Bionic mechanical finger and bionic mechanical hand with same

Abstract

The application provides a bionic mechanical finger and a bionic mechanical hand with the same, which comprises a base, a first connecting rod assembly and a second connecting rod assembly which can be folded along a first direction, a fingertip assembly, and a movable part of a first driving part, a first connecting assembly and the first connecting rod assembly which are rotatably connected along the first direction and a second direction in sequence, and a movable part of a second driving part, a second connecting assembly and the second connecting rod assembly which are rotatably connected along the first direction and the second direction in sequence; the first driving part and the second driving part are arranged on the base; the first connecting rod assembly and the second connecting rod assembly are rotatably connected with the fingertip assembly to drive the fingertip assembly to move along the first direction and / or the second direction. The application realizes the control of each joint of the finger through two groups of driving mechanisms, so that each joint can realize multi-angle up and down folding and multi-angle left and right swinging, thereby realizing various bionic actions, being high in flexibility, simple in structure, and reducing processing difficulty and installation complexity.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a bionic mechanical finger and a bionic mechanical hand having the same. Background Technology

[0002] In recent years, robotics technology has seen rapid development in both industrial and civilian applications. The robotic arm is the final actuator in a robot's work, and its performance directly determines the robot's capabilities. Similar to humans, the development of highly versatile and dexterous robotic arms is essential.

[0003] Existing robotic fingers have complex structures, are difficult to manufacture, and have limited degrees of freedom, allowing them to perform only a very small number of simple movements, resulting in a poor user experience. Summary of the Invention

[0004] In view of this, the present invention proposes a bionic mechanical finger and a bionic mechanical hand having the same, the specific solution of which is as follows:

[0005] In the first part, the present invention proposes a bionic mechanical finger, including a base, a first driving part, a second driving part, a first connecting component, a second connecting component, a first link assembly that can be bent along a first direction, a second link assembly that can be bent along a first direction, and a fingertip assembly.

[0006] Both the first driving unit and the second driving unit are disposed on the base;

[0007] The movable part of the first drive unit, the first connecting component, and the first link assembly are rotatably connected in sequence along the first direction and the second direction.

[0008] The movable part of the second drive unit, the second connecting assembly, and the second link assembly are rotatably connected in sequence along the first direction and the second direction.

[0009] The first linkage assembly is rotatably connected to the base along a first direction and a second direction;

[0010] The first linkage assembly and the second linkage assembly are rotatably connected to the fingertip assembly so that the fingertip assembly can be moved along a first direction and / or a second direction by the drive of the first drive unit and / or the second drive unit.

[0011] In one specific embodiment, the first driving unit and / or the second driving unit includes: a lead screw motor; the lead screw motor is disposed on the base;

[0012] The output end of the lead screw motor is provided with an external thread, and the movable part is provided with an internal thread that matches the external thread; the output end of the lead screw motor is threadedly connected to the movable part so that the movable part can move up and down along the length direction of the output end through the drive of the lead screw motor.

[0013] Each of the movable parts is provided with a slider on the side near the base; the base is provided with a sliding groove on the side corresponding to each of the movable parts, which matches the slider; when the movable part is driven, the slider slides along the sliding groove.

[0014] In one specific embodiment, there are two first driving units and two first connecting components; one first driving unit is connected to one first connecting component, and the other first driving unit is connected to the other first connecting component.

[0015] In one specific embodiment, ball joint bearings are provided at both ends of the first connecting component and / or the second connecting component;

[0016] The ball joint bearing on one side of the first connecting assembly is rotatably connected to the movable part of the first drive unit; the ball joint shaft on the other side of the first connecting assembly is rotatably connected to the first connecting rod assembly.

[0017] The ball joint bearing on one side of the second connecting assembly is rotatably connected to the movable part of the second drive unit; the ball joint shaft on the other side of the second connecting assembly is rotatably connected to the second connecting rod assembly.

