Bionic hand and robot

Abstract

The application discloses a bionic hand and a robot, and relates to the technical field of bionic robots. The bionic hand comprises a mounting frame, a first finger, a plurality of second fingers and a plurality of driving mechanisms. The mounting frame comprises a first end and a second end. The first finger is connected to the first end and is located on the first side of the mounting frame. The plurality of second fingers are arranged side by side on the second side of the mounting frame away from the first finger, and the second fingers protrude relative to the second end. The plurality of driving mechanisms are in transmission connection with the plurality of second fingers. At least two second fingers are in transmission connection with the same driving mechanism. The plurality of driving mechanisms are used for driving the plurality of second fingers to act. The bionic hand provided by the application can reduce the occupied space of the overall driving mechanism.

Description

Technical Field

[0001] This application relates to the field of bionic robot technology, and more particularly to a bionic hand and robot. Background Technology

[0002] Currently, bionic robots are being used more and more in various industries, and can perform actions such as assembly and handling.

[0003] However, existing bionic robots have low hand space utilization, occupy a large space, and are costly. Summary of the Invention

[0004] This application provides a bionic hand and robot to reduce the space occupied by the overall drive mechanism.

[0005] This application provides a bionic hand, comprising:

[0006] Mounting bracket, including a first end and a second end;

[0007] The first finger is connected to the first end and is located on the first side of the mounting bracket;

[0008] Multiple second fingers are arranged side by side on the second side of the mounting bracket away from the first finger, and the second fingers protrude relative to the second end;

[0009] A plurality of drive mechanisms are connected to the plurality of second fingers, at least two of the second fingers are connected to the same drive mechanism, and the plurality of drive mechanisms are used to drive the plurality of second fingers to move.

[0010] Based on the above technical solutions, in the bionic hand provided by this application, at least two second fingers can share a single drive mechanism. On the one hand, this reduces the number of drive mechanisms required, decreases the space occupied by the drive mechanisms, and improves the space utilization rate of the bionic hand. On the other hand, it also reduces the amount of material used in the bionic hand, thereby lowering production costs.

[0011] In some possible implementations, the plurality of driving mechanisms includes a first driving mechanism, which includes a first driving member, a connecting rod, and two first transmission rods;

[0012] One end of each of the two first transmission rods is connected to a second finger, and the ends of the two first transmission rods away from the second finger to which they are connected are connected to the output end of the first driving member through the adapter rod.

[0013] In some possible implementations, the plurality of drive mechanisms further include two second drive mechanisms, and the bionic hand includes four second fingers arranged side by side;

[0014] The two second fingers are connected to the first drive mechanism, and the other two second fingers are connected to the two second drive mechanisms in a corresponding manner.

[0015] In some possible implementations, the second finger includes a first phalanx, a second phalanx, and a third phalanx that are hinged sequentially. The end of the first phalanx away from the second phalanx is hinged relative to the mounting bracket, and the end of the first phalanx away from the second phalanx is drive-connected to the drive mechanism.

[0016] The second finger also includes a first link and a second link, the first link being driven between the first phalanx and the second phalanx, and the second link being driven between the second phalanx and the third phalanx.

[0017] In some possible implementations, a first arc-shaped guide groove is provided at the end of the first phalanx near the drive mechanism, and a second arc-shaped guide groove is provided at the end of the first phalanx away from the drive mechanism;

[0018] When the first phalanx is in an extended state relative to the mounting bracket, the first arc-shaped guide groove is located on the side of the first phalanx closer to the first side, and the second arc-shaped guide groove may be located on the side of the first phalanx closer to the second side.

[0019] The first connecting rod is provided with a first guide shaft at one end near the drive mechanism. The first guide shaft is hinged relative to the mounting bracket and slides through the first arc-shaped guide groove.

[0020] The end of the first connecting rod away from the drive mechanism is provided with a second guide shaft. The second guide shaft is hinged to the second knuckle and slides through the second arc-shaped guide groove.

