WO2019144268A1 - 一种机械手指及机械手 - Google Patents

一种机械手指及机械手 Download PDF

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Publication number
WO2019144268A1
WO2019144268A1 PCT/CN2018/073791 CN2018073791W WO2019144268A1 WO 2019144268 A1 WO2019144268 A1 WO 2019144268A1 CN 2018073791 W CN2018073791 W CN 2018073791W WO 2019144268 A1 WO2019144268 A1 WO 2019144268A1
Authority
WO
WIPO (PCT)
Prior art keywords
finger
knuckle
mechanical
mechanical finger
drive
Prior art date
Application number
PCT/CN2018/073791
Other languages
English (en)
French (fr)
Inventor
汪志康
Original Assignee
深圳蓝胖子机器人有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳蓝胖子机器人有限公司 filed Critical 深圳蓝胖子机器人有限公司
Priority to PCT/CN2018/073791 priority Critical patent/WO2019144268A1/zh
Priority to CN201880001574.7A priority patent/CN109496179B/zh
Publication of WO2019144268A1 publication Critical patent/WO2019144268A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • B25J15/0061—Gripping heads and other end effectors multiple gripper units or multiple end effectors mounted on a modular gripping structure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
    • B25J15/0233—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by chains, cables or ribbons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
    • B25J15/103—Gripping heads and other end effectors having finger members with three or more finger members for gripping the object in three contact points
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0025—Means for supplying energy to the end effector
    • B25J19/0029—Means for supplying energy to the end effector arranged within the different robot elements
    • B25J19/0041—Means for supplying energy to the end effector arranged within the different robot elements having rotary connection means

Definitions

  • the present application relates to the field of robots, and in particular to a mechanical finger and a robot.
  • the mechanical finger is used to simulate the function of the human finger. Because the mechanical finger not only needs to grasp the target, but also needs to have a good grip function, it can have better handling performance on the target, in order to achieve flexibility close to human fingers. Degree and precision.
  • the technical problem to be solved by the present application is to provide a mechanical finger and a robot capable of controlling the rotation of the finger mechanism relative to the base.
  • the mechanical finger comprises a base, a finger mechanism and a rotary drive mechanism, the finger mechanism comprises a tail end knuckle and a fingertip, and the fingertip is rotatable relative to the tail end knuckle, wherein the tail end knuckle is mounted on the base; the rotary drive mechanism, It is disposed in the base and connected to the finger mechanism to drive the finger mechanism to rotate relative to the base.
  • the robot includes at least two mechanical fingers as described above, each mechanical finger forming a robot by splicing.
  • the beneficial effects of the present application are: Different from the prior art, the present application discloses a mechanical finger and a robot.
  • the mechanical finger comprises a base, a finger mechanism and a rotary drive mechanism, the finger mechanism comprises a tail end knuckle and a fingertip, and the fingertip is rotatable relative to the tail end knuckle, wherein the tail end knuckle is mounted on the base;
  • the rotary drive mechanism It is disposed in the base and connected to the finger mechanism to drive the finger mechanism to rotate relative to the base.
  • the present application provides a rotation driving mechanism to rotate the finger mechanism relative to the base, thereby increasing the degree of freedom of the finger mechanism, and the mechanical finger can grasp the orientation of the finger mechanism to grasp the position of the finger mechanism in a more reasonable manner when grasping the object.
  • the article thus has a more flexible and flexible gripping posture for the mechanical finger of the present application.
  • FIG. 1 is a schematic structural view of an embodiment of a mechanical finger provided by the present application.
  • Figure 2 is a schematic view showing the internal structure of the mechanical finger in the embodiment of Figure 1;
  • Figure 3 is a schematic structural view of a finger mechanism in the embodiment of Figure 1;
  • Figure 4 is a schematic view showing the connection structure between the finger joints of the finger mechanism of the embodiment of Figure 1;
  • Figure 5 is a schematic structural view of a connecting device in the embodiment of Figure 1;
  • Figure 6 is a schematic structural view of a connecting member of the connecting device in the embodiment of Figure 5;
  • Figure 7 is a schematic structural view of a guiding block in the embodiment of Figure 1;
  • Figure 8 is a top plan view of the guiding block in the embodiment of Figure 1;
  • Figure 9 is a schematic structural view of the rotary driving device, the rotating shaft and the guiding block in the embodiment of Figure 1;
  • Figure 10 is a schematic structural view of the rotary driving device, the rotating shaft, the slip ring device and the guiding block in the embodiment of Figure 1;
  • Figure 11 is a schematic structural view of a slip ring device in the embodiment of Figure 10;
  • Figure 12 is a schematic view showing the structure of the flexing and extension driving mechanism, the guiding pulley block and the guiding block in the embodiment of Figure 1;
  • FIG. 13 is a schematic structural view of an embodiment of a manipulator provided by the present application.
  • first”, “second”, and “third” in the present application are used for descriptive purposes only, and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, features defining “first”, “second”, and “third” may include at least one of the features, either explicitly or implicitly. In the description of the present application, the meaning of “a plurality” is at least two, such as two, three, etc., unless specifically defined otherwise. Furthermore, the terms “comprises” and “comprising” and “comprising” are intended to cover a non-exclusive inclusion. For example, a process, method, system, product, or device that comprises a series of steps or units is not limited to the listed steps or units, but optionally also includes steps or units not listed, or alternatively Other steps or units inherent to these processes, methods, products or equipment.
  • references to "an embodiment” herein mean that a particular feature, structure, or characteristic described in connection with the embodiments can be included in at least one embodiment of the present application.
  • the appearances of the phrases in various places in the specification are not necessarily referring to the same embodiments, and are not exclusive or alternative embodiments that are mutually exclusive. Those skilled in the art will understand and implicitly understand that the embodiments described herein can be combined with other embodiments.
  • FIG. 1 a schematic structural view of an embodiment of a mechanical finger provided by the present application.
  • the mechanical finger includes a base 20 and a finger mechanism 10, wherein the finger mechanism 10 is mounted to the base 20.
  • the rotary drive mechanism 21 is disposed in the base 20 and is coupled to the finger mechanism 10 to drive the finger mechanism 10 to rotate relative to the base 20.
  • the base 20 can also include a flexion and extension drive mechanism 22 disposed within the base 20 for driving the finger mechanism 10 to perform a flexing motion and a stretching motion to grasp or release the article.
