Bionic hand thumb and bionic hand

Abstract

The invention relates to the technical field of robots, in particular to a bionic hand thumb and a bionic hand. The bionic hand thumb provided by the invention comprises a thumb mounting platform; the thumb assembly is rotationally connected with the thumb mounting platform, and the thumb assembly is provided with a first push rod hinging part; the first linear expansion piece is arranged on the thumb mounting platform and used for enabling the thumb assembly to rotate around a first rotating axis relative to the thumb mounting platform, an included angle is formed between the first rotating axis and the mounting surface of the thumb mounting platform, and the first linear expansion piece comprises a first expansion piece and a second expansion piece; the first telescopic piece can linearly move in the direction of the first spiral axis through relative spiral rotation, and the first telescopic piece is provided with a second push rod hinge part; one end of the push rod is hinged to the first push rod hinge part, and the other end of the push rod is hinged to the second push rod hinge part; wherein the first push rod hinging part is always located on one side, passing through the vertical plane of the first spiral axis, of the mounting surface, and the second push rod hinging part is always located on the other side, passing through the vertical plane of the first spiral axis, of the mounting surface.

Description

Technical Field

[0001] The present disclosure relates to the field of robotics, and in particular to a bionic thumb and a bionic hand. Background Art

[0002] The significant increase in labor costs and the trend of miniaturization of the objects being operated have put forward the demand for miniaturization of automated operation hardware and the realization of precise and fine operations. Driven by the above-mentioned demand, the relevant technical field has developed multi-degree-of-freedom robots with upper limb movements similar to those of human primates under the guidance of bionics, and the technological frontier has evolved to and promoted the development of dexterous bionic manipulators that simulate the hand movements of human primates.

[0003] In this context, the miniaturization of the thumb-related parts of the mechanical bionic hand is an issue that needs to be urgently addressed in the existing technology. Summary of the invention

[0004] In view of the above analysis, the embodiments of the present disclosure aim to provide a bionic thumb and a bionic hand.

[0005] A first aspect of the present disclosure provides a bionic thumb, comprising:

[0006] Thumb mounting platform;

[0007] A thumb assembly, the thumb assembly is rotatably connected to the thumb mounting platform, and the thumb assembly has a first push rod hinge portion;

[0008] A first linear retractor, which is disposed on the thumb mounting platform and is used to rotate the thumb assembly relative to the thumb mounting platform around a first rotation axis, wherein the first rotation axis and the mounting surface of the thumb mounting platform have an included angle, and the first linear retractor comprises:

[0009] A first telescopic member, the first telescopic member can be linearly moved along the first spiral axis by rotating relative to the spiral, and the first telescopic member has a second push rod hinge portion;

[0010] A push rod, one end of which is hinged to the first push rod hinge portion, and the other end of which is hinged to the second push rod hinge portion;

[0011] The first push rod hinge portion is always located on one side of a vertical plane of the mounting surface passing through the first spiral axis, and the second push rod hinge portion is always located on the other side of the vertical plane of the mounting surface passing through the first spiral axis.

[0012] In some embodiments, the first linear retractor is configured to enable the thumb assembly to rotate around the first rotation axis at an angle ranging from 0 to 120 degrees, and the angle between the length direction of the push rod and the projection of the first screw axis on the mounting surface of the mounting platform is ranging from 30 to 60 degrees.

[0013] In some embodiments, the first linear retractor further includes: a driving member, the driving member including:

[0014] A first screw rod, the first screw rod extending along a first spiral axis;

[0015] A first motor, the first motor is connected to the first screw rod and is used to drive the screw rod to rotate;

[0016] The first telescopic member comprises:

[0017] A first nut, the first nut is sleeved on the first screw rod

[0018] The first telescopic member can perform linear movement along the first spiral axis through spiral rotation between the first screw rod and the first nut.

[0019] In some embodiments, the first linear retractor further comprises:

[0020] A first position sensing component, the first position sensing component comprising:

[0021] A first brush, the first brush being connected to the first nut;

[0022] A first conductor, the first conductor is connected to the first motor;

[0023] The first position sensing assembly is configured such that during the linear movement of the first telescopic member along the first spiral axis, the first brush maintains sliding contact with the first conductor.

[0024] In some embodiments, the first position sensor assembly further includes: a first mounting plate, one end of which is connected to the first motor, and the first mounting plate is arranged parallel to the first spiral axis; and the first conductor is arranged on one side of the first mounting plate close to the first brush.

