Bionic finger, bionic hand and robot

Abstract

The invention discloses a bionic finger, a bionic hand and a robot, and relates to the technical field of robots. The bionic finger is provided with a holding side and comprises a finger body, and an assembling groove facing the holding side is formed in one end of the finger body; the electronic skin is arranged in the assembling groove, and an induction face is arranged on the side, facing the holding side, of the electronic skin; the flexible part covers the side, facing the holding side, of the assembling groove and makes contact with the sensing face. According to the bionic finger, the size of the bionic finger can be reduced.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a bionic finger, a bionic hand and a robot. Background Art

[0002] Robots can use dexterous hands to simulate human hand movements and achieve functions such as grasping, operation and interaction.

[0003] In the related art, due to the configuration of structures such as detection devices, the fingers of the dexterous hand are larger in size, appearing bulky and affecting the flexibility of the dexterous hand. Summary of the invention

[0004] The present application provides a bionic finger, a bionic hand and a robot to reduce the size of the bionic finger.

[0005] In a first aspect, the present application provides a bionic finger, wherein the bionic finger is configured with a gripping side, and the bionic finger comprises: A finger body, one end of which is provided with a mounting groove facing the gripping side; An electronic skin is arranged in the assembly groove, and a sensing surface is arranged on a side of the electronic skin facing the holding side; The flexible member covers the side of the assembly groove facing the holding side and contacts the sensing surface.

[0006] In some possible implementations, the bionic finger further includes a support frame, which is disposed at the opening of the assembly slot and connected to the finger body; The flexible member comprises a connected flexible member body and a contact portion, wherein the flexible member body covers a side of the support frame away from the finger body; The contact portion is protrudingly arranged on a side of the flexible member body facing the support frame, the contact portion is penetrated through the support frame, and a surface of a side of the contact portion facing away from the flexible member body is in contact with the sensing surface.

[0007] In some possible implementations, the bionic finger is configured with a fingertip, and the bionic finger also includes a first locking member, the first locking member is connected between the support frame and the finger body, and the first locking member is connected to an end of the support frame away from the fingertip.

[0008] In some possible implementations, the bionic finger further includes a second locking member, the second locking member is connected between the support frame and the finger body, and the second locking member is connected to one end of the support frame toward the fingertip; The locking direction of the first locking member intersects with the locking direction of the second locking member.

[0009] In some possible embodiments, anti-slip patterns are provided on the side of the flexible member facing away from the electronic skin.

[0010] In a second aspect, the present application further provides a bionic hand, including: A palm having a first end and a second end; A first bionic finger connected to the first end, and the other end of the first bionic finger away from the first end extends in a direction approaching the second end; A plurality of second bionic fingers connected to the second end, and the ends of the second bionic fingers away from the palm extend in a direction away from the first end; The first bionic finger and / or the second bionic finger include the bionic fingers provided in the above respective embodiments.

[0011] In some possible embodiments, both the first bionic finger and the second bionic finger include the bionic fingers provided in the above respective embodiments; The palm includes a palm body, a first electronic skin, and a first flexible member. The first electronic skin is provided on the side of the palm body facing the holding side, and the first flexible member covers the side of the first electronic skin facing the holding side and is in contact with the first electronic skin.

[0012] In some possible embodiments, the first bionic finger includes the bionic fingers provided in the above respective embodiments; The finger body includes a mounting seat, a first finger joint, and a second finger joint connected in sequence. The first finger joint includes a linear driving member and a housing. The linear driving member is disposed in the housing, and one end of the linear driving member close to the mounting seat and one end of the housing close to the mounting seat are both pivotally connected to the mounting seat; A limiting portion is disposed at one end of the housing facing the mounting seat, and the limiting portion is located on the side of the housing facing away from the holding side. A limiting surface is disposed at one end of the mounting seat facing the first finger joint, and the limiting surface is located on the rotation path of the limiting portion when it rotates in a direction away from the holding side; The receiving groove is opened on the side of the second finger joint facing the holding side.

