Bionic dexterous fingers and bionic robots

Abstract

The present application provides a bionic dexterous finger and a bionic robot, which relate to the field of robot technology and are used to solve the technical problems in related technologies that fingers cannot swing sideways and are easily damaged by external force impact. The bionic dexterous finger comprises: a finger body, a driving component and a transmission component; the driving component is arranged at the finger-metacarpal joint of the palm, and the driving component comprises a driving screw; the transmission component comprises a moving mechanism, a connecting mechanism and a flexible mechanism, the moving mechanism is transmission-connected to the driving screw, the flexible mechanism is connected to the moving mechanism, the connecting mechanism is rotationally connected to the flexible mechanism, and is also rotationally connected to the base of the finger body; the driving component drives the flexible mechanism to elastically deform and drives the finger body to bend toward or away from the palm, so that the driving component has a flexible output characteristic; the finger body can swing sideways when subjected to external force, and causes the flexible mechanism to elastically deform, and drives the finger body to reset when elastically reset; the flexible mechanism can also offset the impact force, achieve a shock-absorbing effect, and avoid finger damage.

Description

Technical Field

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

[0002] In the related art, the base of the robot's bionic dexterous fingers is fixedly connected to the metacarpophalangeal joint of the palm, and the bionic dexterous fingers only have the freedom to bend toward or away from the palm, but do not have the function of swinging left or right. At the same time, the base of the robot's bionic dexterous fingers is directly connected to the drive motor at the metacarpophalangeal joint of the palm through a screw rod, which has the problem of poor impact resistance and flexibility. During use, the fingers are easily damaged when impacted by external forces, and even the drive motor may be damaged. Summary of the invention

[0003] In view of the above problems, the embodiments of the present application provide a bionic dexterous finger and a bionic robot to solve the problems in the related art that the five-finger dexterous hand cannot be swung left or right and the five-finger dexterous hand is easily damaged when impacted by external force.

[0004] In order to achieve the above objectives, the embodiments of the present application provide the following technical solutions:

[0005] The embodiment of the present application provides a bionic dexterous finger, which includes: a finger body, a driving component and a transmission component; the driving component is constructed to be arranged at the metacarpophalangeal joint of the palm, and the driving component extends outward with a driving screw; the transmission component includes a moving mechanism, a connecting mechanism and a flexible mechanism, the moving mechanism is connected to the driving screw in a driving manner, the flexible mechanism is connected to the moving mechanism, one end of the connecting mechanism is rotationally connected to the flexible mechanism, and the other end of the connecting mechanism is rotationally connected to the root of the finger body; the driving component drives the flexible mechanism to elastically deform and drives the connecting mechanism to drive the finger body to bend toward or away from the palm; when the driving component stops working and the finger body is subjected to an external force along a first horizontal direction, the connecting mechanism drives the flexible mechanism to swing along the first horizontal direction, the connecting mechanism drives the flexible mechanism to elastically deform, the flexible mechanism elastically recovers and drives the finger body to reset; or, when the driving component is working and the finger body is subjected to an external force in any direction, the connecting mechanism drives the connecting mechanism to swing, the connecting mechanism drives the flexible mechanism to elastically deform, the flexible mechanism elastically recovers and drives the finger body to reset.

[0006] In one embodiment of the present application, along the first horizontal direction, the moving mechanism has a first wall surface and a second wall surface relative to each other, a first connecting protrusion is arranged on the first wall surface, and a second connecting protrusion is arranged on the second wall surface; the flexible mechanism includes a first flexible mechanism and a second flexible mechanism, the first flexible mechanism is connected to the first connecting protrusion, and the second flexible mechanism is connected to the second connecting protrusion; the connecting mechanism includes a first connecting rod and a second connecting rod, one end of the first connecting rod is rotatably connected to the first flexible mechanism, one end of the second connecting rod is rotatably connected to the second flexible mechanism, and the other end of the first connecting rod and the other end of the second connecting rod are both rotatably connected to the root of the finger body of the finger body; the finger body moves toward the first flexible mechanism When the position where the first flexible mechanism is located swings sideways, or the finger body swings sideways toward the position where the second flexible mechanism is located, both the first flexible mechanism and the second flexible mechanism can move along the second horizontal direction, and the moving directions of the first flexible mechanism and the second flexible mechanism are opposite, and both the first flexible mechanism and the second flexible mechanism are elastically deformed; when the finger body bends toward the palm or away from the palm, both the first flexible mechanism and the second flexible mechanism can move along the second horizontal direction, and the moving directions of the first flexible mechanism and the second flexible mechanism are the same, and both the first flexible mechanism and the second flexible mechanism are elastically deformed; wherein, the second horizontal direction is perpendicular to the first horizontal direction.

[0007] In one embodiment of the present application, along the vertical direction, the movable mechanism has a bottom surface, the bottom surface is provided with a third connecting protrusion, and the flexible mechanism is connected to the third connecting protrusion; the connecting mechanism includes a third connecting rod, one end of the third connecting rod is rotatably connected to the flexible mechanism, and the other end of the third connecting rod is rotatably connected to the base of the finger body.

[0008] In one embodiment of the present application, the first flexible mechanism includes: a first connecting block, a first lower connecting rod, a first front spring and a first rear spring; the first connecting block is provided with a first connecting hole, the first connecting hole has a first central axis, the first central axis is parallel to the first horizontal direction, and one end of the first connecting rod is rotatably connected to the first connecting hole; the first connecting block is also provided with a first protrusion and a second protrusion that are opposite and spaced along the second horizontal direction, and the first connecting protrusion is arranged between the first protrusion and the second protrusion; the first protrusion is provided with a second connecting hole, the second protrusion is provided with a third connecting hole, and the first connecting protrusion is provided with a fourth connecting hole, the second connecting hole, the third connecting hole and the fourth connecting hole all have a second central axis, and the second central axis is parallel to the second horizontal direction; the first lower connecting rod is fixedly connected to the second connecting hole, the third connecting hole and the fourth connecting hole; the first front spring and the first rear spring are both sleeved on the first lower connecting rod, and the first front spring has two ends along its elastic expansion direction respectively abutting against the first protrusion and the first connecting protrusion, and the first rear spring has two ends along its elastic expansion direction respectively abutting against the second protrusion and the first connecting protrusion.

[0009] In one embodiment of the present application, the first flexible mechanism also includes: a first upper connecting rod; a fifth connecting hole is provided on the first protrusion, a sixth connecting hole is provided on the second protrusion, and a seventh connecting hole is provided on the first connecting protrusion, the central axes of the fifth connecting hole, the sixth connecting hole and the seventh connecting hole coincide with each other, the central axis of the fifth connecting hole is spaced apart from the second central axis in the vertical direction, and the central axis of the fifth connecting hole is parallel to the second horizontal direction; the first upper connecting rod is fixedly connected to the fifth connecting hole, the sixth connecting hole and the seventh connecting hole.