[0025] In some embodiments, the first linear retractor further comprises:

[0026] A slider, the slider is fixedly connected to the first nut;

[0027] A guide rail is arranged on the thumb mounting platform, and a sliding block and the guide rail form a sliding pair.

[0028] In some embodiments, the thumb assembly includes:

[0029] A base, the base being rotatably connected to the thumb mounting platform about a first rotation axis;

[0030] A thumb body, the thumb body is rotatably connected to the base around a second rotation axis, and an angle is formed between the second rotation axis and the first rotation axis;

[0031] The second linear retractor is provided on the thumb body and is used to rotate the thumb body around the second rotation axis. The second linear retractor includes:

[0032] The second telescopic member can perform linear movement along the second spiral axis by relative spiral rotation. The second telescopic member has a base hinge portion, which is hinged to the base.

[0033] A second aspect of the present disclosure provides a bionic hand, comprising:

[0034] The bionic thumb of any of the above embodiments;

[0035] A palm frame, one side of the palm frame is connected to the thumb mounting platform;

[0036] At least two residual finger assemblies, the residual finger assemblies are connected to the other side of the palm frame, and the residual finger assemblies can be bent;

[0037] The first spiral axis is parallel to the width direction of the palm frame.

[0038] In some embodiments, the surplus finger assembly includes a surplus finger tip portion, the surplus finger tip portion being provided with a surplus finger clamping surface;

[0039] The thumb assembly includes a thumb body, and the thumb body includes:

[0040] thumb knuckle;

[0041] A thumb tip portion, the thumb tip portion is rotatably connected to the thumb knuckle portion, and the thumb tip portion is provided with a thumb clamping surface;

[0042] The thumb tip of the thumb assembly can contact the remaining finger tip of any remaining finger assembly; the thumb tip can rotate relative to the thumb knuckle portion so that the remaining finger clamping surface and the thumb clamping surface fit together.

[0043] In some embodiments, the clamping surface includes a planar segment and a curved segment connected to each other, and the planar segment is disposed farther away from the palm frame than the curved segment. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The drawings are only for the purpose of illustrating particular embodiments and are not to be considered limiting of the present disclosure, and like reference symbols denote like components throughout the drawings.

[0045] Figure 1 A schematic diagram of the structure of the rotation drive part of the thumb of the bionic hand provided in an embodiment of the present disclosure;

[0046] Figure 2 A schematic diagram of the structure of a bionic thumb provided in an embodiment of the present disclosure;

[0047] Figure 3A top view of the thumb structure of a bionic hand provided by an embodiment of the present disclosure;

[0048] Figure 4 is a schematic structural diagram of a first linear retractor according to an embodiment of the present disclosure;

[0049] Figure 5 This is a schematic structural diagram of a first telescopic member according to an embodiment of the present disclosure;

[0050] Figure 6 This is a schematic diagram of the thumb mounting platform structure of an embodiment of the present disclosure;

[0051] Figure 7 is a schematic structural diagram of a second linear retractor according to an embodiment of the present disclosure;

[0052] Figure 8 It is a schematic diagram of the structure of the second telescopic member according to an embodiment of the present disclosure;

[0053] Fig. 9 A schematic diagram of the bionic hand structure provided in an embodiment of the present disclosure.

[0054] Reference numerals:

[0055] 10. Bionic thumb; 11. Thumb mounting platform; 111. Thumb assembly mounting portion; 112. First linear retractor mounting portion; 11a. Fixing groove; 11b. Guide rail; 12. Thumb assembly; 121. Base; 122. Thumb body; 123. Second linear retractor; 123a. Second retractor; 123a1. Base hinge portion; 123a2. Transition connector; 123a3. Second screw hole portion; 123e. Thumb hinge portion; 123b. Second screw rod; 123c. Second motor; 123d. Second position sensor assembly; 123d1. Second brush; 123d2. Second conductor; 123d3. Second mounting plate; 124. First push rod hinge portion; 13 , first linear expander; 131, first telescopic member; 131a, second push rod hinge portion; 131b, sliding connection portion; 131c, first screw hole portion; 131d, first connection portion; 132, push rod; 133, first screw rod; 134, first motor; 134a, fixing portion; 135, first position sensor assembly; 135a, first brush; 135b, first conductor; 135c, first mounting plate; 136, slider; 20, bionic hand; 2, palm frame; 3, remaining finger assembly; 31, remaining finger tip portion; 32, remaining finger clamping surface; 122a, thumb knuckle portion; 122b, thumb finger tip portion; 122c, thumb clamping surface; 122d, spring seat; 4, bionic nail. DETAILED DESCRIPTION

[0056] The preferred embodiments of the present disclosure are described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of the present disclosure and are used together with the embodiments of the present disclosure to illustrate the principles of the present disclosure, but are not used to limit the scope of the present disclosure.