[0018] In one specific embodiment, the first linkage assembly includes a first linkage portion, a second linkage portion, and a rotating member; one end of the first linkage portion is rotatably connected to the fingertip assembly, and the other end of the first linkage portion is rotatably connected to the second linkage portion; the rotation angle of the first linkage portion relative to the second linkage portion includes 0°-90°;

[0019] The second connecting rod portion includes a first connecting portion and a second connecting portion on the side away from the first connecting rod portion. The first connecting portion is rotatably connected to the first connecting assembly along a first direction and a second direction. The second connecting portion is rotatably connected to the rotating member along the first direction. The side of the rotating member away from the second connecting portion is rotatably connected to the base along the second direction.

[0020] The rotation angle of the second connecting part of the second link relative to the base includes 0°-90°;

[0021] The second linkage assembly includes a third linkage portion and a fourth linkage portion; one end of the third linkage portion is rotatably connected to the fingertip assembly, and the other end of the third linkage portion is rotatably connected to one end of the fourth linkage portion; the other end of the fourth linkage portion is rotatably connected to the second connecting assembly along a first direction and a second direction respectively.

[0022] In one specific embodiment, it further includes: an elastic element, wherein the number of the first link portions is two, and the two first link portions form a space for accommodating the elastic element;

[0023] One end of the elastic element is connected to the end of the second link portion near the first link portion, and the other end of the elastic element is connected to the end of the second link assembly near the fingertip assembly. The elastic element is used to provide a tension force in the opposite direction to the bending direction when the first link assembly and the second link assembly bend along the first direction.

[0024] In one specific embodiment, it further includes: a rocker arm and a fingertip sensor, one end of the rocker arm being rotatably connected to the end of the first connecting component away from the first driving part, and the other end of the rocker arm being rotatably connected to the end of the second connecting component away from the second driving part;

[0025] The fingertip sensor is disposed on the fingertip assembly.

[0026] In one specific embodiment, the angle range of the first link assembly, and / or the second link assembly, and / or the fingertip assembly bending along the first direction includes 0°-90°;

[0027] The angle range of movement of the first link assembly, and / or the second link assembly, and / or the fingertip assembly along the second direction includes 0°-60°.

[0028] The second part of this invention provides a control method for a bionic mechanical finger, used to achieve drive control of the bionic mechanical finger mentioned in the above-mentioned technical solution. The method includes:

[0029] The first driving unit is driven so that the movable part of the first driving unit moves up and down synchronously along the length direction of the output end of the first driving unit, thereby causing the first connecting rod assembly to bend along the first direction. Furthermore, the first connecting rod assembly causes the second connecting rod assembly and the fingertip assembly to bend along the first direction, thus enabling the bionic mechanical finger to perform a bending and grasping operation; or...

[0030] The second driving unit is driven so that the movable part of the second driving unit moves up and down along the length direction of the output end of the second driving unit, thereby causing the second linkage assembly to bend along the first direction. Furthermore, the second linkage assembly causes the first linkage assembly and the fingertip assembly to bend along the first direction, thus enabling the bionic mechanical finger to perform a bending and grasping operation; or...

[0031] The two first driving units are driven respectively, so that the movable parts of the two first driving units move up and down along the length direction of the output end of the two first driving units and form a height difference, thereby driving the first linkage assembly to swing in the second direction, and driving the second linkage assembly and the fingertip assembly to swing in the second direction through the first linkage assembly, so as to realize the swinging operation of the bionic mechanical finger.

[0032] Thirdly, the present invention provides a bionic robotic hand, including the bionic robotic fingers mentioned in the above technical solution.

[0033] Beneficial effects:

[0034] This invention provides a bionic mechanical finger and a bionic mechanical hand having the same. The finger joints are controlled by two sets of drive mechanisms, enabling each joint to bend up and down at multiple angles and swing left and right at multiple angles, thereby achieving a variety of bionic movements. It is highly flexible and has a simple structure, reducing the difficulty of processing and installation. Attached Figure Description

[0035] Figure 1 This is a schematic diagram of the three-dimensional structure of the bionic mechanical finger according to an embodiment of the present invention;

[0036] Figure 2 This is a schematic diagram of the elastic element structure according to an embodiment of the present invention;

[0037] Figure 3 This is a schematic diagram of the bionic mechanical finger in the first direction in an embodiment of the present invention;

[0038] Figure 4 This is a schematic diagram of the state of the bionic mechanical finger bent at a first angle along a first direction according to an embodiment of the present invention;

[0039] Figure 5 This is a schematic diagram of the bionic mechanical finger of this invention bent at a second angle along a first direction, according to an embodiment of the invention.

