Bionic manipulator and thumb rotation driving device thereof

Abstract

The invention discloses a bionic manipulator and a thumb rotation driving device thereof, the bionic manipulator comprises a hand shell, a thumb part and at least one finger part, and the thumb part and each finger part are arranged based on the hand shell; each finger part comprises a first driving mechanism, a first transmission mechanism and a finger mechanism, and the thumb part comprises a second driving mechanism, a second transmission mechanism and a thumb mechanism; the bionic manipulator further comprises a third driving mechanism, a third transmission mechanism and a rotary bearing mechanism, and the rotary bearing mechanism is connected with the thumb part; and the third driving mechanism is connected with the rotary bearing mechanism through a third transmission mechanism and can drive the rotary bearing mechanism to rotate, so that the thumb part can be driven to rotate. According to the bionic manipulator and the thumb rotation driving device thereof, electric bending adjustment and rotation adjustment of the thumb can be achieved, the function of the bionic manipulator can be expanded, and control is more automatic.

Description

Technical Field

[0001] The invention belongs to the technical field of bionic devices and relates to a bionic hand, in particular to a bionic manipulator and a thumb rotation drive device thereof. Background Art

[0002] Bionic hands are the main means to solve the problem of self-care for patients after amputation, and are still a relatively new and popular product. Existing bionic hand products have rich design concepts, and flexible and rigid mechanisms can be seen everywhere in the market, with obvious advantages and disadvantages; the service life of flexible mechanisms is limited, and the wear of drive ropes is the primary problem in the development and market development of such products; and the bionic hands with rigid connecting rods as the movement mechanism are heavy, slow and insensitive, and have poor and inconvenient user experience, which are also limitations encountered in the promotion of such products in the market.

[0003] The existing bionic hand products have a relatively complex structure of the thumb, which can realize the bending action of the thumb, but cannot cooperate well with other fingers (or needs to be manually driven to change the posture of the thumb), resulting in the bionic hand device being able to complete less work; or the posture of the thumb can be changed, but the change needs to be manually adjusted, which is relatively cumbersome.

[0004] In view of this, there is an urgent need to design a new bionic manipulator to overcome at least some of the above-mentioned defects of the existing bionic manipulators. Summary of the invention

[0005] The invention provides a bionic manipulator and a thumb rotation driving device thereof, which can realize electric bending adjustment and rotation adjustment of the thumb and expand the function of the bionic manipulator.

[0006] In order to solve the above technical problems, according to one aspect of the present invention, the following technical solution is adopted:

[0007] A bionic manipulator, comprising: a hand shell, a thumb component and at least one finger component, wherein the thumb component and each finger component are arranged based on the hand shell;

[0008] Each finger component includes a first driving mechanism, a first transmission mechanism and a finger mechanism, wherein the first driving mechanism can drive the finger mechanism to perform bending and straightening actions through the first transmission mechanism;

[0009] The thumb component includes a second driving mechanism, a second transmission mechanism and a thumb mechanism, and the second driving mechanism can drive the thumb mechanism to perform bending and straightening actions through the second transmission mechanism;

[0010] The bionic manipulator further comprises a thumb rotation drive device; the thumb rotation drive device comprises a third driving mechanism, a third transmission mechanism and a rotation bearing mechanism, and the rotation bearing mechanism is connected to the thumb component;

[0011] The third driving mechanism is connected to the rotating bearing mechanism via the third transmission mechanism, and can drive the rotating bearing mechanism to rotate, thereby driving the thumb component to perform a rotating action.

[0012] As an embodiment of the present invention, the third transmission mechanism includes a third gear set, a worm and a worm wheel, the third gear set includes a third driving gear and a third driven gear, and the third driving gear is meshed with the third driven gear;

[0013] The output shaft of the third driving mechanism is connected to the third driving gear, and can drive the third driving gear to rotate, thereby driving the third driven gear to rotate; one end of the worm is connected to the third driven gear, and can follow the third driven gear to rotate when the third driven gear rotates;

[0014] The worm is provided with teeth that can mesh with the worm wheel, and the worm wheel is arranged on the rotating bearing mechanism; the rotation of the worm can drive the worm wheel to rotate, thereby driving the rotating bearing mechanism to rotate, and then driving the thumb component to perform a rotating action.