[0057] In the description of the embodiments of the present disclosure, it should be noted that, unless otherwise clearly specified and limited, the term "connected" should be understood in a broad sense, for example, it can be a fixed connection, or a detachable connection, or an integral connection can be a mechanical connection, or an electrical connection can be a direct connection, or it can be indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present disclosure can be understood according to specific circumstances.

[0058] The terms "top", "bottom", "above", "lower", and "on" used throughout the description are relative to the relative positions of components of a device, such as the relative positions of the top and bottom substrates within a device. It is understood that devices are multifunctional regardless of their orientation in space.

[0059] The working surface of the present invention can be a plane or a curved surface, can be inclined, or can be horizontal. For the convenience of description, the embodiments of the present invention are placed on a horizontal plane and used on the horizontal plane, and "high and low" and "up and down" are defined in this way.

[0060] Some embodiments of the present disclosure provide a bionic thumb. The root of the bionic thumb has an active degree of freedom of rotation around a first spiral axis. Optionally, the root of the bionic thumb also has an active degree of freedom of rotation around a second spiral axis. Optionally, the bionic thumb includes two knuckles, and the two knuckles have an active degree of freedom of relative rotation.

[0061] Optionally, the linear retractor can be used to realize the rotational movement of the base of the bionic finger in two axial directions; the linear retractor can also be used to realize the relative rotation between the two knuckles of the bionic thumb.

[0062] Figure 1 (thumb body not shown) and Figure 2 Some embodiments of the present disclosure provide a bionic thumb 10. Figure 1 As shown, the bionic thumb 10 includes a thumb mounting platform 11 , a thumb assembly 12 and a first linear retractor 13 .

[0063] Specifically, the thumb mounting platform 11 is used to mount the thumb assembly 12 and the first linear retractor 13 .

[0064] In an optional embodiment, if Figure 3 and Figure 5As shown, the thumb mounting platform 11 includes a thumb assembly mounting portion 111 and a first linear retractor mounting portion 112, and the thumb assembly mounting portion 111 and the first linear retractor mounting portion 112 are connected. Optionally, the thumb assembly mounting portion 111 is located at one end of the thumb mounting platform 11. The thumb assembly mounting portion 111 and the first linear retractor mounting portion 112 may have different height dimensions, and the height dimension mentioned here is the dimension perpendicular to the mounting surface direction of the thumb mounting platform 11. The thumb assembly mounting portion 111 may be, for example, truncated cone-shaped, and has a larger height dimension than the first linear retractor mounting portion 112.

[0065] The thumb assembly 12 is rotatably connected to the thumb mounting platform 11. Optionally, the thumb assembly 12 is rotatably connected to the thumb assembly mounting portion 111 of the thumb mounting platform 11 and can rotate relative to the thumb assembly mounting portion. Figure 1 As shown, the thumb assembly 12 has a first push rod hinge 124 .

[0066] The first linear retractor 13 is disposed on the thumb mounting platform 11 and is used to rotate the thumb assembly 12 around the first rotation axis relative to the thumb mounting platform 11. Optionally, the first linear retractor 13 is disposed on the first linear retractor mounting portion 112 of the thumb mounting platform 11.

[0067] The first rotation axis of the thumb assembly 12 relative to the thumb mounting platform 11 forms an angle with the mounting surface of the thumb mounting platform 11. The angle may be, for example, 90 degrees or other angles.

[0068] The first linear telescopic device 13 includes a first telescopic member 131 and a push rod 132. The first telescopic member 131 can be linearly moved along the first spiral axis by relative spiral rotation. Optionally, the first telescopic member 131 is, for example, a nut, which can be linearly moved by spiral rotation relative to the screw. The first telescopic member 131 has a second push rod hinge 131a, and one end of the push rod 132 is hinged to the first push rod hinge, and the other end is hinged to the second push rod hinge 131a.