[0040] Figure 6 This is a schematic diagram of the state of the bionic mechanical finger swinging at a first angle along the second direction according to an embodiment of the present invention;

[0041] Figure 7 This is a schematic diagram of the state of the bionic mechanical finger swinging at a second angle along a second direction according to an embodiment of the present invention;

[0042] Figure 8 This is a schematic diagram of the three-dimensional structure of the bionic robotic hand according to an embodiment of the present invention;

[0043] Figure 9 This is a schematic diagram of the back structure of the bionic robotic hand according to an embodiment of the present invention.

[0044] Reference numerals: 1-Base; 2-First drive unit; 3-Second drive unit; 4-First connecting assembly; 5-Second connecting assembly; 6-First link assembly; 61-First link part; 62-Second link part; 621-First connecting part; 622-Second connecting part; 63-Rotating component; 7-Second link assembly; 71-Third link part; 72-Fourth link part; 8-Fingert assembly; 9-Moving part; 10-Sliding component; 11-Sliding groove; 12-Spherical joint bearing; 13-Elastic component; 14-Rock arm; 15-Fingert sensor; a-First direction; b-Second direction. Detailed Implementation

[0045] In the following, various embodiments of the invention will be described more fully. The invention may have various embodiments, and adjustments and changes may be made therein. However, it should be understood that there is no intention to limit the various embodiments of the invention to the specific embodiments disclosed herein, but rather the invention should be understood to cover all adjustments, equivalents, and / or alternatives falling within the spirit and scope of the various embodiments disclosed herein.

[0046] The terminology used in the various embodiments disclosed herein is for the purpose of describing particular embodiments only and is not intended to limit the various embodiments disclosed herein. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which the various embodiments disclosed herein pertain. The terms (such as those defined in commonly used dictionaries) are to be interpreted as having the same meaning as in the context of the relevant technical field and are not to be interpreted as having an idealized or overly formal meaning, unless clearly defined in the various embodiments disclosed herein.

[0047] Example 1

[0048] This embodiment uses two sets of drive mechanisms to control the various joints of the fingers, enabling each joint to bend vertically and horizontally at multiple angles, thus achieving diverse biomimetic movements. It offers high flexibility and a simple structure, reducing manufacturing difficulty and installation complexity. The specific structure is shown in the attached instruction manual. Figure 1-7 As shown. The specific solution is as follows:

[0049] A bionic mechanical finger includes a base 1, a first driving part 2, a second driving part 3, a first connecting component 4, a second connecting component 5, a first link assembly 6 that can be bent along a first direction, a second link assembly 7 that can be bent along a first direction, and a fingertip assembly 8.

[0050] Both the first drive unit 2 and the second drive unit 3 are mounted on the base 1;

[0051] The first drive unit 2, the movable part 9, the first connecting component 4, and the first link component 6 are rotatably connected in sequence along the first direction and the second direction. Specifically, the first direction can be the length direction of the entire bionic mechanical finger, and the second direction can be a direction perpendicular to the first direction or the left-right direction of the bionic mechanical finger.

[0052] The movable part 9 of the second drive unit 3, the second connecting assembly 5, and the second link assembly 7 are rotatably connected in sequence along the first direction and the second direction.

[0053] The first link assembly 6 is rotatably connected to the base 1 along the first direction and the second direction;

[0054] The first link assembly 6 and the second link assembly 7 are rotatably connected to the fingertip assembly 8, so that the fingertip assembly 8 can be moved along the first direction and / or the second direction by the drive of the first drive unit 2 and / or the second drive unit 3.

[0055] As attached Figure 1 and attached Figure 2 As shown, this embodiment provides a bionic mechanical finger that simulates the complex movement mechanism of a human finger, aiming to achieve flexible and versatile operational functions. The base 1 serves as a stable support platform for the entire mechanical finger, ensuring its stability and reliability during operation. The first drive unit 2 and the second drive unit 3, as power sources, are independently mounted on the base 1, providing driving force to the mechanical finger through precise control of the movement of their movable parts 9.