[0021] In some possible implementations, a third arc-shaped guide groove is provided at the end of the second phalanx closer to the first phalanx, and a fourth arc-shaped guide groove is provided at the end of the second phalanx farther from the first phalanx;

[0022] When the second phalanx is in an extended state relative to the mounting bracket, the third arc-shaped guide groove may be located on the side of the second phalanx closer to the first side, and the fourth arc-shaped guide groove may be located on the side of the second phalanx closer to the second side;

[0023] The second connecting rod is provided with a third guide shaft at one end near the first finger joint. The third guide shaft intersects with the end of the first finger joint near the second finger joint and slides through the third arc-shaped guide groove.

[0024] The second connecting rod is provided with a fourth guide shaft at one end near the third finger joint. The fourth guide shaft is hinged to the third finger joint and slides through the fourth arc-shaped guide groove.

[0025] In some possible implementations, the first finger includes a base joint, a tip joint, a drive assembly, and a connecting rod;

[0026] One end of the pedicle joint is hinged to the first end, and the phalanx is hinged to the other end of the pedicle joint;

[0027] The drive assembly is mounted on the finger root joint, one end of the connecting rod is hinged relative to the first end, and the other end of the connecting rod is hinged to the output end of the drive assembly.

[0028] In some possible implementations, the fingertip joint includes a first connecting seat and a fingertip, the first connecting seat being connected to the end of the finger root joint away from the mounting bracket, the end of the finger root joint away from the mounting bracket having an extension plate protruding from it and spaced opposite to the first connecting seat, and the fingertip being hinged between the first connecting seat and the extension plate.

[0029] In some possible implementations, the first connector is connected to the fingertip by a torsion spring; and / or

[0030] A torsion spring connects the extension plate to the fingertip.

[0031] In addition, this application also provides a robot including the bionic hand described in the above embodiments. Attached Figure Description

[0032] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 Schematic diagrams of the bionic hand in some embodiments are shown;

[0034] Figure 2 Schematic diagrams of the mounting bracket are shown in some embodiments;

[0035] Figure 3 A schematic diagram of the structure of the first finger is shown in some embodiments;

[0036] Figure 4 A schematic diagram of the structure of the second finger and the driving mechanism in some embodiments is shown;

[0037] Figure 5 A schematic diagram of an exploded structure of the second finger is shown in some embodiments;

[0038] Figure 6 A schematic diagram of another exploded structure of the second finger is shown in some embodiments.

[0039] Explanation of key component symbols:

[0040] 1000-Bionic Hand;

[0041] 100 - Mounting bracket; 101 - First end; 102 - Second end; 103 - First side; 104 - Second side; 110 - Assembly slot; 111 - First side wall; 112 - Second side wall;

[0042] 200-First finger; 210-Pulse joint; 211-Tailplate; 212-Support frame; 2121-Extension plate; 213-Second connecting seat; 220-Fingertip joint; 221-First connecting seat; 222-Fingertip; 223-Torsion spring; 230-Drive assembly; 231-Second drive component; 232-First lead screw; 233-First adapter; 234-First fixing seat; 240-Connecting rod;

[0043] 300 - Second finger; 310 - First knuckle; 311 - First arc-shaped guide groove; 312 - Second arc-shaped guide groove; 320 - Second knuckle; 321 - Third arc-shaped guide groove; 322 - Fourth arc-shaped guide groove; 330 - Third knuckle; 340 - First connecting rod; 341 - First guide shaft; 342 - Second guide shaft; 350 - Second connecting rod; 351 - Third guide shaft; 352 - Fourth guide shaft; 360 - Third connecting seat;

[0044] 400 - Drive mechanism;

[0045] 410 - First drive mechanism; 411 - First drive component; 412 - Second lead screw; 413 - Second adapter; 414 - Second fixed seat; 415 - Adapter rod; 416 - First transmission rod;

[0046] 420 - Second drive mechanism; 421 - Third drive component; 422 - Third lead screw; 423 - Third adapter; 424 - Third fixed seat; 425 - Second transmission rod. Detailed Implementation

[0047] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0048] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0049] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0050] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., 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 according to the specific circumstances.

[0051] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0052] like Figure 1 As shown in the embodiment, a bionic hand 1000 is provided, which can be applied to robots.