[0013] In some possible embodiments, the mounting seat includes a first connecting arm and a second connecting arm. The second connecting arm is located on the side of the first connecting arm close to the holding side. The linear driving member includes a main body structure and an output shaft. The main body structure is pivotally connected to the first connecting arm, the housing is pivotally connected to the second connecting arm, and the output shaft is telescopically disposed at one end of the main body structure away from the first connecting arm; The end of the second finger joint facing the first finger joint is provided with a third connecting arm and a fourth connecting arm, the fourth connecting arm is located at a side of the third connecting arm close to the gripping side, the third connecting arm is pivotally connected to the output shaft, and the fourth connecting arm is pivotally connected to an end of the housing away from the second connecting arm; The bionic hand also includes a first elastic member and a second elastic member, the first elastic member acting between the shell and the second connecting arm, the first elastic member being used to drive the first knuckle to rotate relative to the mounting seat toward the direction approaching the holding side, the second elastic member acting between the shell and the fourth connecting arm, the second elastic member being used to drive the second knuckle to rotate relative to the first knuckle toward the direction away from the holding side.

[0014] In a third aspect, a robot comprises the bionic hand provided in the above embodiments.

[0015] Beneficial effects of the present application: In the bionic finger provided by the present application, the electronic skin is integrated into the assembly groove in the finger body without occupying additional space outside the finger body, which can improve the integration of the bionic finger, make the structure of the bionic hand more compact, the size more compact, the appearance simple, and can also improve the flexibility of the bionic finger. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 Shown are schematic diagrams of the structures of bionic hands in some embodiments; Figure 2 A schematic diagram of the exploded structure of the palm in some embodiments is shown; Figure 3 A schematic diagram of a partial cross-sectional structure of a palm in some embodiments is shown; Figure 4 A schematic diagram of the structure of a first bionic finger in some embodiments is shown; Figure 5 Shows a schematic diagram of the structure of the mounting base in some embodiments; Figure 6 A schematic diagram of the structure of the first finger joint in some embodiments is shown; Figure 7 A schematic diagram of the structure of the second knuckle in some embodiments is shown; Figure 8Shows a partial structural schematic diagram of the first finger body in some embodiments; Figure 9 Shows an exploded structural schematic diagram of the first bionic hand in some embodiments; Figure 10 Shows a structural schematic diagram of the second flexible member in some embodiments; Figure 11 Shows an exploded structural schematic diagram of the second bionic hand in some embodiments; Figure 12 Shows a structural schematic diagram of the third flexible member in some embodiments.

[0018] Main element symbol description: 1000 - First bionic finger; 100 - First finger body; 110 - Mounting base; 111 - First connecting arm; 112 - Second connecting arm; 113 - Limiting surface; 120 - First finger joint; 121 - Linear drive member; 1211 - Main body structure; 1212 - Output shaft; 122 - Housing; 1221 - Limiting portion; 130 - Second finger joint; 131 - Third connecting arm; 132 - Fourth connecting arm; 133 - First assembly groove; 141 - First elastic member; 142 - Second elastic member; 200 - Second electronic skin; 210 - Second sensing surface; 300 - Second flexible member; 310 - First flexible member body; 311 - Second anti-slip pattern; 320 - First contact portion; 330 - First connecting column; 400 - Second support frame; 410 - Second hollow hole; 510 - First locking member; 520 - Second locking member; 2000 - Second bionic finger; 2100 - Second finger body; 2101 - Second assembly groove; 2110 - Support block; 2200 - Third electronic skin; 2210 - Third sensing surface; 2300 - Third flexible member; 2310 - Second flexible member body; 2311 - Third anti-slip pattern; 2320 - Second contact portion; 2330 - Second connecting column; 2400 - Third support frame; 2410 - Third hollow hole; 3000 - Palm; 3001 - First end; 3002 - Second end; 3100 - Palm body; 3200 - First electronic skin; 3210 - First sensing surface; 3300 - First flexible member; 3310 - First anti-slip pattern; 3400 - First support frame; 3410 - First hollow hole; 4000 - Gripping side. Detailed implementation manners

[0019] Embodiments of the present application will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where like or similar reference numerals denote like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are exemplary only for explaining the present application and should not be construed as limiting the present application.

