Bionic manipulator

Abstract

The utility model discloses a kind of bionic manipulator, it is related to manipulator technical field, bionic manipulator includes palm, finger and first driving device, second driving device and third driving device, finger is articulated by end knuckle, middle knuckle, tip knuckle in turn, end knuckle is movably connected with palm.The first driving device drives end knuckle flexion and extension relative to palm;Second driving device drives middle knuckle flexion and extension relative to end knuckle, and drives tip knuckle movement in parallel;Third driving device drives end knuckle (together with entire finger) relative to palm lateral swing.Three active degrees of freedom (flexion and extension, flexion and extension, side swing) transmission path is independent, realizes complete mechanical decoupling.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, and in particular to a bionic robotic arm. Background Technology

[0002] In the current field of robot dexterous hand design and implementation, motor-driven transmission mechanisms mainly rely on two schemes: linkage transmission and chord transmission. Among them, linkage transmission is widely adopted due to its excellent rigidity, fast grasping speed, and high-precision transmission performance. However, despite the above advantages, when applied to robot dexterous fingers, its design typically only supports single-degree-of-freedom or two-degree-of-freedom motion modes, and there are coupling effects between the finger's motion mechanisms, which limits the finger's flexibility and adaptability. Specifically, existing dexterous fingers implemented through linkage transmission are difficult to meet the needs of complex operation tasks, because these tasks often require higher degrees of freedom to achieve more precise and diverse motion performance.

[0003] Current technical solutions still have significant shortcomings in this regard, especially in maintaining or enhancing the original advantages of linkage transmission while increasing degrees of freedom, which presents numerous technical challenges. How to effectively improve the degrees of freedom of robot dexterity fingers has become a critical issue that urgently needs to be addressed. Utility Model Content

[0004] The main purpose of this invention is to propose a bionic robotic hand, which aims to improve the degree of freedom of robot dexterity fingers.

[0005] To achieve the above objectives, the present invention proposes a bionic robotic hand, wherein the palm length, palm width, and palm thickness are respectively set as a first direction, a second direction, and a third direction, and the bionic robotic hand includes:

[0006] Palm;

[0007] A finger, comprising a distal phalanx, a middle phalanx, and a tip phalanx hinged sequentially along its length, the distal phalanx being used for movable connection with the palm of the bionic robotic hand; and,

[0008] The driving mechanism includes a first driving device, a second driving device, and a third driving device. The first driving device is driven to the distal phalanx to drive the distal phalanx to rotate relative to the palm. The second driving device is driven to the intermediate phalanx and the distal phalanx to drive the intermediate phalanx to rotate relative to the distal phalanx, and when the intermediate phalanx rotates, it drives the distal phalanx to rotate relative to the intermediate phalanx. The third driving device is driven to the distal phalanx to drive the distal phalanx to swing laterally relative to the palm.

[0009] Optionally, the first driving device is connected to the distal phalanx via a first transmission mechanism to drive the distal phalanx to rotate relative to the palm about a first rotation axis along the second direction;

[0010] The second driving device is connected to the intermediate phalanx via a second transmission mechanism, and is used to drive the intermediate phalanx to rotate relative to the distal phalanx around a second rotation axis along the second direction, so that when the intermediate phalanx rotates, it can drive the distal phalanx to rotate relative to the intermediate phalanx around a third rotation axis extending along the second direction.

[0011] The third driving device is connected to the second transmission mechanism via the third transmission mechanism, and is used to drive the distal phalanx to rotate relative to the palm about the fourth rotation axis along the third direction.

[0012] Optionally, the bionic robotic hand further includes a dorsal rotation joint, which is rotatably arranged about the fourth rotation axis, and one end of the distal phalanx is rotatably connected to the dorsal rotation joint about the first rotation axis.

[0013] Optionally, the first driving device has a first driving part that is retractable in the first direction;

[0014] The first transmission mechanism includes:

[0015] A first joint portion has a first end and a second end disposed opposite to each other, the first end of the first joint portion being rotatably disposed relative to the first drive portion about a fifth rotation axis extending along the second direction; and,

[0016] A first link, one end of which is hinged to the second end of the first joint about a sixth rotation axis extending along the third direction, and the other end of which is hinged to one end of the distal phalanx about a seventh rotation axis extending along the second direction, so that when the first link rotates relative to the first drive unit, it drives the distal phalanx to rotate relative to the dorsal rotation joint.

[0017] Optionally, the second drive device has a second drive section that is retractable in the first direction;

[0018] The second transmission mechanism includes:

[0019] The second link, one end of which is rotatably disposed relative to the second drive unit about an eighth rotation axis extending along the third direction.

[0020] The third link, one end of which is hinged to the other end of the second link around the first rotation axis;

[0021] A transmission member is hinged to the end finger about a seventh rotation axis extending along the second direction. The transmission member has a first end and a second end that rotate about the seventh rotation axis. The first end of the transmission member is hinged to the other end of the third link about a ninth rotation axis extending along the second direction.

[0022] A fourth link, one end of which is hinged to the second end of the transmission member about a tenth rotational axis extending along the second direction; and,

[0023] A linkage has a first end and a second end disposed opposite to each other. The first end of the linkage is hinged to the other end of the fourth linkage about an eleventh rotation axis extending along the second direction, and is hinged to the other end of the distal phalanx about a twelfth rotation axis extending along the second direction. The second end of the linkage is hinged to one end of the tip phalanx about a thirteenth rotation axis extending along the second direction, so that when the linkage rotates about the twelfth rotation axis, it drives the tip phalanx to rotate relative to the intermediate phalanx.

[0024] Optionally, the transmission member has two connecting portions that both extend along the third direction, the two connecting portions being arranged at an included angle, the two ends of the two connecting portions being far apart from each other forming the first end and the second end, respectively, and the ends of the two connecting portions that are connected to each other being hinged to the distal phalanx.

[0025] Optionally, the third drive device has an output swing arm, the free end of which has a vertical travel.