[0053] like Figure 1 and Figure 4As shown, the bionic hand 1000 may include a mounting frame 100, a first finger 200, multiple second fingers 300, and several drive mechanisms 400. The mounting frame 100 can serve as the palm of the bionic hand 1000. The first finger 200 may correspond to a thumb structure, and the second fingers 300 may be structures such as the index finger, middle finger, ring finger, and / or little finger. Both the first finger 200 and the second finger 300 can be attached to the mounting frame 100 for installation.

[0054] Specifically, the mounting bracket 100 may include a first end 101 and a second end 102. A first finger 200 may be connected to the first end 101 of the mounting bracket 100 and located on a first side 103 of the mounting bracket 100. A plurality of second fingers 300 may be arranged side by side on the side of the mounting bracket 100 away from the first finger 200, i.e., a second side 104. And the second fingers 300 may protrude relative to the second end 102 of the mounting bracket 100.

[0055] A plurality of drive mechanisms 400 may be disposed on the side of the mounting bracket 100 near the second fingers 300. These drive mechanisms 400 may be connected to the plurality of second fingers 300 in a transmission manner, with at least two second fingers 300 connected to the same drive mechanism 400. The drive mechanisms 400 may be used to drive the movement of the plurality of second fingers 300.

[0056] In this embodiment, at least two second fingers 300 are connected to the same drive mechanism 400, and the drive mechanism 400 can synchronously drive the two second fingers 300 to move. This reduces the number of drive mechanisms 400 in the bionic hand 1000. On the one hand, it saves space occupied by the drive mechanisms 400, which helps to reduce the size of the bionic hand 1000. On the other hand, it also reduces the material cost and production cost of the bionic hand 1000.

[0057] like Figures 1 to 3 As shown, the first finger 200 may include a base joint 210, a tip joint 220, and a drive assembly 230. One end of the base joint 210 is hinged to the first end 101 of the mounting bracket 100, and one end of the tip joint 220 is hinged to the end of the base joint 210 away from the mounting bracket 100. Accordingly, the first finger 200 can swing relative to the mounting bracket 100, and the tip joint 220 can also swing relative to the base joint 210. The drive assembly 230 can be used to drive the base joint 210 to swing relative to the mounting bracket 100, allowing the end of the first finger 200 near the tip joint 220 to move closer to or further away from the mounting bracket 100.

[0058] In some embodiments, the root segment 210 may include a tail plate 211 and a support frame 212.

[0059] The mounting bracket 100 has a U-shaped mounting groove 110 at one end near the first end 101. The mounting groove 110 is disposed toward the first side 103 of the mounting bracket 100. In addition, the mounting groove 110 may include a first side wall 111 and a second side wall 112 opposite to each other. The first side wall 111 is disposed close to the side of the mounting bracket 100.

[0060] The mounting bracket 100 is also fixedly connected to a second connecting seat 213 near the first end 101 by screws. The second connecting seat 213 can be located on the side of the second sidewall 112 away from the first sidewall 111, and the second connecting seat 213 can be opposite to the first sidewall 111. In the embodiment, the tail plate 211 can be roughly U-shaped and generally face the second end 102 of the mounting bracket 100. One side plate of the tail plate 211 can be rotatably connected to the first sidewall 111 by a pivot, and the other side plate of the tail plate 211 can be rotatably connected to the second connecting seat 213 by a pivot.

[0061] In some embodiments, the drive assembly 230 may include a second drive member 231, a first lead screw 232, a first adapter 233, and a first fixed base 234.

[0062] The first fixing seat 234 can be inserted into the tail plate 211, and the first fixing seat 234 and the tail plate 211 can be fixedly connected by means of screws, adhesive, snap-fit, etc. The support frame 212 can be sleeved on the first fixing seat 234 from the end of the first fixing seat 234 away from the tail plate 211, and the support frame 212 and the first fixing seat 234 can also be fixedly connected by means of screws, adhesive, snap-fit, etc.

[0063] The second drive unit 231 is fixedly installed at the end of the support frame 212 away from the first fixed seat 234, and the output end of the second drive unit 231 can face the first fixed seat 234.

