connected to the connection point of the fingertip, and the other end is fixedly connected to the driven connecting rod; the elastic member is in a stretched state; and the connection point is away from the extension axis of the second fingertip axis.
The manipulator according to claim 11 is characterized in that the number of the mechanical fingers includes multiple; each of the mechanical fingers is provided with the corresponding driving structure and/or joint structure.
A robot comprises a trunk, an upper limb and a manipulator as claimed in any one of claims 1 to 18; one end of the upper limb is connected to the manipulator, and the other end is connected to the trunk.