[0026] The third transmission mechanism includes a transmission rod, one end of which is hinged to the output swing arm, and the other end is hinged to the back rotation joint to drive the back rotation joint to rotate around the fourth rotation axis.

[0027] Optionally, the first driving device has a first driving part that is retractable in the first direction, and the second driving device has a second driving part that is retractable in the first direction.

[0028] The bionic robotic arm also includes:

[0029] A guide seat, the guide seat including a seat body, and a first guide post and a second guide post extending from the seat body toward one side therefrom, the first guide post and the second guide post both extending along the first direction;

[0030] A first connecting seat is fixedly connected to the first driving part. The first connecting seat is also provided with a first guide hole extending along the first direction. The first guide post passes through the first guide hole. The first transmission mechanism drives the first connecting seat and the end finger joint.

[0031] The second connecting seat is fixedly connected to the second driving part. The second connecting seat is also provided with a second guide hole extending along the first direction. The second guide post passes through the second guide hole. The second transmission mechanism drives the second connecting seat and the middle finger joint.

[0032] Optionally, the first driving device and the second driving device are arranged side by side in the second direction, and the first driving part and the second driving part are staggered in the third direction;

[0033] The first driving part and the first guide post are arranged side by side in the second direction, and the connection position of the first transmission mechanism and the first connecting seat is located in the middle of the line connecting the first driving part and the first guide post.

[0034] The second drive unit and the second guide post are arranged side by side in the second direction, and the connection position of the second transmission mechanism and the second connecting seat is located in the middle of the line connecting the second drive unit and the second guide post.

[0035] Optionally, the first drive device, the second drive device, and the third drive device are configured corresponding to the palm of the bionic robotic hand.

[0036] Optionally, the first drive device includes a first electric cylinder, the second drive device includes a second electric cylinder, and the third drive device includes a servo motor;

[0037] The first electric cylinder and the second electric cylinder are arranged side by side, and the servo motor is located at the bottom of the first electric cylinder and the second electric cylinder.

[0038] The technical solution provided by this utility model has at least the following advantages:

[0039] This invention achieves complete kinematic decoupling between three active degrees of freedom: the flexion and extension of the distal phalanx relative to the palm, the flexion and extension of the intermediate phalanx relative to the distal phalanx, and the lateral swinging of the distal phalanx (along with the entire finger unit) relative to the palm. When any one drive device operates independently, its motion only affects its corresponding target degree of freedom, without coupling or interfering with the motion states of the other two degrees of freedom in the mechanical structure. This allows for precise and direct control of the robotic arm's motion, eliminating the need to consider complex dynamic coupling effects, reducing the complexity of the control algorithm, and improving the system's response speed and dynamic performance. Furthermore, when performing complex operations such as grasping, pinching, and rotating, each joint can work independently and in coordination, avoiding motion conflicts or precision loss caused by structural coupling. Attached Figure Description

[0040] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0041] Figure 1 A schematic diagram of the structure of an embodiment of the bionic robotic hand provided by this utility model; Figure 1 The transmission mechanism, first and second axes, is shown in an enlarged view. The rotation axes are clearly indicated.

[0042] Figures 2 to 4 for Figure 1 A partial structural diagram of a Chinese bionic robotic arm;

[0043] Figure 5 for Figure 4 A magnified view of a section at point A in the middle;

[0044] Figure 6 for Figure 2 A partial structural diagram of a Chinese bionic robotic arm;

[0045] Figure 7 for Figure 6 A side view of part of the structure of the Chinese bionic robotic hand.

[0046] Explanation of icon numbers:

[0047] 100. Bionic robotic hand; 10. Palm; 1. Fingers; 11. Terminal phalanx; 12. Middle phalanx; 13. Tip phalanx; 2. First drive device; 21. First drive unit; 3. First transmission mechanism; 31. First joint; 32. First link; 4. Second drive device; 41. Second drive unit; 5. Second transmission mechanism; 51. Second link; 52. Third link; 53. Transmission component; 531. Connecting part; 54. Fourth link; 55. Linkage rod; 6. Third drive device; 61. Output swing arm; 7. Third transmission mechanism; 71. Transmission rod; 8. Back rotation joint; 9. Guide seat; 91. Seat body; 92. First guide post; 93. Second guide post; 30. First connecting seat; 30a. First guide hole; 50. Second connecting seat; 50a. Second guide hole;

[0048] A. First axis of rotation; B. Second axis of rotation; C. Third axis of rotation; D. Fourth axis of rotation; E. Fifth axis of rotation; F. Sixth axis of rotation; G. Seventh axis of rotation; H. Eighth axis of rotation; I. Ninth axis of rotation; J. Tenth axis of rotation; K. Eleventh axis of rotation; L. Twelfth axis of rotation; M. Thirteenth axis of rotation.

[0049] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0050] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present utility model.

[0051] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0052] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0053] In the field of dexterous robotic hands, motor drives primarily employ linkages and chord drives. Linkage drives are widely used due to their high rigidity, speed, and precision; however, fingers typically only achieve single or double degrees of freedom, lacking sufficient dexterity to meet the high degrees of freedom required for complex operations. Existing technologies struggle to maintain the advantages of linkage drives while increasing degrees of freedom; therefore, effectively improving the degrees of freedom of dexterous fingers is a pressing issue that needs to be addressed.

[0054] Please see Figures 1 to 3 In one embodiment of this utility model, the bionic robotic hand 100 includes a palm 10, fingers 1, a first driving device 2, a second driving device 3, and a third driving device 6. The fingers 1 include a distal phalanx 11, a middle phalanx 12, and a tip phalanx 13 that are hinged sequentially along their length. The distal phalanx 11 is movably connected to the palm 10. The driving mechanism includes a first driving device 2, a second driving device 4, and a third driving device 6. The first driving device 2 is driven to the distal phalanx 11 to drive the distal phalanx 11 to rotate relative to the palm. The second driving device is driven to the middle phalanx and the distal phalanx to drive the middle phalanx 12 to rotate relative to the distal phalanx 11. When the middle phalanx 12 rotates, it drives the distal phalanx 11 to rotate relative to the middle phalanx 12. The third driving device is driven to the distal phalanx to drive the distal phalanx 11 to swing laterally relative to the palm.