[0064] In some embodiments, the second driving member 231 may be a motor. A first lead screw 232 is rotatably mounted on a first fixed base 234, and one end of the first lead screw 232 is drive-connected to the output end of the second driving member 231. Specifically, each end of the first fixed base 234 may be provided with an assembly ring, and the two ends of the first lead screw 232 may be rotatably mounted on the two assembly rings corresponding to each other. The end of the first lead screw 232 near the second driving member 231 may be drive-connected to the output end of the second driving member 231. In this embodiment, a reducer (not shown) may also be connected between the first lead screw 232 and the second driving member 231 to achieve a speed reduction function.

[0065] The first fixed seat 234 may have an opening structure on the side near the mounting bracket 100. The first adapter 233 may be sleeved on the first lead screw 232 and threadedly connected to it. Furthermore, the first adapter 233 may pass through the opening structure of the first fixed seat 234 and protrude from the side of the first fixed seat 234 near the mounting bracket 100. Simultaneously, both sides of the first adapter 233 may contact the side walls of the opening structure, thus restricting the rotation of the first adapter 233 under the action of the first lead screw 232.

[0066] In this embodiment, the first finger 200 further includes a generally Z-shaped connecting rod 240. One end of the connecting rod 240 is hinged to the end of the first adapter 233 that protrudes relative to the first fixed seat 234, and the other end of the connecting rod 240 is hinged to the second connecting seat 213.

[0067] During operation, the second drive member 231 can drive the first lead screw 232 to rotate and cause the first adapter 233 to move along the axial direction of the first lead screw 232. When the first adapter 233 moves along the axial direction of the first lead screw 232, it can drive the first finger 200 to rotate relative to the second connecting seat 213, so that the end of the first finger 200 near the fingertip joint 220 can move closer to or away from the mounting bracket 100, thereby realizing the movement of the first finger 200.

[0068] In other embodiments, the second drive member 231 may also be an electric push rod, a cylinder or a hydraulic cylinder, etc., and one end of the connecting rod 240 may be directly hinged to the output shaft of the second drive member 231.

[0069] like Figure 3 As shown, the fingertip joint 220 may include a first connector 221 and a fingertip 222.

[0070] The first connecting seat 221 is approximately L-shaped. The first connecting seat 221 can be fixedly connected to the end of the support frame 212 away from the tail plate 211 by means of screws, adhesive, or snap-fit. An extension plate 2121, spaced apart from the first connecting seat 221, can protrude from the end of the support frame 212 away from the tail plate 211. One end of the fingertip 222 can be hinged between the first connecting seat 221 and the extension plate 2121 via a pivot.

[0071] In addition, the fingertip joint 220 also includes two torsion springs 223, one of which can be connected between the fingertip 222 and the first connecting seat 221, and the other torsion spring 223 can be connected between the fingertip 222 and the extension plate 2121. Thus, when the fingertip 222 is not subjected to external force, the torsion spring 223 can drive the fingertip 222 to return to its original extension relative to the base joint 210.

[0072] In other embodiments, the fingertip joint 220 may also include a torsion spring 223, which may be connected between the fingertip 222 and the first connecting seat 221, or between the fingertip 222 and the extension plate 2121.

[0073] like Figure 1 and Figure 4 As shown, in some embodiments, the bionic hand 1000 may include four second fingers 300, which may correspond to the index finger, middle finger, ring finger and little finger in sequence.

[0074] In other embodiments, the bionic hand 1000 also includes two, three, or five second fingers 300.

[0075] In some embodiments, the bionic hand 1000 may include a first drive mechanism 410 and two second drive mechanisms 420. Two second fingers 300 corresponding to the ring and little fingers may be simultaneously connected to the first drive mechanism 410 and driven to move by the first drive mechanism 410. Two second fingers 300 corresponding to the index and middle fingers may be connected to the two second drive mechanisms 420 in a one-to-one transmission connection.

[0076] In other embodiments, the bionic hand 1000 may include a first drive mechanism 410 and a second drive mechanism 420. Three first fingers 200 corresponding to the ring, little, and middle fingers may be simultaneously connected to the first drive mechanism 410. A second finger 300 corresponding to the index finger may be connected to the second drive mechanism 420.

