Bionic finger structure and bionic hand

Abstract

The invention relates to a bionic finger structure and a bionic hand, and the bionic finger structure comprises a connecting seat which is used for being connected with a palm part of the bionic hand; the near-end joint is connected with the connecting seat in a running fit manner; the far-end joint is connected with one end, far away from the connecting seat, of the near-end joint in a running fit manner; the bending and stretching driving mechanism is used for driving the near-end joint and the far-end joint to bend and stretch synchronously; the flexion and extension driving mechanism comprises a power source, a gear set and a transmission rod set which are in transmission connection in sequence; the angle sensor is installed at the rotating connection position of the near-end joint and the far-end joint so as to detect the relative rotating angle of the near-end joint and the far-end joint, and the bionic finger structure has the advantages of being high in flexibility, convenient to overhaul during power failure and capable of accurately judging the relative bending and stretching position of the bionic finger structure.

Description

Technical Field

[0001] The present invention relates to the technical field of bionic devices, in particular to a bionic finger structure and a bionic hand. Background Art

[0002] As an important component of the bionic hand, the flexibility of the bionic finger structure can determine the flexibility of the bionic hand and thus affect the performance of the bionic hand.

[0003] Existing bionic finger structures are usually driven by motors, screws, sliders and connecting rods. That is, the motor drives the screw to rotate, so that the slider that cooperates with the screw slides, and then applies a certain force to the connecting rod, and finally drives the finger joint connected to the corresponding connecting rod to operate.

[0004] However, in the above solution, when the motor is powered off, the bionic finger structure will be relatively stuck due to the limitation of the slider and the screw rod, and the fingers cannot be pried open by external force, which will make it difficult to remove the items held in the bionic hand, making it difficult for operators to perform maintenance. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to overcome the defects in the prior art, thereby providing a bionic finger structure and a bionic hand.

[0006] To achieve the above object, the present invention adopts the following technical solutions: A bionic finger structure, comprising: A connecting seat, used for connecting to the palm of the bionic hand; A proximal joint, rotatably connected to the connecting seat; The distal joint is rotatably connected to the end of the proximal joint away from the connecting seat; A flexion-extension drive mechanism, for driving the proximal joint and the distal joint to flex and extend synchronously; the flexion-extension drive mechanism comprises a power source, a gear set, and a transmission rod set that are sequentially connected in transmission; An angle sensor is installed at the rotation connection position of the proximal joint and the distal joint to detect the relative rotation angle between the two.

[0007] Preferably, the transmission ratio of each stage of the gear set is greater than 1; and / or, The transmission ratio of the gear set increases step by step.

[0008] Preferably, the gear set includes a driving bevel gear, a first driven bevel gear, a second driven bevel gear, a first spur gear and a second spur gear; The first driven bevel gear is fixedly connected to the proximal joint and meshes with the driving bevel gear for transmission; The second driven bevel gear is rotatably connected relative to the proximal joint and the connecting seat, and is meshed with the driving bevel gear for transmission; The first spur gear is coaxially fixedly connected to the second driven bevel gear; The second spur gear is rotatably connected relative to the proximal joint and meshes with the first spur gear for transmission. The second spur gear is connected to the transmission rod group.

[0009] Preferably, the transmission rod group includes a first rod, a second rod, a third rod and a fourth rod; One end of the first rod is fixedly connected to the extension shaft of the second spur gear, and the other end is rotatably connected to the second rod; The middle portion of the third rod is rotatably connected to the proximal joint, and both ends are connected to an end of the second rod away from the first rod and an end of the fourth rod respectively; One end of the fourth rod away from the third rod is rotatably connected to the distal joint.

[0010] Preferably, the connecting seat is provided with a mounting area and a hinge hole; The installation area passes through the connecting seat from the proximal end to the distal end to accommodate a portion of the gear set, and the gear set is transmission-connected to the power source via a universal joint; The hinge hole is located below the installation area, and the connecting seat is rotatably connected to the palm part through the hinge hole.

[0011] A bionic hand comprises a palm portion and a plurality of bionic finger structures as described above, wherein the bionic finger structures are movably mounted on the palm portion.

