WO2019183910A1 - Finger segment assembly, finger mechanism, and manipulator - Google Patents

Abstract

A finger segment assembly, finger mechanism, and manipulator. The finger segment assembly comprises a finger segment body (10) and a finger segment cover (20). The finger segment body (10) is provided with a limiting recess (11). The limiting recess (11) is for accommodating a sensor assembly (30), and for limiting the sensor assembly (30) at opposing first sides of the sensor assembly (30). The finger segment cover (20) comprises a first cover body (21) and a second cover body (22). The first cover body (21) and the second cover body (22) are connected to two opposite sides of the finger segment body (10) to limit the sensor assembly (30) at opposing second sides of the sensor assembly (30), thereby securing the sensor assembly (30) onto the finger segment assembly. The finger segment body structurally matches the finger segment cover, thereby enabling quick detachment of the finger segment assembly for maintenance or replacement of the sensor assembly.

Description

Knuckle component, finger mechanism and robot

[Technical Field]

The present application relates to the field of robots, and in particular to a knuckle assembly, a finger mechanism and a robot.

 【Background technique】

With the development of artificial intelligence, the requirements for machines that simulate human motion are becoming higher and higher. The finger mechanism is used to simulate human fingers. The knuckle structure is complicated, the knuckle structure is complicated to process and assemble, and the internal components are faulty. It is time-consuming and labor-intensive to repair or replace the components.

 [Summary of the Invention]

The technical problem to be solved by the present application is to provide a knuckle assembly, a finger mechanism and a robot capable of quickly disassembling the knuckle assembly to repair or replace the sensor assembly.

In order to solve the above technical problem, one technical solution adopted by the present application is to provide a knuckle assembly. The knuckle assembly includes a knuckle body and a knuckle cover body; the knuckle body is provided with a limiting slot for accommodating the sensor component, and limiting the sensor component from the opposite first side of the sensor component; The cover body includes a first cover body and a second cover body, and the first cover body and the second cover body are connected to opposite side edges of the knuckle body to limit the sensor component from the opposite second side of the sensor assembly And then fix the sensor assembly on the knuckle assembly.

In order to solve the above technical problem, another technical solution adopted by the present application is to provide a finger mechanism. The finger mechanism includes a plurality of the above-described knuckle assemblies.

In order to solve the above technical problem, another technical solution adopted by the present application is to provide a robot. The robot includes a plurality of the above-described finger mechanisms.

The beneficial effects of the present application are: different from the prior art, the present application discloses a knuckle assembly, a finger mechanism and a robot. The knuckle assembly includes a knuckle body and a knuckle cover body; the knuckle body is provided with a limiting slot for accommodating the sensor component, and limiting the sensor component from the opposite first side of the sensor component; The cover body includes a first cover body and a second cover body, and the first cover body and the second cover body are connected to opposite side edges of the knuckle body to limit the sensor component from the opposite second side of the sensor assembly And then fix the sensor assembly on the knuckle assembly. The sensor assembly is fixed by the structural cooperation of the knuckle body and the knuckle cover body. When the sensor component fails to be repaired or replaced, the first cover body or the second cover body can be removed, and the sensor component can be quickly removed. Repair or replace it without the need to remove the knuckle assembly as a whole and secure the sensor assembly to the knuckle assembly without the need for screws.

 [Description of the Drawings]

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings to be used in the embodiments or the prior art description will be briefly described below. Obviously, the drawings in the following description are only It is a certain embodiment of the present application, and other drawings can be obtained according to the drawings without any creative work for those skilled in the art.

1 is a schematic structural view of an embodiment of a knuckle assembly provided by the present application;

Figure 2 is a schematic exploded view of the knuckle assembly of Figure 1;

3 is a schematic structural view of a sensor assembly in the knuckle assembly of FIG. 1;

4 is a schematic structural view of a knuckle body in the knuckle assembly of FIG. 1;

Figure 5 is a schematic view showing the structure of the second cover in the knuckle assembly of Figure 1;

Figure 6 is a cross-sectional structural view of the knuckle assembly of Figure 1;

7 is a schematic structural view of an embodiment of a finger mechanism provided by the present application;

Figure 8 is a schematic exploded view of the finger mechanism of Figure 7;

Figure 9 is a cross-sectional structural view of the finger mechanism of Figure 7;

Figure 10 is a cross-sectional structural view of the tail end knuckle of the finger mechanism of Figure 7 with respect to the second mounting cavity;

11 is a schematic structural view of an embodiment of a manipulator provided by the present application.