[0077] like Figure 3 and Figure 4 As shown, the first drive mechanism 410 may include a first drive member 411, a second lead screw 412, a second adapter 413, and a second fixed base 414.

[0078] In some embodiments, the first drive member 411 may be a motor. The first drive member 411 may be fixedly disposed near the first end 101 of the mounting bracket 100. The second lead screw 412 may be rotatably mounted on the mounting bracket 100 via the second fixed seat 414 and disposed near the second end 102 of the mounting bracket 100. In the embodiments, the structure and installation method of the second lead screw 412 and the second fixed seat 414 may be similar to the structure and installation method of the first lead screw 232 and the first fixed seat 234, and will not be described in detail here. A reducer may also be disposed between the second lead screw 412 and the first drive member 411 for deceleration.

[0079] The second adapter 413 can be sleeved on the second lead screw 412 and screwed to the second lead screw 412. In addition, the second adapter 413 can protrude from the side of the second fixed seat 414 away from the mounting bracket 100.

[0080] In this embodiment, the first driving mechanism 410 further includes an adapter rod 415 and two first transmission rods 416. One end of the adapter rod 415 can pass through the end of the second adapter seat 413 that protrudes relative to the second fixed seat 414. One end of one of the first transmission rods 416 can be sleeved on the end of the adapter rod 415 near the second adapter seat 413. One end of the other first transmission rod 416 can be sleeved on the end of the adapter rod 415 away from the second adapter seat 413. In this embodiment, the two first transmission rods 416 can be hinged to the second adapter seat 413 via the adapter rod 415. Additionally, the ends of the two first transmission rods 416 away from the adapter rod 415 can be hinged one-to-one with the two second fingers 300 corresponding to the ring finger and little finger.

[0081] In other embodiments, the first drive member 411 may also be an electric actuator, a pneumatic cylinder, or a hydraulic cylinder. The two first transmission rods 416 can be directly hinged to the output shaft of the first drive member 411 via an adapter rod 415.

[0082] like Figure 3 and Figure 4 As shown, the two second drive mechanisms 420 have similar structures. The following is a detailed description of the second drive mechanism 420 connected to the second finger 300 of the corresponding index finger.

[0083] The second drive mechanism 420 may include a third drive member 421, a third lead screw 422, a third adapter 423, and a second transmission rod 425. The third drive member 421 may be fixedly mounted to the first end 101 of the mounting bracket 100. The third lead screw 422 may be rotatably mounted to the second end 102 of the mounting bracket 100 via a third fixing seat 424. In this embodiment, the installation method of the third lead screw 422 and the third fixing seat 424 may be similar to that of the first lead screw 232 and the first fixing seat 234, and will not be described again here. Additionally, a speed reducer may be connected between the third lead screw 422 and the third drive member 421 for speed reduction.

[0084] The third adapter 423 can be sleeved on the third lead screw 422, and the third adapter 423 is screwed to the third lead screw 422. Additionally, the third adapter 423 can protrude from the side of the third fixed seat 424 away from the mounting bracket 100, and one end of the second transmission rod 425 can be hinged to the protruding end of the third adapter 423 relative to the third fixed seat 424. The end of the second transmission rod 425 away from the third adapter 423 can be hinged to the second finger 300 corresponding to the index finger.

[0085] In the embodiments, the structures of each second finger 300 can be similar, and the installation methods can also be similar. The following is a detailed description of a second finger 300 connected to the second drive mechanism 420.

[0086] Combined again Figure 5 and Figure 6 The second finger 300 may include a first phalanx 310, a second phalanx 320, and a third phalanx 330. A third connecting seat 360 is fixedly connected to the end of the third fixing seat 424 away from the third driving member 421 by means of screws, snap-fit, or adhesive. One end of the first phalanx 310 may be hinged to the end of the third connecting seat 360 away from the third fixing seat 424, and the end of the first phalanx 310 near the third connecting seat 360 may be hinged to the end of the second transmission rod 425 away from the third adapter seat 423. The second phalanx 320 may be hinged to the end of the first phalanx 310 away from the third connecting seat 360, and the third phalanx 330 may be hinged to the end of the second phalanx 320 away from the first phalanx 310.