[0069] In an optional embodiment, the thumb mounting platform 11 has a vertical plane passing through the first spiral axis, the first push rod hinge portion 131a is located on one side of the vertical plane, and the second push rod hinge portion 124 is located on the other side of the vertical plane. In the process of the first telescopic member 131 moving along the first spiral axis, the first push rod hinge portion 131a is always located on one side of the vertical plane, and the second push rod hinge portion 124 is always located on the other side of the vertical plane. This also makes the hinge axis of the push rod hinge portion 131a and the first spiral axis in a non-planar relationship, and the length direction of the push rod 132 always has an angle with the first spiral axis. In this way, the rotation angle of the thumb assembly 12 around the first rotation axis can have a larger range within the limited space of the thumb mounting platform 11, which is conducive to reducing the size of the thumb mounting platform, and then to reducing the size of the bionic hand.

[0070] In some embodiments, the first linear retractor 13 is configured to enable the thumb assembly 12 to rotate around the first rotation axis at an angle ranging from 0 to 120 degrees, and the angle between the length direction of the push rod 132 and the projection of the first screw axis on the mounting surface of the mounting platform is ranging from 30 to 60 degrees.

[0071] The disclosed embodiment can convert the linear movement of the first telescopic member 131 into a rotation of the thumb assembly 12 in a larger range within the limited space of the thumb mounting platform 11 , so that the thumb assembly 12 has a larger working range.

[0072] In some optional embodiments, such as Figure 4 As shown, the first linear retractor 13 also includes a driving member, which includes a first screw rod 133 and a first motor 134. The first screw rod 133 extends along the first spiral axis, and the first motor 134 is connected to the first screw rod 133 to drive the screw rod to rotate. Optionally, the first screw rod 133 can be connected to the output shaft of the first motor 134, or the first screw rod 133 can serve as the output shaft of the first motor 134.

[0073] The first telescopic member 131 is, for example, a first nut, which is sleeved on the first screw rod 133. The first telescopic member 131 can be linearly moved along the first screw axis through the spiral rotation between the first screw rod 133 and the first nut. In this way, the first telescopic member 131 is linearly moved along the first screw axis.

[0074] In an optional embodiment, if Figure 5 As shown, the first nut has a first screw hole portion 131c and a first connecting portion 131d. The first screw hole portion 131c has a screw hole and is sleeved on the first screw rod 133. The first connecting portion 131d is connected to the first screw hole portion 131c, and the first connecting portion 131d is also connected to the second push rod connecting portion 131a.

[0075] Optionally, when observed along the normal direction of the mounting surface, the first connecting portion 131d is located on the side of the first spiral axis relatively far from the thumb assembly. Then, the second push rod hinge portion 131a provided on the first connecting portion 131d is also located on one side of the vertical plane, while the first push rod hinge portion 124 on the thumb assembly 12 is located on the other side of the vertical plane. Moreover, since the second push rod hinge portion 131a can only move along the first spiral axis with the first nut, it will not cross the vertical plane. Therefore, in the process of the first telescopic member 131 moving along the first spiral axis, the first push rod hinge portion 124 is always located on one side of the vertical plane, and the second push rod hinge portion 131a is always located on the other side of the vertical plane. In this way, the hinge axis of the first push rod hinge portion 131a is in a non-planar relationship with the first spiral axis, and the length direction of the push rod 132 connecting the second push rod hinge portion 131a and the first push rod hinge portion always has an angle with the first spiral axis.

[0076] Optionally, the first connection portion 131d extends from the first screw hole portion 131c away from the normal of the mounting surface on one side of the mounting platform 11. In other words, the height of the first connection portion 131d is higher than the height of the first screw hole portion. Optionally, the first push rod hinge portion 131a on the first connection portion 131d matches the height of the thumb assembly 124. In this arrangement, the push rod 132 can cross the first screw rod 133 to connect the two push rod hinge portions, so that the length direction of the push rod 132 of the first push rod hinge portion always has an angle with the first screw axis, saving the size of the first linear retractor 13 in the palm width direction.

[0077] In some embodiments, Figure 4 and Figure 5 As shown, the first linear expander 13 further includes a first position sensing assembly 135, which includes a first brush 135a and a first conductor 135b, wherein the first brush 135a is connected to the first nut; and the first conductor 135b is connected to the first motor 134. During the linear movement of the first expansion member 131 along the first spiral axis, the first brush 135a maintains sliding contact with the first conductor 135b.

[0078] Alternatively, if Figure 5 As shown, the first brush 135a is installed and fixed on a side surface of the first screw hole portion 131c, and the side surface where the first brush 135a is located is perpendicular to the installation surface.

