Bionic fingers and dexterous hands

Abstract

The present invention specifically discloses a bionic finger and a dexterous hand. The bionic finger includes a base, a first knuckle, a second knuckle, and a third knuckle. The first knuckle is rotatably connected to the base and is provided with a first tendon cord, which is connected to a first driver. The second knuckle is rotatably connected to the first knuckle and is provided with a second tendon cord, which is connected to a second driver. The third knuckle is rotatably connected to the second knuckle and is provided with a third tendon cord connected to the first and second knuckles. When the first driver drives the first knuckle to rotate toward the fingertip, the first knuckle pulls the third tendon cord to drive the third knuckle to rotate toward the fingertip. When the second driver drives the second knuckle to rotate toward the fingertip, the second knuckle pulls the third tendon cord to drive the third knuckle to rotate toward the fingertip. The present invention can improve the gripping force, gripping stability, and dexterity of the bionic finger.

Description

Technical Field

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

[0002] Traditional robotic end-effectors have a single picking object, a single picking action, and a simple design. Humanoid dexterous hands, by mimicking the structure of the human hand, offer the advantages of human-like grasping flexibility, enabling the picking of a variety of objects and performing a variety of picking actions. However, existing dexterous hands and bionic fingers struggle to achieve human-like knuckle coupling when grasping objects, and the finger surfaces struggle to fully conform to the object, resulting in weak grip and poor grip stability. Summary of the Invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides a bionic finger and a dexterous hand that can improve gripping force and gripping stability.

[0004] According to a first aspect of the present invention, a bionic finger is provided, comprising a base, a first knuckle, a second knuckle and a third knuckle, the first knuckle being rotatably connected to the base, the first knuckle being provided with a first tendon cord, the first tendon cord being connected to a first driver, the first driver being used to pull the first tendon cord to drive the first knuckle to rotate; the second knuckle being rotatably connected to the first knuckle, the second knuckle being provided with a second tendon cord, the second tendon cord being connected to a second driver, the second driver being used to pull the second tendon cord to drive the second knuckle to rotate; the third knuckle being rotatably connected to the second knuckle, the third knuckle being provided with a third tendon cord, one end of the third tendon cord being connected to the third knuckle, and the other end being connected to the first knuckle and the second knuckle; wherein, when the first driver drives the first knuckle to rotate toward the fingertip side, the first knuckle can pull the third tendon cord to drive the third knuckle to rotate toward the fingertip side; when the second driver drives the second knuckle to rotate toward the fingertip side, the second knuckle can pull the third tendon cord to drive the third knuckle to rotate toward the fingertip side.

[0005] The bionic finger according to the embodiment of the present invention has at least the following beneficial effects:

[0006] In the embodiment of the present invention, the first and second knuckles can be driven to rotate respectively by the first and second drivers. At the same time, when the first knuckle rotates, the third knuckle can be pulled by the third tendon rope, so that the third knuckle can rotate along with the rotation of the first knuckle. When the second knuckle rotates, the third knuckle can also be pulled by the third tendon rope, so that the third knuckle can rotate along with the rotation of the second knuckle. As a result, when the bionic finger grasps an object, the first, second and third knuckles can all be fully fitted to the surface of the object, greatly improving the gripping force and gripping stability of the bionic finger. In addition, by imitating the oblique ligaments of the human hand through the tendon rope, the coupled movement of the human-like finger is realized, the dexterity of the bionic finger is improved, and the adaptability of the bionic finger in application is increased, thereby improving the universality of the bionic finger.

[0007] According to some embodiments of the present invention, the third finger joint is provided with a first rope winding member, the third tendon rope is wound around the peripheral wall of the first rope winding member, the second finger joint is provided with a first rotating shaft and a second rotating shaft, the first rotating shaft is connected to the first finger joint, the second rotating shaft is connected to the third finger joint, a second rope winding member is provided between the first rotating shaft and the second rotating shaft, and the second rope winding member is located between the first rotating shaft and the back of the second finger joint, the second rotating shaft, the second rope winding member and the first rotating shaft are respectively abutted against the third tendon rope, and the first finger joint is provided with a fixing member connected to the third rope winding.

[0008] According to some embodiments of the present invention, the distance between the center of the second rotating shaft and the center of the first rope winding member is a, the radius of the second rotating shaft is b, and a and b satisfy: a / b=3 / 2.