  • the finger mechanism 10 includes a tail end knuckle 11 and a fingertip 12, the fingertip 12 being rotatable relative to the tail end knuckle 11, and the tail end knuckle 11 being mounted to the base 20. Further, the finger mechanism 10 includes at least two knuckles 11 that are hinged in sequence, and the phalanx 11 mounted on the base 20 is a tail end knuckle 11 on the other end of the finger mechanism 10 away from the end phalanx 11 11 is the fingertip 12.
  • the finger mechanism 10 includes four knuckles 11 hinged in order from the beginning to the end.
  • the other end knuckle 11 on the finger mechanism 10 remote from the trailing knuckle 11 is arranged to distinguish the fingertip 12 design of the other knuckles 11.
  • the fingertip 12 can provide the finger mechanism 10 to perform the "pinch" action more flexibly.
  • all knuckles 11 can be of a unified modular design.
  • the tail end knuckle 11 at the tail end of the finger mechanism is mounted on the base 20, and the knuckle 11 and the knuckle 11 and the fingertip 12 are rotatable relative to the hinged position thereof.
  • the bottom end of the knuckle 11 is fixed on the base 20, and the knuckle 11 and the knuckle 11 and the fingertip 12 are connected by a rotating shaft 111.
  • the rotating shaft 111 is fixed at a relatively far end.
  • the knuckle 11 or the fingertip 12 is disposed on the knuckle, and the middle portion of the rotating shaft 111 is provided with a rotating wheel 112.
  • the rotating wheel 112 is fixed relative to the rotating shaft 111, and the rotating wheel 112 can be driven to drive the knuckle 11 or the fingertip 12 to be hinged thereto.
  • the phalanx 11 toward the tail end side of the finger mechanism 10 is rotated.
  • the knuckle 11 and the fingertip 12 are provided with an engaging portion 113.
  • the knuckle 11 is provided with an engaging portion 114 at the tail portion.
  • the engaging portion 113 and the engaging portion 114 are both connected to the rotating shaft 111, and the rotating shaft 111 is fixed to the engaging portion 113. .
  • the engaging portion 114 is provided with a receiving groove for accommodating the rotating wheel 112.
  • the engaging portion 114 is also disposed in the engaging portion 113 of the adjacent knuckle 11 at the same time, and the rotating wheel 112 is driven to make the engaging portion 113 relatively The engaging portion 114 rotates.
  • an angle sensor 115 is further disposed at the end position of the rotating shaft 112 for detecting the rotation angle of the phalanx 11 or the fingertip 12 to facilitate the control of the finger mechanism 10.
  • the haptic sensor 116 and the distance sensor 117 are provided on both the knuckle 11 and the fingertip 12.
  • the tactile sensor 116 is used to determine whether the phalanx 11 or the fingertip 12 is in contact with an object, and can also be used to detect the distribution of force and the magnitude of the force after contacting the object.
  • the distance sensor 117 is used to detect the distance of the object from the knuckles or fingertips, so that the mechanical finger can adjust the action of the finger mechanism 10 when grasping the object and grasp the object with an appropriate force according to the detected data.
  • the tactile sensor 116 and the distance sensor 117 are integrated on a circuit board, disposed in the middle of the phalanx 11 or the fingertip 12 and on the side for grasping the object.
  • the tactile sensor 116 and the distance sensor 117 can also be separately disposed on the phalanx 11 or the fingertip 12, which is not limited in this application.
  • the base 20 includes a rotary drive mechanism 21 and a flexion drive mechanism 22.
  • the rotation drive mechanism 21 drives the finger mechanism 10 to rotate
  • the flexion and extension drive mechanism 22 drives the finger mechanism 10 to complete the flexion motion and the extension motion.
  • the rotary drive mechanism 21 is coupled to the distal phalanx 11 by a connecting device 23 to drive the finger mechanism 10 to rotate.
  • the connecting device 23 includes a connecting block 231 and a connecting block 232.
  • the connecting block 231 has a thin shell structure, and a side surface and a tail end knuckle 11 are fixed by screws, and the opposite side is open.
  • the connecting block 231 is fastened to the connecting block 232 and fixed to the connecting block 232 by screws.
  • the connecting block 232 is connected to the rotary drive mechanism 21, and the rotary drive mechanism 21 drives the finger mechanism 10 to rotate by the connecting device 23.
  • the connecting block 232 is provided with at least one guiding hole 2321 and a signal line hole 2322.
  • the connecting block 231 is provided with a correspondingly-sized through hole at a position corresponding to the connecting block 232 to facilitate the driving rope 222 and Signal line or FPC (Flexible Printed
  • the circuit, the flexible circuit board passes, and the number of the guiding holes 2321 is the same as the number of the driving ropes 222, so that the respective transmission ropes 222 can be isolated from each other, preventing frictional loss between the transmission ropes and being entangled in one place, and the transmission rope 222
  • the finger mechanism 10 and the base 20 are connected via corresponding guiding holes 2321.
  • the connecting block 232 includes three guiding holes 2321 and one signal hole 2322 .
  • the three guiding holes 2321 penetrate into the signal hole 2322 , and the three guiding holes 2321 and A port of a signal hole 2322 is disposed on a side surface 2323 of the connecting block 232 toward the tail end knuckle 11, and the other port of the signal hole 2322 is disposed at a center position of the opposite side 2324.
  • the connecting block 232 further includes an extending portion 2325 having an annular shape, disposed at the center of the end surface 2324, and enclosing the other port of the signal hole 2322.
  • the connecting block 232 is fixed to the rotary driving mechanism 21 by screws by the extending portion 2325, and a bearing 2326 (as shown in FIG. 9) is further disposed outside the extending portion 2325 to support the rotation of the finger mechanism 10 and reduce the rotation of the connecting device 23.
  • the coefficient of friction ensures the rotation accuracy of the connecting device 23.
  • the mechanical finger further includes a rotating shaft 24.
  • the rotating shaft 24 is coupled to the rotary drive mechanism 21, and the rotary shaft 24 is rotatably supported by the mounting hole in the base 20 via the bearing 2326.
  • the rotating shaft 24 is disposed with a hollow passage in the axial direction, and the hollow passage communicates with the signal hole 2322 through which the transmission rope 222 and the signal line or FPC extend toward the finger mechanism 10.
  • the rotary drive mechanism 21 includes a motor 211 and a transmission mechanism 212.