[0079] In the disclosed embodiment, the first brush 135a and the first conductor 135b form a sliding variable resistance structure. During the movement of the first telescopic member 131 along the first screw rod 133, the first brush 135a slides along the surface of the first conductor 135b, and the movement distance of the first telescopic member 131 is monitored by reading the change in the resistance value of the first conductor 135b connected to the circuit. When the first linear retractor 13 is used to realize the rotation of the thumb component 12, the first position sensor component 135 can be used to monitor the rotation angle between the two components.

[0080] In some embodiments, Figure 4 As shown, the first position sensor assembly 135 may further include a first mounting plate 135c, one end of which is connected to the first motor 134, the first mounting plate 135c is arranged parallel to the first spiral axis, and the first conductor 135b is arranged on one side of the first mounting plate 135c close to the first brush 135a. Optionally, the first mounting plate 135c is arranged perpendicular to the mounting surface.

[0081] In the embodiment of the present disclosure, a first mounting plate 135c is provided on the first motor 134, and the first mounting plate 135c is provided in parallel with the direction of the first spiral axis, so as to ensure that the first brush 135a and the first conductor 135b always maintain sliding contact during the movement of the first telescopic member 131. The first mounting plate 135c is directly connected to the first motor 134, and no additional fixing structure is required. In addition, by fixing the first conductor 135b and the first brush 135a to form the first position sensor assembly 135 through the first mounting plate 135c of the embodiment of the present disclosure, there is only a slight increase in the radial size of the first linear expander 13, which does not affect its installation arrangement, and is conducive to reducing the size of the first linear expander 13.

[0082] In some embodiments, a fixing portion 134a is sleeved on the first motor 134, and a fixing slot 11a is provided on the thumb mounting platform 11, and the fixing slot 11a is used to cooperate with the fixing portion 134a to fix the first motor 134. Optionally, the first mounting plate 135c is connected to the first motor 134 through the fixing portion 134a.

[0083] In some embodiments, Figure 5 and Figure 6As shown, the first linear expander 13 further includes a slider 136, and a sliding connection portion 131b is provided on the first nut, and the sliding connection portion 131b is fixedly connected to the first nut. Optionally, the sliding connection portion 131b is arranged on the side of the first screw hole portion 131c away from the first brush 135a. A guide rail 11b is provided on the thumb mounting platform 11, and the slider 136 forms a sliding pair with the guide rail 11b. The guide rail 11b and the slider 136 are arranged between the first nut and the thumb mounting platform 11, and the space between the first screw rod 133 and the mounting surface is utilized, so that the movement of the first nut can be more stable.

[0084] In some embodiments, Figure 2 As shown, the thumb assembly 12 includes a base 121, a thumb body 122, and a second linear retractor 123. The base 121 is rotatably connected to the thumb mounting platform 11 around a first rotation axis, and the thumb body 122 is rotatably connected to the base 121 around a second rotation axis, and there is an angle between the second rotation axis and the first rotation axis. The second linear retractor 123 is provided on the thumb body 122, and is used to rotate the thumb body 122 around the second rotation axis. In this way, the thumb body 122 can achieve a rotational movement with two degrees of freedom.

[0085] Optionally, the base 121 may be rotatably connected to the thumb assembly mounting portion 111 around a first rotation axis, and the base 121 may have an outer contour that is compatible with that of the thumb assembly mounting portion 111 .

[0086] Alternatively, if Figure 1 and Figure 3 The second push rod hinge portion 124 is shown to be disposed on the base 121. Optionally, an eccentric disk is provided on the base 121, and the second push rod hinge portion 124 is disposed in a groove of the eccentric disk.

[0087] In some embodiments, Figure 7 As shown, the second linear expander 123 includes a second expansion member 123a, which can move linearly along the second spiral axis by relative spiral rotation. The second expansion member 123a has a base hinge portion 123a1, which is hinged to the base 121.

[0088] The second linear expander 123 also includes a second motor 123c and a second screw rod 123b connected to drive the second expansion member 123a to move linearly along the second screw axis. Optionally, the second screw rod 123b can be connected to the output shaft of the second motor 123c, or the second screw rod 123b can serve as the output shaft of the second motor 123c.

[0089] Optionally, the second telescopic member 123a has a second screw hole portion 123. The second screw hole portion has a screw hole, which is sleeved on the second screw rod 123b. Figure 8 As shown, the base hinge portion 123a1 can be connected to the second screw hole portion through a transition connector 123a2.

