Bionic thumb and bionic dexterous hand

Abstract

A bionic thumb, comprising a thumb body (10) and a root movable structure (20), wherein the thumb body (10) comprises first linear extension and flexion members (2), and a plurality of phalanges (1) which are rotatably connected in sequence, wherein each first linear extension and flexion member (2) drives the phalanges (1), which are connected at two ends thereof, to rotate relative to each other; the root movable structure (20) comprises a second linear extension and flexion member (3) and a swing assembly (4), the swing assembly (4) comprises a third linear extension and flexion member (41) and a swing plate (42), the swing plate (42) is configured to be rotatably arranged on a palm structure (30), and the proximal phalanx (1) of the thumb body (10) is rotatably connected to the swing plate (42); the second linear extension and flexion member (3) is hinged to the swing plate (42) at a first end, and is hinged to the phalanx (1) at a second end; and the third linear extension and flexion member (41) is configured to be hinged to the palm structure (30) at a first end, and is hinged to the swing plate (42) at a second end, and the rotation axis α of the swing plate (42) is not parallel to the rotation axis β of the proximal phalanx (1).

Description

Bionic thumb and bionic dexterous hand

[0001] This application claims priority to Chinese Patent Application No. 202410560259.5, filed with the Chinese Patent Office on May 8, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of bionic robotics, such as to a bionic thumb and a bionic dexterous hand. Background Technology

[0003] The robot's bionic finger has multiple joints that are rotatably connected. The power component connects the multiple joints through a pull rope. After the power component pulls the pull rope, the multiple joints rotate relative to each other, enabling the bionic finger to perform bending movements to grasp objects.

[0004] The bionic fingers in related technologies can only bend in one direction and cannot move in other directions, resulting in insufficient finger dexterity.

[0005] Summary of the Invention

[0006] This application provides a bionic thumb and a bionic dexterous hand. The bionic thumb can not only bend, but also swing left and right relative to the palm structure, thus having greater flexibility.

[0007] On the one hand, this application provides a bionic thumb, which is installed on the palm structure, and the bionic thumb includes a thumb body and a root movable structure;

[0008] The thumb body includes a first linear telescopic member and a plurality of phalanges that are rotatably connected in sequence. The first linear telescopic member drives the phalanges connected to its two ends to rotate relative to each other.

[0009] The root movable structure includes a second linear telescopic member and a swing assembly. The swing assembly includes a third linear telescopic member and a swing turntable. The swing turntable is configured to be rotatably mounted on the palm structure. The proximal knuckle of the thumb body is rotatably connected to the swing turntable.

[0010] The first end of the second linear telescopic member is hinged to the swing turntable, and the second end is hinged to the proximal phalanx. The third linear telescopic member is configured such that the first end is hinged to the palm structure, and the second end is hinged to the swing turntable. The rotation axis α of the swing turntable is not parallel to the rotation axis β of the proximal phalanx.

[0011] As an alternative technical solution for a bionic thumb, the first linear telescopic member is provided between adjacent finger joints, and the two ends of the first linear telescopic member are respectively hinged to the two adjacent finger joints.

[0012] As an alternative technical solution for a bionic thumb, the first linear telescopic component employs an electric linear actuator, and the body and output end of the first linear telescopic component are respectively rotatably connected to the two phalanges.

[0013] As an alternative technical solution for a bionic thumb, the hinge connecting two adjacent phalanges has rotational clearance space on both the inner and outer sides, and the first linear telescopic member can drive the two adjacent phalanges to bend inward and outward.

[0014] As an alternative technical solution for a bionic thumb, the thumb body includes two first linear telescopic members and three finger joints, with one first linear telescopic member provided between each pair of adjacent finger joints.

[0015] As an alternative technical solution for a bionic thumb, in a plane perpendicular to the rotation axis of the phalanx, the projections of the hinge points of a plurality of first linear telescopic members and second linear telescopic members are located on the same side of the hinge point of the phalanx.

[0016] As an alternative technical solution for a bionic thumb, the second linear telescopic component employs an electric linear actuator, with one of the body and output end of the second linear telescopic component rotatably connected to the swing turntable, and the other rotatably connected to the proximal knuckle.

[0017] As an alternative technical solution for a bionic thumb, the third linear telescopic component adopts an electric linear actuator. The third linear telescopic component is configured such that one of its own body and output end is rotatably connected to the palm structure, and the other is rotatably connected to the swing turntable.

[0018] As an alternative technical solution for a bionic thumb, the rotation axis between adjacent phalanges is parallel to the rotation axis β between the proximal phalanx and the oscillating turntable.

[0019] As an alternative technical solution for a bionic thumb, the rotation axis α of the swing disk is perpendicular to the rotation axis β between the proximal phalanx and the swing disk.