[0056] The first connecting component 4 and the second connecting component 5 act as bridges, connecting the movable part 9 of their respective drive units and the linkage assembly, respectively. The first connecting component 4 and the second connecting component 5 can achieve flexible rotational connection in multi-dimensional space, ensuring smooth and efficient power transmission and improving the dexterity of the robotic finger. The first linkage assembly 6 and the second linkage assembly 7, as the "skeleton" of the robotic finger, can move along a preset first direction and a preset second direction under the drive of the first drive unit 2 and the second drive unit 3, as shown in the attached figure. Figure 3 - Appendix Figure 7As shown, movement along the first direction is equivalent to bending up and down, while movement along the second direction is equivalent to swinging left and right. The first link assembly 6 and the second link assembly 7 simulate the joint structure of a biological finger, enabling the mechanical finger to mimic bending and extending movements similar to a human hand. Simultaneously, the first link assembly 6 and the second link assembly 7 are rotatably connected to the base 1 and the fingertip assembly 8, ensuring the stability and reliability of the entire mechanical finger structure. The fingertip assembly 8, as the "tactile" end of the mechanical finger, can integrate various sensors and actuators in practical applications. The rotatable connection between the fingertip assembly 8 and the first link assembly 6 and the second link assembly 7 allows for flexible movement driven by these components.

[0057] In one specific embodiment, the first drive unit 2 and / or the second drive unit 3 include: a lead screw motor; the lead screw motor is mounted on the base 1;

[0058] The output end of the lead screw motor is provided with an external thread, and the movable part 9 is provided with an internal thread that matches the external thread; the output end of the lead screw motor is threadedly connected to the movable part 9 so that the movable part 9 can move up and down along the length direction of the output end through the drive of the lead screw motor.

[0059] In this embodiment, as shown in the appendix Figure 1 As shown, both the first drive unit 2 and the second drive unit 3 use a lead screw motor as the core power component. This embodiment uses an integrated motor and lead screw structure, eliminating the coupling, which simplifies the overall structure and reduces processing difficulty and installation complexity. The lead screw motor is mounted on the base 1 to ensure its stability and reliability during operation.

[0060] Furthermore, the output end of the lead screw motor is provided with an external thread, and correspondingly, the interior of the movable part 9 is also provided with an internal thread that matches the external thread. When the lead screw motor starts and its output end rotates, due to the tight fit between the external thread and the internal thread of the movable part 9, the movable part 9 will move up and down along the length direction of the lead screw motor as it rotates. This drives the first connecting assembly 4 and the second connecting assembly 5 to move.

[0061] Furthermore, in this embodiment, a slider 10 is provided on the side of each movable part 9 near the base 1; a sliding groove 11 matching the slider 10 is provided on the side of the base 1 corresponding to each movable part 9; when the movable part 9 is driven, the slider 10 slides along the sliding groove 11. (See attached...) Figure 1As shown, in practical applications, the sliding element 10 is typically made of wear-resistant, low-friction materials, such as high-strength plastics or special alloys, to ensure good sliding performance and durability even after prolonged use. Meanwhile, on the surface of the base 1, a sliding groove 11 corresponding to each sliding element 10 is provided for the position of each movable part 9. Furthermore, in practical applications, the bottom and sidewalls of the sliding groove 11 may undergo special treatment, such as polishing or coating with a lubricating layer, to further reduce friction and improve sliding efficiency. When the movable part 9 begins to move under the action of the first driving part 2 and / or the second driving part 3, the sliding element 10 on it will slide smoothly along the corresponding sliding groove 11 path, enhancing the stability and reliability of the entire structure.

[0062] In one specific embodiment, there are two first driving units 2 and two first connecting components 4; one first driving unit 2 is connected to one first connecting component 4, and the other first driving unit 2 is connected to the other first connecting component 4.