[0010] In one embodiment of the present application, the bionic dexterous finger also includes: a bracket; the moving mechanism and the flexible mechanism are both arranged in the bracket; the bracket includes a first side wall and a second side wall along the second horizontal direction, the first side wall is provided with a first through hole, and the second side wall is provided with a second through hole, the driving screw is arranged in the bracket from the first through hole, a bearing seat is arranged in the second through hole, and the end of the driving screw is rotatably connected to the bearing seat; an avoidance opening is also provided on the second side wall, one end of the connecting mechanism is arranged in the bracket, and the other end of the connecting mechanism extends out of the bracket from the avoidance opening and is rotatably connected to the base of the finger body.

[0011] In one embodiment of the present application, a third through hole is further provided on the first side wall, a fourth through hole is further provided on the second side wall, and the two ends of the first lower connecting rod along the second horizontal direction are respectively fixedly connected to the third through hole and the fourth through hole; a fifth through hole is further provided on the first side wall, a sixth through hole is further provided on the second side wall, and the two ends of the first upper connecting rod along the second horizontal direction are respectively fixedly connected to the fifth through hole and the sixth through hole.

[0012] In an embodiment of the present application, an arc-shaped support plate is provided on the outer wall surface of the first side wall away from the second side wall, and the driving assembly is provided on the arc-shaped support plate.

[0013] In one embodiment of the present application, the connecting mechanism also includes a first ball head rod and a second ball head rod, the first ball head rod includes a first ball head and a first rod segment adjacent to each other along the first horizontal direction, and the second ball head rod includes a second ball head and a second rod segment adjacent to each other along the first horizontal direction; one end of the first connecting rod has a first annular connector, the first annular connector is rotatably connected to the first ball head, and the first rod segment is fixedly connected to the first flexible mechanism; one end of the second connecting rod has a second annular connector, the second annular connector is rotatably connected to the second ball head, and the second rod segment is fixedly connected to the second flexible mechanism; the connecting mechanism also includes a third ball head rod, the third ball head rod has a first end and a second end opposite to each other, the first end and the second end are both fixedly connected to the base of the finger body; the third ball head rod is also provided with a third ball head and a fourth ball head spaced apart along the first horizontal direction, the other end of the first connecting rod has a third annular connector, the other end of the second connecting rod has a fourth annular connector, the third annular connector is rotatably connected to the third ball head, and the fourth annular connector is rotatably connected to the fourth ball head.

[0014] The embodiment of the present application also provides a bionic robot, which includes the bionic dexterous fingers described above.

[0015] The bionic robot provided in the embodiment of the present application has the following technical effects:

[0016] When the driving component drives the finger body to bend toward or away from the palm, the finger body can swing sideways when the right side or left side of the finger body is acted upon by an external force; at the same time, when the driving component does not drive the finger body to bend toward or away from the palm, the finger body can also swing sideways when the right side or left side of the finger body is acted upon by an external force.

[0017] When the finger body swings sideways or is subjected to impact in any direction, the elastic deformation of the flexible mechanism can offset most of the impact force, achieve the effect of resisting impact and reducing shock, and avoid damage to the base of the finger body when subjected to external force impact.

[0018] At the same time, the drive of the connecting mechanism by the driving component is first transmitted to the finger body through the flexible mechanism, so that the driving component has better flexible output characteristics and plays a certain protective role for the driving component. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0020] Figure 1 A schematic diagram of the structure of a bionic dexterous finger provided in an embodiment of the present application;

[0021] Figure 2 for Figure 1 A magnified view of part A;

[0022] Figure 3 A state diagram of the bionic dexterous finger provided in an embodiment of the present application swinging to the right;

[0023] Figure 4 A state diagram of the bionic dexterous finger provided in an embodiment of the present application swinging to the left;

[0024] Figure 5 for Figure 3 A magnified view of part B;

[0025] Figure 6 for Figure 4 Enlarged view of part C;

[0026] Figure 7 for Figure 1 Explosion in the middle A section Figure 1 ;

[0027] Figure 8 for Figure 1 Explosion in the middle A section Figure 2 ;

[0028] Fig. 9 A schematic diagram of the structure of the moving mechanism of the bionic dexterous finger provided in an embodiment of the present application;

[0029] Fig.10 A schematic diagram of the structure of a support for a bionic dexterous finger provided in an embodiment of the present application;

[0030] Fig.11 A schematic diagram of the structure of the connection mechanism of the bionic dexterous finger provided in an embodiment of the present application;

[0031] Fig.12 A schematic diagram of the connection between the connection mechanism and the flexible mechanism of the bionic dexterous finger provided in an embodiment of the present application;

[0032] Fig.13 A state diagram of the bending of a bionic dexterous finger provided in an embodiment of the present application.

[0033] Reference numerals:

[0034] 100-finger body;

[0035] 200-driving assembly;

[0036] 201-driving screw;

[0037] 300-mobile mechanism;

[0038] 301-first connecting protrusion; 302-second connecting protrusion; 304-avoidance groove;

[0039] 3011- fourth connection hole; 3012- seventh connection hole;

[0040] 400-connection mechanism;

[0041] 401-first connecting rod; 402-second connecting rod; 403-third ball head rod; 404-first ball head rod; 405-second ball head rod;

[0042] 4011-first annular connector; 4012-third annular connector; 4021-second annular connector; 4022-fourth annular connector; 4031-third ball head; 4032-fourth ball head; 4041-first rod section; 4042-first ball head; 4051-second rod section; 4052-second ball head;

[0043] 500-Stand;

[0044] 501-first side wall; 502-second side wall; 503-arc-shaped support plate;

[0045] 5011-first through hole; 5021-second through hole; 5022-fourth through hole; 5024-avoidance; 5023-sixth through hole; 5025-bearing seat;

[0046] 610-first flexible mechanism; 620-second flexible mechanism;

[0047] 601-first connecting block; 602-first lower connecting rod; 603-first front spring; 604-first rear spring; 605-first upper connecting rod;

[0048] 621-second connecting block; 622-second lower connecting rod; 623-second front spring; 624-second rear spring; 625-second upper connecting rod;

[0049] 6011-first convex block; 6012-second convex block; 6013-first connecting hole; 6014-second connecting hole; 6015-third connecting hole; 6016-fifth connecting hole; 6017-sixth connecting hole;

[0050] 700 - Swing assembly. DETAILED DESCRIPTION

[0051] In order to make the above-mentioned purposes, features and advantages of the embodiments of the present application more obvious and understandable, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work belong to the scope of protection of this application.

[0052] The directions involved in the embodiments of the present application include: the first horizontal direction is the x-axis in the figure, that is, the left and right direction of the finger body; the second horizontal direction is the y-axis in the figure, that is, the front and back direction of the finger body; the forward movement in the embodiments of the present application refers to movement in the direction of the finger body away from the palm, and the backward movement in the embodiments of the present application refers to movement in the direction of the finger body close to the palm.