  • the motor 211 drives the connection device 23 through the transmission mechanism 212 to drive the finger mechanism 10 to rotate.
  • the transmission mechanism 212 includes a bevel gear 2121 and a bevel gear 2122.
  • the bevel gear 2121 is horizontally disposed, and is connected to the output shaft of the motor 211 through a connecting member 2123.
  • the bevel gear 2122 is vertically disposed to mesh with the bevel gear 2121, that is, the first bevel gear 2121
  • the axis intersects the axis of the second bevel gear 2122 perpendicularly.
  • a threaded hole may be provided outside the second bevel gear 2122 to be fastened to the rotating shaft 24 by screws.
  • the outer side of the end of the rotating shaft 24 may also be provided with a thread, and the bevel gear 2122 is screwed to the outside of the end of the rotating shaft 24.
  • the connecting member 232 is fixed to the second bevel gear 2122 by screws, so that the torque outputted by the second motor 211 is transmitted to the connecting device 23 via the bevel gear 2121 and the second bevel gear 2122, thereby driving the connecting device 23 to rotate to drive the finger.
  • the mechanism 10 rotates.
  • the transmission mechanism 212 further includes a bevel gear 2124 that is horizontally disposed, coaxial with the bevel gear 2121, and meshes with the bevel gear 2122.
  • the bevel gear 2124 is further coupled to the angle sensor 2125 to enable the angle sensor 2125 to detect the bevel gear 2122.
  • the angle of rotation facilitates control of the angle of rotation of the finger mechanism 10.
  • the other end of the rotating shaft 24 is provided with a slip ring device 25 including a slip ring mount 251 , an outer slip ring 252 and an inner slip ring 253 .
  • the slip ring mount 251 is fixed to the base 20, the outer slip ring 252 is fixed in the slip ring mount 251, and the inner slip ring 253 is sleeved inside the outer slip ring 252 to rotate relative to the outer slip ring 252.
  • the inner slip ring 253 is embedded in the hollow passage of the rotating shaft 24, and is also provided with a hollow passage in the axial direction, that is, the hollow passage of the slip ring device 25 faces the hollow passage of the rotating shaft 24, facilitating the passage of the transmission rope.
  • One end of the inner slip ring 253 near the rotating shaft 24 protrudes from the outer slip ring 252 as a positioning protrusion 2531, and the positioning protrusion 2531 is fitted into the hollow passage of the rotating shaft 24 so that the inner slip ring 253 and the rotating shaft 24 are relatively fixed.
  • the inner slip ring 253 and the outer slip ring 252 are also electrically connected through the contacts between the two to perform signal transmission. That is, the upper end of the inner slip ring 253 is connected to the signal line extending from the finger mechanism 10, and the lower end of the outer slip ring 252 is connected to the signal line extending from the controller. Wherein, the outer slip ring 252 can be connected to the controller through a bus.
  • the rotation angle of the finger mechanism 10 reaches a certain level, for example, 180 degrees, the manner in which the signal line is directly connected to the electrical connection may cause the signal line to be twisted and wound, and by setting the slip ring device 25, this can be avoided.
  • the slip ring device 25 may not be provided, which is not limited in this application.
  • the base 20 includes at least one set of flexion drive mechanisms 22, and the flexion drive mechanism 22 drives the knuckles 11 to rotate toward the knuckles 11 on the trailing end side of the finger mechanism 10.
  • the number of flexion and extension drive mechanisms 22 is the same as the number of phalanx 11 except the distal end phalanx 11 in the finger mechanism 10, and the corresponding phalanx 11 other than the distal end phalanx 11 is independently driven (including Fingertip 12).
  • a set of flexion drive mechanisms 22 drive the finger mechanism 10, i.e., a set of flexion drive mechanisms 22 simultaneously drive a plurality of phalanxes 11 (including between 12) to flex toward the trailing end phalanx 11.
  • each set of flexion and extension drive mechanism 22 includes a motor 221 and a drive cable 222.
  • One end of the drive cable 222 is coupled to the motor 221 and the other end is coupled to a corresponding knuckle 11 or fingertip 12.
  • the motor 221 drives the corresponding phalanx 11 or the fingertip 12 to rotate relative to the knuckle 11 hinged on the side toward the rear end of the finger mechanism 10 by the traction drive cable 222, thereby realizing the buckling action of the finger mechanism 10.
  • the plurality of motors 221 of the plurality of sets of flexion and extension drive mechanisms 22 are stacked in the axial direction of the rotational axis 24.
  • a conduit is placed over the drive cable 222 to avoid the introduction of unnecessary friction between the drive cables.
  • the motor 221 can also have different settings, which is not limited in this application.
  • one end of the drive cable 222 is connected to the corresponding knuckle 11 around the pulley 112, and the other end is connected to the motor 221.
  • the motor 221 passes the traction drive cable 222 and guides the direction of the drive rope through the pulley 112 to thereby drive the knuckle 11 or the fingertip 12 to rotate relative to the knuckle 11 hinged thereto and toward the trailing end of the finger mechanism 10.
  • a reverse biasing element (not shown) is further disposed between the knuckle 11 and the fingertip 12 and between the hinge portion 11 and the knuckle 11 for driving the finger when the motor 221 releases the drive rope
  • the knot 11 or the fingertip 12 is reversely rotated to effect the stretching action of the finger mechanism 10.
  • three sets of flexion and extension driving mechanisms 22 are disposed in the base 20 to respectively drive the two phalanx 11 and one fingertip 12 except the tail end knuckle 11 to be hinged relative thereto.
  • the knuckle 11 on the side of the tail end 10 of the finger mechanism is rotated.
  • the guide pulley block 27 includes at least one guide wheel 271 which is changed in direction of extension by the corresponding guide wheel 271.
  • at least one guiding hole 261 is disposed on the guiding block 26, and the driving rope 222 is connected to the finger mechanism 10 from the corresponding guiding wheel 271 through the corresponding guiding hole 261, and the guiding hole 261 is disposed at a position such that the driving rope 222 is tangential to the corresponding guide wheel 271.
  • the number of the guide wheels 271 and the number of the guide holes 261 are the same as the number of the drive wires 222.
  • One end of the driving rope 222 is fixedly connected to the corresponding knuckle 11 or the fingertip 12, and the driving rope 222 bypasses the rotating wheel 112, and protrudes from the tail end knuckle 11 to the connecting device 23, and rotates through the corresponding guiding hole 2321.