[0009] According to some embodiments of the present invention, a first limiting groove and a second limiting groove are respectively provided at both ends of the second finger joint, the two ends of the first rotating shaft are respectively connected to the inner walls of the first limiting groove, and the two ends of the second rotating shaft are respectively connected to the inner walls of the second limiting groove.

[0010] According to some embodiments of the present invention, the first finger joint is provided with a third rope winding member and a tensioning member, the first tendon rope is wound around the peripheral wall of the third rope winding member, and the tensioning wheel is provided between the third rope winding member and the fingertip of the first finger joint to abut against the first tendon rope.

[0011] According to some embodiments of the present invention, the first finger joint includes a first left shell and a first right shell connected to each other, and the ends of the first left shell and the first right shell are connected to form the first rotating shaft, the second finger joint includes a second left shell and a second right shell connected to each other, and the third finger joint includes a third left shell and a third right shell connected to each other, and the ends of the third left shell and the third right shell are connected to form the second rotating shaft.

[0012] According to a second aspect of the present invention, a dexterous hand is provided, comprising a palm and the bionic finger disclosed in the first aspect of the present invention.

[0013] According to some embodiments of the present invention, the dexterous hand includes multiple bionic fingers, the palm is provided with multiple mounting slots, the multiple bionic fingers are installed in the mounting slots one by one, and the base is provided with a rotating part, which is rotatably connected to the mounting slots.

[0014] According to some embodiments of the present invention, the palm is provided with a winding shaft, the peripheral wall of the winding shaft is provided with a first port and a second port arranged at intervals along the axial direction, the rotating part is provided with a first connection position and a second connection position, the first connection position and the second connection position are arranged opposite to each other, and the peripheral wall of the winding shaft is respectively wrapped with a first traction rope and a second traction rope, one end of the first traction rope is connected to the first port, and the other end is connected to the first connection position, one end of the second traction rope is connected to the second port, and the other end is connected to the second connection position, the winding shaft is connected to a third driver, and the third driver is used to drive the winding shaft to rotate, so as to pull the rotating part to rotate through the first traction rope or the second traction rope.

[0015] According to some embodiments of the present invention, the dexterous hand also includes an arm, which is connected to the palm, and the peripheral wall of the arm is provided with a first groove, a second groove and a third groove, and the first groove, the second groove and the third groove all extend along the axial direction of the arm, the first groove is used to install the first driver, the second groove is used to install the second driver, and the third groove is used to install the third driver.

[0016] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The present invention will be further described below with reference to the accompanying drawings and embodiments, in which:

[0018] Figure 1 is a schematic diagram of an embodiment of a dexterous hand of the present invention;

[0019] Figure 2 is a front view of an embodiment of a dexterous hand of the present invention;

[0020] Figure 3 is a schematic diagram of an embodiment of a bionic finger of the present invention;

[0021] Figure 4 A top view of an embodiment of a bionic finger of the present invention;

[0022] Figure 5 is a cross-sectional view of an embodiment of a bionic finger of the present invention;

[0023] Figure 6 A schematic diagram of the internal structure of a bionic finger embodiment of the present invention;

[0024] Figure 7 A schematic diagram of the internal structure of another bionic finger embodiment of the present invention;

[0025] Figure 8 This is a schematic diagram of the internal structure of a bionic finger embodiment of the present invention when bent;

[0026] Figure 9 This is a schematic diagram of the internal structure of a bionic finger embodiment of the present invention when grasping;

[0027] Figure 10 This is a schematic structural diagram of a bionic finger embodiment of the present invention;

[0028] Figure 11 This is a schematic diagram of a bionic finger embodiment of the present invention during sideways swing.

[0029] Reference numerals:

[0030] Dexterous hand 1000; Bionic finger 1100; Item 2000;

[0031] Base 100; rotating portion 110; first connecting portion 111; second connecting portion 112;

[0032] First finger joint 200; first tendon 210; fixing member 220; third rope winding member 230; tensioning member 240; first left shell 250;

[0033] First right housing 260; first avoidance portion 270;

[0034] Second finger joint 300; second tendon 310; first rotating shaft 320; second rotating shaft 330; second rope winding member 340;

[0035] First limiting groove 350; second limiting groove 360; second left shell 370; second right shell 380;

[0036] Third finger joint 400; third tendon 410; first rope winding member 420; third left shell 430; third right shell 440;

[0037] Second avoidance portion 450;

[0038] Palm 500; mounting slot 510;

[0039] Winding shaft 600; first port 610; second port 620; first traction rope 630; second traction rope 640;

[0040] Arm 700; first groove 710; second groove 720; third groove 730. DETAILED DESCRIPTION

[0041] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0042] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, inside, outside, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention.