[0053] refer to Figure 1 , Figure 5 and Figure 7 An embodiment of the present application provides a bionic dexterous finger, which includes: a finger body 100 and a driving component 200, wherein the driving component 200 is arranged at the metacarpophalangeal joint of the palm, and the output shaft of the driving component 200 is connected to the base of the finger body 100, so that the driving component 200 can drive the finger body 100 to bend toward or away from the palm.

[0054] The bionic dexterous finger further includes: a swing component 700, which is rotatably connected to the base of the finger body 100. When the finger body 100 is bent toward the palm or away from the palm, the swing component 700 has the function of balancing the force.

[0055] The driving component 200 may be a driving motor, and the output shaft of the driving component 200 may be a driving screw 201 .

[0056] The bionic dexterous finger also includes a transmission component.

[0057] The transmission assembly includes: a moving mechanism 300, a connecting mechanism 400 and a flexible mechanism.

[0058] The moving mechanism 300 is transmission-connected to the driving screw 201 . When the driving assembly 200 controls the driving screw 201 to rotate clockwise or counterclockwise, the moving mechanism 300 can move on the driving screw 201 .

[0059] The moving mechanism 300 may be a nut that can engage with the driving screw 201 .

[0060] In the present application, when the driving component 200 controls the driving screw 201 to rotate clockwise, the moving mechanism 300 can move on the driving screw 201, and the moving mechanism 300 will move from the palm to the finger body 100; when the driving component 200 controls the driving screw 201 to rotate counterclockwise, the moving mechanism 300 can move on the driving screw 201, and the moving mechanism 300 will move from the finger body 100 to the palm.

[0061] The flexible mechanism is connected to the moving mechanism 300 , one end of the connecting mechanism 400 is rotationally connected to the flexible mechanism, and the other end of the connecting mechanism 400 is rotationally connected to the base of the finger body 100 .

[0062] When the driving assembly 200 controls the driving screw 201 to rotate clockwise or counterclockwise, the moving mechanism 300 drives the flexible mechanism to move; but at this time, the connecting mechanism 400 is stationary, and the flexible mechanism is subjected to the pulling forces in different directions simultaneously applied by the moving mechanism 300 and the connecting mechanism 400, so that the flexible mechanism undergoes elastic deformation; while the flexible mechanism undergoes elastic deformation, the flexible mechanism drives the connecting mechanism 400 to rotate, so that the connecting mechanism 400 can drive the base of the finger body 100 to rotate, and the finger body 100 can bend toward the palm or away from the palm.

[0063] Among them, the elastic deformation of the flexible mechanism can offset part of the output force of the driving component 200; that is, the driving component 200 driving the connecting mechanism 400 is also first transmitted to the finger body 100 through the flexible mechanism, so that the driving component 200 has better flexible output characteristics; it plays a certain protective role for the driving component 200.

[0064] The driving assembly 200 stops working, indicating that the driving assembly 200 does not control the driving screw 201 to rotate. At this time, when the right side or the left side of the finger body 100 is subjected to a first horizontal direction ( Figure 1When an external force (in the left and right directions of the middle finger body 100) acts, the finger body 100 will swing sideways along the first horizontal direction. When the finger body 100 swings sideways, it will drive the connecting mechanism 400 to swing left or right. When the connecting mechanism 400 swings left or right, it will apply a pulling force to the flexible mechanism. Since the driving screw rod 201 stops rotating at this time, the moving mechanism 300 is stationary on the driving screw rod 201. The flexible mechanism is subjected to forces in different directions applied by the moving mechanism 300 and the connecting mechanism 400 at the same time, causing the flexible mechanism to undergo elastic deformation. When the flexible mechanism elastically recovers, it will drive the finger body 100 to reset.

[0065] When the driving component 200 does not control the rotation of the driving screw 201, when the finger body 100 is subjected to external force in any direction, the finger body 100 will drive the connecting mechanism 400 to swing, and the connecting mechanism 400 will cause elastic deformation when swinging. The elastic deformation of the flexible mechanism can offset most of the impact force, thereby achieving the effect of resisting impact and reducing shock, and avoiding damage to the base of the finger body 100 when subjected to external force impact.

[0066] It should be noted that one end of the connecting mechanism 400 is rotatably connected to the flexible mechanism, and the other end of the connecting mechanism 400 is rotatably connected to the base of the finger body 100, which means that both one end and the other end of the connecting mechanism 400 can rotate around the first horizontal axis ( Figure 1 The finger body 100 is rotated in the left and right directions to achieve the bending of the finger body 100.

[0067] It should also be noted that when the driving component 200 controls the driving screw 201 to rotate, and the finger body 100 is bent toward the palm or away from the palm, the finger body 100 is impacted by external force in any direction, and the finger body 100 can also drive the connecting mechanism 400 to swing and cause the flexible mechanism to elastically deform to offset the impact force and achieve the effect of resisting impact and shock absorption; to avoid damage to the base of the finger body 100 when the finger body 100 is impacted by external force during use.

[0068] like Figure 2 , Figure 3 and Figure 4 As shown, in the embodiment of the present application, along the first horizontal direction ( Figure 1 In the left and right direction of the middle finger body 100), the moving mechanism 300 has a first wall surface and a second wall surface opposite to each other, a first connecting protrusion 301 is arranged on the first wall surface, and a second connecting protrusion 302 is arranged on the second wall surface.

[0069] The flexible mechanism includes a first flexible mechanism 610 and a second flexible mechanism 620 , which are respectively arranged on both sides of the moving mechanism 300 along the first horizontal direction. The first flexible mechanism 610 is connected to the first connecting protrusion 301 , and the second flexible mechanism 620 is connected to the second connecting protrusion 302 .

[0070] The connecting mechanism 400 includes a first connecting rod 401 and a second connecting rod 402. One end of the first connecting rod 401 is rotatably connected to the first flexible mechanism 610, one end of the second connecting rod 402 is rotatably connected to the second flexible mechanism 620, and the other end of the first connecting rod 401 and the other end of the second connecting rod 402 are both rotatably connected to the base of the finger body 100.

[0071] like Figure 3 As shown, when the finger body 100 is impacted and sways sideways toward the position where the first flexible mechanism 610 is located, the first flexible mechanism 610 and the second flexible mechanism 620 can both move along the second horizontal direction ( Figure 3 The first flexible mechanism 610 and the second flexible mechanism 620 move in opposite directions; wherein the first connecting rod 401 drives the first flexible mechanism 610 to move along the second horizontal direction ( Figure 3 The second connecting rod 402 drives the second flexible mechanism 620 to move backward along the second horizontal direction ( Figure 3 The first flexible mechanism 610 and the second flexible mechanism 620 move forward (in the y direction), and both the first flexible mechanism 610 and the second flexible mechanism 620 are elastically deformed.