[0015] As an implementation manner of the present invention, the third driving mechanism is arranged on one side of the worm; the worm can rotate under the limitation of at least one limiting mechanism.

[0016] As an implementation mode of the present invention, each limiting mechanism is respectively provided with a sleeve or a bearing; the bearing is a flange bearing or a deep groove ball bearing.

[0017] As an implementation manner of the present invention, the third driving mechanism and the third transmission mechanism are arranged in the hand housing, in a narrow and long area at the bottom of the hand housing.

[0018] As an embodiment of the present invention, the hand housing is provided with a plurality of first bases, the first driving mechanism of each finger component is fixed based on the corresponding first base, and the first transmission mechanism of each finger component is movably arranged on the corresponding first base;

[0019] The first base is disposed close to one end of the hand housing, and the first driving mechanism is disposed in the hand housing;

[0020] The finger component further includes a first finger section, a second finger section and a first joint connection member, the first transmission mechanism includes a first connecting rod, a second connecting rod and a third connecting rod; the first finger section is connected to the second finger section through the first joint connection member, and the first joint connection member is provided with an elastic reset mechanism, which can enable the first finger section and the second finger section to maintain a set posture when there is no external force;

[0021] The first end of the first connecting rod is connected to the first section of the finger, and the second end of the first connecting rod is connected to the first base; slots are respectively provided on both sides of the second section of the finger, and the second connecting rod is provided with two buckles, which are respectively arranged in the corresponding slots and can move in the slots; the second end of the second connecting rod is connected to the first end of the third connecting rod, and the second end of the third connecting rod is connected to the first driving mechanism; the first driving mechanism can drive the third connecting rod to move.

[0022] As an embodiment of the present invention, the hand housing is further provided with a second base for connecting a rotating bearing mechanism; the rotating bearing mechanism can rotate under the drive of a third driving mechanism, thereby realizing electric rotation adjustment of the thumb part;

[0023] The thumb component further includes a thumb housing, a finger tip, a second joint connection member and a limiting mechanism; the finger tip is fixed to the thumb housing through the second joint connection member, and the second driving mechanism and the second transmission mechanism are located in the thumb housing;

[0024] The second transmission mechanism includes a second gear set, a screw and a slider, wherein the first end of the screw is connected to the driving end of the finger tip, and the screw is also connected to the second gear set; the slider is nested with the screw, and when the screw rotates in a set direction, the slider can move upward or downward;

[0025] The output end of the second driving mechanism is connected to the second gear set, and the second driving mechanism can drive the screw to rotate along the set direction through the second gear set, thereby driving the slider to move along the set direction;

[0026] The limiting mechanism includes a fourth connecting rod, a fifth connecting rod and a sixth connecting rod; the second end of the fifth connecting rod is connected to the first end of the sixth connecting rod, and the second end of the sixth connecting rod is fixed by the thumb housing;

[0027] The thumb component further includes a first axle pin, a second axle pin, a third axle pin and a fourth axle pin; the finger tip is connected to the thumb housing via the first axle pin, and the finger tip can rotate relative to the thumb housing with the first axle pin as a rotation axis;

[0028] The first end of the first connecting rod is connected to the finger end through a second axle pin, so that the fourth connecting rod can rotate relative to the finger end along the second axle pin; the fourth connecting rod and the fifth connecting rod are connected through a third axle pin, so that the fourth connecting rod and the fifth connecting rod can rotate relative to each other; the second end of the sixth connecting rod is connected to the thumb housing through a fourth axle pin, so that the sixth connecting rod can rotate relative to the thumb housing at a set angle with the fourth axle pin as the center.

[0029] As an embodiment of the present invention, the first driving mechanism of each finger component is arranged in the hand shell, and the second driving mechanism of the thumb component is arranged in the thumb shell; the third driving mechanism and the third transmission mechanism of the thumb rotation driving device are arranged in the hand shell, located on one side of each first driving mechanism, close to the wrist of the bionic manipulator.