[0043] In the description of the present invention, if there is a description of first and second, it is only for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0044] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, and connecting should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0045] Traditional robotic end-effectors have a single picking object, a single picking action, and a simple design structure. Humanoid dexterous hands, by mimicking the structure of the human hand, have the advantage of human-like grasping flexibility and can pick up a variety of objects and perform a variety of picking actions. However, existing humanoid dexterous hand products are generally expensive, making them difficult to promote and apply. Furthermore, the finger coupling motion of dexterous hands often uses a connecting rod structure, which requires high processing precision and is difficult to achieve the same level of flexibility and operational capabilities as a human hand. Furthermore, existing dexterous hands and bionic fingers have difficulty achieving human-like knuckle coupling when grasping objects, and the finger surface struggles to fully conform to the object, resulting in weak grip and poor grip stability.

[0046] To this end, some embodiments of the present invention provide a bionic finger 1100 and a dexterous hand 1000, which are specifically described with reference to the accompanying drawings. Figures 1-11 shown.

[0047] Reference Figure 3As shown, a schematic diagram of an embodiment of a bionic finger 1100 of the present invention is shown. In the embodiment of the present invention, the bionic finger 1100 includes a base 100, a first finger joint 200, a second finger joint 300 and a third finger joint 400. The first finger joint 200 is rotatably connected to the base 100, and the first finger joint 200 is provided with a first tendon rope 210, and the first tendon rope 210 is connected to a first driver, and the first driver is used to pull the first tendon rope 210 to drive the first finger joint 200 to rotate; the second finger joint 300 is rotatably connected to the first finger joint 200, and the second finger joint 300 is provided with a second tendon rope 310, and the second tendon rope 310 is connected to a second driver, and the second driver is used to pull the second tendon rope Rope 310 is used to drive the second knuckle 300 to rotate; the third knuckle 400 is rotatably connected to the second knuckle 300, and the third knuckle 400 is provided with a third tendon rope 410, one end of the third tendon rope 410 is connected to the third knuckle 400, and the other end is connected to the first knuckle 200 and the second knuckle 300; wherein, when the first driver drives the first knuckle 200 to rotate toward the fingertip side, the first knuckle 200 can pull the third tendon rope 410 to drive the third knuckle 400 to rotate toward the fingertip side; when the second driver drives the second knuckle 300 to rotate toward the fingertip side, the second knuckle 300 can pull the third tendon rope 410 to drive the third knuckle 400 to rotate toward the fingertip side.

[0048] In an embodiment of the present invention, the bionic finger 1100 can be used independently or in combination, which is not limited in this embodiment. The bionic finger 1100 can be installed in a desired position via the base 100. In this embodiment, one end of the first phalanx 200 can be rotatably connected to the base 100, and the other end can be rotatably connected to the second phalanx 300. The second phalanx 300 is also rotatably connected to the third phalanx 400. It is understandable that the rotational connection between the first phalanx 200 and the base 100 can be equivalent to the base joint of the fingers in the human hand, the rotational connection between the first phalanx 200 and the second phalanx 300 can be equivalent to the proximal interphalangeal joint of the fingers in the human hand, and the rotational connection between the second phalanx 300 and the third phalanx 400 can be equivalent to the distal interphalangeal joint of the fingers in the human hand. This embodiment achieves human-like flexion and extension movements through the base 100 and the rotational connection between the various phalanxes, giving the bionic finger 1100 human-like dexterity and adaptability.