[0072] like Figure 4 As shown, when the finger body 100 is impacted and sways sideways toward the position where the second flexible mechanism 620 is located, the first flexible mechanism 610 and the second flexible mechanism 620 can both move along the second horizontal direction ( Figure 3 The first flexible mechanism 610 and the second flexible mechanism 620 move in opposite directions; wherein the first connecting rod 401 drives the first flexible mechanism 610 to move along the second horizontal direction ( Figure 4 The second connecting rod 402 drives the second flexible mechanism 620 to move forward along the second horizontal direction ( Figure 4 The first flexible mechanism 610 and the second flexible mechanism 620 move backward (in the y direction), and both the first flexible mechanism 610 and the second flexible mechanism 620 are elastically deformed.

[0073] A first flexible mechanism 610 and a second flexible mechanism 620 are respectively arranged on the left and right sides of the moving mechanism 300, which solves the problem of uneven force on the left and right sides of the moving mechanism 300 when the finger body 100 swings sideways, achieves the effect of resisting impact and shock absorption, and ensures that the finger body 100 can smoothly transition during the side swing.

[0074] At the same time, the first flexible mechanism 610 and the second flexible mechanism 620 are respectively arranged on the left and right sides of the moving mechanism 300, so that the overall structure of the transmission assembly is compact and easy to be integrated into the motor module.

[0075] like Fig.13 As shown, when the driving assembly 200 controls the driving screw 201 to rotate and causes the finger body 100 to bend toward the palm or away from the palm, the first flexible mechanism 610 and the second flexible mechanism 620 can both move along the second horizontal direction ( Figure 3 The first flexible mechanism 610 and the second flexible mechanism 620 move in the same direction.

[0076] The first connecting rod 401 drives the first flexible mechanism 610, and the second connecting rod 402 drives the second flexible mechanism 620 along the second horizontal direction ( Figure 4 The finger moves forward in the y direction (in the y direction), the first flexible mechanism 610 and the second flexible mechanism 620 are both elastically deformed, and the finger body 100 bends toward the palm.

[0077] The first connecting rod 401 drives the first flexible mechanism 610, and the second connecting rod 402 drives the second flexible mechanism 620 along the second horizontal direction ( Figure 4 The finger moves backward (in the y direction), the first flexible mechanism 610 and the second flexible mechanism 620 are both elastically deformed, and the finger body 100 bends away from the palm.

[0078] In another embodiment of the present application, along the vertical direction, the moving mechanism 300 has a bottom surface, and the bottom surface is provided with a third connecting protrusion, and the flexible mechanism and the third connecting protrusion are connected; the connecting mechanism includes a third connecting rod, one end of the third connecting rod is rotatably connected to the flexible mechanism, and the other end of the third connecting rod is rotatably connected to the base of the finger body 100.

[0079] That is to say, unlike the above-mentioned solution in which the flexible mechanisms 610 are arranged on both the left and right sides of the moving mechanism 300, in this solution, only one flexible mechanism is arranged at the bottom of the moving mechanism, which can also achieve the effect of resisting impact and absorbing shock.

[0080] like Figure 2 , Figure 5 , Figure 7 , Figure 8 and Fig. 9 As shown, in the embodiment of the present application, the first flexible mechanism 610 may include: a first connecting block 601 , a first lower connecting rod 602 , a first front spring 603 and a first rear spring 604 .

[0081] The first connection block 601 is provided with a first connection hole 6013, and the first connection hole 6013 has a first central axis, and the first central axis is parallel to the first horizontal direction ( Figure 8The first connecting rod 401 is parallel to the x-axis shown in the figure, and one end of the first connecting rod 401 is rotatably connected to the first connecting hole 6013.

[0082] The first connecting block 601 is also provided with a plurality of Figure 8 The first protrusion 6011 and the second protrusion 6012 are opposite and spaced from each other (y-axis shown in FIG. 1 ), the first protrusion 6011 is close to the finger body 100 ; the first connecting protrusion 301 is arranged between the first protrusion 6011 and the second protrusion 6012 .

[0083] The first convex block 6011 is provided with a second connection hole 6014, the second convex block 6012 is provided with a third connection hole 6015, and the first connection protrusion 301 is provided with a fourth connection hole 3011. The second connection hole 6014, the third connection hole 6015 and the fourth connection hole 3011 all have a second central axis, and the second central axis is parallel to the second horizontal direction ( Figure 8 y-axis shown in ).

[0084] The first lower connecting rod 602 is fixedly connected to the second connecting hole 6014 , the third connecting hole 6015 and the fourth connecting hole 3011 , so that the first connecting protrusion 301 is connected to the first connecting block 601 .

[0085] The first front spring 603 and the first rear spring 604 are both sleeved on the first lower connecting rod 602, and the two ends of the first front spring 603 along its elastic expansion direction respectively abut against the first protrusion 6011 and the first connecting protrusion 301, and the two ends of the first rear spring 604 along its elastic expansion direction respectively abut against the second protrusion 6012 and the first connecting protrusion 301.

[0086] The second flexible mechanism 620 may include: a second connecting block 621, a second lower connecting rod 622, a second front spring 623 and a second rear spring 624. The second flexible mechanism 620 has the same structure as the first flexible mechanism 610 and will not be described in detail herein.

[0087] When the finger body 100 swings sideways, it drives the first connecting rod 401 to swing, and the first connecting rod 401 drives the first connecting block 601 to move, and the first front spring 603 and the first rear spring 604 are squeezed and elastically deformed, thereby offsetting most of the impact force.

[0088] When the driving assembly 200 drives the connecting mechanism 400, the first front spring 603 and the first rear spring 604 are squeezed and elastically deformed, thereby offsetting most of the impact force, so that the driving assembly 200 has better flexible output characteristics.

[0089] That is to say, the flexible mechanism of the embodiment of the present application can not only alleviate the force when the driving component 200 outputs, but also alleviate the impact of external forces, thereby achieving a two-way shock absorption effect.

[0090] Continue to refer Figure 2 , Figure 5 , Figure 7 , Figure 8 and Fig. 9 , a fifth connection hole 6016 is provided on the first protrusion 6011, a sixth connection hole 6017 is provided on the second protrusion 6012, and a seventh connection hole 3012 is provided on the first connection protrusion 301. The central axes of the fifth connection hole 6016, the sixth connection hole 6017 and the seventh connection hole 3012 coincide with each other, and the central axis of the fifth connection hole 6016 is aligned with the second horizontal direction ( Figure 8 The fifth connecting hole 6016 is parallel to the y-axis shown in the figure, and the central axis of the fifth connecting hole 6016 is spaced apart from the second central axis in the vertical direction, and the central axis of the fifth connecting hole 6016 is located above the second central axis.

[0091] In the embodiment of the present application, the first flexible mechanism 610 further includes: a first upper connecting rod 605 , and the first upper connecting rod 605 is fixedly connected to the fifth connecting hole 6016 , the sixth connecting hole 6017 and the seventh connecting hole 3012 .

[0092] The diameter of the first upper connecting rod 605 is smaller than the diameter of the first lower connecting rod 602 .

