CN117325203A - Manipulator finger and manipulator - Google Patents

Abstract

The invention provides a manipulator finger and a manipulator, and relates to the technical field of manipulators. The manipulator finger includes relative rotation far knuckle, near knuckle and the root of a finger of connection, still include actuating mechanism, drive connecting rod and web, actuating mechanism installs in the root of a finger, near knuckle and root junction are provided with the joint axle, drive connecting rod is located near knuckle orientation or deviates from the one side of dactylotheca, drive connecting rod's upper end is articulated with far knuckle, drive connecting rod's lower extreme is articulated with the web, the web is connected with the joint axle, actuating mechanism is connected with the web drive, and be used for driving web and joint axle synchronous rotation, in order to realize near knuckle relative root rotation, and drive connecting rod realizes far knuckle relative near knuckle rotation through the rotation of web. The load applied to the joints of the distal knuckle and the proximal knuckle is reduced, so that the stability of the joints of the distal knuckle and the proximal knuckle of the mechanical finger is improved.

Description

Manipulator finger and manipulator

Technical Field

The invention relates to the technical field of manipulators, in particular to a manipulator finger and a manipulator.

Background

The bionic manipulator comprises a mechanical finger, wherein the mechanical finger consists of three finger joints such as a far finger joint, a near finger joint and a finger root which can rotate relatively, and the grabbing of an object is realized through the mutual matching of the relative rotation angles of the three finger joints.

At present, a driving structure is usually assembled on a distal knuckle and a proximal knuckle, and rotation of the distal knuckle relative to the proximal knuckle is realized through the driving structure, and as the driving structure is directly assembled on joints of the distal knuckle and the proximal knuckle, loads on the joints are larger to a certain extent, so that the structural strength of the joints is influenced, and the stability of the joints is further influenced.

Disclosure of Invention

The invention solves the problems that: how to improve the stability of the joints of the distal knuckle and the proximal knuckle of the mechanical finger.

In order to solve the problems, in one aspect, the invention provides a manipulator finger, which comprises a distal knuckle, a proximal knuckle and a finger root which are connected in a relative rotation manner, and further comprises a driving mechanism, a driving connecting rod and a web, wherein the driving mechanism is arranged on the finger root, a joint shaft is arranged at the joint of the proximal knuckle and the finger root, the driving connecting rod is positioned at one side of the proximal knuckle facing or deviating from a finger belly, the upper end of the driving connecting rod is hinged with the distal knuckle, the lower end of the driving connecting rod is hinged with the web, the web is connected with the joint shaft, the driving mechanism is in driving connection with the web and is used for driving the web and the joint shaft to synchronously rotate so as to realize the rotation of the proximal knuckle relative to the proximal knuckle through the rotation of the web.

Optionally, the manipulator finger further comprises a spring link mechanism, the spring link mechanism comprises a spring, a transmission link and a connecting plate, the upper end of the transmission link is hinged with the distal knuckle, the lower end of the transmission link is hinged with the connecting plate, the connecting plate is hinged with the joint shaft, the spring is connected between the lower end of the transmission link and the finger root, and the elastic force of the spring overcomes the rotation of the connecting plate around the joint shaft; the driving connecting rod and the transmission connecting rod are respectively positioned at two sides of the proximal knuckle.

Optionally, a connecting groove is formed in the finger root, and the spring is installed in the connecting groove.

Optionally, the upper end of the drive link is proximate to the tip of the distal knuckle relative to the upper side of the drive link.

Optionally, the actuating mechanism includes motor, lead screw, actuating lever and nut, the motor install in indicate the root, the motor pass through gear train with screw drive connects, the both ends of lead screw pass through the bearing install in indicate the root, the nut with lead screw threaded connection, and with the one end of actuating lever articulates, the other end of actuating lever with the web articulates.

Optionally, a groove is formed in the finger root, and the motor is mounted in the groove.

Optionally, the gear transmission mechanism comprises a driving gear and a driven gear which are meshed, the diameter of the driving gear is larger than that of the driven gear, the driving gear is connected with an output shaft of the motor, and the driven gear is in transmission connection with the screw rod.