[0030] According to another aspect of the present invention, the following technical solution is adopted: a thumb rotation drive device of a bionic manipulator, the thumb rotation drive device comprising: a thumb rotation drive mechanism, a thumb rotation transmission mechanism and a rotation bearing mechanism, the rotation bearing mechanism being connected to the thumb component of the bionic manipulator;

[0031] The thumb rotation driving mechanism is connected to the rotation bearing mechanism through the thumb rotation transmission mechanism, and can drive the rotation bearing mechanism to rotate, thereby driving the thumb component to perform a rotation action;

[0032] The thumb rotation transmission mechanism includes a gear set, a worm and a worm wheel, the gear set includes a driving gear and a driven gear, and the driving gear is meshed with the driven gear;

[0033] The output shaft of the thumb rotation drive mechanism is connected to the driving gear, which can drive the driving gear to rotate, and then drive the driven gear to rotate; one end of the worm is connected to the driven gear, and can follow the driven gear to rotate when the driven gear rotates;

[0034] The worm is provided with teeth that can mesh with the worm wheel, and the worm wheel is arranged on the rotating bearing mechanism; the rotation of the worm can drive the worm wheel to rotate, thereby driving the rotating bearing mechanism to rotate, and then driving the thumb component to perform a rotating action.

[0035] As an embodiment of the present invention, the thumb rotation drive mechanism is arranged on one side of the worm; the worm can rotate under the limit of at least one limit mechanism; each limit mechanism is respectively provided with a sleeve or a bearing; the bearing is a flange bearing or a deep groove ball bearing;

[0036] The thumb rotation drive mechanism and the thumb rotation transmission mechanism are arranged in the palm shell of the bionic manipulator, in a narrow and long area at the bottom of the palm shell, close to the wrist of the bionic manipulator.

[0037] The beneficial effect of the present invention is that the bionic manipulator and the thumb rotation drive device thereof proposed in the present invention can realize the electric bending adjustment and rotation adjustment of the thumb, can expand the function of the bionic manipulator, and make the control more automated. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 Schematic diagram of the structure of a bionic manipulator in one embodiment of the present invention.

[0039] Figure 2 Schematic diagram of the internal structure of a bionic manipulator in one embodiment of the present invention.

[0040] Figure 3 Schematic diagram of the internal structure of a bionic manipulator in one embodiment of the present invention.

[0041] Figure 4 Schematic diagram of the structure of the thumb rotation transmission mechanism in one embodiment of the present invention.

[0042] Figure 5 Schematic diagram of the structure of the thumb rotation transmission mechanism (including the motor box) in one embodiment of the present invention.

[0043] Figure 6 2 is a cross-sectional view of a thumb rotation transmission mechanism in one embodiment of the present invention.

[0044] Figure 7 Schematic diagram of the structure of the thumb rotation transmission mechanism in the first embodiment of the present invention.

[0045] Figure 8 It is a structural schematic diagram of the thumb rotation transmission mechanism in the second embodiment of the present invention.

[0046] Fig. 9 Schematic diagram of the structure of the thumb rotation transmission mechanism in the third embodiment of the present invention.

[0047] Fig.10 Schematic diagram of the structure of the thumb rotation transmission mechanism in the third embodiment of the present invention.

[0048] Fig.11 Schematic diagram of the structure of a finger component in one embodiment of the present invention.

[0049] Fig.12 Schematic diagram of the structure of the thumb component in one embodiment of the present invention.

[0050] Fig.13 Schematic diagram of the structure of the thumb component in one embodiment of the present invention.

[0051] Fig.14 Schematic diagram of the structure of a first driving motor in an embodiment of the present invention (the motor is not shown). DETAILED DESCRIPTION

[0052] The preferred embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0053] In order to further understand the present invention, preferred embodiments of the present invention are described below in conjunction with examples. However, it should be understood that these descriptions are only for further illustrating the features and advantages of the present invention, rather than limiting the claims of the present invention.

[0054] The description in this section is only for several typical embodiments, and the present invention is not limited to the scope of the embodiments. The same or similar prior art means and some technical features in the embodiments are mutually replaced within the scope of the present invention.

[0055] The term “connection” in the specification includes both direct connection and indirect connection.