【detailed description】

The technical solutions in the embodiments of the present application are clearly and completely described in the following with reference to the drawings in the embodiments of the present application. It is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present application without departing from the inventive scope are the scope of the present application.

The terms "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.

Referring to FIG. 1, a schematic structural diagram of an embodiment of a knuckle assembly provided by the present application is provided.

Referring to Figure 2, the knuckle assembly includes a knuckle body 10 and a knuckle cover 20. The knuckle body 10 is provided with a limiting slot 11 for accommodating the sensor assembly 30 and limiting the sensor assembly 30 from the opposite first side 311 of the sensor assembly 30. The knuckle cover 20 includes a first cover 21 and a second cover 22. The first cover 21 and the second cover 22 are connected to opposite sides of the knuckle body 10 to limit the sensor assembly 30 from the opposite second side 312 of the sensor assembly 30, thereby fixing the sensor assembly 30 to the finger. On the component.

The first cover 21 and the second cover 22 are respectively provided with engaging grooves 211. The engaging grooves 211 cooperate with the limiting slots 11 to fix the sensor assembly 30.

Further, the limiting slot 11 is provided with a stopping portion 111 for stopping the sensor assembly 30 when the sensor assembly 30 is received in the limiting slot 11 so that the sensor assembly 30 and the limiting slot The bottom of the 11 is spaced apart.

Specifically, referring to FIG. 3, the sensor assembly 30 includes a mounting plate 31, a sensing component 32, and a processor 33. The sensing component 32 is disposed on a side of the mounting board 31 facing away from the knuckle body 10, and the processor 33 is disposed on the mounting board 31. Toward one side of the knuckle body 10, the processor 33 is operative to process the data sensed by the sensitive component 31. The mounting plate 31 is disposed in the limiting slot 11 and is stopped by the stopping portion 111 to arrange the processor 33 to be spaced from the bottom of the limiting slot 11 to prevent the processor 33 from being squeezed by the bottom of the limiting slot 11 Damaged by force.

Optionally, for example, the sensor assembly 30 includes a tactile sensor and/or a distance sensor for determining whether the knuckle assembly is in contact with the object, and also for detecting the distribution of force and the magnitude of the force after contacting the object. The distance sensor is used to detect the distance of the object from the knuckle assembly. For example, sensor element 32 includes a touch sensitive element and a distance sensitive element, mounting plate 31 is a printed circuit board, processor 33 is used to process communications including haptic information and distance information, and for communication between sensor components 30 on different knuckles . The touch sensitive component and the distance sensitive component are electrically connected to the processor 33 through the mounting board 31. The mounting plate 31 is further provided with a transparent cover 34, such as an elastic transparent silicone cover. The transparent cover 34 is connected to the mounting plate 31 to isolate the sensitive component 32 from the external space while maintaining light transmission, thereby increasing the knuckle assembly and The coefficient of friction of other articles upon contact, which also has better flexibility, acts as a cushion to reduce the impact between the sensor assembly 40 and the article. In addition, the mounting plate 31 is further provided with a shielding cover 35. The shielding cover 35 is provided with an opening at a position corresponding to the sensitive component 32, so that the sensitive component 32 senses external light, emits and receives sound waves, etc. through the opening, and the shielding cover 35 also reduces sensitivity. The photographic range of the component 32 prevents the stray light in the environment from interfering with the sensitive component 32, and the shield 35 also prevents the translucent cover 34 from separating from the mounting plate 31.

Referring to FIG. 2 again, the limiting slot 11 is open to both sides of the first cover 21 and the second cover 22, and the stopping portion 111 is disposed at the sidewall 112 of the limiting slot 11 from the sensor assembly 30. The opposite first side 311 limits the sensor assembly 30, and the stop 111 limits the sensor assembly 30 from the sensor assembly 30 toward the limit slot 11. The second side wall 2112 of the engaging groove 211 limits the sensor assembly 30 from the opposite side edge 312 of the sensor assembly 30, and the first side wall 2111 of the engaging groove 211 faces away from the limiting slot 11 from the sensor assembly 30. The sensor assembly 30 is restrained, and the engaging groove 211 cooperates with the limiting slot 11 to fix the sensor assembly 30 to the knuckle assembly. Alternatively, the oppositely disposed two engaging slots 211 receive the two second side edges 312 to secure the sensor assembly 30 to the knuckle assembly.