[0049] Reference Figure 6As shown, in an embodiment of the present invention, the first phalanx 200, the second phalanx 300 and the third phalanx 400 can all be hollow structures, wherein the first tendon 210 can be arranged in the inner cavity of the first phalanx 200, one end of which can be connected to the middle position of the inner cavity of the first phalanx 200, and the other end can be connected to the first driver; the second tendon 310 can be arranged in the inner cavity of the second phalanx 300, one end of which can be connected to the middle position of the inner cavity of the second phalanx 300, and the other end can pass through the inner cavity of the first phalanx 200 and be connected to the second driver; the third tendon 410 can be arranged in the inner cavity of the third phalanx 400, one end of which can be connected to the middle position of the inner cavity of the third phalanx 400, and the other end can pass through the inner cavity of the second phalanx 300 and the inner cavity of the first phalanx 200 in sequence and be connected to the second phalanx 300 and the first phalanx 200 respectively. The hollow structure of the first joint 200, the second joint 300 and the third joint 400 frees up the internal space of the bionic finger 1100, facilitates the installation of subsequent sensors, and realizes a bionic, compact and lightweight design of the human hand.

[0050] It should be noted that, in an embodiment of the present invention, the twisting shortening effect of the tendon rope can be utilized to twist the flexible tendon rope at one end through a motor, so that the tendon rope at the other end moves linearly. This driving method has an extremely high reduction ratio, which allows it to use a micro DC motor as a prime mover to provide smooth and reliable transmission. At the same time, it occupies a small space inside the dexterous hand 1000, greatly simplifying the structural design and size space. The tendon rope replaces the traditional gear box to directly connect the motor to the driven object, so that the bionic finger 1100 has the characteristics of simple structure, small size and light weight. In addition, its extremely high reduction ratio allows the bionic finger 1100 to use a micro motor as a prime mover, which in turn allows the volume and mass of the bionic finger 1100 to be further reduced.

[0051] Reference Figure 6 As shown, the embodiment of the present invention adopts a first driver pulling the first tendon rope 210 to drive the first phalanx 200 to rotate; the second driver pulls the second tendon rope 310 to drive the second phalanx 300 to rotate to imitate the tendon transmission of the human hand, so that the bionic finger 1100 can achieve flexion and extension movement by pulling the tendon rope. At the same time, since the third tendon rope 410 is respectively connected to the first phalanx 200 and the third phalanx 400, when the first phalanx 200 rotates, the third tendon rope 410 can be pulled, thereby driving the third phalanx 400 to rotate; refer to Figure 8 As shown, when the second finger joint 300 rotates, the third tendon 410 can be pulled, thereby driving the third finger joint 400 to rotate; in addition, referring to Figure 9As shown, when the first knuckle 200 and the second knuckle 300 rotate at the same time, the third tendon 410 can also be pulled, thereby driving the third knuckle 400 to rotate, so that when the bionic finger 1100 grasps the object 2000, the third knuckle 400 can rotate in a human-like manner along with the rotation of the second knuckle 300 and the first knuckle 200, thereby achieving the bionic finger 1100 to fully fit the object 2000, realizing human-like finger flexion and extension movements, greatly improving the dexterity of the bionic finger 1100, and at the same time improving the gripping force and gripping stability of the bionic finger 1100.

[0052] The embodiment of the present invention can respectively drive the first knuckle 200 and the second knuckle 300 to rotate through the first driver and the second driver. At the same time, when the first knuckle 200 rotates, the third knuckle 400 can be pulled by the third tendon 410, so that the third knuckle 400 can rotate along with the rotation of the first knuckle 200. When the second knuckle 300 rotates, the third knuckle 400 can also be pulled by the third tendon 410, so that the third knuckle 400 can rotate along with the rotation of the second knuckle 300. In this way, when the bionic finger 1100 grasps the object 2000, the first knuckle 200, the second knuckle 300 and the third knuckle 400 can all be fully fitted to the surface of the object 2000, thereby greatly improving the gripping force and gripping stability of the bionic finger 1100. In addition, by imitating the oblique ligaments of the human hand through the tendon rope, the coupling movement of human-like fingers is achieved, the dexterity of the bionic finger 1100 is improved, and the adaptability of the bionic finger 1100 during application is increased, thereby improving the universality of the bionic finger 1100.