[0093] The first lower connecting rod 602 is used to connect the first front spring 603 and the first rear spring 604; the first lower connecting rod 602 and the first upper connecting rod 605 can be used to fix the first connecting block 601 at the same time, and the first lower connecting rod 602 and the first upper connecting rod 605 also serve as guide rails, so that the first connecting block 601 can move along the first lower connecting rod 602 and the first upper connecting rod 605.

[0094] If only the first lower connecting rod 602 is provided, the first lower connecting rod 602 will be around Figure 7 The y-axis shown in the figure rotates, and the interval arrangement between the first upper connecting rod 605 and the first lower connecting rod 602 can constrain the rotation of the first lower connecting rod 602, thereby ensuring the installation stability of the first flexible mechanism 610.

[0095] The second flexible mechanism 620 may also include: a second upper connecting rod 625. The second flexible mechanism 620 has the same structure as the first flexible mechanism 610, and will not be described in detail herein.

[0096] refer to Figure 2 , Figure 7 and Fig.10 In the embodiment of the present application, the bionic dexterous finger further includes: a bracket 500, the bracket 500 is arranged along the second horizontal direction ( Fig.10The y-axis shown in the figure includes a first side wall 501 and a second side wall 502, the first side wall 501 is provided with a first through hole 5011, the second side wall 502 is provided with a second through hole 5021, the driving screw 201 is arranged in the bracket 500 through the first through hole 5011, and a bearing seat 5025 is arranged in the second through hole 5021, and the end of the driving screw 201 is rotatably connected to the bearing seat 5025.

[0097] The bracket 500 can isolate and protect the driving screw rod 201 to avoid interference with other components and ensure the rotation of the driving screw rod 201 .

[0098] Meanwhile, the moving mechanism 300 and the flexible mechanism are also disposed in the bracket 500 .

[0099] The second side wall 502 is also provided with an escape opening 5024 . One end of the connection mechanism 400 is disposed in the bracket 500 , and the other end of the connection mechanism 400 extends out of the bracket 500 from the escape opening 5024 and is rotatably connected to the base of the finger body 100 .

[0100] The bracket 500 can isolate and protect the mobile mechanism 300, the flexible mechanism, the connecting mechanism 400, etc. to avoid interference with other components; improve the installation stability of the mobile mechanism 300, the flexible mechanism, the connecting mechanism 400, etc.; and make the overall structure compact.

[0101] Continue to refer Figure 2 , Figure 7 and Fig.10 In the embodiment of the present application, a third through hole is further provided on the first side wall 501, a fourth through hole 5022 is further provided on the second side wall 502, and the first lower connecting rod 602 is provided along the second horizontal direction ( Fig.10 The two ends of the first lower connecting rod 602 along the y-axis shown in FIG. 1 are respectively fixedly connected to the third through hole and the fourth through hole 5022. That is, one end of the first lower connecting rod 602 along the second horizontal direction is fixedly connected to the third through hole, and the other end is fixedly connected to the fourth through hole 5022.

[0102] The first side wall 501 is further provided with a fifth through hole, the second side wall 502 is further provided with a sixth through hole 5023, and the first upper connecting rod 605 is arranged along the second horizontal direction ( Fig.10 The two ends of the y-axis shown in the figure are fixedly connected to the fifth through hole and the sixth through hole 5023 respectively.

[0103] Fixing the first lower connecting rod 602 and the first upper connecting rod 605 on the bracket 500 further improves the installation stability of the flexible mechanism and ensures the shock absorbing function of the flexible mechanism.

[0104] refer to Figure 2 and Fig.10In the embodiment of the present application, an arc-shaped support plate 503 is provided on the outer wall surface of the first side wall 501 away from the second side wall 502 , and the driving assembly 200 is provided on the arc-shaped support plate 503 .

[0105] The arc-shaped support plate 503 is used to support the driving assembly 200 and provide a supporting force for the driving assembly 200 to prevent the driving assembly 200 from being subjected to an unbalanced force due to its own gravity and thus affecting the output of the driving screw 201 .

[0106] refer to Figure 7 , Figure 8 , Fig.11 and Fig.12 In the embodiment of the present application, the connecting mechanism 400 further includes a first ball head rod 404 and a second ball head rod 405. The first ball head rod 404 includes a first ball head rod 405 along a first horizontal direction ( Fig.11 The second ball head rod 405 includes a first ball head 4042 and a first rod segment 4041 adjacent to each other along the x-axis shown in the first horizontal direction, and the second ball head rod 405 includes a second ball head 4052 and a second rod segment 4051 adjacent to each other along the first horizontal direction.

[0107] One end of the first connecting rod 401 has a first annular connector 4011, which is rotatably connected to the first ball head 4042, and the first rod segment 4041 is fixedly connected to the first flexible mechanism 610; wherein the first rod segment 4041 is fixedly connected to the first connecting block 601 provided with a first connecting hole 6013.

[0108] One end of the second connecting rod 402 has a second annular connecting member 4021 , the second annular connecting member 4021 is rotatably connected to the second ball head 4052 , and the second rod segment 4051 is fixedly connected to the second flexible mechanism 620 .

[0109] The connecting mechanism 400 further includes a third ball head rod 403, which has a first end and a second end opposite to each other, and the first end and the second end are both fixedly connected to the base of the finger body 100; the third ball head rod 403 is also provided with a Fig.11 The third ball head 4031 and the fourth ball head 4032 are spaced apart from each other (as shown in the x-axis), the other end of the first connecting rod 401 has a third annular connecting member 4012, the other end of the second connecting rod 402 has a fourth annular connecting member 4022, the third annular connecting member 4012 is rotatably connected to the third ball head 4031, and the fourth annular connecting member 4022 is rotatably connected to the fourth ball head 4032.

[0110] The design of the first ball head rod 404, the second ball head rod 405 and the third ball head rod 403 enables the connection mechanism 400 to be rotationally connected to the finger body 100 and also to be rotationally connected to the flexible mechanism, thereby ensuring the lifting and lowering functions of the finger body 100.

[0111] Continue to refer Fig. 9 and Fig.11 The first connecting protrusion 301 is also provided with an avoidance groove 304 , and the first annular connecting member 4011 is rotatably connected to the first ball head 4042 through the avoidance groove 304 .

[0112] The actual use of the bionic dexterous finger provided by the present application is further described below through specific embodiments.

[0113] Embodiment 1:

[0114] The driving assembly 200 drives the finger body 100 to bend.

[0115] The driving assembly 200 works and causes the driving screw 201 to rotate, and the driving screw 201 drives the moving mechanism 300 engaged therewith to move along the Figure 1 The mobile mechanism 300 moves forward and backward in the direction of the solid arrow shown in the figure. The left and right ends of the mobile mechanism 300 are not directly connected to the first connecting block 601 and the second connecting block 621, but are flexibly connected through the first front spring 603 and the first rear spring 604, the second front spring 623 and the second rear spring 624. The first connecting block 601 is fixedly connected with a first ball head 4042, and the first ball head 4042 is rotatably connected to the first connecting rod 401. The second connecting block 621 is fixedly connected with a second ball head 4052, and the second ball head 4052 is rotatably connected to the second connecting rod 402. The first connecting rod 401 and the second connecting rod 402 are both rotatably connected to the base of the finger body 100.