[0020] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present application.

[0021] In addition, the terms "first" and "second" are used only for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the number of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present application, "a plurality of" means two or more unless otherwise specifically defined.

[0022] In the present application, unless otherwise clearly specified and defined, the terms "mounted", "connected", "coupled", "fixed", etc. should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal communication of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0023] In the present application, unless otherwise clearly specified and defined, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "below" and "beneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0024] As Figure 1As shown, in the embodiment, a bionic hand is provided, which can be applied to a robot to provide a grasping function.

[0025] In some embodiments, the bionic hand includes a palm 3000, a first bionic finger 1000, and four second bionic fingers 2000. Among them, the first bionic finger 1000 can be a thumb. The four second bionic fingers 2000 can correspond to the index finger, middle finger, ring finger, and little finger one by one.

[0026] In some embodiments, the bionic hand may also include two, three, five or other numbers of second bionic fingers 2000.

[0027] In the embodiment, the palm 3000 includes a first end 3001 and a second end 3002. Among them, the first end 3001 can be the end close to the wrist, and the second end 3002 can be the end far from the wrist. One end of the first bionic finger 1000 can be connected to the first end 3001 of the palm 3000, and the other end of the first bionic finger 1000 can extend towards the direction close to the second end 3002. The plurality of second bionic fingers 2000 are all connected to the second end 3002 of the palm 3000, and the end of the second bionic finger 2000 far from the palm 3000 can extend towards the direction far from the first end 3001.

[0028] In addition, the bionic hand can have a grasping side 4000, and both the first bionic finger 1000 and the second bionic finger 2000 can bend towards the grasping side 4000 to cooperate with the palm 3000 to achieve the grasping function.

[0029] As Figures 1 to 3 shown, in some embodiments, the palm 3000 includes a palm body 3100, a first electronic skin 3200, a first support frame 3400, and a first flexible member 3300. Among them, the first electronic skin 3200 is arranged on the side of the palm body 3100 facing the grasping side 4000, and the first electronic skin 3200 can be arranged corresponding to the position of the center of the palm 3000. The first support frame 3400 can be fixedly connected to the palm body 3100 by means of screw connection or the like, and covers the periphery of the palm body 3100.

[0030] In addition, a first sensing surface 3210 is arranged on the side of the first electronic skin 3200 facing the grasping side 4000. A first hollow hole 3410 opposite to the first sensing surface 3210 is formed on the first support frame 3400. The first sensing surface 3210 can be exposed through the first hollow hole 3410. In some embodiments, the first flexible member 3300 is embedded on the first support frame 3400 and is opposite to the first electronic skin 3200. And the first flexible member 3300 can be attached to the first sensing surface 3210, so that the pressure received by the first flexible member 3300 can be transmitted to the first electronic skin 3200.

[0031] In some embodiments, the first flexible member 3300 can be connected to the first support frame 3400 by means of injection molding, hot melt connection, gluing, etc., which can prevent the first flexible member 3300 from detaching from the first support frame 3400 at will.

[0032] In some embodiments, on the side of the first flexible member 3300 facing away from the first electronic skin 3200, a first anti-slip pattern 3310 is further provided, which can reduce the probability of an item falling off the bionic hand. Among them, the first anti-slip pattern 3310 can be structures such as bumps or ridges.

[0033] As Figure 1 , Figures 4 to 8 shown, in some embodiments, the first bionic finger 1000 includes a first finger main body 100, an electronic skin (i.e., the second electronic skin 200), and a flexible member (i.e., the second flexible member 300). Among them, the first finger main body 100 may include a mounting seat 110, a first phalanx 120, and a second phalanx 130 in sequence. One end of the mounting seat 110 away from the first phalanx 120 can be fixedly connected to one end of the palm main body 3100 close to the first end 3001 by means of bolt connection or the like.