[0053] Reference Figure 5 As shown, in an embodiment of the present invention, the third finger joint 400 is provided with a first rope winding member 420, the third tendon 410 is wound around the peripheral wall of the first rope winding member 420, the second finger joint 300 is provided with a first rotating shaft 320 and a second rotating shaft 330, the first rotating shaft 320 is connected to the first finger joint 200, the second rotating shaft 330 is connected to the third finger joint 400, a second rope winding member 340 is provided between the first rotating shaft 320 and the second rotating shaft 330, and the second rope winding member 340 is located between the first rotating shaft 320 and the back of the second finger joint 300, the second rotating shaft 330, the second rope winding member 340 and the first rotating shaft 320 are respectively in contact with the third tendon 410, and the first finger joint 200 is provided with a fixing member 220 connected to the third rope winding.

[0054] Reference Figure 6As shown, in this embodiment of the present invention, the first rope winding member 420 can be located in the middle of the cavity of the third phalanx 400. Specifically, the first rope winding member 420 can be cylindrical, and the third tendon 410 can be wound around the circumferential wall of the cylinder. The first and second rotating shafts 320, 330 can be located at either end of the second phalanx 300, while the second rope winding member 340 can be located between the first and second rotating shafts 320, 330, on the side near the back of the finger. The bottom end of the cavity in the first phalanx 200 can be provided with a fixing member 220 to which the third tendon 410 can be connected and fixed.

[0055] Reference Figure 6 As shown, one end of the third tendon 410 is wound around the first rope winding member 420, and the other end passes through the second rotating shaft 330, the second rope winding member 340, and the first rotating shaft 320 in sequence, and is then connected and fixed to the fixing member 220. The second rotating shaft 330, the second rope winding member 340, and the first rotating shaft 320 can respectively abut against the third tendon 410, thereby keeping the third tendon 410 in a taut state.

[0056] Reference Figure 8 As shown, when the second driver twists the second tendon 310, thereby pulling the second finger joint 300 to rotate around the first shaft 320 toward the fingertip, the third tendon 410 in a taut state can also rotate toward the fingertip by a certain angle due to the second shaft 330, the second rope winding member 340 and the first shaft 320 pressing against the third tendon 410 and the fixation of the fixing member 220, so that the first finger joint 200, the second finger joint 300 and the third finger joint 400 can all be fully fitted to the article 2000. Figure 9 As shown, when the first driver twists the first tendon 210, at the same time, the second driver twists the second tendon 310. Since the second rotating shaft 330, the second rope winding member 340 and the first rotating shaft 320 are pressed against the third tendon 410 and the fixing member 220, the third tendon 410 in a taut state can also be rotated toward the fingertip at a certain angle, so that the first finger joint 200, the second finger joint 300 and the third finger joint 400 can all be fully fitted to the article 2000.

[0057] Reference Figure 7 As shown, in the embodiment of the present invention, the distance between the center of the second rotating shaft 330 and the center of the first rope winding member 420 is a, the radius of the second rotating shaft 330 is b, and a and b meet the following relationship: a / b=3 / 2.

[0058] It should be noted that the motion of the distal interphalangeal joint and the proximal interphalangeal joint of each finger in the human hand are coupled, and the angle of motion of the distal interphalangeal joint is approximately equal to two-thirds of the angle of motion of the proximal interphalangeal joint. Figure 7As shown, in an embodiment of the present invention, human-like coupled motion characteristics can be achieved by setting a proportional relationship between the distance between the center of the second rotating shaft 330 and the center of the first winding member 420 and the radius of the second rotating shaft 330. Specifically, in this embodiment, the distance between the center of the second rotating shaft 330 and the center of the first winding member 420 is a, and the radius of the second rotating shaft 330 is b. A and b meet the condition: a / b=3 / 2, which greatly improves the human-likeness of the bionic finger 1100.

[0059] Reference Figure 4 As shown, in an embodiment of the present invention, a first limiting groove 350 and a second limiting groove 360 are respectively provided at both ends of the second finger joint 300, the two ends of the first rotating shaft 320 are respectively connected to the inner wall of the first limiting groove 350, and the two ends of the second rotating shaft 330 are respectively connected to the inner wall of the second limiting groove 360.

[0060] Reference Figure 4 As shown, in the embodiment of the present invention, the first limiting groove 350 and the second limiting groove 360 can extend along the length direction of the second phalanx 300, and the first rotating shaft 320 can extend into the first limiting groove 350 and be connected to the inner wall of the first limiting groove 350. Similarly, the second rotating shaft 330 can extend into the second limiting groove 360 and be connected to the inner wall of the second limiting groove 360. The embodiment of the present invention, through the provision of the first limiting groove 350 and the second limiting groove 360, not only can the rotation direction of the first phalanx 200, the second phalanx 300, and the third phalanx 400 be limited, thereby improving the accuracy of the rotation direction and thus improving the reliability of the bionic finger 1100, but also can avoid collision and wear of each phalanx during rotation, thereby increasing the service life of the bionic finger 1100.

