Bionic finger, bionic hand and robot
By designing a bionic finger including a mount, a linear drive member and an elastic member, the problem of grasping blind spots in existing bionic hand when grasping is solved, and a higher fit and grasp stability are achieved.
Patent Information
- Application Number
- CN202411641028.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-15
- Publication Date
- 2025-02-11
Smart Images
Figure CN119407823A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of robotics technology, and in particular to a bionic finger, a bionic hand and a robot. Background Art
[0002] With the continuous development of robotics technology, bionic dexterous hands have become one of the research hotspots in the field of robotics.
[0003] However, when the existing bionic dexterous hand grasps an object, there is a blind spot between the fingers and the object, resulting in a low fit between the fingers and the object, which easily causes the object to fall off the bionic dexterous hand. Summary of the invention
[0004] The present application provides a bionic finger, a bionic hand and a robot, so that the bionic finger can better fit the object to be picked up.
[0005] In a first aspect, the present application provides a bionic finger, the bionic finger including an extended state, and the bionic finger is configured with a gripping side, the bionic finger including:
[0006] The mounting base comprises a first connecting arm assembly and a second connecting arm assembly, wherein the second connecting arm assembly is located at a side of the first connecting arm assembly close to the holding side;
[0007] The first finger joint comprises a linear drive member and a housing, wherein the linear drive member is arranged in the housing, and the linear drive member comprises a main structure and an output shaft, wherein the output shaft is telescopically arranged relative to one end of the main structure, an end of the main structure away from the output shaft is rotatably connected to the first connecting arm assembly, and an end of the housing away from the output shaft is rotatably connected to the second connecting arm assembly;
[0008] The second finger joint comprises a third connecting arm assembly and a fourth connecting arm assembly, wherein the fourth connecting arm assembly is located at a side of the third connecting arm assembly close to the gripping side, the third connecting arm assembly is rotatably connected to the output shaft, and the fourth connecting arm assembly is rotatably connected to an end of the housing away from the second connecting arm assembly;
[0009] The first elastic member acts between the shell and the second connecting arm assembly. When the bionic finger is in the extended state, the first elastic member stores elastic potential energy for driving the first finger joint to rotate toward the holding side.
[0010] Based on the above technical scheme, the bionic finger provided by the present application can make the first knuckle and the second knuckle move in sequence, approach and contact the object to be picked up in sequence, so that both the first knuckle and the second knuckle can contact and hold the object to be picked up, avoiding the occurrence of blind spots in holding, improving the fit between the bionic finger and the object to be picked up, improving the grasping stability, and reducing the risk of the object to be picked up slipping relative to the bionic finger during the grasping process.
[0011] In some possible implementations, the first elastic member includes a first spring coil, a first torsion arm and a second torsion arm, the first torsion arm and the second torsion arm are respectively arranged at two ends of the first spring coil, the first torsion arm abuts against the second connecting arm assembly, and the second torsion arm abuts against the housing.
[0012] In some possible implementations, a first limiting portion is protruded from a side of the second connecting arm assembly toward the holding side, and the first limiting portion is located on a rotation path when the shell rotates toward the holding side.
[0013] In some possible implementations, a second limiting portion is configured on a side of the housing away from the holding side;
[0014] The mounting seat further comprises a mounting seat body, the first connecting arm assembly and the second connecting arm assembly are arranged at the same end of the mounting seat body, and one end of the mounting seat body facing the second connecting arm assembly is provided with a limiting surface opposite to the second limiting portion;
[0015] The limiting surface is located on a rotation path when the second limiting portion rotates in a direction away from the holding side.
[0016] In some possible implementations, the bionic finger further includes a gripping state, and the bionic finger further includes a second elastic member, and the second elastic member acts between the housing and the fourth connecting arm assembly;
[0017] When the bionic finger is in the gripping state, the second elastic member stores elastic potential energy for driving the second finger joint to rotate in a direction away from the gripping side.
[0018] In some possible implementations, the second elastic member includes a second spring coil, a third torsion arm, and a fourth torsion arm, the third torsion arm and the fourth torsion arm are respectively arranged at two ends of the second spring coil, the third torsion arm abuts against the fourth connecting arm assembly, and the fourth torsion arm abuts against the housing.