Optionally, the proximal knuckle includes a first assembly cavity, the finger root includes a second assembly cavity, the first assembly cavity is in communication with the second assembly cavity, the driving mechanism is mounted in the second assembly cavity, and the driving link, the transmission link, the web and the connecting plate are all mounted in the first assembly cavity.

Optionally, the manipulator finger further comprises a metal rubber finger pad, and the metal rubber finger pad is respectively arranged on the finger flanks of the distal knuckle and the proximal knuckle.

Compared with the prior art, the mechanical finger is hinged between the distal knuckle and the web through the driving connecting rod positioned at one side of the proximal knuckle facing or deviating from the knuckle, and the joint shaft between the web and the distal knuckle and the knuckle is hinged, so that the rotation of the web around the joint shaft can be converted into the rotation of the distal knuckle relative to the proximal knuckle through the driving connecting rod, and then the web is in driving connection with the web through the driving mechanism arranged at the knuckle and is used for driving the web to rotate around the joint shaft, so that the rotation of the distal knuckle relative to the proximal knuckle is realized, the underactuation of the mechanical finger is realized, the load of the driving structure is borne by the knuckle, and the joint position of the distal knuckle and the proximal knuckle only needs to bear the acting force of the driving connecting rod, so that the load born by the joint position can be reduced relative to the joint position of the distal knuckle and the joint position of the proximal knuckle is directly provided with the driving structure, and the stability of the distal knuckle and the joint position of the proximal knuckle is improved.

On the other hand, the invention also provides a manipulator, comprising the manipulator finger.

The advantages of the manipulator over the prior art are the same as those of the manipulator fingers, and are not described here in detail.

Drawings

FIG. 1 is a schematic view of a driving link on a side of a finger web according to an embodiment of the present invention;

FIG. 2 is a schematic view of a driving link on the dorsal side of a finger according to an embodiment of the present invention;

FIG. 3 is a schematic view of the structure of the distal knuckle pinching an object according to an embodiment of the present invention;

fig. 4 is a schematic view of the structure of the distal knuckle and the proximal knuckle in an embodiment of the invention when embracing an object.

Reference numerals illustrate:

1-a drive link; 2-a transmission link; 3-web; 4-connecting plates; 5-a tension spring; 6-a compression spring; 7-a motor; 8-a screw rod; 9-driving rod; 10-nuts; 100-distal knuckle; 200-proximal knuckle; 201-joint axis; 300-refers to root; 301-grooves; 400-a first assembly chamber; 500-a second assembly chamber; 600-metal rubber finger pad.

Detailed Description

In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings.

The Z-axis in the drawing represents vertical, i.e., up-down position, and the positive direction of the Z-axis (i.e., the arrow of the Z-axis points) represents up, and the negative direction of the Z-axis (i.e., the direction opposite to the positive direction of the Z-axis) represents down; the Y-axis in the drawing shows the front-back position, and the positive direction of the Y-axis (i.e., the arrow of the Y-axis points) shows the front side, and the negative direction of the Y-axis (i.e., the direction opposite to the positive direction of the Y-axis) shows the rear side. It should also be noted that the foregoing Z-axis and Y-axis representations are only for convenience and the purpose of simplifying the description, and are not to be construed as limiting the invention with respect to indicating or implying that the apparatus or elements herein referred to must have a particular orientation, be constructed and operated in a particular orientation.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein.

In one aspect, as shown in fig. 1 and 2, the invention provides a manipulator finger, which comprises a distal knuckle 100, a proximal knuckle 200 and a finger root 300 which are connected in a relatively rotating manner, and further comprises a driving mechanism, a driving connecting rod 1 and a web plate 3, wherein the driving mechanism is arranged on the finger root 300, a joint shaft 201 is arranged at the joint of the proximal knuckle 200 and the finger root 300, the driving connecting rod 1 is positioned on one side of the proximal knuckle 200 facing or facing away from the finger abdomen, the upper end of the driving connecting rod 1 is hinged with the distal knuckle 100, the lower end of the driving connecting rod 1 is hinged with the web plate, the web plate 3 is hinged with the joint shaft 201, the driving mechanism is connected with the web plate 3 in a driving manner and is used for driving the web plate 3 to rotate around the joint shaft 201 so as to realize the rotation of the distal knuckle 100 relative to the proximal knuckle 200.