[0055] It can be understood that a single finger 1 is composed of a distal phalanx 11, a middle phalanx 12, and a tip phalanx 13 connected sequentially along its length via revolute joints. The distal phalanx 11 is movably connected to the palm 10. The distal phalanx 11 serves as the base of the finger 1, and is movably connected to the palm of the bionic robotic hand 100 via one or more revolute joints. The tip phalanx 13 is the end segment that ultimately performs contact or grasping actions; the tip phalanx 13 and the middle phalanx 12 are passively driven, forming a passive degree of freedom. The finger 1 is achieved through the coordinated action of three independent drive mechanisms.

[0056] Specifically, the first drive mechanism is responsible for driving the flexion and extension movements of the finger 1 in the palmar plane. The first drive mechanism includes an independent first drive device 2 (e.g., a micro servo motor or a stepper motor), whose output shaft is firmly connected to the distal phalanx 11 through a first transmission mechanism 3 (which may be a gear reducer, a synchronous pulley, or direct coupling).

[0057] When the first drive device 2 is activated, the torque it generates is precisely transmitted through the first transmission mechanism 3, driving the distal phalanx 11 to rotate around its connection axis with the palm (usually perpendicular to the palm plane or along the width direction of the finger 1). This controls the opening and closing angle of the finger 1 relative to the palm, which is the basis for realizing the grasping action.

[0058] The second drive mechanism is used to control the flexion and extension movements of the intermediate phalanx 12 relative to the distal phalanx 11. The second drive mechanism includes a separate second drive unit 4, the output of which is also transmitted to the intermediate phalanx 12 through a second transmission mechanism 5 (which may adopt a transmission form similar to or different from the first transmission mechanism 3, such as gears, connecting rods or miniature lead screws).

[0059] When the second drive mechanism 4 is activated, it drives the intermediate phalanx 12 to rotate about the axis connecting it to the distal phalanx 11 (usually parallel to the axis connecting the distal phalanx 11 to the palm). This allows the "knuckles" of the finger 1 to bend or straighten, increasing the range of motion of the finger 1 and its adaptability to grasping objects.

[0060] The third drive mechanism is key to achieving the lateral movement of finger 1, and is responsible for driving the entire finger 1 unit (with the distal phalanx 11 as the base point) to swing laterally. The third drive mechanism includes an independently set third drive device 6, the output of which is transmitted through a third transmission mechanism 7.

[0061] It should be noted that the third transmission mechanism 7 is not directly connected to the third drive device 6 and the distal phalanx 11, but rather to the second transmission mechanism 5. The output torque of the third drive device 6 first acts on a non-power input point or transmission path of the second transmission mechanism 5, and through levers, linkages, or other mechanical coupling methods, is ultimately converted into a torque that causes the distal phalanx 11 (along with the connected intermediate phalanx 12 and tip phalanx 13) to swing around an axis perpendicular to the rotation axis of the first drive mechanism (usually along or close to the length of the finger 1). This simulates the abduction / adduction movement of the human finger 1.

[0062] This invention achieves complete kinematic decoupling between three active degrees of freedom: the flexion and extension of the distal phalanx 11 relative to the palm, the flexion and extension of the intermediate phalanx 12 relative to the distal phalanx 11, and the lateral swing of the distal phalanx 11 (along with the entire finger unit 1) relative to the palm. When any one drive device operates independently, its motion only affects its corresponding target degree of freedom, without coupling or interfering with the motion states of the other two degrees of freedom in the mechanical structure. This allows for precise and direct control of the manipulator's motion, eliminating the need to consider complex dynamic coupling effects, reducing the complexity of the control algorithm, and improving the system's response speed and dynamic performance. Furthermore, when performing complex operations such as grasping, pinching, and rotating, each joint can work independently and in coordination, avoiding motion conflicts or precision loss caused by structural coupling.

[0063] Specifically, please refer to Figure 2 In this embodiment, the palm length, palm width, and palm thickness of the bionic robotic hand 100 are respectively set as a first direction, a second direction, and a third direction; the first driving device 2 is used to drive the distal phalanx 11 to rotate relative to the palm around a first rotation axis A along the second direction; the second driving device 4 is used to drive the intermediate phalanx 12 to rotate relative to the distal phalanx 11 around a second rotation axis B along the second direction, so that when the intermediate phalanx 12 rotates, it can drive the tip phalanx 13 to rotate relative to the intermediate phalanx 12 around a third rotation axis C extending along the second direction; the third driving device 6 is used to drive the distal phalanx 11 to flip relative to the palm around a fourth rotation axis D along the third direction.

[0064] It is understandable that the length direction of the palm (i.e., the direction extending from the wrist to the fingertips) is defined as the first direction, the width direction of the palm (i.e., the direction that runs horizontally through the palm and is perpendicular to the first direction) is defined as the second direction, and the thickness direction of the palm (i.e., the direction from the center of the palm to the back of the hand, perpendicular to the plane formed by the first and second directions) is defined as the third direction.

[0065] It should be noted that the movement capability of finger 1 is achieved through three joints and their corresponding drive mechanisms: the metacarpophalangeal joint (MP joint), the proximal interphalangeal joint (PIP joint), and the distal interphalangeal joint (DIP joint). These joints not only define the structural connections but also directly correspond to the core's motion axis.

[0066] The metacarpophalangeal joint (MP Joint) is located between the distal phalanx 11 and the palm. The central axis of rotation of this joint, namely the first axis of rotation A, is set to extend along a second direction. When the first drive device 2 is activated, it drives the distal phalanx 11 to rotate around the metacarpophalangeal joint (first axis of rotation A) extending along the second direction.