[0087] In this embodiment, a first arc-shaped guide groove 311 is also provided at the end of the first finger joint 310 near the third connecting seat 360. When the first finger joint 310 is in a straight state relative to the mounting bracket 100, the first arc-shaped guide groove 311 can be located on the side of the first finger joint 310 near the first side 103 and facing the hinge position between the third connecting seat 360 and the first finger joint 310. The hinge position between the first finger joint 310 and the second transmission rod 425 can be approximately located on the side of the first finger joint 310 near the second side 104.

[0088] In this embodiment, the second finger 300 further includes a first connecting rod 340. One end of the first connecting rod 340 is hinged to the end of the third connecting seat 360 away from the third fixed seat 424 via a first guide shaft 341. The first guide shaft 341 is slidably inserted in the first arc-shaped guide groove 311 and can move along the first arc-shaped guide groove 311.

[0089] A second arc-shaped guide groove 312 is provided at the end of the first finger joint 310 away from the third connecting seat 360. When the first finger joint 310 is in a straight position relative to the mounting bracket 100, the second arc-shaped guide groove 312 is approximately located on the side of the first finger joint 310 near the second side 104, and towards the hinge position of the first finger joint 310 and the second finger joint 320. A second guide shaft 342 may be provided at the end of the first connecting rod 340 away from the third connecting seat 360. The second guide shaft 342 can slide through the second arc-shaped guide groove 312 and can slide along the second arc-shaped guide groove 312. In addition, the second guide shaft 342 can be hinged to the end of the second finger joint 320 near the first finger joint 310.

[0090] A third arc-shaped guide groove 321 may be provided at the end of the second phalanx 320 near the first phalanx 310. When the second phalanx 320 is in a straight position relative to the mounting bracket 100, the third arc-shaped guide groove 321 may be located approximately on the side of the second phalanx 320 near the first side 103, and towards the hinge position of the second phalanx 320 and the first phalanx 310.

[0091] The second finger 300 also includes a second link 350. One end of the second link 350 may be provided with a third guide shaft 351. The third guide shaft 351 may be hinged to the end of the first phalanx 310 near the second phalanx 320, and the third guide shaft 351 slides through a third arc-shaped guide groove 321. The third guide shaft 351 may move along the third arc-shaped guide groove 321.

[0092] The other end of the second link 350 can pass through the second finger joint 320 and extend to the end of the second finger joint 320 near the third finger joint 330. A fourth guide shaft 352 can be disposed at the end of the second link 350 away from the first finger joint 310. The fourth guide shaft 352 can be hinged to the end of the third finger joint 330 near the second finger joint 320. Additionally, a fourth arc-shaped guide groove 322 can be formed at the end of the second finger joint 320 near the third finger joint 330. When the second finger joint 320 is in a straight position relative to the mounting bracket 100, the fourth arc-shaped guide groove 322 can be located on the side of the second finger joint 320 near the second side 104, and towards the hinge position of the second finger joint 320 and the third finger joint 330. The fourth guide shaft 352 can slide through the fourth arc-shaped guide groove 322, and the fourth guide shaft 352 can move along the fourth arc-shaped guide groove 322.

[0093] When the third driving member 421 drives the third adapter 423 to move axially along the third lead screw 422, it can drive the phalanges of the second finger 300 to gradually retract toward the first side 103 of the mounting bracket 100, or to unfold away from the first side 103 of the mounting bracket 100.

[0094] It should also be noted that in the second finger 300 corresponding to the little finger, its first phalanx 310 can be hinged to the second end 102 of the mounting bracket 100, that is, the second finger 300 is not equipped with a third connecting seat 360.

[0095] The bionic hand 1000 provided in the embodiment can realize flexible movements of the first finger 200 and the second finger 300, thereby meeting the needs of more diverse usage scenarios.

[0096] The embodiment also provides a robot, which may include the bionic hand 1000 provided in the embodiment.