The first cover body 21 is further provided with a first wire trough 212, and the first wire trough 212 communicates with the limit groove 11 for the sensor assembly 30 to be routed. In an embodiment, for example, a plurality of sequentially articulated knuckle assemblies, the plurality of first wire troughs 212 disposed thereon are in communication with each other to facilitate passage of signal lines, power lines, etc. from the same side of the knuckle assembly, to avoid Signal lines, power lines, and the like are placed in a disorderly manner to affect the mutual rotation between the knuckle components.

Further, referring to FIG. 4, the knuckle assembly further includes an angle sensor 40. The knuckle body 10 is disposed with a mounting groove 12 on a sidewall of the second cover 22, and the angle sensor 40 is disposed in the mounting slot 12, and the second cover The body 22 is coupled to the knuckle body 10 to limit the angle sensor 40 within the mounting slot 12.

Referring to FIG. 5 , the second cover 22 is provided with a second routing slot 221 , and the signal line of the angle sensor 40 is guided to the limiting slot 11 via the second routing slot 221 . For example, the signal line and the power line of the angle sensor 40 pass through the limiting slot 11 , and extend from the first wire trough 212 to the outside of the knuckle assembly or to the power source, the controller, etc.; or the signal line and the power line of the angle sensor 40 and The sensor assembly 30 is connected, and after being assembled by the sensor assembly 30, the same bundle of signal lines and a bundle of power lines are used to extend to the controller, the power source, and the like.

Referring to FIG. 6, the knuckle body 10 is further provided with a fixing post 13 for connecting the driving rope, and a first pulley 14. The driving rope is guided by the first pulley 14, and the traction knuckle assembly is rotated.

Referring to FIG. 2, FIG. 4 and FIG. 6, the knuckle body 10 is provided with a first mounting cavity 15, and the fixing post 13 and the first pulley 14 are disposed in the first mounting cavity 15. The first mounting cavity 15 is also in communication with the limiting slot 11 , so that the excess space in the limiting slot 11 can be reasonably utilized, so that the transmission rope extends outwardly around the first pulley 14 by using the space inside the limiting slot 11 , so that the entire knuckle The design of the assembly is more compact, reducing the volume of the knuckle assembly. For example, the knuckle body 10 is fixed by screws, and a section of the screw column is reserved in the first mounting cavity 15 as the fixing post 13.

For example, when the knuckle assembly is rotatable relative to other objects under the traction of the driving rope, a fixing post 13 is disposed in the first mounting cavity 15, and the driving rope pulls the fixing post 13 to drive the knuckle assembly to rotate to complete the corresponding action; or The first mounting cavity 15 is provided with two fixing posts 13 , and the two fixing posts 13 are arranged in a dislocation manner, and correspondingly disposed with a first pulley 14 , the fixing post 13 is correspondingly connected with a driving rope, and the two driving ropes respectively drive the knuckle assembly to complete Different actions, such as forward rotation, reverse rotation, cause the knuckle assembly to flex and stretch relative to other objects. The fixed post 13 corresponds to at least one first pulley 14 for changing the direction in which the path of the drive rope extends, and preventing the drive rope from being worn with the knuckle assembly when changing the direction of the path transmission, resulting in power loss.

The knuckle body 10 is further provided with a second mounting cavity 16 and a first channel 17, the first channel 17 is in communication with the second mounting cavity 16, and the second mounting cavity 16 is further provided with a first pulley 14, the setting of the first pulley 14 The drive rope is caused to enter the first passage 17 in the axial direction of the first passage 17.

Optionally, the knuckle body 10 includes a first body 101 and a second body 102, and the first body 101 is coupled to the second body 102 to form a first mounting cavity 15. In this embodiment, the first body 101 is connected to the second body 102, and a second mounting cavity 16 is also formed. The knuckle body 10 is of a separate design for facilitating the manufacture of the knuckle body 10 while also facilitating the mounting of the first pulley 14 and the fixed post 13. For example, the first body 101 and the second body 102 are fastened together by the cooperation of the retaining nut and the bolt.