[0067] The proximal interphalangeal joint (PIP Joint) is located between the distal phalanx 11 and the intermediate phalanx 12. The central axis of rotation of this joint, namely the second axis of rotation B, is also set to extend along the second direction and is parallel to the axis of the metacarpophalangeal joint. The second drive device 4 drives the intermediate phalanx 12 to rotate relative to the distal phalanx 11 about the proximal interphalangeal joint (second axis of rotation B) extending along the second direction.

[0068] The distal interphalangeal joint (DIP joint) is located between the intermediate phalanx 12 and the tip phalanx 13. The central axis of rotation of this joint, namely the third axis of rotation C, also extends along the second direction. In this embodiment, the movement of the distal interphalangeal joint is not directly driven by an independent active drive device, but is set as a passive degree of freedom. When the second drive device 4 drives the intermediate phalanx 12 to rotate around the proximal interphalangeal joint (second axis of rotation B) through the second transmission mechanism 5, this movement causes the tip phalanx 13 to rotate relative to the intermediate phalanx 12 around the distal interphalangeal joint (third axis of rotation C) extending along the second direction through a linkage, tendon, or direct contact.

[0069] The third drive device 6 acts on a component of the second transmission mechanism 5 through the third transmission mechanism 7, and the torque generated is ultimately converted into a rotational motion of the distal phalanx 11 about an axis extending along a third direction. This axis is the fourth rotation axis D. The rotational motion about the fourth rotation axis D is manifested as the left and right swinging (extension / adduction) of the finger 1 in the horizontal plane formed by the first direction and the second direction.

[0070] Specifically, please refer to Figures 3 to 6In this embodiment, the bionic robotic hand 100 further includes a back rotation joint 8, which is rotatably arranged around the fourth rotation axis D, and one end of the distal phalanx 11 is rotatably connected to the back rotation joint 8 around the first rotation axis A.

[0071] The back rotation joint 8 is configured to rotate about a fourth rotation axis D extending along a third direction (i.e., the direction of palm thickness).

[0072] One end of the distal phalanx 11 (i.e., its base end) is not directly connected to the palm, but is rotatably connected to the dorsal rotation joint 8 via a revolute joint. The axis of rotation of the revolute joint is the first axis of rotation A, which extends along the second direction (the width of the palm). That is to say, the flexion and extension of the distal phalanx 11 relative to the dorsal rotation joint 8 is performed around the first axis of rotation A along the second direction. Therefore, the final motion state of the base of the entire finger unit—the distal phalanx 11—relative to the palm is the superposition of two independent motions: one is the flexion and extension of the distal phalanx 11 itself around the first axis of rotation A relative to the dorsal rotation joint 8; the other is the lateral rotation of the dorsal rotation joint 8 (together with the distal phalanx 11 connected thereto) relative to the palm around the fourth axis of rotation D.

[0073] The third drive unit 6 applies torque through the third transmission mechanism 7, acting directly on the dorsal rotation joint 8. When the third drive unit 6 is activated, the driving force it generates is converted into torque through the third transmission mechanism 7, causing the dorsal rotation joint 8 to rotate around the fourth rotation axis D, thereby driving the entire distal phalanx 11 (and the connected intermediate phalanx 12 and tip phalanx 13) to swing laterally. At the same time, the first drive mechanism acts independently on the connection between the distal phalanx 11 and the dorsal rotation joint 8, driving it to flex and extend around the first rotation axis A. Since the two rotation axes of motion (the first rotation axis A and the fourth rotation axis D) are orthogonal in space, their mechanical transmission paths are independent of each other, thus achieving complete decoupling of the motion.

[0074] Specifically, please refer to Figures 3 to 6In one embodiment, the first driving device 2 has a first driving part 21 that is telescopically arranged in the first direction; the first transmission mechanism 3 includes a first joint 31 and a first connecting rod 32. The first joint 31 has a first end and a second end that are disposed opposite to each other. The first end of the first joint 31 is rotatably disposed relative to the first driving part 21 about a fifth rotation axis E extending in the second direction; one end of the first connecting rod 32 is hinged to the second end of the first joint 31 about a sixth rotation axis F extending in the third direction, and the other end of the first connecting rod 32 is hinged to one end of the distal phalanx 11 about a seventh rotation axis G extending in the second direction, so that when the first connecting rod 32 rotates relative to the first driving part 21, it drives the distal phalanx 11 to rotate relative to the dorsal rotation joint 8.

[0075] The first drive unit 2 is configured to have a first drive section 21 capable of telescopic movement in a first direction (palm length direction). The first drive section 21 is composed of a linear motor, a piezoelectric actuator, or a device that converts the output of a rotary motor into linear motion via a lead screw / nut mechanism. The telescopic direction of the first drive section 21 is limited to the first direction.

[0076] The first joint portion 31 has a first end and a second end disposed opposite to each other. Its first end is rotatably connected to the first drive portion 21 via a revolute joint. The axis of rotation of this revolute joint is the fifth axis of rotation E, and its direction is set to extend along the second direction (the direction of palm width). Therefore, when the first drive portion 21 performs a telescopic movement in the first direction, it pushes or pulls the first end of the first joint portion 31, causing the first joint portion 31 as a whole to swing around the fifth axis of rotation E.

[0077] One end of the first link 32 is connected to the second end of the first joint 31 via another revolute joint. The axis of rotation of this connection point is the sixth axis of rotation F, and its direction is set to extend along the third direction (the direction of palm thickness). The other end of the first link 32 is connected to one end (the base end) of the distal phalanx 11 via a third revolute joint. The axis of rotation of this connection point is the seventh axis of rotation G, and its direction extends along the second direction (the direction of palm width) and is parallel to the first axis of rotation A.