[0019] In some possible implementations, a third limiting portion is protruded on one side of the housing toward the holding side, and the third limiting portion is located at an end of the housing close to the second knuckle;
[0020] The third limiting portion is located on a rotation path when the fourth connecting arm assembly rotates toward the holding side.
[0021] In some possible implementations, a notch is formed on a side of the housing away from the holding side for exposing the output shaft, and a side wall of the notch is provided with a fourth limiting portion opposite to the third connecting arm assembly;
[0022] The fourth limiting portion is located on a rotation path of the third connecting arm assembly when the third connecting arm assembly rotates in a direction away from the holding side.
[0023] In a second aspect, the present application provides a bionic hand, comprising the bionic fingers provided in the above embodiments.
[0024] In a third aspect, the present application also provides a robot comprising the bionic finger provided in the above embodiments. BRIEF DESCRIPTION OF THE DRAWINGS
[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.
[0026] Figure 1 A schematic diagram of a three-dimensional structure of a bionic finger in some embodiments is shown;
[0027] Figure 2 Another schematic diagram of the three-dimensional structure of a bionic finger in some embodiments is shown;
[0028] Figure 3 Shows a schematic diagram of the structure of the mounting base in some embodiments;
[0029] Figure 4 A schematic diagram of a three-dimensional structure of a first finger joint in some embodiments is shown;
[0030] Figure 5 Another schematic diagram of the three-dimensional structure of the first finger joint in some embodiments is shown;
[0031] Figure 6 A schematic diagram showing the matching relationship between each elastic member and the first finger joint in some embodiments is shown;
[0032] Figure 7 Shows Figure 6 A schematic diagram of the partially enlarged structure of part A;
[0033] Figure 8 Shows Figure 6A schematic diagram of the partially enlarged structure of part B;
[0034] Fig. 9 A schematic structural diagram of the second knuckle in some embodiments is shown.
[0035] Description of main component symbols:
[0036] 1000-bionic finger; 1001-gripping side;
[0037] 100-mounting seat; 110-first connecting arm assembly; 111-first connecting arm; 120-second connecting arm assembly; 121-second connecting arm; 1211-first assembly flange; 1212-first assembly groove; 1213-first connecting shaft; 1214-third containing groove; 130-mounting seat body; 131-limiting surface;
[0038] 200-first finger joint; 210-linear driving member; 211-main structure; 212-output shaft; 213-fifth connecting arm; 220-housing; 221-sixth connecting arm; 2211-first accommodating groove; 2212-second assembly flange; 2213-second assembly groove; 222-first limiting portion; 223-second limiting portion; 224-seventh connecting arm; 2241-second accommodating groove; 2242-fourth assembly flange; 2243-third assembly groove; 225-third limiting portion; 226-notch; 227-fourth limiting portion;
[0039] 300-second finger joint; 310-third connecting arm assembly; 311-third connecting arm; 320-fourth connecting arm assembly; 321-fourth connecting arm; 3211-second connecting shaft; 3212-third assembly flange; 322-stop block; 330-knuckle body; 331-anti-slip pattern;
[0040] 410 - first elastic member; 411 - first spring coil; 412 - first torsion arm; 413 - second torsion arm;
[0041] 420 - second elastic member; 421 - second spring coil; 422 - third torsion arm; 4221 - abutment section; 423 - fourth torsion arm;
[0042] 510-first rotating shaft; 520-second rotating shaft. DETAILED DESCRIPTION
[0043] The embodiments of the present application are described in detail below, and 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 only used to explain the present application, and cannot be understood as limiting the present application.
[0044] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.
[0045] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.
[0046] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.
[0047] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being “above”, “above”, and “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.
[0048] like Figure 1 As shown, in an embodiment, a bionic finger 1000 is provided, which can be applied to a bionic hand of a robot. In some embodiments, the bionic finger 1000 can be a thumb structure.
[0049] In other embodiments, the bionic finger 1000 may also be a part of the index finger, a part of the middle finger, or a part of the structure of another bionic finger 1000 .
[0050] like Figures 1 to 9 As shown, in the embodiment, the bionic finger 1000 may include an extended state and a gripping state. In addition, the bionic finger 1000 is further configured with a gripping side 1001. The gripping side 1001 of the bionic finger 1000 may refer to the side of the bionic finger 1000 that contacts the object to be picked up when gripping the object to be picked up.