[0034] In some embodiments, one end of the mounting seat 110 away from the palm main body 3100 is provided with a first connecting arm 111 and a second connecting arm 112, and the second connecting arm 112 can be located on the side of the first connecting arm 111 close to the holding side 4000. In the embodiment, the first phalanx 120 includes a linear driving member 121 and a housing 122, and the linear driving member 121 is disposed in the housing 122. Among them, the linear driving member 121 may include a main body structure 1211 and an output shaft 1212. One end of the main body structure 1211 is pivotally connected to the first connecting arm 111. Correspondingly, the linear driving member 121 can rotate relative to the first connecting arm 111. The output shaft 1212 can be telescopically disposed relative to one end of the main body structure 1211 away from the first connecting arm 111. One end of the housing 122 facing the mounting seat 110 is pivotally connected to the second connecting arm 112.

[0035] In some embodiments, one end of the second phalanx 130 facing the first phalanx 120 is provided with a third connecting arm 131 and a fourth connecting arm 132, and the fourth connecting arm 132 is located on the side of the third connecting arm 131 close to the holding side 4000. Among them, the third connecting arm 131 is pivotally connected to one end of the output shaft 1212 away from the mounting seat 110, and the fourth connecting arm 132 is pivotally connected to one end of the housing 122 away from the second connecting arm 112.

[0036] In some embodiments, the first finger body 100 further includes a first elastic member 141 and a second elastic member 142. The first elastic member 141 may be a torsion spring, and the first elastic member 141 may be sleeved on the rotating shaft at the connection position between the second connecting arm 112 and the shell 122. One elastic arm of the first elastic member 141 may abut against the shell 122, and the other elastic arm of the first elastic member 141 may abut against the second connecting arm 112. In the embodiment, the first elastic member 141 may be used to drive the shell 122 to rotate relative to the mounting seat 110 in a direction close to the holding side 4000, that is, the first elastic member 141 may be used to drive the first finger joint 120 to rotate relative to the mounting seat 110 in a direction close to the holding side 4000.

[0037] In some embodiments, the second elastic member 142 may be a torsion spring. The second elastic member 142 may be sleeved on the shaft at the connection position between the housing 122 and the fourth connecting arm 132. One elastic arm of the second elastic member 142 may abut against the housing 122, and the other elastic arm may abut against the fourth connecting arm 132. The second elastic member 142 may be used to drive the second knuckle 130 to rotate relative to the first knuckle 120 in a direction away from the gripping side 4000.

[0038] In some embodiments, a limiting portion 1221 is configured at one end of the housing 122 facing the mounting seat 110, and the limiting portion 1221 is located at the side of the housing 122 away from the gripping side 4000. A limiting surface 113 is configured at one end of the mounting seat 110 facing the first finger joint 120, and the limiting surface 113 may be located on the rotation path when the limiting portion 1221 rotates away from the gripping side 4000. Therefore, the limiting portion 1221 and the limiting surface 113 can cooperate to limit the extreme position of the first finger joint 120 when it rotates away from the gripping side 4000.

[0039] When the bionic hand needs to hold an object, the linear drive member 121 is activated to gradually extend the output shaft 1212. During this process, the first elastic member 141 can drive the first knuckle 120 to move toward the holding side 4000. Even if the first knuckle 120 moves toward the inner side of the palm to approach the object, the second knuckle 130 can remain fixed relative to the first knuckle 120. After the first knuckle 120 touches the object, the first knuckle 120 stops moving, and the output shaft 1212 of the linear drive member 121 continues to extend. The second knuckle 130 can overcome the elastic potential energy of the second elastic member 142 under the driving action of the linear drive member 121 to rotate relative to the first knuckle 120 and rotate toward the holding side 4000, that is, move toward the direction close to the palm to gradually approach and contact the object. After the second knuckle 130 contacts the object to be picked up, the linear drive member 121 can stop moving to achieve the holding of the object.