[0020] As an alternative technical solution for a bionic thumb, the rotation axis α of the swing turntable passes through its own geometric center, and the rotation axis γ between the third linear telescopic member and the swing turntable is parallel to the rotation axis α of the swing turntable.

[0021] As an alternative technical solution for a bionic thumb, the connection point between the third linear telescopic component and the swing turntable is located on the side of the swing turntable's rotation axis α closer to the palm structure; or,

[0022] The connection point between the third linear telescopic member and the swing turntable is located on the side of the swing turntable's rotation axis α that is away from the palm structure.

[0023] On the other hand, this application also provides a bionic dexterous hand, including a palm structure and a bionic thumb as described above, wherein the palm structure includes a palm support and the root movable structure is connected and installed on the palm support. Attached Figure Description

[0024] The accompanying drawings used in the description of the embodiments of this application will be briefly introduced below.

[0025] Figure 1 is a schematic diagram of the structure of the bionic dexterous hand provided in Embodiment 1 of this application;

[0026] Figure 2 is a top view of the bionic dexterous hand provided in Embodiment 1 of this application;

[0027] Figure 3 is a top view of the bionic dexterous hand provided in Embodiment 2 of this application.

[0028] In the picture:

[0029] 10. Thumb body; 20. Movable structures at the base; 30. Palm structure;

[0030] 1. Knuckle; 2. First linear telescopic component; 3. Second linear telescopic component; 4. Swing assembly; 41. Third linear telescopic component; 42. Swing turntable; 5. Rotation clearance space; 6. Palm support. Detailed Implementation

[0031] The technical solutions of the embodiments of this application will be described below with reference to the accompanying drawings. The described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application. It is understood that the specific embodiments described herein are merely for explaining this application, and not for limiting this application. For ease of description, only the parts related to this application are shown in the accompanying drawings, not all structures.

[0032] In the description of this application, unless otherwise expressly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0033] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0034] In the description of this embodiment, the terms "upper," "lower," "left," and "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the module or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. In addition, the terms "first" and "second" are only used for distinction in description and have no special meaning.

[0035] Example 1:

[0036] As shown in Figures 1 and 2, this embodiment provides a bionic dexterous hand, including a palm structure 30 and a bionic thumb installed on the palm structure 30. The bionic thumb includes a thumb body 10 and a root movable structure 20. The palm structure 30 includes a palm support 6, and the root movable structure 20 is connected and installed on the palm support 6.

[0037] As shown in Figures 1 and 2, the thumb body 10 includes a first linear telescopic member 2 and multiple phalanges 1 connected sequentially by hinges. The first linear telescopic member 2 drives the phalanges 1 connected to its two ends to rotate relative to each other. The root movable structure 20 includes a second linear telescopic member 3 and a swing assembly 4. The swing assembly 4 includes a third linear telescopic member 41 and a swing turntable 42. The swing turntable 42 is rotatably mounted on the palm support 6, and the proximal phalanges 1 (i.e., the phalanges 1 closer to the palm structure 30) are rotatably connected to the swing turntable 42.

[0038] As shown in Figures 1 and 2, the first end of the second linear telescopic member 3 is hinged to the swing turntable 42, and the second end is hinged to the phalanx 1 near the end. The first end of the third linear telescopic member 41 is hinged to the palm support 6, and the second end is hinged to the swing turntable 42. The rotation axis α of the swing turntable 42 is not parallel to the rotation axis β of the phalanx 1 near the end.

[0039] Functionally, on the one hand, the thumb body 10 can bend or straighten under the drive of the first linear telescopic member 2; on the other hand, the thumb body 10 can also rotate relative to the palm structure 30 under the drive of the second linear telescopic member 3. In other words, the first linear telescopic member 2 and the second linear telescopic member 3 work together to cause the thumb body 10 and the entire body to bend and straighten, achieving grasping and releasing actions. Driven by the swing component 4, the thumb body 10 can swing left and right relative to the palm structure 30, adjusting the grasping posture. In summary, the bionic thumb can not only achieve bending of the thumb body 10 itself and rotation relative to the palm structure 30, but also swing left and right relative to the palm structure 30, resulting in greater flexibility.

[0040] For example, as shown in Figure 1, a first linear telescopic member 2 is provided between adjacent phalanges 1, and the two ends of the first linear telescopic member 2 are respectively hinged to the two adjacent phalanges 1. In this embodiment, as shown in Figures 1 and 2, the thumb body 10 includes two first linear telescopic members 2 and three phalanges 1, and a first linear telescopic member 2 is provided between each pair of adjacent phalanges 1, so that each phalange 1 has an independent degree of bending freedom.

[0041] In other embodiments of this application, a first linear telescopic member 2 may be provided between every three or four finger joints 1. The first linear telescopic member 2 is connected to the non-adjacent finger joints 1 via tendon cords, thereby saving the number of power components and reducing manufacturing costs.