[0051] In some embodiments, the bionic finger 1000 includes a mounting base 100 , a first knuckle 200 , a second knuckle 300 , and a first elastic member 410 .
[0052] The mounting base 100 includes a first connecting arm assembly 110 and a second connecting arm assembly 120. The second connecting arm assembly 120 may be located on a side of the first connecting arm assembly 110 close to the gripping side 1001.
[0053] The first finger joint 200 includes a linear drive member 210 and a housing 220, wherein the linear drive member 210 is disposed in the housing 220. In an embodiment, the linear drive member 210 includes a main structure 211 and an output shaft 212, wherein the output shaft 212 can be telescopically disposed relative to one end of the main structure 211. One end of the main structure 211 away from the output shaft 212 is rotatably connected to the first connecting arm assembly 110. One end of the housing 220 away from the output shaft 212 is rotatably connected to the second connecting arm assembly 120. In some embodiments, the rotation axis between the main structure 211 and the first connecting arm assembly 110 is parallel to the rotation axis between the housing 220 and the second connecting arm assembly 120.
[0054] The second finger joint 300 includes a third connecting arm assembly 310 and a fourth connecting arm assembly 320. The fourth connecting arm assembly 320 may be located on a side of the third connecting arm assembly 310 close to the gripping side 1001. In the embodiment, the third connecting arm assembly 310 is rotatably connected to the output shaft 212, and the fourth connecting arm assembly 320 is rotatably connected to an end of the housing 220 away from the second connecting arm assembly 120. The rotation axis between the fourth connecting arm assembly 320 and the housing 220 may be parallel to the rotation axis between the third connecting arm assembly 310 and the output shaft 212. And the rotation axis between the fourth connecting arm assembly 320 and the housing 220 may be parallel to the rotation axis between the housing 220 and the second connecting arm assembly 120.
[0055] The first elastic member 410 can act between the housing 220 and the second connecting arm assembly 120. When the bionic finger 1000 is in an extended state, the first elastic member 410 can store elastic potential energy for driving the first knuckle 200 to move toward the gripping side 1001.
[0056] When the bionic finger 1000 needs to hold the object to be picked up, the linear drive member 210 is activated to gradually extend the output shaft 212. During this process, the first elastic member 410 can drive the first knuckle 200 to move toward the holding side 1001. Even if the first knuckle 200 moves toward the inner side of the palm to approach the object to be picked up, the second knuckle 300 can remain fixed relative to the first knuckle 200. After the first knuckle 200 touches the object to be picked up, the first knuckle 200 stops moving, the output shaft 212 of the linear drive member 210 continues to extend, and the second knuckle 300 can rotate relative to the first knuckle 200 under the driving action of the linear drive member 210 and rotate toward the holding side 1001, that is, move in the direction close to the palm to gradually approach and contact the object to be picked up. After the second knuckle 300 contacts the object to be picked up, the linear drive member 210 can stop moving to achieve the grip of the object to be picked up.
[0057] When it is necessary to place the object to be taken, the linear drive member 210 is started, and the output shaft 212 is gradually shortened relative to the main structure 211. In this process, the output shaft 212 can first pull the second knuckle 300 to rotate relative to the first knuckle 200, and rotate in the direction away from the gripping side 1001 to unfold, even if the second knuckle 300 rotates in the direction away from the palm. After the second knuckle 300 is reset, the output shaft 212 continues to shorten, and under the action of the linear drive member 210, the elastic potential energy of the first elastic member 410 can be overcome, so that the first knuckle 200 rotates relative to the mounting seat 100, and rotates in the direction away from the gripping side 1001 to unfold, even if the first knuckle 200 rotates in the direction away from the palm, until the first knuckle 200 is reset, and then the linear drive member 210 stops.
[0058] It can be seen that the bionic finger 1000 provided in the present application can make the first knuckle 200 and the second knuckle 300 move in sequence, approach and contact the object to be picked up in sequence, so that the first knuckle 200 and the second knuckle 300 can both contact and hold the object to be picked up, avoiding the occurrence of blind spots in holding, improving the fit between the bionic finger 1000 and the object to be picked up, improving the grasping stability, and reducing the risk of the object to be picked up slipping relative to the bionic finger 1000 during the grasping process.