[0056] The present invention discloses a bionic manipulator. Figures 1 to 3 is a schematic diagram of the structure of a bionic manipulator in one embodiment of the present invention; please refer to Figures 1 to 3 The bionic manipulator includes: a hand shell 4, a thumb component 2 and at least one finger component 1, and the thumb component 2 and each finger component 1 are arranged based on the hand shell 4.

[0057] Each finger component 1 includes a first driving mechanism 11, a first transmission mechanism 12 and a finger mechanism 13. The first driving mechanism 11 can drive the finger mechanism 13 to perform bending and straightening actions through the first transmission mechanism 12. The thumb component 2 includes a second driving mechanism 21, a second transmission mechanism 22 and a thumb mechanism 23. The second driving mechanism 21 can drive the thumb mechanism 23 to perform bending and straightening actions through the second transmission mechanism 22.

[0058] The bionic manipulator further includes a thumb rotation transmission mechanism 3; the thumb rotation transmission mechanism 3 includes a third driving mechanism 31, a third transmission mechanism 32 and a rotation bearing mechanism 33, and the rotation bearing mechanism 33 is connected to the thumb part 2. The third driving mechanism 31 is connected to the rotation bearing mechanism 33 through the third transmission mechanism 32, and can drive the rotation bearing mechanism 33 to rotate, thereby driving the thumb part 2 to perform a rotation action. In one embodiment, the third driving mechanism 31 and the third transmission mechanism 32 are arranged in the hand housing 4, in a narrow and long area at the bottom of the hand housing 4.

[0059] Figures 4 to 6 is a structural diagram of a thumb rotation transmission mechanism in one embodiment of the present invention; please refer to Figures 4 to 6In one embodiment of the present invention, the third transmission mechanism 32 includes a gear set, a worm 321 and a worm wheel 322. The gear set includes a driving gear 323 and a driven gear 324. The driving gear 323 meshes with the driven gear 324. The output shaft of the third driving mechanism 31 is connected to the driving gear 323, which can drive the driving gear 323 to rotate, thereby driving the driven gear 324 to rotate; one end of the worm 321 is connected to the driven gear 324, and can follow the driven gear 324 to rotate when the driven gear 324 rotates. The worm 321 is provided with teeth that can mesh with the worm wheel 322, and the worm wheel 322 is arranged on the rotating bearing mechanism 33; the rotation of the worm 321 can drive the worm wheel 322 to rotate, thereby driving the rotating bearing mechanism 33 to rotate, thereby driving the thumb component 2 to perform a rotation action.

[0060] In one embodiment of the present invention, the third driving mechanism 31 is arranged on one side of the worm 321; the worm 321 can rotate under the limit of at least one limit mechanism. The third driving mechanism 31 can be arranged in a housing 325, and a plurality of limit mechanisms are arranged on one side of the third driving mechanism 31. The housing 325 can be a gear box or a motor box; the housing 325 includes an upper housing 3251 and a lower housing 3252. In one embodiment, each limit mechanism is respectively provided with a shaft sleeve 327; in another embodiment, each limit mechanism is respectively provided with a bearing 326; the bearing 326 can be a deep groove ball bearing 3261, a flange bearing 3262 or a plane bearing 3263.

[0061] Figure 7 This is a structural diagram of the thumb rotation transmission mechanism in the first embodiment of the present invention; please refer to Figure 7 In the first embodiment, the third driving mechanism 31 is a third motor, and a deep groove ball bearing 3261 and two flange bearings 3262 are provided on one side of the third motor.

[0062] Figure 8 is a structural diagram of the thumb rotation transmission mechanism in the second embodiment of the present invention; please refer to Figure 8 In the second embodiment, the third driving mechanism 31 is a third motor, and a deep groove ball bearing 3261 and two shaft sleeves 327 are provided on one side of the third motor.

[0063] Fig. 9 , Fig.10 This is a structural diagram of the thumb rotation transmission mechanism in the third embodiment of the present invention; please refer to Fig. 9 , Fig.10 In the third embodiment, the third driving mechanism 31 is a third motor, and two deep groove ball bearings 3261 and two plane bearings 3263 are provided on one side of the third motor.