[0040] When an item needs to be placed, the linear drive 121 is activated, and the output shaft 1212 gradually shortens relative to the main body structure 1211. During this process, the second finger joint 130 can rotate relative to the first finger joint 120 under the action of the output shaft 1212 and the second elastic member 142, and rotate away from the holding side 4000 to expand, that is, the second finger joint 130 rotates away from the palm. After the second finger joint 130 is reset, the output shaft 1212 continues to shorten. Under the action of the linear drive 121, the elastic potential energy of the first elastic member 141 can be overcome, so that the first finger joint 120 rotates relative to the mounting base 110 and rotates away from the holding side 4000 to expand, that is, the first finger joint 120 rotates away from the palm until the first finger joint 120 is reset. Subsequently, the linear drive 121 stops operating.

[0041] In the embodiment, when the item has a large size, the first finger joint 120 can open in the direction away from the holding side 4000 under the abutting action of the item, and the limiting portion 1221 of the first finger joint 120 can abut against the limiting surface 113 on the mounting base 110 to achieve limitation. During the holding process, the maximum force exerted by the bionic hand on the item can be equal to the sum of the forces exerted by the four second bionic fingers 2000 on the item, and can be offset by the force exerted by the limiting surface 113 on the limiting portion 1221 in the first bionic finger 1000, and will not directly act on the linear drive 121. Thus, the linear drive 121 can be protected, the service life of the linear drive 121 can be extended, the later maintenance cost of the bionic hand can be reduced, and the load capacity of the bionic hand can also be improved. During this period, the second finger joint 130 can rotate relative to the first finger joint 120.

[0042] As Figure 1 、 Figure 9 、 Figure 10 and Figure 12 shown, an assembly groove (i.e., the first assembly groove 133) is formed at one end of the second finger joint 130 away from the first finger joint 120, and the first assembly groove 133 can be located on the side of the second finger joint 130 facing the holding side 4000. In some embodiments, the side of the first assembly groove 133 facing the holding side 4000 can be configured to be open, and the opening of the first assembly groove 133 can be inclined. Specifically, the opening of the first assembly groove 133 can be inclined in the direction away from the holding side 4000 gradually from the end close to the first finger joint 120 to the end far from the first finger joint 120.

[0043] In the embodiment, the second electronic skin 200 can be disposed in the first assembly groove 133 and fixedly connected to the bottom of the first assembly groove 133 by means of screw connection or the like. The side of the second electronic skin 200 facing the opening of the first assembly groove 133 can be configured with a sensing surface (i.e., the second sensing surface 210), that is, the second sensing surface 210 faces the holding side 4000. And the second sensing surface 210 can be substantially parallel to the opening of the first assembly groove 133.

[0044] In some embodiments, the first bionic finger 1000 further includes a support frame (i.e., the second support frame 400), and the second support frame 400 can cover the opening position of the first assembly groove 133. And one end of the second support frame 400 facing the first finger joint 120 can be fixedly connected to the second finger joint 130 through the first locking member 510. It can be understood that the distance between the end of the second support frame 400 away from the first finger joint 120 and the first locking member 510 is relatively short. Thus, the second support frame 400 can be completely fixed to the second finger joint 130 through the first locking member 510. In some embodiments, the first locking member 510 can be selected as a screw, and the first locking member 510 can sequentially pass through the second support frame 400 and the second finger joint 130 and be screwed to the second finger joint 130.

[0045] In other embodiments, the first locking member 510 can also be selected as structures such as rivets and heat melting posts, and be fixedly connected between the second support frame 400 and the second finger joint 130.

[0046] In other embodiments, one end of the second support frame 400 away from the first finger joint 120 can also be connected to the second finger joint 130 through the second locking member 520. The second locking member 520 can be selected as structures such as screws or rivets.