[0061] It is understandable that in order to prevent the joints from colliding when the knuckles rotate, Figure 5 As shown, in this embodiment of the present invention, a first relief portion 270 may be provided at the end of the first knuckle 200 facing the second knuckle 300, and a second relief portion 450 may be provided at the end of the third knuckle 400 facing the second knuckle 300. The first relief portion 270 and the second relief portion 450 may each be an arcuate groove corresponding in shape and size to the ends of the second knuckle 300. The ends of the second knuckle 300 can rotate in the two arcuate grooves without colliding with the first knuckle 200 and the third knuckle 400, thereby improving the flexibility of the bionic finger 1100, preventing collision and wear between the knuckles, and extending its service life.

[0062] Reference Figure 6As shown, in an embodiment of the present invention, the first finger joint 200 is provided with a third rope winding member 230 and a tensioning member 240, the first tendon 210 is wound around the peripheral wall of the third rope winding member 230, and the tensioning wheel is arranged between the third rope winding member 230 and the fingertip of the first finger joint 200 to abut against the first tendon 210.

[0063] Reference Figure 6 As shown, in this embodiment of the present invention, the third rope winding member 230 can be disposed between the base 100 and the first rotating shaft 320. Specifically, the third rope winding member 230 can be disposed in the middle of the cavity in the first phalanx 200. The tensioning member 240 can be disposed between the third rope winding member 230 and the base 100, near the fingertip. The tensioning wheel can abut against the first tendon 210, thereby keeping the first tendon 210 in a taut state. At the same time, when the first actuator twists the first tendon 210, the tensioning wheel can ensure that the first phalanx 200 rotates toward the fingertip.

[0064] Reference Figure 3 As shown, in an embodiment of the present invention, the first finger joint 200 includes a first left shell 250 and a first right shell 260 connected to each other, and the ends of the first left shell 250 and the first right shell 260 are connected to form a first rotating shaft 320, the second finger joint 300 includes a second left shell 370 and a second right shell 380 connected to each other, and the third finger joint 400 includes a third left shell 430 and a third right shell 440 connected to each other, and the ends of the third left shell 430 and the third right shell 440 are connected to form a second rotating shaft 330.

[0065] Reference Figure 3 As shown, in this embodiment of the present invention, the first left shell 250 and the first right shell 260 can be combined to form the first phalanx 200 and the cavity of the first phalanx 200, the second left shell 370 and the second right shell 380 can be combined to form the second phalanx 300 and the cavity of the second phalanx 300, and the third left shell 430 and the third right shell 440 can be combined to form the third phalanx 400 and the cavity of the third phalanx 400. Based on this, when the internal structure of the bionic finger 1100 fails or is damaged, the corresponding outer shell can be removed to repair the internal structure or replace parts. In this embodiment, the detachability of the bionic finger 1100 greatly improves the replaceability of the bionic finger 1100, reduces the difficulty of repair, and extends the service life of the bionic finger 1100.

[0066] Reference Figure 1 , showing a schematic diagram of an embodiment of a dexterous hand 1000 of the present invention. In the embodiment of the present invention, the dexterous hand 1000 includes a palm 500 and the bionic finger 1100 of the above embodiment.

[0067] Reference Figure 1As shown, in an embodiment of the present invention, the dexterous hand 1000 may include five fingers and a palm 500. The dexterous hand 1000 has 15 degrees of freedom, giving it the motion characteristics of a human hand. Specifically, each finger contains three joints, each with three independently controllable degrees of freedom. The base joints of the fingers have two degrees of freedom: flexion and lateral swing. This embodiment can achieve basic movements of the human hand, improving the human-likeness and flexibility of the dexterous hand 1000.

[0068] Reference Figure 2 As shown, in an embodiment of the present invention, the dexterous hand 1000 includes a plurality of bionic fingers 1100, the palm 500 is provided with a plurality of mounting slots 510, the plurality of bionic fingers 1100 are mounted in the mounting slots 510 in a one-to-one correspondence, and the base 100 is provided with a rotating part 110, which is rotatably connected to the mounting slots 510.