[0064] In one embodiment of the present invention, the bionic manipulator includes four finger parts 1; the hand shell 4 is provided with a plurality of first bases 41, and each finger part 1 is fixed based on the corresponding first base 41 (of course, the plurality of first bases 41 can also be designed in an integrated manner); in one embodiment, the first driving mechanism 11 of each finger part 1 is fixed based on the corresponding first base 41, and the first transmission mechanism 12 of each finger part 1 can be movably arranged on the corresponding first base 41.

[0065] The hand housing 4 is further provided with a second base 42 for connecting the rotating bearing mechanism 33. In one embodiment of the present invention, the rotating bearing mechanism 33 can rotate under the drive of the third driving mechanism 31, so that the electric rotation adjustment of the thumb part 2 can be realized, thereby expanding the active area of ​​the thumb part and being electrically controlled.

[0066] In one embodiment of the present invention, the structure of the finger component 1 can adopt the structure of Chinese invention patent CN202010669604.0 applied for by the applicant in 2020.

[0067] Fig.11 is a schematic diagram of the structure of a finger component in an embodiment of the present invention; please refer to Fig.11 In one embodiment of the present invention, the hand housing 4 is provided with a plurality of first bases 41, the first driving mechanism 11 of each finger component 1 is fixed based on the corresponding first base 41, and the first transmission mechanism 12 of each finger component 1 is movably arranged on the corresponding first base 41. The first base 41 is arranged near one end of the hand housing 4, and the first driving mechanism 11 is arranged inside the hand housing 4.

[0068] The finger component 1 further includes: a first finger section 101, a second finger section 102 and a first joint connector 108; the first transmission mechanism 12 includes a first connecting rod 103, a second connecting rod 104, and a third connecting rod 105; the first driving mechanism 11 can be a first driving motor 107.

[0069] The first finger section 101 is connected to the second finger section 102 via a first joint connection member 108. The first joint connection member 108 is provided with an elastic reset mechanism 1081, which can enable the first finger section 101 and the second finger section 102 to maintain a set posture when there is no external force.

[0070] The first end of the first connecting rod 103 is connected to the first section 101 of the finger, and the second end of the first connecting rod 103 is connected to the third base 106; slots 3021 are respectively provided on both sides of the second section 102 of the finger, and the second connecting rod 304 is provided with two buckles 1041, each buckle 1041 is arranged through the corresponding slot 1021, and can move in the slot 1021. The second end of the second connecting rod 104 is connected to the first end of the third connecting rod 105, and the second end of the third connecting rod 105 is connected to the first driving motor 107; the first driving motor 107 can drive the third connecting rod 105 to move. In addition, the first section 101 of the finger can also be designed into two separate sections as needed. The first driving motor 107 can be a linear motor; the slot 1021 can be arc-shaped, and the elastic reset mechanism 1081 can be a spring. In one embodiment, please refer to Fig.14 The first drive motor 107 includes a motor 1071, a first gear set 1072 (including a first driving gear 10721 and a first driven gear 10722), a first screw rod 1073 and a first screw rod nut 1074; the output end of the motor 1071 is connected to the first screw rod 1073 through the gear set 1072, and can drive the first screw rod 1073 to rotate; the first screw rod nut 1074 is connected to the first screw rod 1073, and can drive the first screw rod nut 1074 to move axially (in the direction of the rotation axis of the first screw rod) during the rotation of the first screw rod 1073, thereby realizing the telescopic effect of the first drive motor 107, and then can drive the fingers to bend or straighten. The output shaft of the motor 1071 is connected to the first gear 10721, the first driving gear 10721 is meshed with the first driven gear 10722, the first screw rod 1073 is fixedly arranged with the first driven gear 10722, and the rotation axis of the first driven gear 10722 is on the same straight line as the rotation axis of the first screw rod 1073. The motor 1071 can be arranged in a motor box 1070, the motor box 1070 is provided with a motor box shell 10701 and a motor box cover 10702, the first screw nut 1074 is arranged through the motor box 1070, and is restricted by the cap body 1075; the cap body 1075 is provided with a non-circular through hole for the first screw nut 1074 to pass through, and the cross-section of the first screw nut 1074 is also non-circular (corresponding to the shape of the through hole, it can be approximately square), so that the first screw nut 1074 cannot rotate and can only be linearly extended.