[0047] In some embodiments, the second support frame 400 can be provided with a second hollow hole 410 opposite to the second sensing surface 210. The second flexible member 300 can include an integral first flexible member body 310 and a first contact portion 320. The first flexible member body 310 can cover the side of the second support frame 400 facing away from the second finger joint 130, and the peripheral edge of the first flexible member body 310 can extend to the periphery of the second support frame 400 and abut against the end surface of the second finger joint 130 at the end facing the opening of the first assembly groove 133. In addition, the surface of the first flexible member body 310 facing away from the support frame can be on the same arc surface as the surface of the second finger joint 130 facing away from the first assembly groove 133. Thus, the appearance of the first bionic finger 1000 can be made consistent and more concise.

[0048] In some embodiments, a second anti-slip pattern 311 is further disposed on the side of the first flexible member body 310 facing away from the support frame. The second anti-slip pattern 311 may be structures such as convex points or convex ridges arranged in an array, which can increase the frictional force between the second flexible member 300 and the object, reduce the probability of the object slipping off the bionic hand, and ensure the safety of grasping the object.

[0049] In an embodiment, the first contact portion 320 may protrude from the side of the first flexible member body 310 facing the second support frame 400. The first contact portion 320 may pass through the second hollow hole 410, and the surface of the first contact portion 320 facing away from the first flexible member body 310 may be attached to the second sensing surface 210. Thus, the force received by the second flexible member 300 can be smoothly transmitted to the second electronic skin 200.

[0050] In some embodiments, a first connecting column 330 is further protrudingly provided on the side of the first flexible member body 310 facing the second support frame 400. The first connecting column 330 may pass through the support frame and may be fixedly connected to the support frame by means of hot melting or bonding, etc. Thus, the flexible member can be prevented from detaching from the support frame randomly.

[0051] As Figure 1 、 Figure 11 and Figure 12 shown, in some embodiments, the second bionic finger 2000 may include a finger main body (i.e., the second finger main body 2100), an electronic skin (i.e., the third electronic skin 2200), and a flexible member (i.e., the third flexible member 2300). The second finger main body 2100 may have three phalanges, and the three phalanges are pivotally connected in sequence. One end of the second finger main body 2100 is pivotally connected to the second end 3002 of the palm main body 3100.

[0052] In other embodiments, the second finger main body 2100 may also have two or four phalanges.

[0053] In addition, the bionic hand further includes a driving mechanism (not shown in the figure) for driving the movement of the second finger main body 2100, which may be disposed on the side of the palm main body 3100 facing away from the holding side 4000 and / or inside the second finger main body 2100.

[0054] In some embodiments, an assembly groove (i.e., the second assembly groove 2101) is formed at one end of the second finger main body 2100 away from the palm 3000. The side of the second assembly groove 2101 facing the holding side 4000 may be configured to be open, and the opening of the second assembly groove 2101 may be inclined. Specifically, the opening of the second assembly groove 2101 may be inclined gradually away from the holding side 4000 from the end close to the palm 3000 to the end away from the palm 3000.

[0055] In an embodiment, the third electronic skin 2200 may be disposed in the second assembly groove 2101 and may be fixedly connected to the bottom of the second assembly groove 2101 by means of screw connection or the like. An induction surface (i.e., the third induction surface 2210) may be configured on the side of the third electronic skin 2200 facing the opening of the second assembly groove 2101, that is, the third induction surface 2210 is arranged facing the holding side 4000. And the third induction surface 2210 may be substantially parallel to the opening of the second assembly groove 2101.

[0056] In some embodiments, the second bionic finger 2000 further includes a support frame (i.e., the third support frame 2400). The third support frame 2400 may cover the opening position of the second assembly groove 2101. And one end of the third support frame 2400 facing the palm 3000 may be fixedly connected to the second finger body 2100 through a first locking member 510. One end of the third support frame 2400 away from the palm 3000 may be fixedly connected to the second finger body 2100 through a second locking member 520, that is, one end of the third support frame 2400 close to the fingertip of the second bionic finger 2000 may be fixedly connected to the second finger body 2100 through the second locking member 520. In some embodiments, both the first locking member 510 and the second locking member 520 connected to the third support frame 2400 may be selected as screws. The first locking member 510 may sequentially pass through the third support frame 2400 and the second finger body 2100 and be screwed to the second finger body 2100. The second locking member 520 may sequentially pass through the third support frame 2400 and the second finger body 2100 and be screwed to the second finger body 2100.