[0012] Preferably, the palm portion includes a shell, a mounting cavity formed in the shell, and a connector for connecting to the wrist; The bionic finger structure is provided with five fingers, four of which are installed at the end of the palm away from the connecting member to form the index finger, middle finger, ring finger and little finger, and the other is installed at the end of the palm relatively close to the connecting member to form the thumb; The bionic hand further comprises a finger swing driving assembly, which is at least used to drive the index finger, the ring finger and the little finger to move away from or closer to each other; The power source of the flexion and extension driving mechanism of the bionic finger structure and the finger swing driving assembly are both installed in the installation cavity and distributed in the installation cavity along a direction perpendicular to the end surface of the palm.

[0013] Preferably, the connection seats of the index finger, ring finger and little finger are rotatably mounted on the housing through hinge holes and hinge shafts; The connection seats of the index finger, ring finger and little finger are further provided with an arc guide rail, the central axis of the arc guide rail coincides with the central axis of the hinge hole, and the arc guide rail is slidably connected to the first guide column installed on the housing; The finger swing driving assembly includes a connecting plate, a second guide post, a sliding plate and a driving part; The connecting plates are arranged in one-to-one correspondence with the connecting seats of the index finger, the ring finger and the little finger, and the connecting plates are fixed to one end of the connecting seats of the index finger, the ring finger and the little finger away from the hinge hole thereof; The second guide posts are connected to the connecting plates in a one-to-one correspondence; The sliding plate is provided with a preset guide rail, and the preset guide rail is slidingly connected to the second guide column in a one-to-one correspondence; The driving portion is used to drive the sliding plate to slide relative to the housing.

[0014] Preferably, the connecting seat of the middle finger is fixedly connected to the housing; The power source of the thumb is arranged between the power source of the middle finger and the power source of the index finger.

[0015] Preferably, the thumb connection base is rotatably mounted on the housing via a hinge hole and a hinge shaft; A thumb driving device is provided on one side of the thumb connection seat to drive the distal joint of the thumb to align with the index finger, the middle finger, the ring finger or the little finger; The thumb drive device includes a bevel rack, a thumb drive bevel gear and a thumb drive motor; the bevel rack is fixedly mounted on the connecting seat, and its central axis coincides with the central axis of the hinge hole; the thumb drive bevel gear is fixedly connected to the rotating shaft of the thumb drive motor and meshes with the bevel rack for transmission.

[0016] Compared with the prior art, the present invention has the following beneficial effects: The bionic finger structure provided by the present invention has a flexion and extension drive mechanism that adopts a gear set and a transmission rod set structure. Compared with the existing scheme that adopts the screw, slider and connecting rod drive method, on the one hand, it can increase the response speed of the flexion and extension of the bionic finger structure and increase the flexibility of the flexion and extension movement of the bionic finger structure; on the other hand, when the power source is abnormally powered off and cannot operate, the bionic finger structure can be reversely driven with the help of external force, so that the bionic finger structure can be operated from a bent state to an extended state, thereby facilitating the rapid removal of the items held by the bionic finger structure, so as to achieve rapid maintenance and avoid the problem of maintenance difficulties caused by the locking of the bionic finger structure. At the same time, the rotation connection position of the proximal joint and the distal joint is provided with an angle sensor, which can detect the relative rotation angle of the proximal joint and the distal joint, so that even if an external force is applied to the finger for maintenance, the flexion and extension state of the finger can be quickly obtained after the power source is operated. In other words, the interaction between the flexion and extension drive mechanism (gear set and transmission rod set) and the angle sensor not only increases the flexibility of the bionic finger structure's flexion and extension, but also facilitates maintenance of the bionic finger structure and the bionic hand employing it. Furthermore, maintenance does not affect the accuracy of determining the finger's flexion and extension state (position). Accordingly, the bionic hand provided by the present invention, which has the aforementioned bionic finger structure, increases the flexibility of finger flexion and extension and facilitates maintenance of the bionic hand. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 This is a schematic structural diagram of the bionic finger structure provided by the present invention.

[0019] Figure 2 for Figure 1 Explosion diagram.

[0020] Figure 3 for Figure 1 Schematic diagram of the structure of the proximal and mid-length joint after partial section.

[0021] Figure 4 for Figure 3 Schematic diagram of the D1 position in the image.

[0022] Figure 5 for Figure 1 Schematic diagram of the structure after removing the connecting seat and proximal joint.

[0023] Figure 6 for Figure 5 Schematic diagram of the enlarged D2 position.

[0024] Figure 7 for Figure 1 Schematic diagram of the structure from another perspective.

[0025] Figure 8 for Figure 7 Schematic diagram of the cut along section AA.

[0026] Figure 9 for Figure 8 A magnified schematic diagram of the D3 position in the figure.