[0071] Fig.12 , Fig.13 is a schematic diagram of the structure of the thumb component in one embodiment of the present invention; please refer to Fig.12 , Fig.13 The hand housing 4 is also provided with a second base 42 for connecting the rotating bearing mechanism 33; the rotating bearing mechanism 33 can rotate under the drive of the third driving mechanism 31, thereby realizing the electric rotation adjustment of the thumb part 2.

[0072] The thumb component 2 further includes a thumb housing 201, a finger tip 202, a second joint connector 203 and a limiting mechanism 206; the thumb housing 201 can be disposed via the second base 42; the second driving mechanism 21 can be a second driving motor 204. The finger tip 202 is fixed to the thumb housing 201 via the second joint connector 203, and the second driving motor 204 and the second transmission mechanism 205 are located in the thumb housing 201.

[0073] The second transmission mechanism 205 includes a second gear set 2051, a screw rod 2052 and a slider 2053. The first end of the screw rod 2052 is connected to the driving end of the finger tip 202, and the screw rod 2052 is also connected to the second gear set 2051. The slider 2053 is nested with the screw rod 2052. When the screw rod 2052 rotates in a set direction, the slider 2053 can move upward or downward. The output end of the second drive motor 204 is connected to the second gear set 2051. The second drive motor 204 can drive the screw rod 2052 to rotate in a set direction through the second gear set 2051, thereby driving the slider 2053 to move in the set direction.

[0074] The limiting mechanism 206 includes a fourth connecting rod 2061, a fifth connecting rod 2062 and a sixth connecting rod 2063 (of course, it can also be other numbers of connecting rods); the second end of the fifth connecting rod 2062 is connected to the first end of the sixth connecting rod 2063, and the second end of the sixth connecting rod 2063 is fixed by the thumb housing 201.

[0075] The thumb component may further include a first axis pin 2071, a second axis pin 2072, a third axis pin 2073 and a fourth axis pin 2074. The finger end 202 is connected to the thumb housing 201 through the first axis pin 2071, and the finger end 202 can rotate relative to the thumb housing 201 with the first axis pin 2071 as the rotation axis. The first end of the fourth connecting rod 2061 is connected to the finger end 202 through the second axis pin 2072, so that the fourth connecting rod 2071 can rotate relative to the finger end 202 along the second axis pin 2062. The fourth connecting rod 2061 and the fifth connecting rod 2062 are connected through the third axis pin 2073, so that the fourth connecting rod 2061 and the fifth connecting rod 2062 can rotate relative to each other. The second end of the sixth connecting rod 2063 is connected to the thumb housing 201 through the fourth axis pin 2074, so that the sixth connecting rod 2063 can rotate relative to the thumb housing 201 with the fourth axis pin 2074 as the center by a set angle.

[0076] In one embodiment of the present invention, the first driving mechanism 11 of each finger part 1 is arranged in the hand housing 4, and the second driving mechanism 21 of the thumb part 2 is arranged in the thumb housing 201; the third driving mechanism 31 and the third transmission mechanism 32 of the thumb rotation driving device are arranged in the hand housing 4, on one side of each first driving mechanism 11, close to the wrist of the bionic manipulator. Figure 2 , Figure 3 As shown, the first drive mechanism 11 is arranged behind the hand housing 4, occupying most of the space of the hand housing 4; the present invention arranges the third drive mechanism 31 vertically to the first drive mechanism 11, so that the third drive mechanism 31 and the third transmission mechanism 32 can make good use of the bottom space in the hand housing 4 to realize the electric rotation adjustment of the thumb part.

[0077] In one usage scenario of the present invention, the control circuit sends control commands to the first drive mechanism 11, the second drive mechanism 21, and the third drive mechanism 31 respectively according to the acquired control signal, thereby driving the fingers of the bionic hand to bend and the thumb to rotate, making the range of movement of the bionic hand more similar to that of a human hand, thereby further expanding the function and flexibility of the bionic manipulator.