[0063] As attached Figure 1 As shown, this embodiment is equipped with two first driving units 2, and correspondingly, two first connecting components 4 are also designed. Each first driving unit 2 is connected to one first connecting component 4, forming two driving connection units that can move independently or synchronously. In practical applications, when the two first driving units synchronously drive the two first connecting components 4 to move up and down, the first connecting rod assembly 6 can bend up and down, as shown in the attached figure. Figure 4 and attached Figure 5 As shown; when the two first driving units asynchronously drive the two first connecting components 4 to move up and down, they can drive the first link assembly 6 to swing left and right, as shown in the attached figure. Figure 6 and attached Figure 7 As shown.

[0064] In one specific embodiment, ball joint bearings 12 are provided at both ends of the first connecting component 4 and / or the second connecting component 5;

[0065] The ball joint bearing 12 on one side of the first connecting assembly 4 is rotatably connected to the movable part 9 of the first drive part 2; the ball joint shaft on the other side of the first connecting assembly 4 is rotatably connected to the first connecting rod assembly 6.

[0066] The ball joint bearing 12 on one side of the second connecting assembly 5 is rotatably connected to the movable part 9 of the second drive part 3; the ball joint shaft on the other side of the second connecting assembly 5 is rotatably connected to the second link assembly 7.

[0067] In this embodiment, in order to achieve flexible and stable connection and transmission, ball joint bearings 12 are provided at both ends of the first connecting component 4 and the second connecting component 5, which enhances the flexibility of the connection.

[0068] Specifically, the ball joint bearing 12 on one side of the first connecting assembly 4 is rotatably connected to the movable part 9 of the first drive unit 2, so that when the movable part 9 receives power from the first drive unit 2, it can smoothly rotate or swing in multiple angles and directions through the ball joint bearing 12, thereby driving the movement of the first link assembly 6; the ball joint bearing 12 on the other side of the first connecting assembly 4 is rotatably connected to the first link assembly 6, so that the first link assembly 6 can bend up and down and / or swing left and right with the movement of the first connecting assembly 4.

[0069] Similarly, the ball joint bearing 12 on one side of the second connecting assembly 5 is rotatably connected to the movable part 9 of the second drive unit 3, so that the power of the second drive unit 3 can be efficiently transmitted to the second connecting assembly 5; the ball joint bearing 12 on the other side of the second connecting assembly 5 is rotatably connected to the second link assembly 7, so that the second link assembly 6 can bend up and down and / or swing left and right with the movement of the second connecting assembly 4.

[0070] In one specific embodiment, the first linkage assembly 6 includes a first linkage portion 61, a second linkage portion 62, and a rotating member 63; one end of the first linkage portion 61 is rotatably connected to the fingertip assembly 8, and the other end of the first linkage portion 61 is rotatably connected to the second linkage portion 62; the rotation angle of the first linkage portion 61 relative to the second linkage portion 62 includes 0°-90°.

[0071] The side of the second link portion 62 away from the first link portion 61 includes a first connecting portion 621 and a second connecting portion 622. The first connecting portion 621 is rotatably connected to the first connecting assembly 4 along a first direction and a second direction. The second connecting portion 622 is rotatably connected to the rotating member 63 along the first direction. The side of the rotating member 63 away from the second connecting portion 622 is rotatably connected to the base 1 along the second direction. The rotation angle of the second connecting portion 622 of the second link portion 62 relative to the base 1 includes 0°-90°.

[0072] The second link assembly 7 includes a third link portion 71 and a fourth link portion 72; one end of the third link portion 71 is rotatably connected to the fingertip assembly 8, and the other end of the third link portion 71 is rotatably connected to one end of the fourth link portion 72; the other end of the fourth link portion 72 is rotatably connected to the second connecting assembly 5 along the first direction and the second direction respectively.

[0073] In this embodiment, the first link assembly 6 is further designed to consist of a first link portion 61, a second link portion 62, and a rotating member 63.

[0074] As attached Figure 1 As shown, one end of the first link 61 is rotatably connected to the fingertip assembly 8, and the other end is rotatably connected to the second link 62, so that the movement between the first link 61, the second link 62 and the fingertip assembly 8 can be smoothly transmitted.