[0042] For example, the first linear telescopic member 2 is an electric linear actuator, and the body and output end of the first linear telescopic member 2 are rotatably connected to two finger joints 1 respectively. The first linear telescopic member 2 can be a servo linear motor, electric push rod, or other linear drive components.

[0043] For example, the second linear telescopic member 3 is an electric linear actuator. One of the body and the output end of the second linear telescopic member 3 is rotatably connected to the swing turntable 42, and the other is rotatably connected to the proximal finger joint 1. The second linear telescopic member 3 can be a servo linear motor, electric push rod, or other linear drive components.

[0044] For example, the third linear telescopic member 41 is an electric linear actuator. One of the body and the output end of the third linear telescopic member 41 is rotatably connected to the palm structure 30, and the other is rotatably connected to the swing turntable 42. The third linear telescopic member 41 can be a servo linear motor, electric push rod, or other linear drive component.

[0045] As can be seen, the rotation of each phalanx 1 and the rotation and left-right swing of the thumb body 10 are all directly driven by independent electric linear actuators, which have high motion precision and can achieve precise control of the posture of the bionic thumb. Moreover, the reaction speed is fast, making the bionic thumb's movements sensitive.

[0046] Furthermore, the electric linear actuator retains its self-locking function after a power outage. In some applications, such as production operations in a workshop, if the bionic hand with the bionic thumb in this embodiment grips the workpiece and a sudden power outage causes the electric linear actuator to lose power, the self-locking function of the electric linear actuator will maintain the bionic thumb in the posture before the power outage. Therefore, the bionic hand will still grip the workpiece, preventing it from falling, ensuring safety, and facilitating resumption of production when power is restored.

[0047] For example, in a plane perpendicular to the rotation axis of the knuckle 1, the projections of the hinge points of the plurality of first linear telescopic members 2 and second linear telescopic members 3 are located on the same side of the hinge point of the knuckle 1. In this embodiment, the projections of the hinge points of the plurality of first linear telescopic members 2 and second linear telescopic members 3 are located inside the hinge point of the knuckle 1, that is, on the side closer to the palm.

[0048] For example, the hinge connecting two adjacent knuckles 1 has rotational clearance spaces 5 on both its inner and outer sides, allowing the first linear telescopic member 2 to drive the two adjacent knuckles 1 to bend inward and outward. That is, the hinge between two adjacent knuckles 1 has sufficient rotational space on both sides, enabling the two adjacent knuckles 1 to bend to both sides. In this embodiment, the knuckle 1 structure has multiple operating states: when the extension length of the first linear telescopic member 2 is equal to a first preset value, the two adjacent knuckles 1 are in a straight state; when the extension length of the first linear telescopic member 2 is less than the first preset value, the two adjacent knuckles 1 bend inward; when the extension length of the first linear telescopic member 2 is greater than the first preset value, the two adjacent knuckles 1 bend outward. The inner side of the knuckle 1, which is closer to the palm, bends inward towards the palm; the outer side of the knuckle 1, which is closer to the back of the hand, bends outward towards the back of the hand.

[0049] Optionally, the maximum angle of inward bending and the maximum angle of outward bending between two adjacent phalanges 1 are both not less than 90°.

[0050] For example, the rotation axis between adjacent knuckles 1 is parallel to the rotation axis β between the proximal knuckle 1 and the swing turntable 42, so that the rotation direction between the knuckles 1 is parallel to the rotation direction of the thumb body 10, which is closer to the rotation mode of the human thumb and the grip is more stable.

[0051] For example, as shown in Figures 1 and 2, the rotation axis α of the swing turntable 42 is perpendicular to the rotation axis β between the proximal phalanx 1 and the swing turntable 42, that is, the rotation direction and the left and right swing direction of the thumb body 10 are perpendicular to each other, which simplifies the posture control logic of the bionic thumb.

[0052] For example, as shown in Figures 1 and 2, the rotation axis α of the swing turntable 42 is located at its geometric center, and the rotation axis γ between the third linear telescopic member 41 and the swing turntable 42 is parallel to the rotation axis α of the swing turntable 42. The connection point between the third linear telescopic member 41 and the swing turntable 42 is located on the side of the rotation axis α of the swing turntable 42 closer to the palm structure 30, improving structural compactness. In addition, the straight line in which the extension direction of the third linear telescopic member 41 is located changes with the rotation of the swing turntable 42, and the straight line in which the extension direction of the third linear telescopic member 41 is located never crosses the rotation axis α of the swing turntable 42, avoiding dead points in motion and maintaining the uniqueness of the motion control direction, avoiding uncertain postures that would prevent the control system from determining the state of the bionic thumb, thus improving reliability.