[0116] like Figure 1 and Fig.13 As shown, the driving screw 201 drives the moving mechanism 300 along Figure 1 When the first connection block 601 and the second connection block 621 move forward in the direction of the solid arrow shown in the figure, since the first connection block 601 and the second connection block 621 are stationary, the moving mechanism 300 will squeeze the first front spring 603 and the second front spring 623, causing them to deform elastically, and at the same time drive the first connection block 601 and the second connection block 621 to move forward. That is to say, at this time, the first flexible mechanism 610 and the second flexible mechanism 620 move in the same direction, and the first flexible mechanism 610 and the second flexible mechanism 620 will move along the axial direction of the driving screw 201, and the axial direction of the driving screw 201 is parallel to the driving screw 201. Figure 1 The directions indicated by the solid arrows are parallel; and the first flexible mechanism 610 and the second flexible mechanism 620 move forward.

[0117] Since one end of the first connecting rod 401 is rotatably connected to the first connecting block 601 through the first ball head 4042, and one end of the second connecting rod 402 is rotatably connected to the second connecting block 621 through the second ball head 4052; the other end of the first connecting rod 401 is rotatably connected to the finger body 100 through the third ball head 4031, and the other end of the second connecting rod 402 is rotatably connected to the finger body 100 through the fourth ball head 4032; therefore, when the first connecting block 601 and the second connecting block 621 move forward, they can drive the first connecting rod 401 and the second connecting rod 402 to rotate around the X-axis, so that the finger body 100 bends toward the palm.

[0118] Similarly, if Fig.13 As shown, the driving screw 201 drives the moving mechanism 300 along Figure 1 When the first flexible mechanism 610 and the second flexible mechanism 620 move backward in the direction of the solid arrow shown in the figure, the moving mechanism 300 will squeeze the first rear spring 604 and the second rear spring 624 to cause elastic deformation, and at the same time drive the first connecting block 601 and the second connecting block 621 to move backward. At this time, the moving directions of the first flexible mechanism 610 and the second flexible mechanism 620 are the same. The first flexible mechanism 610 and the second flexible mechanism 620 will move along the axial direction of the driving screw rod 201, and the axial direction of the driving screw rod 201 is aligned with the Figure 1 The directions indicated by the solid arrows are parallel; and the first flexible mechanism 610 and the second flexible mechanism 620 move backwards.

[0119] When the first connecting block 601 and the second connecting block 621 move backward, they drive the first connecting rod 401 and the second connecting rod 402 to rotate around the X-axis, so that the finger body 100 bends away from the palm.

[0120] That is to say, the output force of the driving assembly 200 is absorbed by the deformation of the spring and does not directly act on the first connecting block 601, the second connecting block 621, the first connecting rod 401 and the second connecting rod 402, so that the driving assembly 200 has better flexible output characteristics.

[0121] Embodiment 2:

[0122] When the driving assembly 200 drives the finger body 100 to bend, it is impacted by an external force in the same direction or in the opposite direction to the bending direction.

[0123] The driving screw 201 drives the moving mechanism 300 along the Figure 1 When the finger body 100 moves forward in the direction of the solid arrow shown in FIG, the moving mechanism 300 will squeeze the first front spring 603 and the second front spring 623, causing them to deform elastically, thereby driving the finger body 100 to bend toward the palm. Figure 1The impact force in the direction of the dotted arrow shown in the figure causes the finger body 100 to move away from the palm, and the first connecting rod 401 and the second connecting rod 402 will drive the first connecting block 601 and the second connecting block 621 to move along the Figure 1 At this time, the squeezing force of the moving mechanism 300 on the first front spring 603 and the second front spring 623 will be reduced, and the elastic deformation of the first front spring 603 and the second front spring 623 will be reduced; but at this time, the movement of the first connecting block 601 and the second connecting block 621 will squeeze the first rear spring 604 and the second rear spring 624, causing them to undergo elastic deformation, thereby offsetting the impact force.

[0124] Similarly, if Fig.13 As shown, the driving screw 201 drives the moving mechanism 300 along Figure 1 When the finger body 100 moves backward in the direction of the solid arrow shown in FIG, the moving mechanism 300 will squeeze the first rear spring 604 and the second rear spring 624, causing them to deform elastically, thereby driving the finger body 100 to bend away from the palm. Figure 1 The impact force in the direction of the dotted arrow shown in FIG. 1 causes the finger body 100 to continue to bend away from the palm, and the first connecting rod 401 and the second connecting rod 402 will drive the first connecting block 601 and the second connecting block 621 to move along the Figure 1 At this time, due to the joint action of the moving mechanism 300, the first connecting block 601 and the second connecting block 621, the squeezing force on the first rear spring 604 and the second rear spring 624 will be increased, thereby offsetting the impact force.

[0125] Embodiment 3:

[0126] When the driving assembly 200 drives the finger body 100 to bend, it is impacted by an external force in the lateral swing direction.

[0127] The driving screw 201 drives the moving mechanism 300 along the Figure 6 When the finger body 100 moves forward in the direction of the solid arrow shown in FIG, the moving mechanism 300 will squeeze the first front spring 603 and the second front spring 623, causing them to deform elastically, thereby driving the finger body 100 to bend toward the palm. Figure 6 The impact force in the direction of the dotted arrow shown in the figure causes the finger body 100 to swing sideways while bending toward the palm. The first connecting rod 401 drives the first connecting block 601 to move backward, and the second connecting rod 402 drives the second connecting block 621 to move forward. The moving mechanism 300 and the first connecting block 601 squeeze the first front spring 603, and the moving mechanism 300 and the second connecting block 621 squeeze the second rear spring 624, so that the first front spring 603 is further compressed, thereby offsetting the impact force.

[0128] The driving screw 201 drives the moving mechanism 300 along Fig.13 When the finger body 100 moves backward in the direction of the solid arrow shown in FIG, the moving mechanism 300 will squeeze the first rear spring 604 and the second rear spring 624, causing them to deform elastically, thereby driving the finger body 100 to bend away from the palm. Figure 5 The impact force in the direction of the dotted arrow shown in the figure causes the finger body 100 to swing sideways while bending toward the palm. The first connecting rod 401 drives the first connecting block 601 to move forward, and the second connecting rod 402 drives the second connecting block 621 to move backward. The moving mechanism 300 and the first connecting block 601 squeeze the first rear spring 604, and the moving mechanism 300 and the second connecting block 621 squeeze the second front spring 623, so that the first rear spring 604 is further compressed, thereby offsetting the impact force.

[0129] Embodiment 4:

[0130] The driving assembly 200 stops working, and the finger body 100 is impacted by external force and bends.