  • the hollow passages on the shaft 24 and the inner slip ring 253, to the corresponding guide holes 261 on the guide block 26, are redirected through the guide holes 261, are tangentially entered from the corresponding guide wheels 271, and are changed by the corresponding guide wheels 271.
  • the other end is connected to a rotating wheel provided on the output shaft of the corresponding motor 221 .
  • the transmission rope 222 is redirected a plurality of times, and the output power drives the finger mechanism 10 to flex and extend in a more reasonable force transmission manner, and each of the guiding holes and the hollow passage also protects the transmission rope.
  • the guiding block 26 is located on the side of the guiding pulley block 27 facing the finger structure 10. In the embodiment, the guiding block 26 is also located at the end of the rotating shaft 24 away from the finger mechanism 10.
  • a guiding protrusion 26 is disposed on a side of the guiding block 26 toward the finger structure 10.
  • the positioning protrusion 262 faces the hollow passage of the rotating shaft 24, and allows the rotating shaft 24 to rotate relative to the guiding block 26, and the guiding block 26 is fixed.
  • Inside the base 20. Further, one end of the at least one guiding hole 261 is provided on a side surface of the positioning protrusion 262 facing the rotating shaft 24.
  • the guide block 26 is also located below the slip ring assembly 25, i.e., the slip ring assembly 25 is located between the rotating shaft 24 and the guide block 26.
  • the positioning protrusion 262 can also be configured to fit the hollow channel size of the rotating shaft 24, and the rotating shaft 24 can be rotated relative to the positioning protrusion 262, and the rotating shaft can be limited. Bit, not too much jitter during the rotation.
  • the guiding block 26 is provided with three guiding holes 261, and thus one end of the three guiding holes 261 is disposed on one side surface of the positioning protrusion 262 facing the rotating shaft 24.
  • the positioning protrusion 262 has a cylindrical shape, and one port of the three guiding holes 261 is linearly arranged in the middle of the positioning protrusion 262, and the line is parallel to the axis of the bevel gear 2121.
  • the curvature of the channel of the guiding hole 261 is not abrupt, and the other port of the three guiding holes 261 is also linearly arranged on the side surface of the guiding block 26 facing the guiding pulley block 27, and facing the tangential direction of the corresponding guiding wheel 271.
  • the positioning block 26 In order to change the drive rope through the guide block 26, it enters from the tangential direction of the corresponding guide wheel 271.
  • the positioning block 26 may not be provided with the positioning protrusion 262, or the positioning protrusion 262 has other shapes, which is not limited in this application.
  • the guiding pulley block 27 is located below the guiding block 26, and includes at least one guiding wheel 271 and a guiding wheel fixing seat 272.
  • the guiding wheel 271 is disposed on the mounting shaft, and is rotatable relative to the guiding wheel fixing seat 272.
  • the driving rope is turned backward through the corresponding guiding hole 261, and enters the guiding wheel 271 from the tangential direction of the guiding wheel 271.
  • the guide pulley block 27 includes three guide wheels 271 and a guide wheel fixing base 272.
  • the three guide wheels 271 are sequentially shifted and are respectively disposed on the guide wheel fixing base 272 corresponding to the respective guide holes 261, so as to be replaced accordingly.
  • the drive cable is driven at a lower energy consumption and connected to the motor 221.
  • the mechanical finger further includes a controller 28 disposed in the base for controlling the rotary drive mechanism 21 to drive the finger mechanism 10 to rotate relative to the base 20, or to control the flexion drive mechanism 22 to drive the finger mechanism 10 to complete the buckling
  • a controller 28 disposed in the base for controlling the rotary drive mechanism 21 to drive the finger mechanism 10 to rotate relative to the base 20, or to control the flexion drive mechanism 22 to drive the finger mechanism 10 to complete the buckling
  • the action and the stretching action, or the control of the rotary drive mechanism 21 and the flexion and extension drive mechanism 22, are not limited in this application.
  • FIG. 13 a schematic structural diagram of an embodiment of a manipulator provided by the present application is provided.
  • the robot includes at least two mechanical fingers as described above, each of which is modular in design and forms a robot by splicing.
  • the robot includes a mechanical finger 31, a mechanical finger 32, a mechanical finger 33, and a connecting flange 34.
  • the mechanical finger 31, the mechanical finger 32, and the mechanical finger 33 are mechanical fingers as in the above embodiment, and the connecting flange 34 Used to secure the connection between the entire robot and other external machines.
  • the controller 28 is placed in the base 20 of any one of the mechanical fingers, and the bus drawn from the bottom of the other mechanical finger bases is coupled to the controller 28.
  • a controller 28 may be provided for each mechanical finger.
  • the controller 28 is used to control the mechanical finger 31, the mechanical finger 32, and the mechanical finger 33 to cooperate with each other to grasp or release the article.
  • Each mechanical finger adopts a modular design. It can be understood that the components constituting the mechanical finger can be selectively added or removed to increase or decrease part of the function of the mechanical finger, and the modular design of the mechanical finger also facilitates the mechanical finger. Repair and replacement of parts.
  • the finger mechanism 10 of the mechanical finger 32 has a small rotation angle, and it is not necessary to provide the slip ring device 25, and the mechanical finger 31 and the mechanical finger 33 located outside can be selected to add the slip ring device 25 according to the use condition; in other cases, The rotary drive mechanism 21 is discarded and the finger mechanism 10 is not driven to rotate; or, the knuckles 11 are added to accommodate the size of the article.
  • the mechanical finger 31, the mechanical finger 32, and the mechanical finger 33 form a robot by splicing.
  • a plurality of mechanical fingers are arranged in a row, and the bending directions of adjacent mechanical fingers are oppositely arranged to form a robot; or, a plurality of machines
  • the fingers are arranged in two rows, and the buckling directions of the mechanical fingers of each column are relatively set, and the stitching forms a robot.
  • the present invention is only an illustrative example, and the splicing method is various, and this application does not limit this.
  • the mechanical finger comprises a base, a finger mechanism and a rotary drive mechanism, the finger mechanism comprises a tail end knuckle and a fingertip, and the fingertip is rotatable relative to the tail end knuckle, wherein the tail end knuckle is mounted on the base; the rotary drive mechanism, It is disposed in the base and connected to the finger mechanism to drive the finger mechanism to rotate relative to the base.