[0053] The bionic thumb provided in this application includes a thumb body and a root movable structure. The thumb body can bend or straighten under the drive of a first linear telescopic member. The root movable structure includes a second linear telescopic member and a swing assembly. Under the drive of the second linear telescopic member, the entire thumb body can rotate relative to the palm structure around the rotation axis β between the proximal knuckle and the swing disk. Under the drive of the swing assembly, the entire thumb body can swing left and right relative to the palm structure around the rotation axis α of the swing disk. In summary, the bionic thumb can not only achieve bending motion of the thumb body itself and rotational motion relative to the palm structure, but also swing left and right relative to the palm structure, thus exhibiting greater flexibility.

[0054] Example 2:

[0055] As shown in Figure 3, this embodiment provides another bionic dexterous hand, which differs from Embodiment 1 in that:

[0056] The connection point between the third linear telescopic member 41 and the swing turntable 42 is located on the side of the rotation axis α of the swing turntable 42 away from the palm structure 30.

Claims

1. A bionic thumb, installed on a hand structure (30), the bionic thumb comprising a thumb body (10) and a root movable structure (20); The thumb body (10) includes a first linear telescopic member (2) and a plurality of phalanges (1) connected in sequence. The first linear telescopic member (2) drives the phalanges (1) connected to its two ends to rotate relative to each other. The root movable structure (20) includes a second linear telescopic member (3) and a swing assembly (4). The swing assembly (4) includes a third linear telescopic member (41) and a swing turntable (42). The swing turntable (42) is configured to be rotatably disposed on the palm structure (30). The proximal knuckle (1) of the thumb body (10) is rotatably connected to the swing turntable (42). The first end of the second linear telescopic member (3) is hinged to the swing turntable (42), and the second end is hinged to the proximal phalanx (1). The third linear telescopic member (41) is configured such that the first end is hinged to the palm structure (30), and the second end is hinged to the swing turntable (42). The rotation axis α of the swing turntable (42) is not parallel to the rotation axis β of the proximal phalanx (1).

2. The bionic thumb according to claim 1, wherein, The first linear telescopic member (2) is configured in at least one of the following ways: Each of the adjacent finger joints (1) is provided with the first linear telescopic member (2), and the two ends of the first linear telescopic member (2) are respectively hinged to the two adjacent finger joints (1); or The first linear telescopic member (2) is equipped with an electric linear actuator, and the body and output end of the first linear telescopic member (2) are respectively rotatably connected to the two knuckles (1).

3. The bionic thumb according to claim 2, wherein, The hinge connecting two adjacent knuckles (1) is provided with rotation clearance space (5) on both the inner and outer sides, and the first linear telescopic member (2) can drive the two adjacent knuckles (1) to bend inward and outward.

4. The bionic thumb according to claim 2, wherein, The thumb body (10) includes two first linear telescopic members (2) and three finger joints (1), with one first linear telescopic member (2) between each pair of adjacent finger joints (1).

5. The bionic thumb according to any one of claims 1-4, wherein, The second linear telescopic member (3) is equipped with an electric linear actuator. One of the body and the output end of the second linear telescopic member (3) is rotatably connected to the swing turntable (42), and the other is rotatably connected to the proximal knuckle (1).

6. The bionic thumb according to any one of claims 1-4, wherein, The third linear telescopic member (41) is equipped with an electric linear actuator. The third linear telescopic member (41) is configured such that one of its own body and output end is rotatably connected to the palm structure (30), and the other is rotatably connected to the swing turntable (42).

7. The bionic thumb according to any one of claims 1-4, wherein, The axis of rotation between adjacent phalanges (1) is parallel to the axis of rotation β between the proximal phalange (1) and the oscillating turntable (42).

8. The bionic thumb according to any one of claims 1-4, wherein, The rotation axis α of the swing disk (42) is perpendicular to the rotation axis β between the proximal phalanx (1) and the swing disk (42).

9. The bionic thumb according to any one of claims 1-4, wherein, The rotation axis α of the swing turntable (42) passes through its own geometric center, and the rotation axis γ between the third linear telescopic member (41) and the swing turntable (42) is parallel to the rotation axis α of the swing turntable (42).

10. The bionic thumb according to any one of claims 1-4, wherein, The connection point between the third linear telescopic member (41) and the swing turntable (42) is located on the side of the rotation axis α of the swing turntable (42) closer to the palm structure (30); or, The connection point between the third linear telescopic member (41) and the swing turntable (42) is located on the side of the swing turntable (42) away from the palm structure (30) on the rotation axis α.

11. A bionic dexterous hand, comprising a palm structure (30) and a bionic thumb as described in any one of claims 1-10, wherein the palm structure (30) includes a palm support (6), and the root movable structure (20) is connected and installed on the palm support (6).

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