[0090] In an optional embodiment, in the direction of the second screw axis, the base hinge portion 123a1 is arranged away from the second motor 123c relative to the second screw hole portion, which is conducive to reducing the radial size of the passive module 12, so that the second telescopic member 123a, and even the second linear telescopic device 123, is suitable for being hung between the thumb body 122 and the palm frame. Optionally, the transition connector 123a2 extends from the end surface of the second screw hole portion away from the second motor 123c to the base hinge portion 123a1 along the second screw axis direction.

[0091] In an optional embodiment, the rotation axis of the base hinge portion 123a1 is in a non-planar perpendicular relationship with the second spiral axis. This arrangement can form a constraint on the circumferential movement of the second telescopic member 123a. Compared with the general screw nut pair that needs to cooperate with the structure of the slider guide to limit the circumferential movement of the nut, this part can be omitted in the embodiment of the present disclosure.

[0092] In an optional embodiment, a thumb hinge 123e is provided on the side wall of the motor housing of the second motor 123c. The second motor 123c can be installed and fixed by the thumb hinge 123e on the side wall of the motor housing. The thumb hinge 123e is provided on the side wall of the motor housing, which reduces the axial size of the second linear expander 123.

[0093] In an optional embodiment, the second linear retractor 123 is not provided with a housing. The second retractor 123 has a smaller size and is hung between the thumb body 122 and the palm frame to reduce the possibility of interference, thereby increasing the movable range of the thumb assembly 12 in disguise.

[0094] Optionally, the second linear expander 123 also includes a second position sensing component 123d, which includes a second brush 123d1 and a second conductor 123d2. The second brush 123d1 is connected to the second screw hole portion, and the second conductor 123d2 is connected to the second motor 123c. When the second expander 123a moves along the second spiral axis, the second brush 123d1 maintains sliding contact with the second conductor 123d2.

[0095] Alternatively, if Figure 8As shown, the second brush 123d1 is installed and fixed on the side of the second screw hole portion away from the transition connector 123a2. In the disclosed embodiment, the second brush 123d1 and the second conductor 123d2 form a sliding variable resistance structure. During the movement of the second telescopic member 123a along the second screw rod 123b, the second brush 123d1 slides along the surface of the second conductor 123d2, and the movement distance of the second telescopic member 123a is monitored by reading the change in the resistance value of the second conductor 123d2 connected to the circuit. The second linear retractor 123 can be used to monitor the rotation angle between the thumb body 122 and the base 121.

[0096] In some embodiments, Figure 7 and Figure 8 As shown, the second position sensor assembly 123d may also include a second mounting plate 123d3, one end of which is connected to the motor housing of the second motor 123c and is arranged parallel to the second spiral axis direction, and the second conductor 123d2 is arranged on one side of the second mounting plate 123d3 close to the second brush 123d1.

[0097] In the embodiment of the present disclosure, a second mounting plate 123d3 of the second conductor 123d2 is arranged on the second motor 123c, and the second mounting plate 123d3 is arranged parallel to the second spiral axis, so as to ensure that the second brush 123d1 and the second conductor 123d2 always maintain sliding contact during the movement of the second telescopic member 123a. The second mounting plate 123d3 is directly connected to the motor housing without the need for an additional fixing structure, which is conducive to reducing the size of the second linear expander 123.

[0098] Fig. 9 Some embodiments of the present disclosure provide a bionic hand 20. Fig. 9 As shown, the bionic hand 20 includes: a bionic thumb 10 as in any of the above embodiments, a palm frame 2 and at least two remaining finger assemblies 3, one side of the palm frame 2 is connected to the thumb mounting platform 11, and the remaining finger assembly 3 is connected to the other side of the palm frame 2, and the remaining finger assembly 3 can bend; wherein, the first spiral axis of the bionic thumb 10 is parallel to the width direction of the palm frame 2.

[0099] In the disclosed embodiment, one side of the palm frame 2 is connected to the thumb mounting platform 11, the first spiral axis of the bionic thumb 10 is parallel to the width direction of the palm frame 2, and the thumb mounting platform 11 has a vertical plane passing through the first spiral axis. During the movement of the first telescopic member 131 along the first spiral axis, the first push rod hinge is always located on one side of the vertical plane, and the second push rod hinge is always located on the other side of the vertical plane. In this way, the thumb assembly 12 can have a larger range of rotation angles around the first rotation axis, and the size of the bionic hand in the palm width direction can be reduced.