[0059] like Figure 3 As shown, the mounting base 100 may further include a mounting base body 130. In some embodiments, the mounting base body 130 may be an integral structure with the first connecting arm assembly 110 and the second connecting arm assembly 120. The first connecting arm assembly 110 and the second connecting arm assembly 120 may be protrudingly disposed at the same end of the mounting base body 130. One end of the mounting base body 130 away from the first connecting arm assembly 110 may be used to connect to the palm of the bionic hand.
[0060] like Figure 3 , Figure 4 and Figure 6 As shown, in some embodiments, the first connecting arm assembly 110 may include two first connecting arms 111 spaced apart from each other. A first rotating shaft 510 is connected between the two first connecting arms 111. The first rotating shaft 510 may be fixedly connected to the two first connecting arms 111. A fifth connecting arm 213 is protruded from one end of the main structure 211 of the linear drive member 210 toward the mounting seat 100. The fifth connecting arm 213 may be an integral structure with the main structure 211. The fifth connecting arm 213 is rotatably sleeved on the first rotating shaft 510. In this way, a rotational connection between the main structure 211 and the first connecting arm assembly 110 can be achieved.
[0061] In other embodiments, the first rotating shaft 510 may also be rotatably disposed relative to the two first connecting arms 111, and the first rotating shaft 510 is fixedly connected to the fifth connecting arm 213. Alternatively, the first rotating shaft 510 is rotatably connected to the two first connecting arms 111, and the first rotating shaft 510 is rotatably connected to the fifth connecting arm 213.
[0062] like Figure 1 , Figure 3 and Figure 6 As shown, in some embodiments, the second connecting arm assembly 120 may include two spaced and opposite second connecting arms 121. The second connecting arm 121 may be located on a side of the first connecting arm 111 facing the gripping side 1001. Along the axial direction of the first rotating shaft 510, the two second connecting arms 121 may be disposed on both sides of the first connecting arm assembly 110.
[0063] The housing 220 is provided with two sixth connecting arms 221 protruding from one end thereof facing the mounting seat 100. The two sixth connecting arms 221 may be provided on both sides of the mounting seat 100 along the axial direction of the first rotating shaft 510. The two sixth connecting arms 221 may be rotatably connected to the two second connecting arms 121 in a one-to-one correspondence. In the embodiment, the connection method between the two groups of second connecting arms 121 and the sixth connecting arms 221 may be similar, and a specific description is given below by taking one group as an example.
[0064] In some embodiments, a first connecting shaft 1213 is provided on one side of the second connecting arm 121 protruding toward the sixth connecting arm 221. The first connecting shaft 1213 may be rotatably connected to the sixth connecting arm 221 via a bearing.
[0065] like Figure 3 , Figure 4 , Figure 6 and Figure 7As shown, in some embodiments, the bionic finger 1000 may include a first elastic member 410. The first elastic member 410 may be disposed between one of the second connecting arms 121 and the sixth connecting arm 221. Specifically, the second connecting arm 121 is provided with a first assembly flange 1211 protruding from one side of the second connecting arm 121 toward the sixth connecting arm 221, and the first assembly flange 1211 may be disposed around the circumference of the first connecting shaft 1213, and the first assembly flange 1211 is located at one end of the first connecting shaft 1213 away from the sixth connecting arm 221. In addition, a third annular receiving groove 1214 is provided around the circumference of the first assembly flange 1211.
[0066] The side of the sixth connecting arm 221 facing the second connecting arm 121 is provided with a first receiving groove 2211 and an annular second assembly flange 2212. The first receiving groove 2211 is arranged around the circumference of the second assembly flange 2212. The end of the first connecting shaft 1213 facing the sixth connecting arm 221 can be inserted into the second assembly flange 2212 and rotatably cooperate with the second assembly flange 2212 through a bearing.
[0067] In some embodiments, the first elastic member 410 may be a torsion spring. The first elastic member 410 includes an integrated first spring coil 411 , a first torsion arm 412 and a second torsion arm 413 , wherein the first torsion arm 412 and the second torsion arm 413 are disposed at two ends of the first spring coil 411 .