[0078] In summary, the bionic manipulator and thumb rotation drive device proposed in the present invention can realize the electric bending adjustment and rotation adjustment of the thumb, and can expand the function of the bionic manipulator; the present invention can make the control of the bionic manipulator more automated, the rotation structure is simple and occupies little space.

[0079] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0080] The description and application of the present invention here are illustrative, and it is not intended to limit the scope of the present invention to the above-mentioned embodiments. The effects or advantages involved in the embodiments may not be embodied in the embodiments due to interference from various factors, and the description of the effects or advantages is not used to limit the embodiments. The deformation and change of the embodiments disclosed here are possible, and the replacement of the embodiments and the various equivalent parts are well known to those of ordinary skill in the art. It should be clear to those skilled in the art that the present invention can be implemented in other forms, structures, arrangements, proportions, and with other components, materials and parts without departing from the spirit or essential features of the present invention. Other deformations and changes can be made to the embodiments disclosed here without departing from the scope and spirit of the present invention.

Claims

1. A bionic manipulator, It is characterized in that The bionic manipulator comprises: a hand housing, a thumb component and at least one finger component, wherein the thumb component and each finger component are arranged based on the hand housing; Each finger component includes a first driving mechanism, a first transmission mechanism and a finger mechanism, wherein the first driving mechanism can drive the finger mechanism to perform bending and straightening actions through the first transmission mechanism; The thumb component includes a second driving mechanism, a second transmission mechanism and a thumb mechanism, and the second driving mechanism can drive the thumb mechanism to perform bending and straightening actions through the second transmission mechanism; The bionic manipulator further comprises a thumb rotation drive device; the thumb rotation drive device comprises a third driving mechanism, a third transmission mechanism and a rotation bearing mechanism, and the rotation bearing mechanism is connected to the thumb component; The third driving mechanism is connected to the rotating bearing mechanism via the third transmission mechanism, and can drive the rotating bearing mechanism to rotate, thereby driving the thumb component to perform a rotating action.

2. The bionic manipulator according to claim 1, Features: The third transmission mechanism includes a third gear set, a worm and a worm wheel, the third gear set includes a third driving gear and a third driven gear, and the third driving gear is meshed with the third driven gear; The output shaft of the third driving mechanism is connected to the third driving gear, and can drive the third driving gear to rotate, thereby driving the third driven gear to rotate; one end of the worm is connected to the third driven gear, and can follow the third driven gear to rotate when the third driven gear rotates; The worm is provided with teeth that can mesh with the worm wheel, and the worm wheel is arranged on the rotating bearing mechanism; the rotation of the worm can drive the worm wheel to rotate, thereby driving the rotating bearing mechanism to rotate, and then driving the thumb component to perform a rotating action.

3. The bionic manipulator according to claim 2, Features: The third driving mechanism is arranged on one side of the worm; the worm can rotate under the limitation of at least one limiting mechanism.

4. The bionic manipulator according to claim 3, Features: Each limiting mechanism is respectively provided with a shaft sleeve or a bearing; the bearing is a flange bearing or a deep groove ball bearing.

5. The bionic manipulator according to claim 2, Features: The third driving mechanism and the third transmission mechanism are arranged in the hand housing, in a narrow and long area at the bottom of the hand housing.

6. The bionic manipulator according to claim 1, Features: The hand housing is provided with a plurality of first bases, the first driving mechanism of each finger component is fixed based on the corresponding first base, and the first transmission mechanism of each finger component is movably arranged on the corresponding first base; The first base is disposed close to one end of the hand housing, and the first driving mechanism is disposed in the hand housing; The finger component further includes a first finger section, a second finger section and a first joint connection member, the first transmission mechanism includes a first connecting rod, a second connecting rod and a third connecting rod; the first finger section is connected to the second finger section through the first joint connection member, and the first joint connection member is provided with an elastic reset mechanism, which can enable the first finger section and the second finger section to maintain a set posture when there is no external force; The first end of the first connecting rod is connected to the first section of the finger, and the second end of the first connecting rod is connected to the first base; slots are respectively provided on both sides of the second section of the finger, and the second connecting rod is provided with two buckles, which are respectively arranged in the corresponding slots and can move in the slots; the second end of the second connecting rod is connected to the first end of the third connecting rod, and the second end of the third connecting rod is connected to the first driving mechanism; the first driving mechanism can drive the third connecting rod to move.