[0069] Reference Figure 2 As shown, in this embodiment of the present invention, four mounting slots 510 can be provided on the top of the palm 500, and one mounting slot 510 can also be provided in the center of the palm 500, so as to respectively mount five bionic fingers 1100. It should be noted that the bionic finger 1100 mounted in the center of the palm 500 can have one fewer knuckle than the other bionic fingers 1100. A rotating portion 110 can be provided at the end of the base 100 away from the first knuckle 200. The rotating portion 110 can extend into the mounting slot 510 and connect to the inner wall of the mounting slot 510.

[0070] Reference Figure 10 As shown, in an embodiment of the present invention, the palm 500 is provided with a winding shaft 600, and the peripheral wall of the winding shaft 600 is provided with a first port 610 and a second port 620 arranged along the axial direction, and the rotating part 110 is provided with a first connection position 111 and a second connection position 112, and the first connection position 111 and the second connection position 112 are arranged opposite to each other. The peripheral wall of the winding shaft 600 is respectively wrapped with a first traction rope 630 and a second traction rope 640, one end of the first traction rope 630 is connected to the first port 610, and the other end is connected to the first connection position 111, and one end of the second traction rope 640 is connected to the second port 620, and the other end is connected to the second connection position 112, and the winding shaft 600 is connected to a third driver, and the third driver is used to drive the winding shaft 600 to rotate, so as to pull the rotating part 110 to rotate through the first traction rope 630 or the second traction rope 640.

[0071] Reference Figure 10 As shown, in this embodiment of the present invention, the winding shaft 600 can be a cylinder, and the first traction rope 630 and the second traction rope 640 can be respectively wound around the peripheral wall of the cylinder. The rotating portion 110 can also be a cylinder, and the first connection point 111 and the second connection point 112 can be located on opposite sides of the peripheral wall of the cylinder.

[0072] Reference Figure 11 As shown, in this embodiment of the present invention, when the third driver drives the winding shaft 600 to rotate clockwise, the winding shaft 600 can wind around the second traction rope 640, while the first traction rope 630 is unwound. Therefore, the second traction rope 640 can pull on the second connection point 112, that is, the right side of the rotating part 110 is subjected to tension while the left side is relaxed, thereby causing the bionic finger 1100 to swing to the right. Similarly, when the third driver drives the winding shaft 600 to rotate counterclockwise (not shown in the figure), the winding shaft 600 can wind around the first traction rope 630, while the second traction rope 640 is unwound. Therefore, the first traction rope 630 can pull on the first connection point 111, that is, the left side of the rotating part 110 is subjected to tension while the right side is relaxed, thereby causing the bionic finger 1100 to swing to the left. It should be noted that the first traction rope 630 and the second traction rope 640 are always kept taut.

[0073] This embodiment adopts a special rope winding method to wrap around a winding shaft 600 with a larger radius, thereby realizing the side swing direction freedom of the base joint of the bionic finger 1100. In addition, this driving method has a fast response speed and the structure occupies less space, which improves the flexibility of the dexterous hand 1000 and makes the dexterous hand 1000 more lightweight.

[0074] Reference Figure 1-2 As shown, in an embodiment of the present invention, the dexterous hand 1000 also includes an arm 700, which is connected to the palm 500. The peripheral wall of the arm 700 is provided with a first groove 710, a second groove 720 and a third groove 730. The first groove 710, the second groove 720 and the third groove 730 all extend along the axial direction of the arm 700. The first groove 710 is used to install the first driver, the second groove 720 is used to install the second driver, and the third groove 730 is used to install the third driver.

[0075] Reference Figure 1-2 As shown, in an embodiment of the present invention, the bottom end of the palm 500 can be connected and fixed to the arm 700, wherein the peripheral wall of the arm 700 can be spaced apart to provide a first groove 710, a second groove 720 and a third groove 730, and the first driver, the second driver and the third driver can be installed and fixed in the first groove 710, the second groove 720 and the third groove 730 respectively, which greatly improves the structural space utilization of the dexterous hand 1000, reduces its size space, and further improves the lightness of the dexterous hand 1000.