Specifically, in the process of grabbing an object by a manipulator finger, one end of a finger joint facing the object is a finger web, one end of the finger joint facing away from the object is a finger back, the Z axis is the up-down direction of the manipulator finger, the Y axis is the front-back direction of the manipulator finger, and the finger web also refers to one end of the distal knuckle 100 and the proximal knuckle 200 facing the Y axis in the forward direction. The proximal knuckle 200 is located between the distal knuckle 100 and the finger root 300, both ends of the proximal knuckle 200 are hinged with the distal knuckle 100 and the finger root 300 through bearings, respectively, and a joint shaft 201, i.e., a hinge shaft, is provided at a hinge position of the proximal knuckle 200 and the finger root 300. The drive link 1 is located on the side of the proximal knuckle 200 facing towards or away from the finger web, here the drive link 1 is exemplified on the side of the proximal knuckle 200 facing towards the finger web. The driving mechanism is arranged on the finger root 300, the driving connecting rod 1 is positioned on the front side of the proximal knuckle 200, the web plate 3 is positioned between the driving connecting rod 1 and the joint shaft 201, the upper end of the driving connecting rod 1 is connected with the front end of the distal knuckle 1, the lower end of the driving connecting rod 1 is hinged with the front end of the web plate 3, and the rear end of the web plate 3 is hinged with the joint shaft 201. The output end of the driving mechanism is in driving connection with the front end of the web plate 3, when the driving mechanism is started, the driving mechanism applies downward driving force to the front end of the web plate 3, under the action of the driving force, the web plate 3 rotates downwards to rotate around the joint shaft 201, and as the web plate 3 rotates downwards, the web plate 3 pulls the driving connecting rod 1 downwards, so that the driving connecting rod 1 applies downward pulling force to the distal finger end 100, and under the action of the pulling force, the rotation of the distal finger joint 100 relative to the proximal finger joint 200 is realized.

In this embodiment, the driving link 1 is hinged between the distal knuckle 100 and the web 3, and the web 3 is hinged with the joint shaft 201 between the distal knuckle 100 and the finger root 300, so that the rotation of the web 3 around the joint shaft 201 can be converted into the rotation of the distal knuckle 100 relative to the proximal knuckle 200 by the driving link 1, and then the web 3 is in driving connection with the web 3 by the driving mechanism mounted on the finger root 300, so as to realize the rotation of the distal knuckle 100 relative to the proximal knuckle 200, realize the underactuation of the manipulator finger, and bear the load of the driving structure by the finger root 300, and the joint of the distal knuckle 100 and the proximal knuckle 200 only needs to bear the acting force of the driving link 1, thus, compared with the case that the driving structure is directly arranged at the joint of the distal knuckle 100 and the proximal knuckle 200, the load at the joint can be reduced, and the stability at the distal knuckle and the proximal knuckle joint of the manipulator finger can be improved.

Optionally, as shown in connection with fig. 1, the manipulator finger further includes a spring link mechanism, the spring link mechanism includes a spring, a transmission link and a connection plate, the upper end of the transmission link 2 is hinged with the distal knuckle 100, the lower end of the transmission link 2 is hinged with the connection plate 4, the connection plate 4 is hinged with the joint shaft 201, the spring is connected between the lower end of the transmission link 2 and the finger root 300, and the elastic force of the spring overcomes the rotation of the connection plate 4 around the joint shaft 201; the drive link 1 and the drive link 2 are located on either side of the proximal knuckle 200.