[0078] When the first drive unit 21 extends or shortens in the first direction, it drives the first joint 31 to swing around the fifth rotation axis E. This swing is transmitted to the first link 32 through the second end of the first joint 31. Since the connecting axis (sixth rotation axis F) between the first link 32 and the first joint 31 is along the third direction, the swing of the first joint 31 is converted into the rotation of the first link 32 around the sixth rotation axis F. The other end of the first link 32 pulls or pushes the distal phalanx 11, causing it to rotate around the seventh rotation axis G (i.e., the first rotation axis A) relative to the dorsal rotation joint 8, thereby realizing the flexion and extension of the distal phalanx 11.

[0079] The sixth rotation axis F is set along a third direction, consistent with the direction of the fourth rotation axis D during lateral flipping. The rotational freedom of the first link 32 about this axis can just accommodate and follow the lateral rotational movement of the connection point of the distal phalanx 11. During lateral flipping, the first link 32 can freely rotate synchronously and "passively" about its connection axis with the first joint 31 (the sixth rotation axis F), thereby allowing the distal phalanx 11 to complete a full lateral swing without structural interference or the application of constraint forces.

[0080] Specifically, please refer to Figures 4 to 7 In this embodiment, the second driving device 4 has a second driving part 41 that is retractably arranged in the first direction; the second transmission mechanism 5 includes a second connecting rod 51, a third connecting rod 52, a transmission member 53, a fourth connecting rod 54, and a connecting rod 55. One end of the second connecting rod 51 is rotatably arranged relative to the second driving part 41 about an eighth rotation axis H extending along the third direction. One end of the third connecting rod 52 is hinged to the other end of the second connecting rod 51 about the first rotation axis A; the transmission member 53 is hinged to the distal phalanx 11 about a seventh rotation axis G extending along the second direction. The transmission member 53 has a first end and a second end that rotate about the seventh rotation axis G. The first end of the transmission member 53 rotates about a ninth rotation axis extending along the second direction. Axis I is hinged to the other end of the third link 52; one end of the fourth link 54 is hinged to the second end of the transmission member 53 about the tenth rotation axis J extending along the second direction; the connecting rod 55 has a first end and a second end arranged opposite to each other, the first end of the connecting rod 55 is hinged to the other end of the fourth link 54 about the eleventh rotation axis K extending along the second direction, and is hinged to the other end of the distal phalanx 11 about the twelfth rotation axis L extending along the second direction, and the second end of the connecting rod 55 is hinged to one end of the tip phalanx 13 about the thirteenth rotation axis M extending along the second direction, so that when the connecting rod 55 rotates about the twelfth rotation axis L, it drives the tip phalanx 13 to rotate relative to the intermediate phalanx 12.

[0081] Specifically, the second drive unit 4 is configured to have a second drive section 41 capable of telescopic movement in a first direction (palm length direction). This drive section is typically composed of a linear motor, a piezoelectric actuator, or a device that converts the output of a rotary motor into linear motion via a lead screw / nut mechanism, and its telescopic direction is limited to the first direction.

[0082] The second transmission mechanism 5 consists of a second connecting rod 51, a third connecting rod 52, a transmission component 53, a fourth connecting rod 54, and a connecting rod 55. One end of the second connecting rod 51 is rotatably connected to the second drive unit 41 via a revolute joint. The axis of rotation of this connection point is the eighth rotation axis H, and its direction is set to extend along the third direction (the direction of palm thickness). Therefore, when the second drive unit 41 extends or retracts in the first direction, it pushes or pulls the second connecting rod 51, causing the second connecting rod 51 to swing around the eighth rotation axis H.

[0083] One end of the third link 52 is connected to the other end of the second link 51 via another revolute joint. The axis of rotation of this connection point is the same as the first axis of rotation A (i.e., the axis connecting the distal phalanx 11 and the dorsal rotation joint 8, along the second direction), meaning that the connection point between the third link 52 and the second link 51 is located near or coaxial with the rotation center of the distal phalanx 11. The other end of the third link 52 is connected to the first end of the transmission component 53 via a revolute joint. The axis of rotation of this connection point is the ninth axis of rotation I, which extends along the second direction (the direction of hand width).

[0084] The transmission member 53 is rotatably connected to the distal phalanx 11 about a seventh rotation axis G (i.e., a first rotation axis A) extending in a second direction. Therefore, the transmission member 53 can flex and extend together with the distal phalanx 11 about the first rotation axis A, while also rotating itself about this axis relative to the distal phalanx 11. The transmission member 53 has a first end and a second end, the first end being used to connect to a third link 52, and the second end being used to connect to a fourth link 54.

[0085] One end of the fourth link 54 is connected to the second end of the transmission component 53 via a revolute joint. The axis of rotation of this connection point is the tenth rotation axis J, which extends along the second direction. The other end of the fourth link 54 is connected to the connecting rod 55.

[0086] The linkage 55 has a first end and a second end that are positioned opposite each other. The first end of the linkage 55 is connected to the other end of the fourth linkage 54 via a revolute joint, and the axis of rotation of this connection point is the eleventh rotation axis K, extending along the second direction. Simultaneously, the first end of the linkage 55 is also directly connected to the other end of the distal phalanx 11 (usually located at the distal end of the distal phalanx 11, parallel to but not coinciding with the first rotation axis A) via another revolute joint, and the axis of rotation of this connection point is the twelfth rotation axis L, also extending along the second direction. This arrangement causes the first end of the linkage 55 and the distal phalanx 11 to form a parallelogram or approximately parallelogram linkage structure. The second end of the linkage 55 is connected to one end (base end) of the tip phalanx 13 via a revolute joint. The axis of rotation of this connection point is the thirteenth rotation axis M, also extending along the second direction.