[0057] In other embodiments, the first locking member 510 and the second locking member 520 connected to the third support frame 2400 may also be selected as structures such as rivets and hot melt posts and be fixedly connected between the third support frame 2400 and the second finger body 2100.

[0058] In some embodiments, the locking direction of the first locking member 510 may be perpendicular to the locking direction of the second locking member 520. Thus, limit connection in multiple directions of the third support frame 2400 can be achieved, ensuring the connection stability between the third support frame 2400 and the second finger body 2100. In some embodiments, the locking direction of the second locking member 520 connected to the third support frame 2400 may be substantially parallel to the axis of the second bionic hand. A support block 2110 opposite to the third support frame 2400 may be protrudingly provided at the bottom of the second assembly groove 2101, and one end of the second locking member 520 away from the third support frame 2400 may be connected to the support block 2110.

[0059] In some embodiments, a third hollow hole 2410 opposite to the third sensing surface 2210 may be formed in the third support frame 2400. The third flexible member 2300 may include an integral second flexible member body 2310 and a second contact portion 2320. The second flexible member body 2310 may cover the side of the third support frame 2400 facing away from the second finger body 2100, and the peripheral edge of the second flexible member body 2310 may extend to the periphery of the third support frame 2400 and abut against the end surface of the second finger body 2100 facing the opening end of the second assembly groove 2101. In addition, the surface of the second flexible member body 2310 facing away from the third support frame 2400 may be on the same arc surface as the surface of the second finger body 2100 facing away from the second assembly groove 2101. Thus, the appearance of the second bionic finger 2000 can be made consistent and more concise.

[0060] In some embodiments, a third anti-slip pattern 2311 is further disposed on the side of the second flexible member body 2310 facing away from the support frame. The third anti-slip pattern 2311 may be a structure such as convex points or convex ridges arranged in an array, which can increase the friction between the third flexible member 2300 and the article, reduce the probability of the article slipping off the bionic hand, and ensure the safety of grasping the article.

[0061] In the embodiment, the second contact portion 2320 may protrude from the side of the second flexible member body 2310 facing the third support frame 2400. The second contact portion 2320 may pass through the third hollow hole 2410, and the surface of the second contact portion 2320 facing away from the second flexible member body 2310 may be attached to the third sensing surface 2210. Thus, the force received by the third flexible member 2300 can be smoothly transmitted to the third electronic skin 2200.

[0062] In some embodiments, a second connecting column 2330 is further protruded from the side of the second flexible member body 2310 facing the third support frame 2400. The second connecting column 2330 may pass through the third support frame 2400 and may be fixedly connected to the third support frame 2400 by means of hot melting or bonding, etc. Thus, the third flexible member 2300 can be prevented from being detached from the third support frame 2400 randomly.

[0063] In some embodiments, the second locking member 520 connected to the third support frame 2400 may be blocked by the second flexible member body 2310. Thus, the number of exposed screws on the bionic hand can be reduced, the appearance effect of the bionic hand can be improved, and the appearance can be made more concise.

[0064] In the embodiments of the present application, the electronic skin on the bionic finger is integrated into the assembly groove in the finger body, without occupying extra space outside the finger body, which can improve the integration degree of the bionic finger, make the structure of the bionic hand more compact, the volume smaller, and the appearance more concise.

[0065] The embodiment also provides a robot, including the bionic hand provided in the embodiment.

[0066] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of this application. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0067] Although the embodiments of this application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting this application. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this application.

Claims

1. A bionic finger, characterized in that, The bionic finger is configured with a gripping side, and the bionic finger comprises: A finger body, one end of which is provided with a mounting groove facing the gripping side; An electronic skin is arranged in the assembly groove, and a sensing surface is arranged on a side of the electronic skin facing the holding side; The flexible member covers the side of the assembly groove facing the holding side and contacts the sensing surface.