Specifically, the distribution of the spring link mechanism and the driving link 1 on two sides of the joint shaft 201 means that the driving link 2 and the driving link 1 are distributed on front and rear sides of the joint shaft 201, for example, the driving link 1 is located on one side of a finger close to a finger abdomen, the driving link 2 is located on one side of a mobile phone away from the finger abdomen, the two sides are respectively located on two sides of the joint shaft 201 and do not have intersection, and correspondingly, the web 3 and the connecting plate 4 are respectively located on front and rear sides of the joint shaft 201; and when the driving connecting rod 1 is positioned at the front side of the joint shaft 201, the transmission connecting rod 2 is positioned at the rear side of the joint shaft 201, the spring is a tension spring 5, the upper end of the transmission connecting rod 2 is hinged with the distal knuckle 100, the lower end of the transmission connecting rod 2 is hinged with the connecting plate 4, the connecting plate 4 is connected with the joint shaft 201, the tension spring 5 is connected between the finger root 300 and the lower end of the transmission connecting rod 2, and when the web plate 3 rotates to the limit position, the elasticity of the tension spring 5 overcomes the rotation of the proximal knuckle relative to the finger root 300. As shown in fig. 1, the specific process is as follows: when the far knuckle 100 is required to pinch an object, referring to fig. 3, the near knuckle 200 rotates forwards, the connecting plate 4 keeps static under the action of the elastic force of the tension spring 5, the driving mechanism drives the web plate 3 and the driving connecting rod 1 to move downwards, the web plate 3 and the driving connecting rod 1 realize forward rotation of the far knuckle 100, and the driving connecting rod 2 rotates forwards relative to the connecting plate 4, so that the length direction of the far knuckle 100 is consistent with the Z axis all the time, namely, the far knuckle 100 moves forwards horizontally, and the pinching of the object can be realized through two opposite far knuckles 100; when the distal knuckle 100 and the proximal knuckle 200 are required to encircle an object, as shown in fig. 4, before the finger web of the proximal knuckle 200 does not contact the object, the proximal knuckle 200 rotates forward, the connecting plate 4 keeps static under the action of the elastic force of the tension spring 5, the driving mechanism drives the web 3 and the driving connecting rod 1 to move downward, the web 3 and the driving connecting rod 1 realize forward rotation of the distal knuckle 100, and the driving connecting rod 2 rotates forward relative to the connecting plate 4, so that the length direction of the distal knuckle 100 always coincides with the Z axis, when the finger web of the proximal knuckle 200 (i.e., the front end of the proximal knuckle 200) contacts the object and stops rotating, the driving mechanism continues to drive the web 3 and the driving connecting rod 1 to move downward, the web 3 and the driving connecting rod 1 drive the distal knuckle 100 to rotate downward, the included angle between the length direction of the distal knuckle 100 gradually increases along with the rotation of the distal knuckle 100, so that the driving connecting rod 2 drives the connecting plate 4 to rotate upward, the elastic force of the tension spring 5 gradually increases until the finger web of the distal knuckle 100 contacts the object, the elastic force of the object is realized to encircle the tension spring 5, and the elastic force of the object is maximum, and the finger web 5 is released in parallel to the length direction of the driving mechanism is further released by the object when the finger web is parallel to the length of the driving knuckle 100.

In this way, the joint shaft 200 is located between the spring connecting rod mechanism and the driving connecting rod 1, the upper end of the driving connecting rod 2 is hinged with the far knuckle 100, the lower end of the driving connecting rod 2 is hinged with the connecting plate 4, the connecting plate 4 is hinged with the joint shaft 201, the spring is connected between the lower end of the driving connecting rod 2 and the finger root 300, the elastic force of the spring overcomes the rotation of the connecting plate 4 around the joint shaft 201, and thus, in the process of grabbing an object, on one hand, the elastic force of the spring overcomes the rotation of the connecting plate 4 around the joint shaft 201 to realize the horizontal movement of the far knuckle 100, further realize pinching of the object by the far knuckle 100, and on the other hand, the surrounding of the object by the far knuckle 100 and the near knuckle 200 can be realized by matching the elastic force of the spring with the driving mechanism, so that the adaptability of the finger of the manipulator is improved.