  • the present application provides a rotation driving mechanism to rotate the finger mechanism relative to the base, thereby increasing the degree of freedom of the finger mechanism, and the mechanical finger can grasp the orientation of the finger mechanism to grasp the position of the finger mechanism in a more reasonable manner when grasping the object.
  • the article thus has a more flexible and flexible gripping posture for the mechanical finger of the present application.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)

Abstract

一种机械手指，该机械手指包括基座（20）、手指机构（10）、旋转驱动机构（21），手指机构（10）包括尾端指节（11）及指尖（12），指尖（12）可相对尾端指节（11）转动，其中尾端指节（11）安装于基座（20）上；旋转驱动机构（21）设置于基座（20）内，与手指机构（10）连接，以驱动手指机构（10）相对基座（20）旋转，该机械手指够控制手指机构（10）相对基座（20）旋转。还涉及一种机械手。

Description

一种机械手指及机械手
【技术领域】
本申请涉及机械手领域，特别是涉及一种机械手指及机械手。
【背景技术】
随着人工智能化的发展，对于模拟人类动作的机器的要求也越来越高。机械手指用于模拟人类的手指功能，由于机械手指不仅要抓取目标物，且还需具备较好的握持功能，因而才能对目标物具有较好的操控性能，以期达到接近人类手指的灵活程度及精准程度。
【发明内容】
本申请主要解决的技术问题是提供一种机械手指及机械手，能够控制手指机构相对基座旋转。
为解决上述技术问题，本申请采用的一个技术方案是：提供一种机械手指。该机械手指包括基座、手指机构、旋转驱动机构，手指机构包括尾端指节及指尖，指尖可相对尾端指节转动，其中尾端指节安装于基座上；旋转驱动机构，设置于基座内，与手指机构连接，以驱动手指机构相对基座旋转。
为解决上述技术问题，本申请采用的另一个技术方案是：提供一种机械手。该机械手包括至少两个如上述的机械手指，每一机械手指通过拼接方式形成机械手。
本申请的有益效果是：区别于现有技术的情况，本申请公开了一种机械手指及机械手。该机械手指包括基座、手指机构、旋转驱动机构，手指机构包括尾端指节及指尖，指尖可相对尾端指节转动，其中尾端指节安装于基座上；旋转驱动机构，设置于基座内，与手指机构连接，以驱动手指机构相对基座旋转。通过上述方式，本申请设置旋转驱动机构使手指机构可相对基座旋转，增加了手指机构的自由度，机械手指在抓取物品的时候可通过调整手指机构的方位，以更合理地方式抓取物品，因而本申请的机械手指拥有更多样且灵活的抓取姿态。
【附图说明】
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本申请提供的机械手指一实施例的结构示意图；
图2是图1实施例中的机械手指的内部结构示意图；
图3是图1实施例中手指机构的结构示意图；
图4是图1实施例中手指机构指节之间的连接结构示意图；
图5是图1实施例中连接装置的结构示意图；
图6是图5实施例中连接装置一连接件的结构示意图；
图7是图1实施例中导引块的结构示意图；
图8是图1实施例中导引块的俯视结构示意图；
图9是图1实施例中旋转驱动装置、转动轴及导引块的结构示意图；
图10是图1实施例中旋转驱动装置、转动轴、滑环装置及导引块的结构示意图；
图11是图10实施例中滑环装置的结构示意图；
图12是图1实施例中屈伸驱动机构、导向滑轮组及导引块的结构示意图；
图13是本申请提供的机械手一实施例的结构示意图。
【具体实施方式】
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅是本申请的一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
本申请实施例中的术语“第一”、“第二”、“第三”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”、“第三”的特征可以明示或者隐含地包括至少一个该特征。本申请的描述中，“多个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。此外，术语“包括”和“具有”以及它们任何变形，意图在于覆盖不排他的包含。例如包含了一系列步骤或单元的过程、方法、***、产品或设备没有限定于已列出的步骤或单元，而是可选地还包括没有列出的步骤或单元，或可选地还包括对于这些过程、方法、产品或设备固有的其它步骤或单元。
在本文中提及“实施例”意味着，结合实施例描述的特定特征、结构或特性可以包含在本申请的至少一个实施例中。在说明书中的各个位置出现该短语并不一定均是指相同的实施例，也不是与其它实施例互斥的独立的或备选的实施例。本领域技术人员显式地和隐式地理解的是，本文所描述的实施例可以与其它实施例相结合。
参阅图1，本申请提供的机械手指一实施例的结构示意图。
同时参阅图2，该机械手指包括基座20和手指机构10，其中手指机构10安装于基座20上。旋转驱动机构21设置于基座20内，与手指机构10连接，以驱动手指机构10相对基座20旋转。基座20还可以包括屈伸驱动机构22，屈伸驱动机构22设置于基座20内，用于驱动手指机构10完成屈曲动作和伸展动作，以抓取或松开物品。
以下，为便于理解本发明原理，将结合具体实施例依次阐述手指机构10及基座20。
该实施例中，手指机构10包括尾端指节11及指尖12，指尖12可相对尾端指节11转动，尾端指节11安装于基座20上。进一步地，手指机构10包括依次铰接的至少两个指节11，安装于基座20上的指节11为尾端指节11，位于手指机构10上远离尾端指节11的另一端指节11为指尖12。