[0068] In the embodiment, the first spring coil 411 is sleeved on the circumference of the first assembly flange 1211 and the second assembly flange 2212. The second connecting arm 121 is further provided with a first assembly groove 1212 communicating with the third receiving groove 1214 on one side facing the sixth connecting arm 221, and the first assembly groove 1212 may be substantially linear. The first torsion arm 412 may be inserted into the first assembly groove 1212 and abut against the side wall of the first assembly groove 1212. The sixth connecting arm 221 is further provided with a second assembly groove 2213 communicating with the first receiving groove 2211 on one side facing the second connecting arm 121, and the second assembly groove 2213 may be substantially linear. The second torsion arm 413 may be inserted into the second assembly groove 2213 and abut against the side wall of the second assembly groove 2213.
[0069] Combined with Figure 1 When the bionic finger 1000 is in an extended state, the first elastic member 410 can be in a twisted state under the squeezing action of the shell 220 and the mounting base 100, and store corresponding elastic potential energy, so as to drive the first knuckle 200 to rotate toward the gripping side 1001, that is, toward the palm side, when the bionic finger 1000 switches to a gripping state.
[0070] In other embodiments, the first elastic member 410 may also be an elastic structure such as a tension spring or an elastic rope. The first elastic member 410 may be connected between the sixth connecting arm 221 and the second connecting arm 121. The connection position of the first elastic member 410 and the sixth connecting arm 221 is located on the side of the connection position of the first elastic member 410 and the second connecting arm 121 away from the gripping side 1001. When the bionic finger 1000 is in an extended state, the first elastic member 410 may be in a stretched state.
[0071] In other embodiments, the first elastic member 410 may also be an elastic structure such as a tension spring or an elastic rope. The first elastic member 410 may be connected between the sixth connecting arm 221 and the second connecting arm 121. The connection position of the first elastic member 410 and the sixth connecting arm 221 is located on the side of the connection position of the first elastic member 410 and the second connecting arm 121 close to the gripping side 1001. When the bionic finger 1000 is in an extended state, the first elastic member 410 may be in a compressed state.
[0072] In some other embodiments, the bionic finger 1000 may also include two first elastic members 410 , and one first elastic member 410 may be disposed between two groups of sixth connecting arms 221 and second connecting arms 121 in a one-to-one correspondence.
[0073] like Figure 1 , Figure 3 and Figure 6 As shown, in some embodiments, a first limiting portion 222 is further provided at one end of the sixth connecting arm 221 away from the second connecting arm 121. Along the axial direction of the first connecting shaft 1213, the first limiting portion 222 may be located on the side of the sixth connecting arm 221 facing the second connecting arm 121. And the first limiting portion 222 is located on the side of the sixth connecting arm 221 close to the gripping side 1001. In addition, the second connecting arm 121 may protrude relative to the side of the sixth connecting arm 221 close to the gripping side 1001, and be located on the rotation path of the first limiting portion 222 when rotating toward the gripping side 1001. When the first finger joint 200 rotates to a certain stroke relative to the mounting seat 100 in the direction of the gripping side 1001, the first limiting portion 222 may abut against the second connecting arm 121. Thus, the first limiting portion 222 and the second connecting arm 121 may cooperate to limit the extreme position of the first finger joint 200 when rotating toward the gripping side 1001.
[0074] like Figure 1 and Figure 2As shown, in some embodiments, the end of the sixth connecting arm 221 facing the mounting seat 100 is further provided with a second limiting portion 223. Along the axial direction of the first connecting shaft 1213, the second limiting portion 223 may be located on the side of the sixth connecting arm 221 facing the second connecting arm 121. In addition, a step structure facing the second limiting portion 223 may be formed between the mounting seat body 130 and the second connecting arm 121, and accordingly, a limiting surface 131 opposite to the second limiting portion 223 may be provided on the end of the mounting seat body 130 facing the second connecting arm 121. The limiting surface 131 may be located on the rotation path when the second limiting portion 223 rotates in a direction away from the gripping side 1001. When the first finger joint 200 rotates to a certain stroke relative to the mounting seat 100 in a direction away from the gripping side 1001, the second limiting portion 223 may abut against the limiting surface 131. Therefore, the second limiting portion 223 can cooperate with the limiting surface 131 to limit the extreme position of the first finger joint 200 when it rotates away from the holding side 1001.