Optionally, when the driving link 1 is located at the front side of the joint shaft 201 and the driving link 2 is located at the rear side of the joint shaft 201, the spring is a pressure spring 6, the upper end of the driving link 2 is hinged with the distal knuckle 100, the lower end of the driving link 2 is hinged with the connecting plate 4, the connecting plate 4 is hinged with the joint shaft 201, the pressure spring 6 is connected between the finger root 300 and the lower end of the driving link 2, the elastic force of the pressure spring 6 overcomes the rotation of the connecting plate 4 around the joint shaft 201, as shown in fig. 2, the specific process is: when the far knuckle 100 is required to pinch an object, the near knuckle 200 rotates forwards, the driving mechanism drives the web plate 3 and the driving connecting rod 1 to move upwards, the web plate 3 and the driving connecting rod 1 realize the forward rotation of the far knuckle 100, the driving connecting rod 2 rotates forwards relative to the connecting plate 4, the pressure spring 6 applies upward elastic force to the connecting plate 4, the connecting plate 4 rotates downwards against the connecting plate under the action of the elastic force of the pressure spring 6 so as to keep static, and the length direction of the far knuckle 100 is consistent with the Z axis all the time in the forward rotation process of the far knuckle 100, namely, the horizontal movement of the far knuckle 100 is realized, so that the pinching of the object can be realized through two opposite far knuckles 100; when the distal knuckle 100 and the proximal knuckle 200 are required to encircle an object, before the finger web of the proximal knuckle 200 does not contact the object, the distal knuckle 100 is driven by the driving link 1 to rotate downwards, the driving link 2 is driven by the distal knuckle 100 to rotate downwards to press the pressure spring 6, the elastic force of the pressure spring 6 is increased until the elastic force of the pressure spring 6 reaches the maximum when the finger web of the distal knuckle 100 contacts the object, the object is embraced by the distal knuckle 100 and the proximal knuckle 200, and in the process of releasing the object, the elastic force of the pressure spring 6 can be matched with the driving force of the driving mechanism, so that the smooth release of the distal knuckle 100 is realized.

Optionally, the finger root 300 is provided with a connecting slot, and the spring is mounted in the connecting slot.

Specifically, the upper end of the finger root 300 is provided with a connecting groove, and the lower end of the spring is installed in the connecting groove.

Therefore, the spring is installed in the connecting groove arranged on the finger root 300, and the connecting groove can limit the lower end of the spring, so that the spring is prevented from being separated from the finger root 300 in the rotation process of the connecting plate 4, and the stability of the spring is improved.

Alternatively, as shown in connection with fig. 1, the upper end of the drive link 1 is close to the tip of the distal knuckle 100 relative to the upper side of the drive link 2.

Specifically, since the rotation of the distal knuckle 100 is achieved by the driving of the driving link 1, the larger the rotational path of the driving link 1 before reaching the dead point position, the larger the rotational angle of the distal knuckle 100, for example, with the position where the rotational distance of the hinge point of the distal knuckle 100 and the driving link 1 toward the negative Z-axis direction is largest as the dead point, the closer the upper end of the driving link 1 to the fingertip of the distal knuckle 100 with respect to the upper side of the driving link 2 can make the arc path distance between the hinge point and the dead point larger, and thus the rotational path of the driving link 1 can be maximized. Wherein, the angle formed by the position of the upper end of the driving connecting rod 1 at the hinge position on the distal knuckle 100, the rotation center of the distal knuckle 100 and the dead point connecting line is an obtuse angle.

In this way, by approaching the tip of the distal knuckle 100 relative to the upper end of the drive link 1 above the drive link 2, the range of rotation angle of the distal knuckle 100 can be increased to improve the flexibility of use of the distal knuckle 100.

On the other hand, when the transmission link 2 is located on the abdomen side, as shown in fig. 2, the upper end of the transmission link 2 may be disposed above the upper end of the driving link 1, and the rotation angle range of the distal knuckle 100 may be increased.

Optionally, as shown in connection with fig. 1, the driving mechanism includes a motor 7, a screw rod 8, a driving rod 9 and a nut 10, the motor 7 is mounted on the finger root 300, the motor 7 is in driving connection with the screw rod 8 through a gear transmission mechanism, two ends of the screw rod 8 are mounted on the finger root 300 through bearings, the nut 10 is in threaded connection with the screw rod 8 and is hinged with one end of the driving rod 9, and the other end of the driving rod 9 is hinged with the web 3.