参阅图3，本实施例中，手指机构10包括首尾依次铰接的四个指节11。图3示例中，手指机构10上远离尾端指节11的另一端指节11设置为区别其他指节11的指尖12设计。该方式下，指尖12可以提供手指机构10更灵活地执行“捏取”动作。其他方式下，所有指节11可以为统一的模块化设计。其中，位于手指机构尾端的尾端指节11安装于基座20上，指节11之间及指节11与指尖12之间均可相对于其铰接的位置处转动。指节11之间及指节11与指尖12之间的连接方式有多种，能够达到与本申请中指节11之间及指节11与指尖12之间的转动效果类似的连接方式，均在本申请的保护范围之内。
结合参阅图2与图4，尾端指节11底部固定于基座20上，指节11之间及指节11与指尖12之间均通过转轴111连接，转轴111固定于相对远离尾端指节的指节11或指尖12上，且转轴111中部设置有转轮112，转轮112相对转轴111固定，转轮112可被驱动以带动指节11或指尖12相对与其铰接的且朝向手指机构10尾端一侧的指节11进行转动。
指节11首部以及指尖12首部设置有卡合部113，指节11尾部设置有卡合部114，卡合部113与卡合部114均与转轴111连接，转轴111相对卡合部113固定。卡合部114内设置有容置槽，以容置转轮112，卡合部114同时还设置于相邻指节11的卡合部113内，转轮112被驱动以使卡合部113相对卡合部114转动。
结合参阅图3与图4，转轴112端部位置处还设置有角度传感器115，用于检测指节11或指尖12的转动角度，便于对手指机构10进行控制。以及，指节11和指尖12上均设置有触觉传感器116和距离传感器117。触觉传感器116用于判断指节11或指尖12是否接触到物体，还可以用于检测接触到物体后力的分布及力的大小。距离传感器117用于检测物体距指节或指尖的距离，以使机械手指能够根据探测的数据，调节手指机构10抓取物体时的动作及用合适的力度去抓取物体。本实施例中，触觉传感器116及距离传感器117集成于一个电路板上，设置于指节11或指尖12中部且位于用于抓取物体的一侧上。在其他实施例中，触觉传感器116及距离传感器117还可以单独地设置于指节11或指尖12上，本申请对此不作限制。
本申请中，基座20包括旋转驱动机构21及屈伸驱动机构22。其中，旋转驱动机构21驱动手指机构10旋转，屈伸驱动机构22驱动手指机构10完成屈曲动作和伸展动作。
接下来，为便于理解本发明原理，将结合具体实施例依次阐述旋转驱动机构21及屈伸驱动机构22。
结合参阅图2和图5，旋转驱动机构21通过连接装置23与尾端指节11连接，以驱动手指机构10旋转。连接装置23包括连接块231与连接块232，连接块231呈薄壳结构，通过螺钉将一侧面与尾端指节11固定，对侧面为开口。连接块231与连接块232扣合且通过螺钉固定于连接块232上，连接块232与旋转驱动机构21连接，进而旋转驱动机构21通过连接装置23带动手指机构10旋转。
参阅图6，连接块232上设置有至少一个导引孔2321以及一个信号线孔2322，连接块231上与连接块232相对应的位置处设置有相应大小的通孔，以便于传动绳222及信号线或FPC（Flexible Printed Circuit，柔性线路板）通过，且导引孔2321的数量与传动绳222的数量相同，以使各传动绳222能够彼此隔离，防止传动绳间相互摩擦损耗以及缠结于一处，传动绳222经过对应的导引孔2321连接手指机构10及基座20。
请同时参阅图5、图6，本实施例中，连接块232包括三个导引孔2321及一个信号孔2322，三个导引孔2321贯穿至信号孔2322中，三个导引孔2321及一个信号孔2322的一端口设置于连接块232朝向尾端指节11的一侧面2323上，信号孔2322的另一端口设置于对侧面2324中心位置。连接块232还包括一延伸部2325，延伸部2325呈圆环状，设置于端面2324中心，且将信号孔2322的另一端口包围在内。连接块232通过延伸部2325利用螺钉固定于旋转驱动机构21上，且延伸部2325外侧还设置有轴承2326（如图9），以支撑手指机构10的转动，并且降低连接装置23旋转过程中的摩擦系数，保证连接装置23的回转精度。
参阅图9或图10，机械手指还包括转动轴24。转动轴24与旋转驱动机构21连接，进而转动轴24通过轴承2326转动支撑于基座20上的安装孔内。转动轴24沿轴向设置有中空通道，该中空通道与信号孔2322相通，传动绳222及信号线或FPC经该中空通道向手指机构10延伸。
旋转驱动机构21包括电机211与传动机构212，电机211通过传动机构212驱动连接装置23带动手指机构10旋转。
传动机构212包括锥齿轮2121及锥齿轮2122，锥齿轮2121水平设置，通过连接件2123与电机211的输出轴连接；锥齿轮2122竖直设置，与锥齿轮2121相啮合，即第一锥齿轮2121轴线与第二锥齿轮2122的轴线垂直相交。第二锥齿轮2122外侧可以设置螺纹孔，以通过螺钉紧固在转动轴24上。转动轴24端部外侧还可以设置有螺纹，锥齿轮2122螺接于转动轴24的该端部外侧。连接件232通过螺钉固定于第二锥齿轮2122上，以使第二电机211所输出的扭矩经锥齿轮2121与第二锥齿轮2122传递到连接装置23，进而带动连接装置23转动，以驱动手指机构10旋转。
传动机构212还包括锥齿轮2124，锥齿轮2124水平设置，与锥齿轮2121共轴线，且与锥齿轮2122相啮合，锥齿轮2124进一步连接角度传感器2125，以使得角度传感器2125能够检测锥齿轮2122的转动角度，进而便于控制手指机构10的旋转角度。
参阅图10与图11，转动轴24另一端部，即远离手指机构10的一端，设置有滑环装置25，滑环装置25包括滑环安装座251、外滑环252及内滑环253，滑环安装座251相对基座20固定，外滑环252固定于滑环固定座251内，内滑环253套设于外滑环252内部，可相对外滑环252转动。内滑环253嵌入至转动轴24的中空通道，其轴向也设置有中空通道，即滑环装置25的中空通道正对转动轴24的中空通道，便于传动绳通过。内滑环253靠近转动轴24的一端凸出外滑环252作为定位突块2531，定位突块2531嵌入至转动轴24的中空通道，以使内滑环253与转动轴24相对固定。