[0075] like Figure 1 and Figure 5 As shown, in some embodiments, the linear drive member 210 can be a linear electric cylinder, a pneumatic cylinder, a hydraulic cylinder, or an electric push rod. The output shaft 212 of the linear drive member 210 can be oriented toward a side away from the mounting seat 100 .
[0076] like Fig. 9 As shown, in some embodiments, the second finger joint 300 further includes a finger joint body 330 , which can be used to contact the object to be picked up to provide a gripping function. The third connecting arm assembly 310 and the fourth connecting arm assembly 320 can be disposed at the same end of the finger joint body 330 .
[0077] like Figure 5 and Fig. 9 As shown, in some embodiments, the third connecting arm assembly 310 may include two spaced and opposite third connecting arms 311. The two third connecting arms 311 may be disposed on both sides of the output shaft 212. In the embodiment, the two third connecting arms 311 and the output shaft 212 may be rotatably connected via the second rotating shaft 520. Specifically, the second rotating shaft 520 may be rotatably disposed in the output shaft 212, and the second rotating shaft 520 may be perpendicular to the output shaft 212. The two third connecting arms 311 may be fixedly connected to both ends of the second rotating shaft 520 in a one-to-one correspondence.
[0078] In other embodiments, the second rotating shaft 520 is rotatably connected to the two third connecting arms 311, and the second rotating shaft 520 is fixedly connected to the output shaft 212. Alternatively, the second rotating shaft 520 is rotatably connected to the two third connecting arms 311, and the second rotating shaft 520 is also rotatably connected to the output shaft 212.
[0079] like Figure 5 and Fig. 9 As shown, in some embodiments, the fourth connecting arm assembly 320 may include two spaced-apart fourth connecting arms 321. Two spaced-apart seventh connecting arms 224 are protruded from one end of the housing 220 toward the second knuckle 300. Along the extension direction of the rotation axis between the fourth connecting arm 321 and the housing 220, the two seventh connecting arms 224 are disposed on both sides of the fourth connecting arm assembly 320. And the two seventh connecting arms 224 may be rotatably connected to the two fourth connecting arms 321 in a one-to-one correspondence. In the embodiment, the connection method of the two groups of the seventh connecting arms 224 and the fourth connecting arms 321 may be similar.
[0080] In some embodiments, a second connecting shaft 3211 is provided on one side of the second connecting arm 121 protruding toward the seventh connecting arm 224. The second connecting shaft 3211 may be rotatably connected to the seventh connecting arm 224 via a shaft bearing.
[0081] like Figure 5 , Figure 6 , Figure 8 and Fig. 9 As shown, in some embodiments, the bionic finger 1000 further includes a second elastic member 420. The second elastic member 420 may be disposed between a set of the seventh connecting arms 224 and the fourth connecting arm 321. Specifically, the fourth connecting arm 321 is provided with a third assembly flange 3212 protruding toward one side of the seventh connecting arm 224, and the third assembly flange 3212 may be disposed around the circumference of the second connecting shaft 3211, and the third assembly flange 3212 is located at an end of the second connecting shaft 3211 away from the seventh connecting arm 224.
[0082] The side of the seventh connecting arm 224 facing the fourth connecting arm 321 is provided with a second accommodating groove 2241 and an annular fourth assembly flange 2242. The second accommodating groove 2241 is disposed around the circumference of the fourth assembly flange 2242. One end of the second connecting shaft 3211 facing the seventh connecting arm 224 can be inserted into the fourth assembly flange 2242 and rotatably cooperate with the fourth assembly flange 2242 through a bearing.
[0083] In some embodiments, the second elastic member 420 may be a torsion spring. The second elastic member 420 may include an integrated second spring coil 421, a third torsion arm 422 and a fourth torsion arm 423, and the third torsion arm 422 and the fourth torsion arm 423 are respectively disposed at both ends of the second spring coil 421. In the embodiment, the second spring coil 421 is sleeved on the circumference of the third assembly flange 3212 and the fourth assembly flange 2242.