2. The bionic finger according to claim 1, characterized in that, The bionic finger further comprises a support frame, which is covered at the opening of the assembly slot and connected to the finger body; The flexible member comprises a connected flexible member body and a contact portion, wherein the flexible member body covers a side of the support frame away from the finger body; The contact portion is protrudingly arranged on a side of the flexible member body facing the support frame, the contact portion is penetrated through the support frame, and a surface of a side of the contact portion facing away from the flexible member body is in contact with the sensing surface.

3. The bionic finger according to claim 2, characterized in that, The bionic finger is provided with a fingertip, and the bionic finger further comprises a first locking member, wherein the first locking member is connected between the support frame and the finger body, and the first locking member is connected to an end of the support frame away from the fingertip.

4. The bionic finger according to claim 3, characterized in that, The bionic finger further comprises a second locking member, the second locking member being connected between the support frame and the finger body, and the second locking member being connected to one end of the support frame facing the fingertip; The locking direction of the first locking member intersects with the locking direction of the second locking member.

5. The bionic finger according to claim 1, characterized in that, The side of the flexible member facing away from the electronic skin is provided with anti-slip grooves.

6. A bionic hand, characterized in that, include: a palm having a first end and a second end; A first bionic finger connected to the first end, wherein the other end of the first bionic finger away from the first end extends toward the second end; A plurality of second bionic fingers connected to the second end, wherein one end of the second bionic fingers away from the palm extends in a direction away from the first end; The first bionic finger and / or the second bionic finger comprises the bionic finger according to any one of claims 1 to 5.

7. The bionic hand according to claim 6, characterized in that, The first bionic finger and the second bionic finger both include the bionic finger according to any one of claims 1 to 5; The palm includes a palm body, a first electronic skin and a first flexible member. The first electronic skin is arranged on a side of the palm body facing the holding side. The first flexible member covers a side of the first electronic skin facing the holding side and contacts the first electronic skin.

8. The bionic hand according to claim 6, characterized in that, The first bionic finger comprises the bionic finger according to any one of claims 1 to 5; The finger body comprises a mounting seat, a first finger joint and a second finger joint which are connected in sequence, the first finger joint comprises a linear drive member and a housing, the linear drive member is arranged in the housing, and one end of the linear drive member close to the mounting seat and one end of the housing close to the mounting seat are both pivotally connected to the mounting seat; A limiting portion is arranged at one end of the shell facing the mounting seat, the limiting portion is located at a side of the shell away from the holding side, and a limiting surface is arranged at one end of the mounting seat facing the first finger joint, the limiting surface is located on a rotation path when the limiting portion rotates in a direction away from the holding side; The accommodation groove is formed on one side of the second finger joint facing the holding side.

9. The bionic hand according to claim 8, characterized in that, The mounting seat includes a first connecting arm and a second connecting arm. The second connecting arm is located on the side of the first connecting arm close to the holding side. The linear driving member includes a main body structure and an output shaft. The main body structure is pivotally connected to the first connecting arm, the housing is pivotally connected to the second connecting arm, and the output shaft is telescopically arranged at one end of the main body structure away from the first connecting arm. One end of the second finger joint facing the first finger joint is provided with a third connecting arm and a fourth connecting arm. The fourth connecting arm is located on the side of the third connecting arm close to the holding side. The third connecting arm is pivotally connected to the output shaft, and the fourth connecting arm is pivotally connected to one end of the housing away from the second connecting arm. The bionic hand further includes a first elastic member and a second elastic member. The first elastic member acts between the housing and the second connecting arm, and is used to drive the first finger joint to rotate towards the holding side relative to the mounting seat. The second elastic member acts between the housing and the fourth connecting arm, and is used to drive the second finger joint to rotate away from the holding side relative to the first finger joint.

10. A robot, characterized in that, Comprising the bionic hand according to any one of claims 6 to 9.

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