[0087] When the second drive unit 41 extends or retracts in the first direction, it drives the second link 51 to swing around the eighth rotation axis H, and transmits this to the first end of the transmission member 53 through the third link 52, driving the transmission member 53 to rotate around the seventh rotation axis G (first rotation axis A). The rotation of the transmission member 53 pulls or pushes the connecting rod 55 through the fourth link 54. Since the first end of the connecting rod 55 is connected to the fourth link 54 through the eleventh rotation axis K, and simultaneously connected to the distal phalanx 11 through the twelfth rotation axis L, the rotation of the transmission member 53 is converted into the swinging of the connecting rod 55 around the twelfth rotation axis L. This swinging is ultimately transmitted to the tip phalanx 13 through the thirteenth rotation axis M, causing the tip phalanx 13 to rotate relative to the intermediate phalanx 12 around its connection axis with the intermediate phalanx 12 (i.e., the third rotation axis C, the DIP joint axis, along the second direction). During this process, the intermediate phalanx 12 itself is driven directly or indirectly by the transmission component 53 or another part of the mechanism to rotate around the second rotation axis B (PIP joint axis), thereby realizing the active flexion and extension of the intermediate phalanx 12 and the passive linkage flexion and extension of the tip phalanx 13.

[0088] It should also be noted that the connecting axis (eighth rotation axis H) between the second link 51 and the second drive unit 41 is set along a third direction (the direction of palm thickness), consistent with the direction of the fourth rotation axis D during lateral flipping, serving a similar function to the sixth rotation axis F in the first transmission mechanism 3. When the entire finger 1 unit (including the distal phalanx 11, middle phalanx 12, tip phalanx 13, and most of the components of the second transmission mechanism 5) undergoes lateral flipping around the fourth rotation axis D (third direction) with the back rotation joint 8, the second drive unit 41, as the drive source fixed to the palm, remains in a constant position. The connection point between the second link 51 and the second drive unit 41 needs to move with the mechanism. Since the eighth rotation axis H is along a third direction, the rotational freedom of the second link 51 around this axis can precisely accommodate and follow the spatial position change of the connection point caused by lateral flipping, allowing the second link 51 to perform necessary "passive" rotation, thereby avoiding structural constraints on the lateral flipping motion and ensuring smooth and decoupled movement.

[0089] Specifically, please refer to Figure 6 In this embodiment, the transmission member 53 has two connecting portions 531 that both extend along the third direction. The two connecting portions 531 are arranged at an included angle. The two ends of the two connecting portions 531 that are far apart from each other form the first end and the second end, respectively. The ends of the two connecting portions 531 that are connected to each other are hinged to the distal phalanx 11.

[0090] The two connecting parts 531 originate from a common connecting root, which is rotatably connected to the distal phalanx 11 via a revolute joint. The axis of rotation of this revolute joint is the seventh axis of rotation G. The two connecting parts 531 extend from the root in directions away from each other, forming an approximately "V"-shaped spatial configuration to improve the compactness of the mechanism. This also ensures that when the finger 1 performs a lateral flipping movement, the corresponding components of the second transmission mechanism 5 (such as the second link 51) can be compliantly adjusted through their own rotational degrees of freedom, thereby not hindering lateral movement and ensuring the motion decoupling characteristics between the degrees of freedom.

[0091] Specifically, in this embodiment, the third driving device 6 has an output swing arm 61, the free end of which has a vertical travel; the third transmission mechanism 7 includes a transmission rod 71, one end of which is hinged to the output swing arm 61 and the other end is hinged to the back rotation joint 8 to drive the back rotation joint 8 to rotate around the fourth rotation axis D.

[0092] When the third drive unit 6 is working, its output shaft drives the output swing arm 61 to reciprocate within its swing plane. The up-and-down movement of the free end of the output swing arm 61 is converted into a pushing and pulling force on the back rotation joint 8 through the transmission rod 71. Specifically, when the output swing arm 61 swings upward, it pulls or pushes the back rotation joint 8 through the transmission rod 71, causing it to rotate around the fourth rotation axis D in one direction (e.g., the outward direction); when the output swing arm 61 swings downward, it applies a reverse force through the transmission rod 71, driving the back rotation joint 8 to rotate in another direction (e.g., the inward direction).

[0093] Since the transmission path is spatially orthogonal to the flexion and extension motion of the distal phalanx 11 about the first rotation axis A (second direction) and the flexion and extension motion of the intermediate phalanx 12 about the second rotation axis B (second direction), and the transmission components are separate, there will be no structural constraints or coupling torques on these flexion and extension degrees of freedom.

[0094] Because both the first drive unit 2 and the second drive unit 4 are configured to have drive sections capable of linear telescopic movement in a first direction, the output force of the two drive sections needs to be transmitted to the input ends of the first transmission mechanism 3 and the second transmission mechanism 5. However, due to the compact internal space of the palm, the actual installation position of the drive units may not allow their output ends to be directly aligned with the ideal starting position of the transmission mechanism input end.

[0095] For further information, please refer to [link / reference]. Figure 6 To ensure that the output ends of the first drive unit 21 and the second drive unit 41 are directly aligned with the ideal starting positions of the corresponding transmission mechanism input ends, in this embodiment, the first drive device 2 has a first drive unit 21 that is retractable in the first direction, and the second drive device 4 has a second drive unit 41 that is retractable in the first direction. The bionic robotic hand 100 also includes a guide seat 9, a first connecting seat 30, and a second connecting seat 50. The guide seat 9 includes a seat body 91 and a first guide post 92 and a second guide post 93 extending from the seat body 91 toward one side. The first guide post 92 and the second guide post 93 are both along the first direction. The first connecting seat 30 is fixedly connected to the first driving part 21. The first connecting seat 30 is also provided with a first guide hole 30a extending along the first direction. The first guide post 92 passes through the first guide hole 30a. The first transmission mechanism 3 drives the first connecting seat 30 and the end finger 11. The second connecting seat 50 is fixedly connected to the second driving part 41. The second connecting seat 50 is also provided with a second guide hole 50a extending along the first direction. The second guide post 93 passes through the second guide hole 50a. The second transmission mechanism 5 drives the second connecting seat 50 and the middle finger 12.