[0076] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A bionic finger, characterized in that: include: base; a first finger joint, rotatably connected to the base, the first finger joint being provided with a first tendon cord, the first tendon cord being connected to a first driver, the first driver being used to pull the first tendon cord to drive the first finger joint to rotate; a second finger joint, rotatably connected to the first finger joint, the second finger joint being provided with a second tendon cord, the second tendon cord being connected to a second driver, the second driver being used to pull the second tendon cord to drive the second finger joint to rotate; a third knuckle, rotatably connected to the second knuckle, the third knuckle being provided with a third tendon cord, one end of the third tendon cord being connected to the third knuckle, and the other end being connected to the first knuckle and the second knuckle; When the first driver drives the first finger joint to rotate toward the finger pulp, the first finger joint can pull the third tendon cord to drive the third finger joint to rotate toward the finger pulp; when the second driver drives the second finger joint to rotate toward the finger pulp, the second finger joint can pull the third tendon cord to drive the third finger joint to rotate toward the finger pulp; The third finger joint is provided with a first rope winding member, and the third tendon rope is wound around the peripheral wall of the first rope winding member. The second finger joint is provided with a first rotating shaft and a second rotating shaft. The first rotating shaft is connected to the first finger joint, and the second rotating shaft is connected to the third finger joint. A second rope winding member is provided between the first rotating shaft and the second rotating shaft, and the second rope winding member is located between the first rotating shaft and the back of the second finger joint. The second rotating shaft, the second rope winding member and the first rotating shaft are respectively in contact with the third tendon rope. The first finger joint is provided with a fixing member connected to the third tendon rope.

2. The bionic finger according to claim 1, characterized in that: The distance between the center of the second rotating shaft and the center of the first rope winding member is a, the radius of the second rotating shaft is b, and a and b satisfy: a / b=3 / 2.

3. The bionic finger according to claim 1, characterized in that: The two ends of the second finger joint are respectively provided with a first limiting groove and a second limiting groove, the two ends of the first rotating shaft are respectively connected to the inner wall of the first limiting groove, and the two ends of the second rotating shaft are respectively connected to the inner wall of the second limiting groove.

4. The bionic finger according to claim 1, characterized in that: The first finger joint is provided with a third rope winding member and a tensioning member, the first tendon rope is wound around the peripheral wall of the third rope winding member, and the tensioning member is provided between the third rope winding member and the fingertip of the first finger joint to abut against the first tendon rope.

5. The bionic finger according to claim 1, characterized in that: The first finger joint includes a first left shell and a first right shell connected to each other, and the ends of the first left shell and the first right shell are connected to form the first rotating shaft. The second finger joint includes a second left shell and a second right shell connected to each other. The third finger joint includes a third left shell and a third right shell connected to each other, and the ends of the third left shell and the third right shell are connected to form the second rotating shaft.

6. A dexterous hand, characterized in that: The bionic finger comprises a palm and the bionic finger according to any one of claims 1 to 5.

7. The dexterous hand according to claim 6, characterized in that: The dexterous hand includes a plurality of bionic fingers, the palm is provided with a plurality of mounting slots, the plurality of bionic fingers are mounted in a one-to-one correspondence in the mounting slots, the base is provided with a rotating part, and the rotating part is rotatably connected to the mounting slots.

8. The dexterous hand according to claim 7, characterized in that: The palm is provided with a winding shaft, and the peripheral wall of the winding shaft is provided with a first port and a second port arranged at intervals along the axial direction. The rotating part is provided with a first connection position and a second connection position, and the first connection position and the second connection position are arranged opposite to each other. The peripheral wall of the winding shaft is respectively wrapped with a first traction rope and a second traction rope, one end of the first traction rope is connected to the first port, and the other end is connected to the first connection position, one end of the second traction rope is connected to the second port, and the other end is connected to the second connection position, and the winding shaft is connected to a third driver, and the third driver is used to drive the winding shaft to rotate, so as to pull the rotating part to rotate through the first traction rope or the second traction rope.

9. The dexterous hand according to claim 8, characterized in that: The dexterous hand also includes an arm, which is connected to the palm. The peripheral wall of the arm is provided with a first groove, a second groove and a third groove. The first groove, the second groove and the third groove all extend along the axial direction of the arm. The first groove is used to install the first driver, the second groove is used to install the second driver, and the third groove is used to install the third driver.

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