7. The bionic manipulator according to claim 1, Features: The hand housing is also provided with a second base for connecting the rotating bearing mechanism; the rotating bearing mechanism can rotate under the drive of the third driving mechanism, thereby realizing the electric rotation adjustment of the thumb part; The thumb component further includes a thumb housing, a finger tip, a second joint connection member and a limiting mechanism; the finger tip is fixed to the thumb housing through the second joint connection member, and the second driving mechanism and the second transmission mechanism are located in the thumb housing; The second transmission mechanism includes a second gear set, a screw and a slider, wherein the first end of the screw is connected to the driving end of the finger tip, and the screw is also connected to the second gear set; the slider is nested with the screw, and when the screw rotates in a set direction, the slider can move upward or downward; The output end of the second driving mechanism is connected to the second gear set, and the second driving mechanism can drive the screw to rotate along the set direction through the second gear set, thereby driving the slider to move along the set direction; The limiting mechanism includes a fourth connecting rod, a fifth connecting rod and a sixth connecting rod; the second end of the fifth connecting rod is connected to the first end of the sixth connecting rod, and the second end of the sixth connecting rod is fixed by the thumb housing; The thumb component further includes a first axle pin, a second axle pin, a third axle pin and a fourth axle pin; the finger tip is connected to the thumb housing via the first axle pin, and the finger tip can rotate relative to the thumb housing with the first axle pin as a rotation axis; The first end of the first connecting rod is connected to the finger end through a second axle pin, so that the fourth connecting rod can rotate relative to the finger end along the second axle pin; the fourth connecting rod and the fifth connecting rod are connected through a third axle pin, so that the fourth connecting rod and the fifth connecting rod can rotate relative to each other; the second end of the sixth connecting rod is connected to the thumb housing through a fourth axle pin, so that the sixth connecting rod can rotate relative to the thumb housing at a set angle with the fourth axle pin as the center.

8. The bionic manipulator according to claim 2, Features: The first driving mechanism of each finger component is arranged in the hand housing, and the second driving mechanism of the thumb component is arranged in the thumb housing; the third driving mechanism and the third transmission mechanism of the thumb rotation driving device are arranged in the hand housing, located on one side of each first driving mechanism, close to the wrist of the bionic manipulator.

9. A thumb rotation drive device for a bionic manipulator, It is characterized in that The thumb rotation drive device comprises: a thumb rotation drive mechanism, a thumb rotation transmission mechanism and a rotation bearing mechanism, wherein the rotation bearing mechanism is connected to the thumb part of the bionic manipulator; The thumb rotation driving mechanism is connected to the rotation bearing mechanism through the thumb rotation transmission mechanism, and can drive the rotation bearing mechanism to rotate, thereby driving the thumb component to perform a rotation action; The thumb rotation transmission mechanism includes a gear set, a worm and a worm wheel, the gear set includes a driving gear and a driven gear, and the driving gear is meshed with the driven gear; The output shaft of the thumb rotation drive mechanism is connected to the driving gear, which can drive the driving gear to rotate, and then drive the driven gear to rotate; one end of the worm is connected to the driven gear, and can follow the driven gear to rotate when the driven gear rotates; The worm is provided with teeth that can mesh with the worm wheel, and the worm wheel is arranged on the rotating bearing mechanism; the rotation of the worm can drive the worm wheel to rotate, thereby driving the rotating bearing mechanism to rotate, and then driving the thumb component to perform a rotating action.

10. The thumb rotation drive device according to claim 9, Features: The thumb rotation drive mechanism is arranged on one side of the worm; the worm can rotate under the limit of at least one limit mechanism; each limit mechanism is respectively provided with a sleeve or a bearing; the bearing is a flange bearing or a deep groove ball bearing; The thumb rotation drive mechanism and the thumb rotation transmission mechanism are arranged in the palm shell of the bionic manipulator, in a narrow and long area at the bottom of the palm shell, close to the wrist of the bionic manipulator.

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