[0027] Figure 10 This is a schematic structural diagram of the bionic hand provided by the present invention.

[0028] Figure 11 for Figure 10 Schematic diagram of the structure after partial cutting of the middle shell.

[0029] Figure 12 for Figure 11 Schematic diagram of the enlarged D4 position.

[0030] Figure 13 for Figure 11 Schematic diagram of the enlarged D5 position.

[0031] Figure 14 for Figure 11 Schematic diagram of the connection between the middle housing, the finger swing drive assembly, and part of the connecting seat.

[0032] Figure 15 for Figure 14 Schematic diagram of the D6 position in the middle.

[0033] Figure 16 for Figure 14 Schematic diagram of the D7 position in the middle.

[0034] Figure 17 Another structural schematic diagram of the bionic hand provided by the present invention.

[0035] Figure 18 for Figure 17 Schematic diagram of the structure after partial cutting of the middle shell.

[0036] Figure 19 for Figure 18 Schematic diagram of the D8 position in the middle.

[0037] Description of reference numerals: 100, palm portion; 101, housing; 102, mounting cavity; 103, connector; 200, finger swing drive assembly; 201, connecting plate; 202, second guide post; 203, sliding plate; 2031, preset guide rail; 204, drive portion; 2041, threaded hole; 2042, lead screw; 2043, sliding drive motor; 300, hinge shaft; 400, first guide post; 500, bump; 600, slide groove; 700, thumb drive device; 701, bevel rack; 702, thumb drive bevel gear; 703 , thumb drive motor; 1. Connecting seat; 11. Installation area; 12. Hinge hole; 13. Arc guide rail; 2. Proximal joint; 3. Distal joint; 4. Flexion and extension drive mechanism; 41. Power source; 42. Gear set; 420. Active bevel gear; 421. First driven bevel gear; 422. Second driven bevel gear; 423. First spur gear; 424. Second spur gear; 43. Transmission rod set; 431. First rod; 432. Second rod; 433. Third rod; 434. Fourth rod; 5. Angle sensor; 6. Universal joint. DETAILED DESCRIPTION

[0038] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0039] In the description of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limitations on the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0040] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0041] See also Figures 1 to 10An embodiment of the present invention provides a bionic finger structure, including a connecting seat 1, a proximal joint 2, a distal joint 3, a flexion and extension drive mechanism 4 and an angle sensor 5, wherein the connecting seat 1 is used to be connected to the palm part 100 of the bionic hand to install the entire bionic finger structure to the palm part 100; the proximal joint 2 is rotationally connected to the connecting seat 1; the distal joint 3 is rotationally connected to the end of the proximal joint 2 away from the connecting seat 1; the flexion and extension drive mechanism 4 is used to drive the proximal joint 2 and the distal joint 3 to flex and extend synchronously; the flexion and extension drive mechanism 4 includes a power source 41, a gear set 42 and a transmission rod set 43 that are sequentially connected in transmission; the angle sensor 5 is installed at the rotational connection position of the proximal joint 2 and the distal joint 3 to detect the relative rotation angle between the two.

[0042] It is not difficult to understand that in the above scheme, the flexion and extension drive mechanism 4 adopts the structure of the gear set 42 and the transmission rod set 43. Compared with the existing scheme that adopts the screw, slider and connecting rod drive method, on the one hand, it can increase the response speed of the flexion and extension of the bionic finger structure and increase the flexibility of the flexion and extension movement of the bionic finger structure; on the other hand, when the power source 41 is abnormally powered off and cannot operate, the bionic finger structure can be reversely driven with the help of external force, so that the bionic finger structure can be operated from the bent state to the extended state, thereby facilitating the rapid removal of the items held by the bionic finger structure to achieve rapid maintenance and avoid the problem of maintenance difficulties caused by the locking of the bionic finger structure. At the same time, the rotation connection position of the proximal joint 2 and the distal joint 3 is provided with an angle sensor 5, which can detect the relative rotation angle of the proximal joint 2 and the distal joint 3, so that even if an external force is applied to the finger for maintenance, the flexion and extension state of the finger can be quickly obtained after the power source 41 is operated. That is, through the mutual cooperation between the flexion and extension drive mechanism 4 (gear group 42 and transmission rod group 43) and the angle sensor 5, the flexibility of the flexion and extension of the bionic finger structure can be increased, and the maintenance of the bionic finger structure and the bionic hand using the bionic finger structure can be facilitated. At the same time, the accuracy of the judgment of the flexion and extension state (position) of the finger will not be affected after the maintenance.