[0075] The side of the second link 62 furthest from the first link 61 is divided into a first connecting part 621 and a second connecting part 622. The first connecting part 621 is highly flexible and can be rotatably connected to the first connecting assembly 4 along a first direction and a second direction, allowing the second link 62 to move under the drive of the first connecting assembly 4. The second connecting part 622 is connected to the rotating member 63 along the first direction, and the side of the rotating member 63 furthest from the second connecting part 622 is rotatably connected to the base 1 along the second direction. This multi-layered rotating connection design not only enhances the flexibility of the mechanical system but also improves its ability to adapt to complex motion scenarios.

[0076] Furthermore, in this embodiment, the second linkage assembly 7 is designed to consist of a third linkage portion 71 and a fourth linkage portion 72. One end of the third linkage portion 71 is rotatably connected to the fingertip assembly 8, and the other end is rotatably connected to one end of the fourth linkage portion 72. The end of the fourth linkage portion 72 away from the third linkage portion 71 is rotatably connected to the second connecting assembly 5 along a first direction and a second direction. This multi-layered rotational connection design not only enhances the flexibility of the mechanical system but also improves its ability to adapt to complex motion scenarios.

[0077] In one specific embodiment, it further includes: an elastic member 13, and two first link portions 61, the two first link portions 61 forming a space for accommodating the elastic member 13;

[0078] One end of the elastic element 13 is connected to the end of the second link 62 near the first link 61, and the other end of the elastic element 13 is connected to the end of the second link assembly 7 near the fingertip assembly 8. The elastic element 13 is used to provide a tension force in the opposite direction to the bending direction when the first link assembly 6 and the second link assembly 7 are bent in the first direction.

[0079] In this embodiment, as shown in the appendix Figure 2 As shown, in order to further improve the stability and accuracy of the mechanical system, an elastic element 13 is introduced; furthermore, there are two first connecting rods 61, which not only each undertake the functions of connection and transmission, but also form a space for accommodating the elastic element 13.

[0080] Specifically, one end of the elastic element 13 is firmly connected to the end of the second link 62 near the first link 61, while the other end is connected to the end of the second link assembly 7 near the fingertip assembly 8. When the first link assembly 6 and the second link assembly 7 bend or deform along the first direction, the elastic element 13 generates a tension force opposite to the bending direction. This not only helps maintain the overall stability of the mechanical system but also effectively eliminates minor gaps that may occur during parts processing and assembly, thereby avoiding problems such as poor movement or decreased precision caused by gaps.

[0081] In one specific embodiment, it further includes: a rocker arm 14 and a fingertip sensor 15, one end of the rocker arm 14 being rotatably connected to the end of the first connecting component 4 away from the first driving part 2, and the other end of the rocker arm 14 being rotatably connected to the end of the second connecting component 5 away from the second driving part 3.

[0082] The fingertip sensor 15 is disposed on the fingertip assembly 8.

[0083] In this embodiment, a rocker arm 14 and a fingertip sensor 15 are also included.

[0084] One end of the rocker arm 14 is rotatably connected to the end of the first connecting component 4 away from the first driving part 2; the other end is rotatably connected to the end of the second connecting component 5 away from the second driving part 3, which further enhances the structural stability and motion coordination between the first connecting component 4 and the second connecting component 5.

[0085] In addition, in order to improve the perception and intelligence of the mechanical system, this embodiment also sets a fingertip sensor 15 on the fingertip component 8. The fingertip sensor 15 can sense and collect various information such as pressure, temperature and humidity when the fingertip component 8 comes into contact with the external environment in real time. This can help the system to more accurately judge the current working status and provide strong data support for subsequent decision-making and control.

[0086] In one specific embodiment, as shown in the appendix Figure 3 - Appendix Figure 7 As shown, the bending angle range of the first link assembly 6, and / or the second link assembly 7, and / or the fingertip assembly 8 along the first direction includes 0°-90°; covering a wide range of bending requirements, suitable for various operation scenarios such as grasping, pinching, and pressing, and enhancing the flexibility and adaptability of the overall structure of the bionic mechanical finger;

[0087] The first link assembly 6, and / or the second link assembly 7, and / or the fingertip assembly 8 move in the second direction at angles ranging from 0° to 60°, further enhancing the flexibility and adaptability of the overall structure of the bionic mechanical finger. This allows the bionic mechanical finger to better adapt to objects of different shapes and sizes, achieving more precise operational control.