[0131] The finger body 100 is subjected to Figure 1 The impact force in the direction of the dotted arrow shown in the figure causes the finger body 100 to move away from the palm, and the first connecting rod 401 and the second connecting rod 402 will drive the first connecting block 601 and the second connecting block 621 to move along the Figure 1 At this time, since the moving mechanism 300 is stationary, the movement of the first connecting block 601 and the second connecting block 621 will squeeze the first rear spring 604 and the second rear spring 624, causing them to deform elastically, thereby offsetting the impact force.

[0132] Likewise, the finger body 100 is subjected to Figure 1 When an impact force in the opposite direction of the dashed arrow shown in FIG. 1 is applied, the impact force causes the finger body 100 to bend toward the palm, and the first connecting rod 401 and the second connecting rod 402 drive the first connecting block 601 and the second connecting block 621 to move along the Figure 1 At this time, since the moving mechanism 300 is stationary, the movement of the first connecting block 601 and the second connecting block 621 will squeeze the first front spring 603 and the second front spring 623, causing them to deform elastically, thereby offsetting the impact force.

[0133] It should be noted that, when the impact force disappears, the first rear spring 604 and the second rear spring 624, or the first front spring 603 and the second front spring 623 are reset, and the finger body 100 returns to the initial bending position.

[0134] Embodiment 5:

[0135] When the driving assembly 200 stops working, the finger body 100 is impacted by external force and swings sideways.

[0136] The finger body 100 is subjected to Figure 6 When an impact force is applied in the direction of the dotted arrow shown in the figure, the finger body 100 swings sideways toward the first connecting block 601, and the first connecting rod 401 drives the first connecting block 601 to move backward, and the second connecting rod 402 drives the second connecting block 621 to move forward; that is, at this time, the moving directions of the first flexible mechanism 610 and the second flexible mechanism 620 are opposite.

[0137] Furthermore, when the driving assembly 200 stops working, the driving screw 201 stops rotating, and the moving mechanism 300 is stationary, so that the second rear spring 624 and the first front spring 603 are compressed, causing elastic deformation, thereby offsetting the impact force.

[0138] The finger body 100 is subjected to Figure 5 When the impact force is applied in the direction of the dotted arrow shown in the figure, the finger body 100 swings sideways toward the second connecting block 621, and the first connecting rod 401 drives the first connecting block 601 to move forward, and the second connecting rod 402 drives the second connecting block 621 to move backward; that is, at this time, the moving directions of the first flexible mechanism 610 and the second flexible mechanism 620 are opposite.

[0139] Furthermore, when the driving assembly 200 stops working, the driving screw 201 stops rotating and the moving mechanism 300 stops moving, so that the first rear spring 604 and the second front spring 623 are compressed and elastically deformed, thereby offsetting the impact force.

[0140] It should be noted that, when the impact force disappears, the first rear spring 604 and the second front spring 623, or the second rear spring 624 and the first front spring 603 are reset, and the finger body 100 returns to the initial position.

[0141] The embodiment of the present application also provides a bionic robot, comprising the bionic dexterous fingers described above.

[0142] In summary, the embodiments of the present application provide a bionic dexterous finger and a bionic robot, the bionic dexterous finger comprising: a finger body 100, a driving assembly 200 and a transmission assembly, the driving assembly 200 is arranged at the metacarpophalangeal joint of the palm, the driving screw 201 of the driving assembly 200 is connected to the finger root of the finger body 100, so that the driving assembly 200 can drive the finger body 100 to swing sideways. The transmission assembly comprises: a moving mechanism 300, a connecting mechanism 400 and a flexible mechanism, the moving mechanism 300 is connected to the driving screw 201 in a transmission manner, when the driving assembly 200 controls the driving screw 201 to rotate, the moving mechanism 300 can move on the driving screw 201; the flexible mechanism is connected to the moving mechanism 300, one end of the connecting mechanism 400 is connected to the flexible mechanism for rotation, and the other end of the connecting mechanism 400 is connected to the finger root of the finger body 100 for rotation; when the driving assembly 200 does not control the driving screw 201 to rotate, and the right side or left side of the finger body 100 is acted upon by an external force, the finger body 100 will move along the first horizontal direction ( Figure 1 When the connecting mechanism 400 swings to the left or right, a pulling force is applied to the flexible mechanism. At this time, the driving screw rod 201 stops rotating, the moving mechanism 300 is stationary on the driving screw rod 201, and the flexible mechanism is subjected to forces in different directions applied by the moving mechanism 300 and the connecting mechanism 400 at the same time, so that the flexible mechanism undergoes elastic deformation, and the flexible mechanism recovers elastically and drives the finger body 100 to reset. At the same time, the elastic deformation of the flexible mechanism can also offset most of the impact force, thereby achieving the effect of resisting impact and absorbing shock, and avoiding damage to the base of the finger body 100 when impacted by external force.

[0143] Furthermore, when the driving assembly 200 controls the driving screw 201 to rotate, the moving mechanism 300 drives the flexible mechanism to move; but at this time, the connecting mechanism 400 is stationary, and the flexible mechanism is subjected to the pulling forces in different directions simultaneously applied by the moving mechanism 300 and the connecting mechanism 400, so that the flexible mechanism undergoes elastic deformation; while the driving assembly 200 drives the flexible mechanism to undergo elastic deformation, it drives the connecting mechanism 400 to drive the finger body 100 to bend toward the palm or away from the palm; the elastic deformation of the flexible mechanism can offset part of the output force of the driving assembly 200. In other words, the driving of the connecting mechanism 400 by the driving assembly 200 is also first transmitted to the finger body 100 through the flexible mechanism, so that the driving assembly 200 has better flexible output characteristics; it plays a certain protective role for the driving assembly 200.

[0144] In this specification, each embodiment or example is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referenced to each other.

[0145] It should be noted that the phrases "one embodiment", "an embodiment", "an exemplary embodiment", "some embodiments", etc. mentioned in the specification indicate that the described embodiments may include certain features, structures or characteristics, but not every embodiment may include the certain features, structures or characteristics. In addition, such phrases do not necessarily refer to the same embodiment. In addition, when describing certain features, structures or characteristics in conjunction with an embodiment, it is within the knowledge of those skilled in the art to implement such features, structures or characteristics in conjunction with other embodiments, whether explicitly or not explicitly described.

[0146] In general, terms should be understood, at least in part, by the context in which they are used. For example, the term "one or more" as used herein may be used to describe any feature, structure, or characteristic in a singular sense, or may be used to describe a combination of features, structures, or characteristics in a plural sense, depending, at least in part, on the context. Similarly, terms such as "a," "an," or "the" may also be understood to convey singular usage or to convey plural usage, depending, at least in part, on the context.

[0147] It should be easily understood that “on,” “above,” and “over” in the present disclosure should be interpreted in the broadest manner, so that “on” not only means “directly on something,” but also includes the meaning of “on something” with intervening features or layers therebetween, and “above” or “over” not only includes the meaning of “above” or “over,” but also may include the meaning of “above” or “over something” with no intervening features or layers therebetween (i.e., directly on something).