[0100] In some optional embodiments, the remaining finger assembly 3 includes a remaining finger tip portion 31, and the remaining finger tip portion 31 is provided with a remaining finger clamping surface 32. The thumb assembly 12 includes a thumb body 122, and the thumb body 122 includes a thumb knuckle portion 122a and a thumb tip portion 122b, and the thumb tip portion 122b is provided with a thumb clamping surface 122c. The remaining finger clamping surface 32 and the thumb clamping surface 122c can complete the "pinching" action, and can also cooperate with each other to complete the clamping of the operation object.

[0101] It is understandable that the thumb body 122 can rotate in two directions (rotation around the first rotation axis and rotation around the second rotation axis) and the flexion and extension of the remaining finger assembly 3, so that the remaining finger clamping surface 32 and the thumb clamping surface 122c can be made to fit or approach each other, thereby completing the "pinching" action or clamping action. By controlling the rotation angle of the thumb body 122 around the first rotation axis, the thumb clamping surface 122c can be made to approach the remaining finger clamping surface 32 of any remaining finger assembly 3.

[0102] In a possible embodiment, the thumb tip 122b is rotatably connected to the thumb joint 122a. Thus, for example, when performing a "pinching" action, the contact force between the thumb tip 122b and the remaining finger tips 31 causes the thumb tip 122b to generate an adaptive rotation relative to the thumb joint 122a. When performing a clamping action, the clamped object between the thumb tip 122b and the remaining finger tips 31 generates a force on the thumb tip 122b, which causes the thumb tip 122b to generate an adaptive rotation relative to the thumb joint 122a.

[0103] It can be understood that the thumb tip portion 122b generates adaptive rotation relative to the thumb knuckle portion 122a, that is, the thumb tip portion 122b passively rotates, so that the remaining finger clamping surface 32 and the thumb clamping surface 122c fit together.

[0104] Optionally, when the thumb tip 122b is adaptively rotated relative to the thumb knuckle 122a, a restoring force is provided for the thumb knuckle 122a. For example, the thumb body 122 further includes a spring seat 122d, which is connected to the thumb knuckle 122a. A spring is provided on the spring seat 122d, and the spring abuts against the opposite side of the clamping surface of the thumb tip 122b. When the thumb tip 122b is adaptively rotated relative to the thumb knuckle 122a, the spring is deformed by force to provide a restoring force for the thumb knuckle 122a, so that when the thumb tip 122b is separated relative to the thumb knuckle 122a, the thumb knuckle 122a returns to the initial position; other forms of rotational reset mechanisms can also be provided for the thumb knuckle 122a.

[0105] The thumb clamping surface 122c and the remaining finger clamping surface 32 both include a plane segment and a curved segment connected to each other, and the plane segment is arranged farther away from the palm frame 2 than the curved segment. When the plane segment of the remaining finger clamping surface 32 and the plane segment of the thumb clamping surface 122c fit together, the remaining finger clamping surface 32 and the thumb clamping surface 122c can achieve surface contact. When the curved segment of the remaining finger clamping surface 32 and the surface segment of the thumb clamping surface 122c fit together, the remaining finger clamping surface 32 and the thumb clamping surface 122c can achieve line contact.

[0106] It is understandable that the plane section of the remaining finger clamping surface 32 and the plane section of the thumb clamping surface 122c can be mutually fitted or close to each other through the rotation of the thumb body 122 in two directions (rotation around the first rotation axis and rotation around the second rotation axis) and the flexion and extension movement of the remaining finger assembly 3, and the curved section of the remaining finger clamping surface 32 and the curved section of the thumb clamping surface 122c can be mutually fitted or close to each other. The matching of the plane sections is conducive to ensuring the clamping accuracy and clamping stability, and the matching of the curved sections can be applied to a variety of clamping tasks.

[0107] In some embodiments, the thumb clamping surface 122c and the remaining finger clamping surface 32 may be formed of elastic material, so that the thumb clamping surface 122c and the remaining finger clamping surface 32 may be adaptively deformed according to the operation object to ensure the stability of clamping.

[0108] In some embodiments, at least one of the fingertips 31 and the thumb tip 122b is provided with a bionic nail 4, which can be used to apply a poking action along the tangential force of the bionic nail surface or a plucking action along the normal force of the bionic nail surface.

[0109] Some embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the embodiments can be referenced to each other.