[0088] Example 2

[0089] This embodiment provides a control method for a bionic mechanical finger, used to achieve drive control of the bionic mechanical finger mentioned in Embodiment 1. The method includes:

[0090] The first drive unit 2 is driven so that the movable part of the first drive unit 2 moves up and down synchronously along the length direction of the output end of the first drive unit 2, thereby driving the first linkage assembly 6 to bend along the first direction, and through the first linkage assembly 6, driving the second linkage assembly 7 and the fingertip assembly 8 to bend along the first direction, realizing the bending and grasping operation of the bionic mechanical finger; or,

[0091] The second drive unit 3 is driven so that its movable part moves up and down along the length of its output end, thereby causing the second linkage assembly 7 to bend along the first direction. The second linkage assembly 7 then causes the first linkage assembly 6 and the fingertip assembly 8 to bend along the first direction, thus enabling the bionic mechanical finger to perform bending and grasping operations; or...

[0092] Two first drive units 2 are driven respectively, so that the movable parts of the two first drive units 2 move up and down along the length direction of the output end of the two first drive units 2 and form a height difference, thereby driving the first linkage assembly 6 to swing in the second direction, and driving the second linkage assembly 7 and the fingertip assembly 8 to swing in the second direction through the first linkage assembly 6, so as to realize the swinging operation of the bionic mechanical finger.

[0093] Example 3

[0094] This embodiment provides a bionic robotic hand, as shown in the attached figure. Figure 8 and attached Figure 9 As shown, this includes the bionic mechanical finger mentioned in Example 1.

[0095] This invention provides a bionic mechanical finger and a bionic mechanical hand having the same. The finger joints are controlled by two sets of drive mechanisms, enabling each joint to bend up and down at multiple angles and swing left and right at multiple angles, thereby achieving a variety of bionic movements. It is highly flexible and has a simple structure, reducing the difficulty of processing and installation.

[0096] Those skilled in the art will understand that the accompanying drawings are merely schematic diagrams of a preferred embodiment, and the modules or processes shown in the drawings are not necessarily essential for implementing the present invention. Those skilled in the art will also understand that the modules in the apparatus of the embodiment can be distributed within the apparatus of the embodiment as described, or can be located in one or more apparatuses different from this embodiment, with corresponding changes.

Claims

1. A bionic mechanical finger, characterized in that, It includes a base, a first drive unit, a second drive unit, a first connecting assembly, a second connecting assembly, a first link assembly that can be bent in a first direction, a second link assembly that can be bent in a first direction, and a fingertip assembly; Both the first driving unit and the second driving unit are disposed on the base; The movable part of the first drive unit, the first connecting component, and the first link assembly are rotatably connected in sequence along the first direction and the second direction. The movable part of the second drive unit, the second connecting assembly, and the second link assembly are rotatably connected in sequence along the first direction and the second direction. The first linkage assembly is rotatably connected to the base along a first direction and a second direction; The first linkage assembly and the second linkage assembly are rotatably connected to the fingertip assembly, so that the fingertip assembly can be moved along a first direction and / or a second direction by the drive of the first drive unit and / or the second drive unit; The number of first driving units is two, and the number of first connecting components is two; one first driving unit is connected to one first connecting component, and the other first driving unit is connected to the other first connecting component; Both ends of the first connecting assembly and / or the second connecting assembly are provided with ball joint bearings; the ball joint bearing on one side of the first connecting assembly is rotatably connected to the movable part of the first drive unit; the ball joint shaft on the other side of the first connecting assembly is rotatably connected to the first connecting rod assembly; the ball joint bearing on one side of the second connecting assembly is rotatably connected to the movable part of the second drive unit; the ball joint shaft on the other side of the second connecting assembly is rotatably connected to the second connecting rod assembly. The first linkage assembly includes a first linkage portion, a second linkage portion, and a rotating component; one end of the first linkage portion is rotatably connected to the fingertip assembly, and the other end of the first linkage portion is rotatably connected to the second linkage portion; the rotation angle of the first linkage portion relative to the second linkage portion includes 0°-90°.