The first pulley 14 is disposed on the knuckle body 10 through the first rotating shaft 18, and the first cover body 21 and the second cover body 22 are coupled to the knuckle body 10 to block the first rotating shaft 18 from being disengaged from the knuckle body 10. The knuckle body 10 is provided with a through hole, and the first rotating shaft 18 is sleeved in the through hole. The first pulley 14 is sleeved on the first rotating shaft 18, that is, the first rotating shaft 18 is freely rotatable in the through hole and along the through hole. The first pulley 14 and the second cover 22 are fixedly coupled to the knuckle body 10 to block the first rotating shaft 18 from being detached from the through hole. Since the first rotating shaft 18 is only subjected to the radial force and does not receive the axial force, the free sliding of the first rotating shaft 18 in the through hole has no influence on the first roller 14. Further, by properly utilizing the force characteristics of the first rotating shaft 18 and designing a suitable aperture, shaft diameter and shaft length, the first rotating shaft 18 is installed in the through hole without violent shaking, using the first cover 21, The two cover body 22 limits the first rotating shaft 18 in the through hole, which not only facilitates the simplification of the machining process, but also simplifies the installation manner of the first rotating shaft 18, thereby greatly improving the production assembly efficiency.

Referring to FIG. 7, a schematic structural diagram of an embodiment of a finger structure provided by the present application is provided.

Please refer to the component numbers of the above embodiments at the same time to facilitate understanding of the component names in this embodiment.

The finger mechanism includes a plurality of knuckle assemblies 50 as described above that are hinged in sequence. Wherein, the knuckle assembly 50 at the end of the finger mechanism and connected to other devices is the tail end knuckle 50a, the knuckle assembly 50 at the other end of the finger mechanism is the fingertip 50c, and the knuckle assembly 50 at the middle of the finger mechanism is the middle portion. Knuckle 50b. In one embodiment, the finger mechanism does not include the central knuckle 50b, including only the trailing knuckle 50a and the fingertip 50c.

4 and 8, the knuckle body 10 includes a first hinge portion 103 and/or a second hinge portion 104, and the knuckle assembly 50 is connected by a first hinge portion 103 and a second hinge portion 104. The first hinge portion 103 and the second hinge portion 104 are connected by the second rotating shaft 105. The first cover body 21 and the second cover body 22 are connected with the knuckle body 10 to block the second rotating shaft 105 from the first hinge portion 103 and the first hinge portion 103. The two hinges 104 are disengaged. A second pulley 106 is also provided on the second shaft 105 for guiding the transmission rope to the other knuckle assembly 50 at the hinge. The second cover 22 is provided with a plug portion 222 that is inserted into the angle sensor 40 of the other knuckle assembly 50 at the hinge.

In this embodiment, the finger mechanism includes a tail end knuckle 50c, a middle phalanx 50b, and a fingertip 50c that are sequentially hinged. The distal phalanx 50a includes a first hinge portion 103 that includes a first hinge portion 103 and a second hinge portion 104, and the fingertip 50c includes a second hinge portion 102.

Hereinafter, the connection between the distal phalanx 50a and the central phalanx 50b will be described in detail.

Referring to FIG. 8, the second hinge portion 104 and the first hinge portion 103 are each provided with a through hole, and the second hinge portion 104 of the middle knuckle 50b is engaged with the first hinge portion 103 of the tail end knuckle 50a to make the through hole. Aligned, and the first hinge portion 103 is placed in the space between the second hinge portions 104; while the second pulley 106 is placed in the space between the first hinge portions 103, and the second rotation shaft 105 is inserted into the first hinge portion 103 and the second The through holes in the hinge portion 104 simultaneously limit the second pulley 106 in the space between the first hinge portions 103. The first cover 21 and the second cover 22 on the end knuckle 50a are coupled to the knuckle body 10 to block the second shaft 105 from being disengaged from the first hinge portion 103 and the second hinge portion 104.

Here, the second hinge portion 104 of the middle knuckle 50b is provided with a mounting groove toward a side of the second cover 22, and the second cover 22 on the central knuckle 50b is connected with the knuckle body 10 to limit the fixed angle. The sensor 40 is in the mounting slot. The angle sensor 40 also blocks the second shaft 105 from being disengaged from the first hinge portion 103 and the second hinge portion 104. The second cover 22 of the end knuckle 50a is provided with a plug portion 222, and the plug portion 222 is inserted into the angle sensor 40 of the middle knuckle 50b, so that the angle sensor 40 can detect the middle knuckle 50b and the tail end finger The relative angle of rotation between the segments 50a.

The connection manner between the fingertip 50c and the middle knuckle 50b is the same as above, and will not be described again.

Fingertip 50c, middle phalanx 50b, and tail knuckle 50a have different design features. Hereinafter, the fingertip 50c, the middle phalanx 50b, and the distal phalanx 50a will be separately described.