内滑环253与外滑环252还通过之间的触点实现电性连接，进行信号传输。即内滑环253上端连接从手指机构10延伸来的信号线，外滑环252下端连接自控制器延伸来的信号线。其中，外滑环252可以通过总线连接至控制器。在手指机构10旋转角度达到一定时，例如达到180度，直接采用信号线实现电性连接的方式会存在信号线扭转缠绕的现象，而通过设置滑环装置25，可避免这一情况发生。参阅图9，在其他实施中，还可以不设置滑环装置25，本申请对此不作限制。
再次参阅图1及图2，基座20内包括至少一组屈伸驱动机构22，且屈伸驱动机构22驱动指节11朝向手指机构10尾端一侧的指节11进行转动。
本实施例中，屈伸驱动机构22的数量与手指机构10中除尾端指节11以外的指节11的数量相同，且分别独立地驱动除尾端指节11以外对应的指节11（包括指尖12）。在另一实施例中，一组屈伸驱动机构22驱动手指机构10，即一组屈伸驱动机构22同时驱动多个指节11（包括之间12）朝向尾端指节11屈伸。
具体地，每组屈伸驱动机构22包括电机221以及传动绳222，传动绳222一端与电机221连接，另一端与对应的指节11或指尖12连接。电机221通过牵引传动绳222带动对应的指节11或指尖12相对于其铰接的且位于朝向手指机构10尾端一侧的指节11进行转动，进而实现手指机构10的屈曲动作。另一实施方式下，多组屈伸驱动机构22的多个电机221沿转动轴24的轴向层叠设置。此外，传动绳222上还套设有导管，以避免传动绳间不必要的摩擦力的引入。在其他实施例中，电机221还可有不同的设置方式，本申请对此不做限制。
更具体地，传动绳222一端绕过滑轮112与对应的指节11连接，另一端与电机221连接。电机221通过牵引传动绳222，并通过滑轮112引导传动绳的方向进而带动指节11或指尖12相对与其铰接的且朝向手指机构10尾端一侧的指节11进行转动。
进一步地，指节11与指尖12之间以及指节11与指节11之间铰接位置处还设置有反向偏置元件（未图示），用于在电机221释放传动绳时驱动指节11或指尖12进行反向转动，进而实现手指机构10的伸展动作。
参阅图2及图12，本实施例中，基座20内设置有三组屈伸驱动机构22，以分别对应驱动除尾端指节11外的两个指节11及一个指尖12相对与其铰接的且朝向手指机构尾端10一侧的指节11进行转动。
继续参阅图12，基座10内还设置有导向滑轮组27和导引块26。导向滑轮组27包括至少一个导向轮271，传动绳222经对应的导向轮271作用后改变延伸方向。参阅图10，导引块26上设置有至少一个导引孔261，传动绳222从对应导向轮271经过对应的导引孔261连接手指机构10，且导引孔261的位置设置成使得传动绳222与对应的导向轮271保持相切。需要明确的是，本实施例中，导向轮271的数量及导引孔261的数量均与传动绳222的数量相同。
传动绳222一端固定连接于对应的指节11或指尖12上，传动绳222绕过转轮112，从尾端指节11向连接装置23伸出，经对应的导引孔2321，过转动轴24及内滑环253上的中空通道，至导引块26上对应的导引孔261，经导引孔261变向，从对应的导向轮271切向进入，经对应的导向轮271变向，另一端与设置于对应的电机221输出轴上的转轮连接。传动绳222经多次变向，以更合理地传力方式，输出动力驱动手指机构10屈伸，且各导引孔及中空通道还对传动绳有保护作用。
结合参阅图7、图8、图9或图10，导引块26位于导向滑轮组27朝向手指结构10的一侧，本实施例中，导引块26还位于转动轴24远离手指机构10的一端，导引块26朝向手指结构10的一侧设置有定位突块262，定位突块262正对转动轴24的中空通道，且允许转动轴24相对于导引块26转动，导引块26固定于基座20内。进而，至少一个导引孔261的一端设置于定位突块262朝向转动轴24的一侧表面上。在图10实施例中，导引块26还位于滑环装置25下方，即滑环装置25位于转动轴24及导引块26之间。
可选的，在其他实施例中，定位突块262还可设置成适合转动轴24的中空通道大小的结构，在转动轴24可相对定位突块262转动的同时，还可对转动轴进行限位，不至于在旋转过程中抖动过大。
本实施例中，导引块26上设置有三个导引孔261，因而三个导引孔261的一端设置于定位突块262朝向转动轴24的一侧表面上。定位凸块262呈圆柱状，三个导引孔261的一端口呈直线排列于定位凸块262的中部，且该直线与锥齿轮2121的轴线平行。导引孔261的孔道曲率无突变，三个导引孔261的另一端口同样呈直线排列于导引块26朝向导向滑轮组27的一侧表面上，且正对对应的导向轮271的切向，以使传动绳经导引块26变向后，从对应的导向轮271的切向进入。在其他实施例中，引导块26上可不设置定位突块262，或者定位突块262还有其他的形状，本申请对此不作限制。
具体的，导向滑轮组27位于导引块26的下方，包括至少一个导向轮271及导向轮固定座272，导向轮271设置于安装轴上，可相对导向轮固定座272转动，安装轴两端设置于导向轮固定座272上对应的安装孔内，以使传动绳经对应的导引孔261变向后，从导向轮271的切向进入导向轮271。
本实施例中，导向滑轮组27包括三个导向轮271及导向轮固定座272，三个导向轮271依次错开且对应各自的导引孔261设置于导向轮固定座272上，以使各自对应换向的传动绳更够低能耗地传动及与电机221连接。
参阅图12，机械手指还包括控制器28，控制器28设置于基座内，用于控制旋转驱动机构21驱动手指机构10相对基座20旋转，或控制屈伸驱动机构22驱动手指机构10完成屈曲动作和伸展动作，或控制旋转驱动机构21和屈伸驱动机构22，本申请对此不作限制。
参阅图13，本申请提供的机械手一实施例的结构示意图。
请同时参阅上述实施例的零部件标号，以便于理解本实施例中的零部件名称。
该机械手包括至少两个如上述的机械手指，每一机械手指采用模块化设计，并通过拼接方式形成机械手。在本实施例中，机械手包括机械手指31、机械手指32、机械手指33及连接法兰34，机械手指31、机械手指32、机械手指33是如上述实施例中的机械手指，连接法兰34用于整个机械手与外部其他机器的连接固定。可选的，控制器28置于任意其中一个机械手指的基座20中，其他各机械手指基座底部引出的总线引接到控制器28上。其他实施方式中，也可以每个机械手指均设有控制器28。控制器28用于控制机械手指31、机械手指32、机械手指33相互配合，以抓取或松开物品。