[0084] In some embodiments, the third torsion arm 422 may be L-shaped. An end of the third torsion arm 422 away from the second spring coil 421 may be configured with an abutment section 4221 parallel to the second connection axis 3211. A stop block 322 may be configured between the two fourth connection arms 321, and the stop block 322 is located on a side of the fourth connection arm 321 facing the third connection arm assembly 310. The abutment section 4221 in the third torsion arm 422 may abut against a side of the stop block 322 facing the first knuckle 200.
[0085] The seventh connecting arm 224 is further provided with a third assembly slot 2243 communicating with the second receiving slot 2241 on one side thereof facing the fourth connecting arm 321. The third assembly slot 2243 may be substantially linear. The fourth torsion arm 423 may be inserted into the third assembly slot 2243 and abut against the side wall of the third assembly slot 2243.
[0086] When the bionic finger 1000 is in the extended state, the second elastic member 420 can be in a natural state or a twisted state. When the second elastic member 420 is in the twisted state, the second elastic member 420 stores elastic potential energy for driving the second knuckle 300 to rotate away from the gripping side 1001 .
[0087] In other embodiments, the second elastic member 420 may also be an elastic structure such as a tension spring or an elastic rope. The second elastic member 420 may be connected between the seventh connecting arm 224 and the fourth connecting arm 321. The connection position of the second elastic member 420 and the seventh connecting arm 224 is located on the side of the connection position of the second elastic member 420 and the fourth connecting arm 321 away from the gripping side 1001. When the bionic finger 1000 is in an extended state, the second elastic member 420 may be in a naturally extended or stretched state.
[0088] In other embodiments, the second elastic member 420 may also be an elastic structure such as a tension spring or an elastic rope. The second elastic member 420 may be connected between the seventh connecting arm 224 and the fourth connecting arm 321. The connection position of the second elastic member 420 and the seventh connecting arm 224 is located on the side of the connection position of the second elastic member 420 and the fourth connecting arm 321 close to the gripping side 1001. When the bionic finger 1000 is in an extended state, the second elastic member 420 may be in a naturally extended state or a compressed state.
[0089] In some other embodiments, the bionic finger 1000 may also include two second elastic members 420 , and one second elastic member 420 may be disposed between two groups of seventh connecting arms 224 and fourth connecting arms 321 in a one-to-one correspondence.
[0090] like Figure 1 , Figure 2 , Figure 5 and Fig. 9As shown, in some embodiments, the seventh connecting arm 224 is further provided with a third limiting portion 225 protruding from one side of the seventh connecting arm 224 toward the gripping side 1001. The third limiting portion 225 may be located on the rotation path when the second finger joint 300 rotates toward the gripping side 1001. When the second finger joint 300 rotates to a certain angle toward the gripping side 1001, it may abut against the third limiting portion 225. Thus, the third limiting portion 225 may limit the second finger joint 300 to an extreme position when it rotates toward the side close to the palm.
[0091] In some embodiments, a notch 226 is provided on the side of the housing 220 away from the gripping side 1001. The notch 226 may be located at the end of the housing 220 facing the second knuckle 300, so that the end of the output shaft 212 used for connecting to the third connecting arm assembly 310 may be exposed. Accordingly, a fourth limiting portion 227 opposite to the third connecting arm assembly 310 may be formed at the end of the housing 220 facing the second knuckle 300, and the fourth limiting portion 227 may be a part of the side wall of the notch 226. Moreover, the fourth limiting portion 227 is located on the rotation path of the third connecting arm assembly 310 when it rotates away from the gripping side 1001. When the second knuckle 300 rotates away from the gripping side 1001 relative to the first knuckle 200, when the second knuckle 300 rotates to a certain angle, it may abut against the fourth limiting portion 227. Thus, the fourth limiting portion 227 may limit the extreme position of the second knuckle 300 when it rotates away from the palm.
[0092] like Figure 1 and Fig. 9 As shown, the side of the knuckle body 330 facing the gripping side 1001 is also protruded with an anti-skid pattern 331, which can increase the friction between the second knuckle 300 and the object to be picked up, and reduce the possibility of the object to be picked up and the bionic finger 1000 being separated. In some embodiments, the anti-skid pattern 331 can be one or more combinations of structures such as anti-skid convex points and anti-skid ridges.