[0096] The guide seat 9 consists of a seat body 91 and a first guide post 92 and a second guide post 93 extending from the seat body 91 to one side (towards the base of the finger 1). The first guide post 92 and the second guide post 93 are parallel to each other and are both configured to extend along a first direction. The seat body 91 is fixedly mounted on the upper end surface of the drive device body to ensure the stability of the entire guide seat 9.

[0097] The first connecting seat 30 is fixedly connected to the driving part of the first driving device 2. The first connecting seat 30 is provided with a first guide hole 30a extending along a first direction. When the first driving part 21 extends or retracts, it drives the first connecting seat 30 to move synchronously. The first guide post 92 passes through the first guide hole 30a, forming a sliding fit to prevent deflection or wobbling, ensuring the linearity and stability of the driving force transmission. The input end of the first joint 31, i.e., the first end of the first joint 31, is connected to this first connecting seat 30. The first connecting seat 30 not only serves as an extension of the first driving part 21 but also as a guide and assist, transmitting the linear output of the first driving part 21 to the starting point of the first transmission mechanism 3.

[0098] Similarly, the second connecting seat 50 is fixedly connected to the driving part of the second driving device 4. The second connecting seat 50 is provided with a second guide hole 50a extending along the first direction, and the second guide post 93 passes through this second guide hole 50a, forming a sliding fit. This ensures that the movement of the second connecting seat 50 is along the first direction.

[0099] With this configuration, the guide post of the guide seat 9 and the guide hole on the connecting seat form a guiding structure, allowing the first drive device 2 and the second drive device 4 to be flexibly installed within the palm area according to spatial layout requirements, even if the initial axis position of their drive units deviates from the ideal position of the input end of the transmission mechanism. The guiding structure can precisely translate and guide the output motion of the drive units to the first connecting seat 30 and the second connecting seat 50, and the positions of these two connecting seats are precisely the starting connection points of the input ends of the first transmission mechanism 3 and the second transmission mechanism 5, which is equivalent to "translating" the power output axis of the drive unit to the required input position of the transmission mechanism through the guiding system.

[0100] Specifically, the first driving device 2 and the second driving device 4 are arranged side by side in the second direction, and the first driving part 21 and the second driving part 41 are staggered in the third direction; the first driving part 21 and the first guide post 92 are arranged side by side in the second direction, and the connection position of the first transmission mechanism 3 and the first connecting seat 30 is located in the middle of the line connecting the first driving part 21 and the first guide post 92; the second driving part 41 and the second guide post 93 are arranged side by side in the second direction, and the connection position of the second transmission mechanism 5 and the second connecting seat 50 is located in the middle of the line connecting the second driving part 41 and the second guide post 93.

[0101] The first drive unit 2 and the second drive unit 4 are arranged side by side in the second direction (palm width direction), meaning their main structures are adjacent in the lateral direction (palm width direction) and share the mounting space of the palm. However, to avoid structural interference and optimize the transmission path, the drive parts of the first drive unit 2 and the second drive unit 4 are staggered in the third direction (palm thickness direction). For example, the drive part of the first drive unit 2 may be located on the side relatively closer to the palm (the third-direction side), while the drive part of the second drive unit 4 may be located on the side relatively closer to the back of the hand (the third-direction side), or vice versa. In this way, the staggered arrangement makes full use of the space of the palm in the thickness direction.

[0102] Specifically, please refer to Figures 1 to 3 In this embodiment, the first driving device 2, the second driving device 4 and the third driving device 6 are configured to correspond to the palm of the bionic robotic hand 100.

[0103] Since the palm serves as the basic support structure of the bionic robotic hand 100, it has relatively ample three-dimensional space and a stable mounting base, thus it can accommodate multiple drive devices and their related transmissions, resulting in a reasonable and compact layout.

[0104] Specifically, please refer to Figure 1 and Figure 2 In this embodiment, the first drive device 2 includes a first electric cylinder, the second drive device 4 includes a second electric cylinder, and the third drive device 6 includes a servo motor; the first electric cylinder and the second electric cylinder are arranged side by side, and the servo motor is located at the bottom of the first electric cylinder and the second electric cylinder.

[0105] In this way, the two electric cylinders are arranged side by side in the second direction, making full use of the width space of the palm. The servo is placed at the bottom of the two electric cylinders, utilizing the space below the electric cylinders to achieve a three-dimensional stacked layout, thereby improving the utilization rate of the internal space of the palm. This allows multiple drive sources to coexist in a limited space, avoiding structural interference and making the entire drive system compact and highly integrated.

[0106] The above description is merely an exemplary embodiment of the present utility model and does not limit the patent scope of the present utility model. Any equivalent structural transformations made based on the technical concept of the present utility model and the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. A bionic robotic hand (100), characterized in that, The palm length, palm width, and palm thickness of the bionic robotic hand (100) are respectively set as a first direction, a second direction, and a third direction. The bionic robotic hand (100) includes: Palm (10); A finger (1) comprising a distal phalanx (11), a middle phalanx (12), and a tip phalanx (13) sequentially hinged in the first direction, the distal phalanx (11) being movably connected to the palm; and, The driving mechanism includes a first driving device (2), a second driving device (4), and a third driving device (6). The first driving device (2) is driven to the distal phalanx (11) to drive the distal phalanx (11) to rotate relative to the palm. The second driving device is driven to the intermediate phalanx and the distal phalanx to drive the intermediate phalanx (12) to rotate relative to the distal phalanx (11). When the intermediate phalanx (12) rotates, it drives the distal phalanx (11) to rotate relative to the intermediate phalanx (12). The third driving device is driven to the distal phalanx to drive the distal phalanx (11) to swing laterally relative to the palm.