每一机械手指采用模块化设计，可理解为，组成机械手指的各部件可选择性地添加或去除，以增加或减少机械手指的部分功能，以及机械手指采用模块化设计还便于机械手指某些部件的维修更换。
例如，机械手指32的手指机构10旋转角度较小，可不必设置滑环装置25，而位于外侧的机械手指31及机械手指33，可根据使用条件选择添加滑环装置25；在其他情况下，旋转驱动机构21被舍弃，手指机构10不会被驱动旋转；或者，增添指节11，以适应物品的大小。
机械手指31、机械手指32、机械手指33通过拼接方式形成机械手，如本实施例中，多个机械手指呈一行排列，相邻机械手指的屈曲方向相对设置，拼接形成机械手；或者，多个机械手指呈两行排列，每列机械手指的屈曲方向相对设置，拼接形成机械手。此处仅为示意性举例，拼接方式多种多样，本申请对此不作限制。
区别于现有技术的情况，本申请公开了一种机械手指及机械手。该机械手指包括基座、手指机构、旋转驱动机构，手指机构包括尾端指节及指尖，指尖可相对尾端指节转动，其中尾端指节安装于基座上；旋转驱动机构，设置于基座内，与手指机构连接，以驱动手指机构相对基座旋转。通过上述方式，本申请设置旋转驱动机构使手指机构可相对基座旋转，增加了手指机构的自由度，机械手指在抓取物品的时候可通过调整手指机构的方位，以更合理地方式抓取物品，因而本申请的机械手指拥有更多样且灵活的抓取姿态。
以上所述仅为本申请的实施例，并非因此限制本申请的专利范围，凡是利用本申请说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本申请的专利保护范围内。

Claims (20)

  1. 一种机械手指，其特征在于，包括：
    基座；
    手指机构，包括尾端指节及指尖，所述指尖可相对所述尾端指节转动，其中所述尾端指节安装于所述基座上；
    旋转驱动机构，设置于所述基座内，与所述手指机构连接，以驱动所述手指机构相对所述基座旋转。
  2. 根据权利要求1所述的机械手指，其特征在于，所述手指机构还包括连接装置，所述尾端指节安装于所述连接装置上，所述旋转驱动机构与所述连接装置连接，用于驱动所述连接装置带动所述手指机构进行旋转。
  3. 根据权利要求2所述的机械手指，其特征在于，所述旋转驱动机包括第一电机与传动机构，所述第一电机通过所述传动机构驱动所述连接装置带动所述手指机构进行旋转。
  4. 根据权利要求3所述的机械手指，其特征在于，所述传动机构包括相互啮合的第一锥齿轮与第二锥齿轮，所述第一锥齿轮连接于所述第一电机的输出轴上，所述第二锥齿轮与所述连接装置连接，以使得所述第一电机所输出的扭矩经所述第一锥齿轮与第二锥齿轮传递到所述连接装置，进而驱动所述连接装置转动。
  5. 根据权利要求4所述的机械手指，其特征在于，所述传动机构还包括第三锥齿轮和角度传感器，所述第三锥齿轮与所述第二锥齿轮啮合，所述第三锥齿轮进一步连接所述角度传感器，以使得所述角度传感器能够检测所述第二锥齿轮的转动角度。
  6. 根据权利要求2所述的机械手指，其特征在于，所述连接装置设置有至少一个第一导引孔；所述机械手指还包括传动绳，所述传动绳经过对应的所述第一导引孔连接于所述手指机构及所述基座。
  7. 根据权利要求1所述的机械手指，其特征在于，所述手指机构包括依次铰接的至少两个指节，安装于所述基座上的指节为尾端指节，位于所述手指机构上远离所述尾端指节的另一端指节为指尖。
  8. 根据权利要求7所述的机械手指，其特征在于，所述机械手指包括至少一组屈伸驱动机构，且所述屈伸驱动机构驱动所述指节朝向所述尾端指节进行转动。
  9. 根据权利要求7所述的机械手指，其特征在于，所述屈伸驱动机构的数量与所述手指机构中除所述尾端指节以外的指节的数量相同，且分别独立地驱动除所述尾端指节以外对应的指节。
  10. 根据权利要求7所述的机械手指，其特征在于，每组所述屈伸驱动机构包括第二电机以及传动绳，所述传动绳一端与所述第二电机连接，另一端与对应的所述指节连接，所述第二电机通过牵引所述传动绳带动对应的所述指节相对于其铰接的且位于朝向所述尾端指节进行转动，进而实现所述手指机构的屈曲动作。
  11. 根据权利要求10所述的机械手指，其特征在于，所述指节与所述指节之间铰接位置进一步设置有反向偏置元件，用于在所述第二电机释放所述传动绳时驱动所述指节进行反向转动，进而实现所述手指机构的伸展动作。
  12. 根据权利要求10所述的机械手指，其特征在于，所述基座内还包括转动轴，所述转动轴连接所述旋转驱动机构，沿轴向设置有第一中空通道，所述传动绳和/或信号线和/或柔性电路板经所述第一中空通道连接所述手指机构与所述基座。
  13. 根据权利要求10所述的机械手指，其特征在于，所述机械手指还包括导向滑轮组，所述导向滑轮组包括至少一个导向轮，所述传动绳经对应的所述导向轮作用后改变延伸方向。
  14. 根据权利要求13所述的机械手指，其特征在于，所述机械手指还包括导引块，所述导引块位于所述导向滑轮组朝向所述手指机构的一侧，所述导引块上设置有至少一个第二导引孔，所述传动绳从对应所述导向轮经过对应的所述第二导引孔连接所述手指机构。
  15. 根据权利要求14所述的机械手指，其特征在于，所述第二导引孔的位置设置成使得所述传动绳与对应的所述导向轮保持相切。
  16. 根据权利要求15所述的机械手指，其特征在于，所述导引块朝向所述手指机构的一侧设置有定位突块，所述定位突块正对所述尾端指节，且所述第二导引孔的一端口设置于所述定位突块上。
  17. 根据权利要求12所述的机械手指，其特征在于，所述机械手指还包括滑环装置，所述滑环装置位于所述转动轴远离所述手指机构的一端，所述滑环装置包括内滑环与外滑环，所述内滑环可相对所述外滑环转动，所述内滑环通过触点与所述外滑环电性耦接，所述内滑环沿轴向还设置有第二中空通道，所述第二中空通道正对所述第一中空通道。
  18. 根据权利要求12所述的机械手指，其特征在于，多个所述第二电机沿所述转动轴的轴向层叠设置。
  19. 根据权利要求7所述的机械手指，其特征在于，所述指节上设置有触觉传感器和/或距离传感器。
  20. 一种机械手，其特征在于，所述机械手包括至少两个如权利要求1-19任意一项所述的机械手指每一所述机械手指通过拼接方式形成所述机械手。
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