[0093] The embodiment also provides a bionic hand, which may include a palm and a bionic finger 1000 provided in the embodiment. The bionic finger 1000 may be rotatably connected to the palm via a mounting seat 100 .
[0094] In addition, the embodiment further provides a robot, which may include the bionic finger 1000 provided in the embodiment.
[0095] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.
[0096] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.
Claims
1. A bionic finger, characterized in that: The bionic finger includes an extended state, and the bionic finger is configured with a gripping side, and the bionic finger includes: The mounting base comprises a first connecting arm assembly and a second connecting arm assembly, wherein the second connecting arm assembly is located at a side of the first connecting arm assembly close to the holding side; The first finger joint comprises a linear drive member and a housing, wherein the linear drive member is arranged in the housing, and the linear drive member comprises a main structure and an output shaft, wherein the output shaft is telescopically arranged relative to one end of the main structure, an end of the main structure away from the output shaft is rotatably connected to the first connecting arm assembly, and an end of the housing away from the output shaft is rotatably connected to the second connecting arm assembly; The second finger joint comprises a third connecting arm assembly and a fourth connecting arm assembly, wherein the fourth connecting arm assembly is located at a side of the third connecting arm assembly close to the gripping side, the third connecting arm assembly is rotatably connected to the output shaft, and the fourth connecting arm assembly is rotatably connected to an end of the housing away from the second connecting arm assembly; The first elastic member acts between the shell and the second connecting arm assembly. When the bionic finger is in the extended state, the first elastic member stores elastic potential energy for driving the first finger joint to rotate toward the holding side.
2. The bionic finger according to claim 1, characterized in that: The first elastic member includes a first spring coil, a first torsion arm and a second torsion arm. The first torsion arm and the second torsion arm are respectively arranged at two ends of the first spring coil. The first torsion arm abuts against the second connecting arm assembly, and the second torsion arm abuts against the housing.
3. The bionic finger according to claim 1 or 2, characterized in that: A first limiting portion is protruded from one side of the second connecting arm assembly toward the holding side, and the first limiting portion is located on a rotation path when the shell rotates toward the holding side.
4. The bionic finger according to claim 1 or 2, characterized in that: A second limiting portion is disposed on a side of the housing away from the holding side; The mounting seat further comprises a mounting seat body, the first connecting arm assembly and the second connecting arm assembly are arranged at the same end of the mounting seat body, and one end of the mounting seat body facing the second connecting arm assembly is provided with a limiting surface opposite to the second limiting portion; The limiting surface is located on a rotation path of the second limiting portion when the second limiting portion rotates in a direction away from the holding side.
5. The bionic finger according to claim 1, characterized in that: The bionic finger also includes a gripping state, and the bionic finger also includes a second elastic member, and the second elastic member acts between the shell and the fourth connecting arm assembly; When the bionic finger is in the gripping state, the second elastic member stores elastic potential energy for driving the second finger joint to rotate in a direction away from the gripping side.
6. The bionic finger according to claim 5, characterized in that: The second elastic member includes a second spring coil, a third torsion arm and a fourth torsion arm. The third torsion arm and the fourth torsion arm are respectively arranged at two ends of the second spring coil. The third torsion arm abuts against the fourth connecting arm assembly, and the fourth torsion arm abuts against the housing.
7. The bionic finger according to claim 1, 5 or 6, characterized in that: A third limiting portion is protruded on one side of the housing toward the holding side, and the third limiting portion is located at one end of the housing close to the second knuckle; The third limiting portion is located on a rotation path when the fourth connecting arm assembly rotates toward the holding side.
8. The bionic finger according to claim 1, 5 or 6, characterized in that: A notch is formed on a side of the housing away from the holding side for exposing the output shaft, and a fourth limiting portion opposite to the third connecting arm assembly is disposed on a side wall of the notch; The fourth limiting portion is located on a rotation path of the third connecting arm assembly when the third connecting arm assembly rotates in a direction away from the holding side.
9. A bionic hand, characterized in that: Comprising the bionic finger as described in any one of claims 1 to 8.
10. A robot, characterized in that: Comprising the bionic finger as described in any one of claims 1 to 8.