[0148] In addition, spatially relative terms, such as "below," "below," "beneath," "above," "above," etc., may be used herein for ease of description to describe the relationship of one element or feature relative to other elements or features as shown in the figures. Spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation shown in the figures. The device may have other orientations (rotated 90 degrees or at other orientations), and the spatially relative descriptors used herein may likewise be interpreted accordingly.

[0149] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A bionic dexterous finger, characterized in that: include: Finger body, drive assembly and transmission assembly; The driving assembly is arranged at the metacarpophalangeal joint of the palm, and a driving screw rod is extended outward from the driving assembly; The transmission assembly includes a moving mechanism, a connecting mechanism, a first flexible mechanism and a second flexible mechanism, the moving mechanism is connected to the driving screw in a transmission manner, and along a first horizontal direction, the moving mechanism has a first wall surface and a second wall surface opposite to each other, the first flexible mechanism is connected to a first connecting protrusion on the first wall surface, and the second flexible mechanism is connected to a second connecting protrusion on the second wall surface; The connecting mechanism comprises a first connecting rod and a second connecting rod, the two ends of the first connecting rod are respectively connected to the first flexible mechanism and the base of the finger body for rotation, and the two ends of the second connecting rod are respectively connected to the second flexible mechanism and the base of the finger for rotation; The first flexible mechanism and the second flexible mechanism are both capable of moving along a second horizontal direction, and the second horizontal direction is perpendicular to the first horizontal direction; The driving assembly drives the first flexible mechanism and the second flexible mechanism to elastically deform and drives the first connecting rod and the second connecting rod to drive the finger body to bend toward or away from the palm; When the driving assembly stops working and the finger body is subjected to an external force in a first horizontal direction, the first connecting rod and the second connecting rod are driven to swing in a first horizontal direction, the first connecting rod and the second connecting rod respectively drive the first flexible mechanism and the second flexible mechanism to elastically deform, the first flexible mechanism and the second flexible mechanism elastically recover and drive the finger body to reset; or When the driving assembly is working and the finger body is subjected to external force in any direction, the first connecting rod and the second connecting rod are driven to swing, and the first connecting rod and the second connecting rod respectively drive the first flexible mechanism and the second flexible mechanism to elastically deform, and the first flexible mechanism and the second flexible mechanism elastically recover and drive the finger body to reset.

2. The bionic dexterous finger according to claim 1, characterized in that: The first flexible mechanism comprises: a first connecting block, a first lower connecting rod, a first front spring and a first rear spring; The first connecting block is provided with a first connecting hole, the first connecting hole has a first central axis, the first central axis is parallel to the first horizontal direction, and one end of the first connecting rod is rotatably connected to the first connecting hole; The first connecting block is also provided with a first protrusion and a second protrusion which are opposite to and spaced apart from each other along the second horizontal direction, and the first connecting protrusion is provided between the first protrusion and the second protrusion; The first convex block is provided with a second connection hole, the second convex block is provided with a third connection hole, the first connection protrusion is provided with a fourth connection hole, the second connection hole, the third connection hole and the fourth connection hole all have a second central axis, and the second central axis is parallel to the second horizontal direction; The first lower connecting rod is slidably connected to the second connecting hole, the third connecting hole and the fourth connecting hole; The first front spring and the first rear spring are both sleeved on the first lower connecting rod, and the two ends of the first front spring along its elastic expansion and contraction direction are respectively abutted against the first protrusion and the first connecting protrusion, and the two ends of the first rear spring along its elastic expansion and contraction direction are respectively abutted against the second protrusion and the first connecting protrusion.

3. The bionic dexterous finger according to claim 2, characterized in that: The first flexible mechanism further includes: a first upper connecting rod; A fifth connection hole is provided on the first convex block, a sixth connection hole is provided on the second convex block, and a seventh connection hole is provided on the first connection protrusion, the central axes of the fifth connection hole, the sixth connection hole and the seventh connection hole coincide with each other, the central axis of the fifth connection hole is spaced apart from the second central axis in the vertical direction, and the central axis of the fifth connection hole is parallel to the second horizontal direction; The first upper connecting rod is slidably connected to the fifth connecting hole, the sixth connecting hole and the seventh connecting hole.

4. The bionic dexterous finger according to claim 3, characterized in that: The bionic dexterous finger further comprises: a bracket; The moving mechanism and the flexible mechanism are both arranged in the bracket; The bracket includes a first side wall and a second side wall along the second horizontal direction, the first side wall is provided with a first through hole, the second side wall is provided with a second through hole, the driving screw is arranged in the bracket through the first through hole, a bearing seat is arranged in the second through hole, and an end of the driving screw is rotatably connected to the bearing seat; The second side wall is also provided with an escape opening, one end of the connecting mechanism is arranged in the bracket, and the other end of the connecting mechanism extends out of the bracket from the escape opening and is rotatably connected to the base of the finger body.

5. The bionic dexterous finger according to claim 4, characterized in that: A third through hole is further provided on the first side wall, a fourth through hole is further provided on the second side wall, and two ends of the first lower connecting rod along the second horizontal direction are fixedly connected to the third through hole and the fourth through hole respectively; A fifth through hole is further provided on the first side wall, a sixth through hole is further provided on the second side wall, and two ends of the first upper connecting rod along the second horizontal direction are fixedly connected to the fifth through hole and the sixth through hole respectively.

6. The bionic dexterous finger according to claim 4, characterized in that: An arc-shaped support plate is arranged on the outer wall surface of the first side wall away from the second side wall, and the driving assembly is arranged on the arc-shaped support plate.

7. The bionic dexterous finger according to claim 1, characterized in that: The connecting mechanism further comprises a first ball head rod and a second ball head rod, wherein the first ball head rod comprises a first ball head and a first rod segment adjacent to each other along the first horizontal direction, and the second ball head rod comprises a second ball head and a second rod segment adjacent to each other along the first horizontal direction; One end of the first connecting rod has a first annular connecting piece, the first annular connecting piece is rotatably connected to the first ball head, and the first rod segment is fixedly connected to the first flexible mechanism; One end of the second connecting rod has a second annular connecting piece, the second annular connecting piece is rotatably connected to the second ball head, and the second rod segment is fixedly connected to the second flexible mechanism; The connecting mechanism further comprises a third ball head rod, the third ball head rod having a first end and a second end opposite to each other, the first end and the second end are both fixedly connected to the base of the finger body; The third ball head rod is also provided with a third ball head and a fourth ball head spaced along the first horizontal direction. The other end of the first connecting rod has a third annular connecting piece, and the other end of the second connecting rod has a fourth annular connecting piece. The third annular connecting piece is rotatably connected to the third ball head, and the fourth annular connecting piece is rotatably connected to the fourth ball head.

8. A bionic robot, characterized in that: The invention comprises the bionic dexterous fingers as described in any one of claims 1 to 7.

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