Referring to FIG. 9, the knuckle body 10 of the fingertip 50c is provided with a first mounting cavity 15 and a second hinge portion 104. The first mounting cavity 15 is provided with two fixing posts 13 and corresponding first pulleys 14 from the middle. The two transmission ropes extending from the knuckle 50b are wound around the two sides of the second pulley 105 to connect the corresponding fixing posts 13. The other end of the fingertip 50c remote from the second hinge portion 104 has a nail-like design so that the fingertip 50c is used to perform a "pinch" action.

The knuckle body 10 of the middle phalanx 50b is provided with a first mounting cavity 15, a second mounting cavity 16 and a rope running channel 17, and the knuckle body 10 is provided with a first hinge portion 103 and a second hinge portion 104. The first mounting cavity 15 is disposed adjacent to the second hinge portion 104, and the second mounting cavity 16 is disposed adjacent to the first hinge portion 103. A first pulley 14 is disposed in the second mounting cavity 16, and the two rope passages 17 are communicated with the second mounting cavity 16 to correspond to the two transmission cables. Wherein, the axis of a ropeway 17 is tangential to the second pulley 105, and the corresponding transmission rope passes through the rope passage 17, and the corresponding fixing column 14 on the fingertip 50c is connected from one side of the second pulley 105, greatly The friction loss of the drive rope and the rope passage 17 is slowed down. The transmission rope passing through the other rope passage 17 is redirected by the first pulley 14, and is connected to the corresponding fixing column 14 of the fingertip 50c from the other side of the second pulley 105 from the tangential direction of the second pulley 105. The two drive cables are skillfully staggered to avoid mutual wear. At the same time, the second pulley 105 changes the direction of the force transmission of the drive rope, so that the drive rope is easy to pull the fingertip 50c to rotate.

The knuckle body 10 of the end knuckle 50a is provided with a first mounting cavity 15, a second mounting cavity 16 and a walking channel 17, and the knuckle body 10 is provided with a first hinge portion 103. The end knuckles are "L" shaped so that when the finger mechanism is placed on other devices, there is a large grasping space for grasping larger objects and making the finger joints have a reasonable range of rotation. A plurality of first pulleys 14 are disposed in the first cavity 15, and the plurality of first pulleys 14 guide the drive cables extending to the central knuckles 50b to be staggered from each other to avoid interference.

Referring to FIG. 10, a first pulley 14 is disposed in the second mounting cavity 16, and a driving rope connecting the fingertip 50c is mounted on the first pulley 14 of the second cavity 16 via the tail end knuckle 50a, from the rope passage 17 It extends to the central phalanx 50b and is finally connected to the corresponding fixed post 13 on the fingertip 50c.

In addition, between the knuckle assemblies hinged to each other, the first wire trough 212 communicates with each other to facilitate the wiring of the sensor assembly 30. That is, the tail end knuckle 50a, the middle knuckle 50b and the first wire trough 212 on the fingertip 50c communicate with each other, so that various electrical lines of each knuckle assembly pass through the same side of the finger mechanism, avoiding signal lines, The power lines and the like are placed in a disorderly manner to affect the mutual rotation between the knuckle components. The knuckle body 10 of the tail end knuckle 50a is further provided with a signal line hole 107, and the signal line hole 107 communicates with the limit groove 11 to transmit the signal line and the power line to the outside of the finger mechanism.

Specifically, the signal line and the power line of the angle sensor 40 on the fingertip 50c and the middle knuckle 50b are electrically connected to the respective sensor components 30, and the sensor components 40 on the hinged knuckles are electrically connected to each other, and the tail end fingers are further The signal line on the node 50a, the power line is connected to an external power source, a controller, etc., so that the sensor assembly 30 and the angle sensor 40 on the finger mechanism operate normally.

Referring to Figure 11, a schematic structural view of an embodiment of a manipulator provided by the present application.

The robot includes a plurality of finger mechanisms as described above.

In this embodiment, the robot includes a finger mechanism 61, a finger mechanism 62, a finger mechanism 63, and a base 64. The finger mechanism 61, the finger mechanism 62, and the finger mechanism 63 are the finger mechanisms in the above embodiment. The base 64 is provided with a driving device and a transmission device for driving the finger mechanism 61, the finger mechanism 62, and the finger mechanism 63 to complete the grasping. Or loose action.