2. The bionic robotic hand (100) as described in claim 1, characterized in that, The first driving device (2) is connected to the distal phalanx (11) via a first transmission mechanism (3) for driving the distal phalanx (11) to rotate relative to the palm about a first rotation axis (A) along the second direction; The second driving device (4) is connected to the intermediate phalanx (12) via the second transmission mechanism (5) to drive the intermediate phalanx (12) to rotate relative to the distal phalanx (11) around the second rotation axis (B) along the second direction, so that when the intermediate phalanx (12) rotates, it can drive the distal phalanx (13) to rotate relative to the intermediate phalanx (12) around the third rotation axis (C) extending along the second direction. The third driving device (6) is connected to the second transmission mechanism via the third transmission mechanism (7) and is used to drive the end finger joint (11) to rotate relative to the palm about the fourth rotation axis (D) along the third direction.

3. The bionic robotic hand (100) as described in claim 2, characterized in that, The bionic robotic hand (100) also includes a back rotation joint (8), which is rotatably arranged around the fourth rotation axis (D), and one end of the distal phalanx (11) is rotatably connected to the back rotation joint (8) around the first rotation axis (A).

4. The bionic robotic hand (100) as described in claim 3, characterized in that, The first drive device (2) has a first drive section (21) that is retractable in the first direction; The first transmission mechanism (3) includes: The first joint portion (31) has a first end and a second end disposed opposite to each other, the first end of the first joint portion (31) being rotatably disposed relative to the first drive portion (21) about a fifth rotation axis (E) extending along the second direction; and, A first link (32) is hinged at one end to the second end of the first joint (31) about a sixth rotation axis (F) extending along the third direction, and at the other end of the first link (32) about a seventh rotation axis (G) extending along the second direction to one end of the distal phalanx (11), so that when the first link (32) rotates relative to the first drive unit (21), it drives the distal phalanx (11) to rotate relative to the dorsal rotation joint (8).

5. The bionic robotic hand (100) as described in claim 4, characterized in that, The second drive device (4) has a second drive section (41) that is extendable in the first direction; The second transmission mechanism (5) includes: The second link (51), one end of which is rotatably disposed relative to the second drive unit (41) about an eighth rotation axis (H) extending along the third direction, The third link (52) has one end hinged to the other end of the second link (51) around the first rotation axis (A); The transmission member (53) is hinged to the end finger (11) about a seventh rotation axis (G) extending in the second direction. The transmission member (53) has a first end and a second end that rotate about the seventh rotation axis (G). The first end of the transmission member (53) is hinged to the other end of the third link (52) about a ninth rotation axis (I) extending in the second direction. A fourth link (54), one end of which is hinged to the second end of the transmission member (53) about a tenth rotation axis (J) extending along the second direction; and, A connecting rod (55) has a first end and a second end disposed opposite to each other. The first end of the connecting rod (55) is hinged to the other end of the fourth connecting rod (54) about an eleventh rotation axis (K) extending along the second direction, and is hinged to the other end of the distal phalanx (11) about a twelfth rotation axis (L) extending along the second direction. The second end of the connecting rod (55) is hinged to one end of the tip phalanx (13) about a thirteenth rotation axis (M) extending along the second direction, so that when the connecting rod (55) rotates about the twelfth rotation axis (L), it drives the tip phalanx (13) to rotate relative to the intermediate phalanx (12).

6. The bionic robotic hand (100) as described in claim 5, characterized in that, The transmission member (53) has two connecting portions (531) that extend along the third direction. The two connecting portions (531) are arranged at an included angle. The two ends of the two connecting portions (531) that are far apart from each other form the first end and the second end, respectively. The ends of the two connecting portions (531) that are connected to each other are hinged to the distal phalanx (11).

7. The bionic robotic hand (100) as described in claim 3, characterized in that, The third drive device (6) has an output swing arm (61), the free end of which has a vertical travel. The third transmission mechanism (7) includes a transmission rod (71), one end of which is hinged to the output swing arm (61), and the other end is hinged to the back rotation joint (8) to drive the back rotation joint (8) to rotate around the fourth rotation axis (D).

8. The bionic robotic hand (100) as described in claim 2, characterized in that, The first drive device (2) has a first drive section (21) that is retractable in the first direction, and the second drive device (4) has a second drive section (41) that is retractable in the first direction; The bionic robotic arm (100) also includes: The guide seat (9) includes a seat body (91), and a first guide post (92) and a second guide post (93) extending from the seat body (91) toward one side, wherein the first guide post (92) and the second guide post (93) both extend along the first direction. The first connecting seat (30) is fixedly connected to the first driving part (21). The first connecting seat (30) is also provided with a first guide hole (30a) extending along the first direction. The first guide post (92) passes through the first guide hole (30a). The first transmission mechanism (3) drives the first connecting seat (30) and the end finger joint (11). The second connecting seat (50) is fixedly connected to the second driving part (41). The second connecting seat (50) is also provided with a second guide hole (50a) extending along the first direction. The second guide post (93) passes through the second guide hole (50a). The second transmission mechanism (5) drives the second connecting seat (50) and the intermediate finger joint (12).

9. The bionic robotic hand (100) as described in claim 8, characterized in that, The first driving device (2) and the second driving device (4) are arranged side by side in the second direction, and the first driving part (21) and the second driving part (41) are staggered in the third direction; The first drive unit (21) and the first guide post (92) are arranged side by side in the second direction, and the connection position of the first transmission mechanism (3) and the first connecting seat (30) is located in the middle of the line connecting the first drive unit (21) and the first guide post (92). The second drive unit (41) and the second guide post (93) are arranged side by side in the second direction, and the connection position of the second transmission mechanism (5) and the second connecting seat (50) is located in the middle of the line connecting the second drive unit (41) and the second guide post (93).

10. The bionic robotic hand (100) as described in claim 9, characterized in that, The first drive device (2), the second drive device (4) and the third drive device (6) are configured corresponding to the palm of the bionic robotic hand (100).

11. The bionic robotic hand (100) as described in claim 1, characterized in that, The first drive device (2) includes a first electric cylinder, the second drive device (4) includes a second electric cylinder, and the third drive device (6) includes a servo motor; The first electric cylinder and the second electric cylinder are arranged side by side, and the servo motor is located at the bottom of the first electric cylinder and the second electric cylinder.

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