Specifically, the lead screw 8 is arranged along the Z-axis direction, the upper end and the lower end of the lead screw 8 are respectively arranged on the finger root 300 through bearings, the motor 7 is in driving connection with the lead screw 8 through a gear transmission mechanism, the nut 10 is in threaded connection with the lead screw 8 and is hinged with one end of the driving rod 9, the other end of the driving rod 9 is hinged with the web plate 3, so that the web plate 3 can be rotated, namely, when the motor 7 is started, the motor 7 drives the nut 10 to move downwards through the lead screw 8, the nut 10 drives the driving rod 9 to move downwards, and the driving rod 9 drives the web plate 3 to rotate downwards, so that the rotation of the distal knuckle 100 and the proximal knuckle 200 is realized.

So, install in referring to root 300 through motor 7, motor 7 passes through gear train and lead screw 8 drive connection, and lead screw 8's both ends pass through the bearing and install in referring to root 300, nut 10 and lead screw 8 threaded connection, and with the one end of actuating lever 9 articulated, the other end of actuating lever 9 articulates with web 3 to realize the rotation of web 3, like this, the transmission precision of the power of motor 7 output can be guaranteed to the threaded connection of lead screw 8 and nut 10, simultaneously, when snatching the object, can improve the self-locking ability of manipulator finger.

Alternatively, as shown in connection with fig. 1, the finger root 300 is provided with a groove 301, and the motor 7 is mounted in the groove 301.

Specifically, the motor 7 includes an output end and a fixed end, and the fixed end of the motor 7 is mounted in the groove 301.

In this way, the motor 7 is mounted on the groove 301 arranged on the finger root 300, and the groove 301 limits the motor 7, so that the stability of the motor 7 is improved.

Optionally, the gear transmission mechanism comprises a driving gear and a driven gear which are meshed, the diameter of the driving gear is larger than that of the driven gear, the driving gear is connected with an output shaft of the motor 7, and the driven gear is in transmission connection with the screw rod 8.

Specifically, the driving gear is in key connection with the output shaft of the motor 7, and the driven gear is in transmission connection with the screw rod 8 through a key.

Thus, the diameter of the driving gear is larger than that of the driven gear, the driving gear is connected with the output shaft of the motor 7, the driven gear is in transmission connection with the screw rod 8, and the driving gear and the driven gear form a speed reducing mechanism, so that the rotating speed of the motor 7 can be adjusted.

Alternatively, as shown in connection with fig. 1, proximal knuckle 100 includes first assembly cavity 400, finger root 300 includes second assembly cavity 500, first assembly cavity 400 communicates with second assembly cavity 500, the drive mechanism is mounted to second assembly cavity 400, and drive link 1, drive link 2, web 3, and web 4 are all mounted to first assembly cavity 500.

Specifically, the proximal knuckle 100 and the finger root 300 are hollow structures, the proximal knuckle 100 includes a first assembly cavity 400, the finger root 300 includes a second assembly cavity 500, the first assembly cavity 400 and the second assembly cavity 500 are communicated, the driving mechanism is mounted in the second assembly cavity 400, and the driving connecting rod 1, the transmission connecting rod 2, the web 3 and the connecting plate 4 are mounted in the first assembly cavity 500.

In this way, through first assembly chamber 400 and second assembly chamber 500 intercommunication, actuating mechanism installs in second assembly chamber 400, and drive connecting rod 1, transmission connecting rod 2, web 3 and connecting plate 4 all install in first assembly chamber 500 for drive connecting rod 1, transmission connecting rod 2, web 3 and connecting plate 4 keep apart with external environment, avoid drive connecting rod 1, transmission connecting rod 2, web 3 and connecting plate 4 to expose, thereby improve the aesthetic property of manipulator finger.

Optionally, as shown in connection with fig. 1, the manipulator finger further comprises a metal rubber finger pad 600, the metal rubber finger pad 600 being mounted to the finger flanks of the distal knuckle 100 and the proximal knuckle 200, respectively.