[0097] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0098] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A bionic hand, characterized in that, include: Mounting bracket, including a first end and a second end; A first finger is located on a first side of the mounting bracket; the first finger includes a base joint, a tip joint, a drive assembly, and a connecting rod; one end of the base joint is hinged to the first end, and the tip joint is hinged to the other end of the base joint; the drive assembly is mounted on the base joint, and the output end of the drive assembly faces away from the tip joint; one end of the connecting rod is hinged relative to the first end, and the other end of the connecting rod is hinged to the output end of the drive assembly; Multiple second fingers are arranged side by side on the second side of the mounting bracket away from the first finger, and the second fingers protrude relative to the second end; A plurality of drive mechanisms are connected to the plurality of second fingers, at least two of the second fingers are connected to the same drive mechanism, and the plurality of drive mechanisms are used to drive the plurality of second fingers to move.

2. The bionic hand according to claim 1, characterized in that, The plurality of driving mechanisms include a first driving mechanism, which includes a first driving member, a connecting rod, and two first transmission rods. One end of each of the two first transmission rods is connected to a second finger, and the ends of the two first transmission rods away from the second finger to which they are connected are connected to the output end of the first driving member through the adapter rod.

3. The bionic hand according to claim 2, characterized in that, The plurality of driving mechanisms further includes two second driving mechanisms, and the bionic hand includes four second fingers arranged side by side; The two second fingers are connected to the first drive mechanism, and the other two second fingers are connected to the two second drive mechanisms in a corresponding manner.

4. The bionic hand according to claim 1, characterized in that, The second finger includes a first phalanx, a second phalanx, and a third phalanx that are hinged together in sequence. The end of the first phalanx away from the second phalanx is hinged relative to the mounting bracket, and the end of the first phalanx away from the second phalanx is connected to the drive mechanism for transmission. The second finger also includes a first link and a second link, the first link being driven between the first phalanx and the second phalanx, and the second link being driven between the second phalanx and the third phalanx.

5. The bionic hand according to claim 4, characterized in that, The first finger joint has a first arc-shaped guide groove at the end near the drive mechanism, and a second arc-shaped guide groove at the end away from the drive mechanism; When the first phalanx is in an extended state relative to the mounting bracket, the first arc-shaped guide groove is located on the side of the first phalanx closer to the first side, and the second arc-shaped guide groove may be located on the side of the first phalanx closer to the second side. The first connecting rod is provided with a first guide shaft at one end near the drive mechanism. The first guide shaft is hinged relative to the mounting bracket and slides through the first arc-shaped guide groove. The end of the first connecting rod away from the drive mechanism is provided with a second guide shaft. The second guide shaft is hinged to the second knuckle and slides through the second arc-shaped guide groove.

6. The bionic hand according to claim 4 or 5, characterized in that, The second phalanx has a third arc-shaped guide groove at the end closest to the first phalanx, and a fourth arc-shaped guide groove at the end furthest from the first phalanx; When the second phalanx is in an extended state relative to the mounting bracket, the third arc-shaped guide groove may be located on the side of the second phalanx closer to the first side, and the fourth arc-shaped guide groove may be located on the side of the second phalanx closer to the second side; The second connecting rod is provided with a third guide shaft at one end near the first finger joint. The third guide shaft intersects with the end of the first finger joint near the second finger joint and slides through the third arc-shaped guide groove. The second connecting rod is provided with a fourth guide shaft at one end near the third finger joint. The fourth guide shaft is hinged to the third finger joint and slides through the fourth arc-shaped guide groove.

7. The bionic hand according to claim 1, characterized in that, The fingertip joint includes a first connecting seat and a fingertip. The first connecting seat is connected to the end of the finger root joint away from the mounting bracket. The end of the finger root joint away from the mounting bracket has an extension plate that protrudes and is spaced opposite to the first connecting seat. The fingertip is hinged between the first connecting seat and the extension plate.

8. The bionic hand according to claim 7, characterized in that, The first connector is connected to the fingertip by a torsion spring; and / or A torsion spring connects the extension plate to the fingertip.

9. A robot, characterized in that, Including the bionic hand as described in any one of claims 1 to 8.

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