[0110] The above description is only a preferred specific implementation manner of the present disclosure, but the protection scope of the present disclosure is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed in the present disclosure should be covered by the protection scope of the present disclosure.

Claims

1. A bionic thumb, comprising: Thumb mounting platform; A thumb assembly, the thumb assembly being rotatably connected to the thumb mounting platform, the thumb assembly having a first push rod hinge portion; A first linear retractor, which is disposed on the thumb mounting platform and is used to rotate the thumb assembly relative to the thumb mounting platform around a first rotation axis, wherein the first rotation axis and the mounting surface of the thumb mounting platform have an included angle, and the first linear retractor comprises: A first telescopic member, wherein the first telescopic member can be linearly moved along a first spiral axis by rotating relative to the spiral, and the first telescopic member has a second push rod hinge portion; A push rod, one end of which is hinged to the first push rod hinge portion, and the other end of which is hinged to the second push rod hinge portion; The first push rod hinge portion is always located on one side of a vertical plane of the mounting surface passing through the first spiral axis, and the second push rod hinge portion is always located on the other side of a vertical plane of the mounting surface passing through the first spiral axis.

2. The bionic thumb according to claim 1, wherein: The first linear retractor is configured to enable the thumb assembly to rotate around the first rotation axis at an angle ranging from 0 to 120 degrees, and an angle between a length direction of the push rod and a projection of the first screw axis on the mounting surface of the mounting platform is ranging from 30 to 60 degrees.

3. The bionic thumb according to claim 1, wherein: The first linear retractor further includes a driving member, wherein the driving member includes: a first screw rod, the first screw rod extending in the direction of the first screw axis; A first motor, the first motor is connected to the first screw rod and is used to drive the screw rod to rotate; The first telescopic member comprises: A first nut, wherein the first nut is sleeved on the first screw rod; The first telescopic member can perform linear movement along the first screw axis through the screw rotation between the first screw rod and the first nut.

4. The bionic thumb according to claim 3, wherein: The first linear expander also includes: A first position sensing component, the first position sensing component comprising: a first brush connected to the first nut; a first conductor connected to the first motor; The first position sensing assembly is configured such that during the linear movement of the first telescopic member along the first spiral axis, the first brush maintains sliding contact with the first conductor.

5. The bionic thumb according to claim 4, wherein: The first position sensor assembly also includes: a first mounting plate, one end of which is connected to the first motor, and the first mounting plate is arranged parallel to the first spiral axis; the first conductor is arranged on a side of the first mounting plate close to the first brush.

6. The bionic thumb according to claim 3, wherein: The first linear expander also includes: A slider, wherein the slider is fixedly connected to the first nut; The thumb mounting platform is provided with a guide rail, and the slider and the guide rail form a sliding pair.

7. The bionic thumb according to claim 1, wherein: The thumb assembly comprises: a base, the base being rotatably connected to the thumb mounting platform about the first rotation axis; A thumb body, wherein the thumb body is rotatably connected to the base around a second rotation axis, and an angle is formed between the second rotation axis and the first rotation axis; A second linear retractor, the second linear retractor is arranged on the thumb body, and is used to rotate the thumb body around the second rotation axis, and the second linear retractor comprises: The second telescopic member can be linearly moved along the second spiral axis by relative spiral rotation, and the second telescopic member has a base hinge portion, and the base hinge portion is hinged to the base.

8. A bionic hand, comprising: The bionic thumb according to any one of claims 1 to 7; A palm frame, one side of which is connected to a thumb mounting platform of the bionic thumb; At least two residual finger assemblies, each of which is connected to the other side of the palm frame and can be bent; Wherein, the first spiral axis of the thumb of the bionic hand is parallel to the width direction of the palm frame.

9. The bionic hand according to claim 8, wherein: The remaining finger assembly comprises a remaining finger tip portion, and the remaining finger tip portion is provided with a remaining finger clamping surface; The thumb assembly comprises a thumb body, and the thumb body comprises: thumb knuckle; A thumb tip portion, the thumb tip portion is rotatably connected to the thumb knuckle portion, and the thumb tip portion is provided with a thumb clamping surface; The thumb tip of the thumb assembly can contact the remaining finger tip of any remaining finger assembly; the thumb tip can rotate relative to the thumb knuckle portion so that the remaining finger clamping surface and the thumb clamping surface fit together.

10. The bionic hand according to claim 9, wherein: The clamping surface includes a plane segment and a curved segment connected to each other, and the plane segment is arranged farther away from the palm frame than the curved segment.

Images