Specifically, the metal rubber finger pad 600 is assembled to the finger flanks of the distal knuckle 100 and the proximal knuckle 200 by screws.

In this way, the metal rubber finger pad 600 is mounted to the finger flanks of the distal knuckle 100 and the proximal knuckle 200, respectively, and the metal rubber finger pad 600 improves the contact friction between the finger flanks of the distal knuckle 100 and the proximal knuckle 200 and the object, thereby facilitating the gripping of the object.

Another embodiment of the present invention also provides a manipulator including a manipulator finger as previously described.

The advantages of the manipulator over the prior art are the same as those of the manipulator fingers, and are not described here in detail.

Although the invention is disclosed above, the scope of the invention is not limited thereto. Various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications will fall within the scope of the invention.

Claims (10)

1. The manipulator finger comprises a far knuckle (100), a near knuckle (200) and a finger root (300) which are connected in a relative rotating manner, and is characterized by further comprising a driving mechanism, a driving connecting rod (1) and a web plate (3), wherein the driving mechanism is installed on the finger root (300), a joint shaft (201) is arranged at the joint of the near knuckle (200) and the finger root (300), the upper end of the driving connecting rod (1) is hinged with the far knuckle (100), the lower end of the driving connecting rod (1) is hinged with the web plate (3), the web plate (3) is hinged with the joint shaft (201), and the driving mechanism is in driving connection with the web plate (3) and is used for driving the web plate (3) to rotate around the joint shaft (201) so as to realize the rotation of the far knuckle (100) relative to the near knuckle (200).

2. The manipulator finger according to claim 1, further comprising a spring linkage comprising a spring, a transmission link (2) and a connecting plate (4), the upper end of the transmission link (2) being hinged to the distal knuckle (100), the lower end of the transmission link (2) being hinged to the connecting plate (4), the connecting plate (4) being hinged to the joint shaft (201), the spring being connected between the lower end of the transmission link (2) and the finger root (300), the spring force of the spring overcoming the rotation of the connecting plate (4) about the joint shaft (201); the driving connecting rod (1) and the transmission connecting rod (2) are respectively positioned at two sides of the proximal knuckle (200).

3. The manipulator finger according to claim 2, wherein the finger base (300) is provided with a connecting slot, and the spring is mounted in the connecting slot.

4. Manipulator finger according to claim 2, characterized in that the upper end of the drive link (1) is close to the fingertip of the distal knuckle (100) relative to the upper side of the transmission link (2).

5. The manipulator finger according to claim 1, wherein the driving mechanism comprises a motor (7), a screw (8), a driving rod (9) and a nut (10), the motor (7) is mounted on the finger root (300), the motor (7) is in driving connection with the screw (8) through a gear transmission mechanism, two ends of the screw (8) are mounted on the finger root (300) through bearings, the nut (10) is in threaded connection with the screw (8) and is hinged with one end of the driving rod (9), and the other end of the driving rod (9) is hinged with the web (3).

6. The manipulator finger according to claim 5, wherein the finger base (300) is provided with a groove (301), and the motor (7) is mounted in the groove (301).

7. The manipulator finger according to claim 5, characterized in that the gear transmission comprises a driving gear and a driven gear which are meshed, the diameter of the driving gear being larger than the diameter of the driven gear, the driving gear being connected with the output shaft of the motor (7), the driven gear being in transmission connection with the screw (8).

8. The manipulator finger according to claim 1, wherein the proximal knuckle (100) comprises a first assembly cavity (400), the finger base (300) comprises a second assembly cavity (500), the first assembly cavity (400) and the second assembly cavity (500) are in communication, the drive mechanism is mounted to the second assembly cavity (400), and the drive link (1), the transmission link (2), the web (3) and the connection plate (4) are mounted to the first assembly cavity (500).

9. The manipulator finger according to claim 1, further comprising a metal rubber finger pad (600), the metal rubber finger pad (600) being mounted to the finger web of the distal knuckle (100) and the proximal knuckle (200), respectively.

10. A manipulator comprising a manipulator finger according to any one of claims 1 to 9.