2. The bionic mechanical finger according to claim 1, characterized in that, The first drive unit and / or the second drive unit includes: a lead screw motor; the lead screw motor is mounted on the base; The output end of the lead screw motor is provided with an external thread, and the movable part is provided with an internal thread that matches the external thread; the output end of the lead screw motor is threadedly connected to the movable part so that the movable part can move up and down along the length direction of the output end through the drive of the lead screw motor. Each of the movable parts is provided with a slider on the side near the base; the base is provided with a sliding groove on the side corresponding to each of the movable parts, which matches the slider; when the movable part is driven, the slider slides along the sliding groove.

3. The bionic mechanical finger according to claim 1, characterized in that, The second connecting rod portion includes a first connecting portion and a second connecting portion on the side away from the first connecting rod portion. The first connecting portion is rotatably connected to the first connecting assembly along a first direction and a second direction. The second connecting portion is rotatably connected to the rotating member along the first direction. The side of the rotating member away from the second connecting portion is rotatably connected to the base along the second direction. The rotation angle of the second connecting part of the second link relative to the base includes 0°-90°; The second linkage assembly includes a third linkage portion and a fourth linkage portion; one end of the third linkage portion is rotatably connected to the fingertip assembly, and the other end of the third linkage portion is rotatably connected to one end of the fourth linkage portion; the other end of the fourth linkage portion is rotatably connected to the second connecting assembly along a first direction and a second direction respectively.

4. The bionic mechanical finger according to claim 1, characterized in that, Also includes: The elastic element has two first connecting rod portions, and the two first connecting rod portions form a space for accommodating the elastic element. One end of the elastic element is connected to the end of the second link portion near the first link portion, and the other end of the elastic element is connected to the end of the second link assembly near the fingertip assembly. The elastic element is used to provide a tension force in the opposite direction to the bending direction when the first link assembly and the second link assembly bend along the first direction.

5. The bionic mechanical finger according to claim 1, characterized in that, Also includes: A rocker arm and a fingertip sensor, wherein one end of the rocker arm is rotatably connected to the end of the first connecting assembly away from the first driving part, and the other end of the rocker arm is rotatably connected to the end of the second connecting assembly away from the second driving part; The fingertip sensor is disposed on the fingertip assembly.

6. The bionic mechanical finger according to claim 1, characterized in that, The angle range of the first link assembly, and / or the second link assembly, and / or the fingertip assembly bending along the first direction includes 0°-90°; The angle range of movement of the first link assembly, and / or the second link assembly, and / or the fingertip assembly along the second direction includes 0°-60°.

7. A method for controlling a bionic mechanical finger, characterized in that, The method for achieving drive control of the bionic mechanical finger according to any one of claims 1-6 includes: The first driving unit is driven so that the movable part of the first driving unit moves up and down synchronously along the length direction of the output end of the first driving unit, thereby causing the first connecting rod assembly to bend along the first direction. Furthermore, the first connecting rod assembly causes the second connecting rod assembly and the fingertip assembly to bend along the first direction, thus enabling the bionic mechanical finger to perform a bending and grasping operation; or... The second driving unit is driven so that the movable part of the second driving unit moves up and down along the length direction of the output end of the second driving unit, thereby causing the second linkage assembly to bend along the first direction. Furthermore, the second linkage assembly causes the first linkage assembly and the fingertip assembly to bend along the first direction, thus enabling the bionic mechanical finger to perform a bending and grasping operation; or... The two first driving units are driven respectively, so that the movable parts of the two first driving units move up and down along the length direction of the output end of the two first driving units and form a height difference, thereby driving the first linkage assembly to swing in the second direction, and driving the second linkage assembly and the fingertip assembly to swing in the second direction through the first linkage assembly, so as to realize the swinging operation of the bionic mechanical finger.

8. A bionic robotic hand, characterized in that, Including the bionic mechanical finger as described in any one of claims 1-6.

Images