Different from the prior art, the present application discloses a knuckle assembly, a finger mechanism, and a robot. The knuckle assembly includes a knuckle body and a knuckle cover body; the knuckle body is provided with a limiting slot for accommodating the sensor component, and limiting the sensor component from the opposite first side of the sensor component; The cover body includes a first cover body and a second cover body, and the first cover body and the second cover body are connected to opposite side edges of the knuckle body to limit the sensor component from the opposite second side of the sensor assembly And then fix the sensor assembly on the knuckle assembly. The sensor assembly is fixed by the structural cooperation of the knuckle body and the knuckle cover body. When the sensor component fails to be repaired or replaced, the first cover body or the second cover body can be removed, and the sensor component can be quickly removed. Repair or replace it without the need to remove the knuckle assembly as a whole and secure the sensor assembly to the knuckle assembly without the need for screws.

The above description is only the embodiment of the present application, and thus does not limit the scope of the patent application, and the equivalent structure or equivalent process transformation made by using the specification and the drawings of the present application, or directly or indirectly applied to other related technologies. The fields are all included in the scope of patent protection of this application.

Claims (18)

A knuckle assembly characterized by comprising: The knuckle body is provided with a limiting slot for accommodating the sensor component, and limiting the sensor component from the opposite first side of the sensor component; a knuckle cover body, comprising a first cover body and a second cover body, wherein the first cover body and the second cover body are connected to opposite side edges of the knuckle body to be opposite from the sensor assembly The second side limits the sensor assembly to secure the sensor assembly to the knuckle assembly. The knuckle assembly according to claim 1, wherein the first cover body and the second cover body are respectively provided with an engaging groove, and the engaging groove cooperates with the limiting groove to The sensor assembly is fixed. The knuckle assembly according to claim 1, wherein the limiting slot is provided with a stopping portion for when the sensor component is received in the limiting slot. The sensor assembly is stopped such that the sensor assembly is spaced from the bottom of the limiting slot. The knuckle assembly according to claim 1, wherein the first cover body is further provided with a first wire trough, and the first wire trough is communicated with the limit groove for The sensor components are routed. The knuckle assembly according to claim 1, wherein the knuckle assembly further comprises an angle sensor, and the knuckle body is provided with a mounting groove on a side wall of the second cover, the angle sensor The second cover is connected to the knuckle body to fix the angle sensor in the mounting groove. The knuckle assembly according to claim 5, wherein the second cover body is provided with a second wireway, and the signal line of the angle sensor is guided to the limit through the second wireway groove. The knuckle assembly according to claim 1, wherein the knuckle body is provided with a fixing post and a first pulley, the fixing post is for connecting a driving rope, and the driving rope is guided by the first pulley Pulling the knuckle assembly to rotate. The knuckle assembly according to claim 7, wherein the knuckle body is provided with a first mounting cavity, and the fixing post and the first pulley are disposed in the first mounting cavity. The knuckle assembly according to claim 8, wherein the knuckle body further comprises a second mounting cavity and a rope path, the rope channel communicating with the second mounting cavity, the second A first pulley is further disposed in the installation cavity, and the first pulley is disposed such that the transmission rope enters the rope passage in the axial direction of the rope passage. The knuckle assembly according to claim 8 or 9, wherein the first pulley is disposed on the knuckle body through a first rotating shaft, the first cover body, the second cover body and the The knuckle body is coupled to block the first shaft from disengaging from the knuckle body. The knuckle assembly of claim 8, wherein the knuckle body comprises a first body and a second body, the first body being coupled to the second body to form the first mounting cavity . A finger mechanism comprising a plurality of knuckle assemblies according to any one of claims 1 to 11 hinged in sequence. The finger mechanism according to claim 12, wherein the knuckle body comprises a first hinge portion and/or a second hinge portion, the knuckle assembly passing between the first hinge portion and the first Two hinges are connected. The finger mechanism according to claim 13, wherein the first hinge portion and the second hinge portion are connected by a second rotating shaft, the first cover body, the second cover body and the finger The joint body is coupled to block the second rotating shaft from being disengaged from the first hinge portion and the second hinge portion. The finger mechanism according to claim 14, wherein the second rotating shaft is further provided with a second pulley for guiding the transmission rope to the other of the knuckle assemblies at the hinge. The finger mechanism according to claim 14, wherein the second cover body is provided with a plug portion, and the plug portion is inserted into the angle sensor of the other knuckle assembly of the hinge portion. . The finger mechanism of claim 12 wherein said first wireway slots between said knuckle assemblies that are hinged to each other are in communication to facilitate routing of said sensor components. A robot comprising a plurality of finger mechanisms according to any one of claims 12-17.