[0043] It is worth noting that the "proximal end" here refers to the end relatively closer to the connecting base 1, that is, the end of the bionic finger structure relatively closer to the palm portion 100 of the bionic hand when the bionic hand is used. Correspondingly, the "distal end" refers to the end relatively farther from the connecting base 1, that is, the end of the bionic finger structure relatively farther from the palm portion 100 of the bionic hand when the bionic hand is used.

[0044] It is also worth mentioning that the angle sensor 5 can be powered by a separate power supply battery.

[0045] Of course, the angle sensor 5 may also adopt a physical judgment structure (such as an angle scale and pointer structure to judge the two relative operating angles of the proximal joint 2 and the distal joint 3).

[0046] See also Figures 1 to 10 The transmission ratio of each stage of the gear set 42 is greater than 1, and the transmission ratio of the gear set 42 can be increased step by step to increase the torque at the end (i.e., corresponding to the distal joint 3), thereby enabling the bionic finger structure end to withstand heavier loads and achieve the grasping of heavier objects.

[0047] It is not difficult to understand that compared with the transmission structure formed by the screw, slider and connecting rod, this embodiment can not only ensure the flexibility of the bionic finger structure and realize the rapid grasping or releasing of objects, but also ensure that it can grasp objects of a certain weight to a certain extent and ensure the stability of the object grasping.

[0048] Specifically, the gear set 42 includes a driving bevel gear 420, a first driven bevel gear 421, a second driven bevel gear 422, a first spur gear 423, and a second spur gear 424. The first driven bevel gear 421 is fixedly connected relative to the proximal joint 2 and meshes with the driving bevel gear 420 for transmission; the second driven bevel gear 422 is rotatably connected relative to the proximal joint 2 and the connecting base 1 and meshes with the driving bevel gear 420 for transmission; the first spur gear 423 is coaxially fixedly connected relative to the second driven bevel gear 422; the second spur gear 424 is rotatably connected relative to the proximal joint 2 and meshes with the first spur gear 423 for transmission; and the second spur gear 424 is connected to the transmission rod set 43.

[0049] Furthermore, the first driven bevel gear 421 and the second driven bevel gear 422 can be symmetrically arranged with respect to the driving bevel gear 420 , and the number of teeth of the first driven bevel gear 421 and the second driven bevel gear 422 are both greater than the number of teeth of the driving bevel gear 420 , so that the transmission ratio of this stage is greater than 1. Similarly, the number of teeth of the second spur gear 424 is also greater than that of the first spur gear 423 , so that the transmission ratio of this stage is greater than 1.

[0050] Furthermore, the transmission rod group 43 includes a first rod 431, a second rod 432, a third rod 433 and a fourth rod 434, wherein one end of the first rod 431 is fixedly connected to the extension shaft of the second spur gear 424, and the other end is rotatably connected to the second rod 432; the middle part of the third rod 433 is rotatably connected to the proximal joint 2, and the two ends are respectively connected to the end of the second rod 432 away from the first rod 431 and one end of the fourth rod 434; the end of the fourth rod 434 away from the third rod 433 is rotatably connected to the distal joint 3.

[0051] Furthermore, in this embodiment, the power source 41 is configured as a motor.

[0052] It is worth noting that the connecting seat 1, the proximal joint 2, the first driven bevel gear 421, the second driven bevel gear 422, and the first spur gear 423 are rotationally connected through the same axis (that is, the central axes coincide); the second spur gear 424 and the third rod 433 are both rotationally connected to the proximal joint 2, and are not coaxial; the first rod 431, the second rod 432, and the fourth rod 434 are located in the empty area on the proximal joint 2 and are not connected to the proximal joint 2; the distal joint 3 is connected to the proximal joint 2 through an axis rotation, and the distal joint 3 is also rotationally connected to one end of the fourth rod 434 through an axis, and the central axes of the two shafts do not coincide.

[0053] Of course, in other embodiments, a preset guide groove can also be set on the proximal joint 2, and the ends of the first rod 431, the second rod 432, and the fourth rod 434 can also be installed in the preset guide groove through the sliding of the rotating shaft. At this time, the opening position and structure of the preset guide groove need to be set according to the actual running trajectory of the corresponding rod end.

[0054] It is not difficult to understand that the specific flexion and extension movement process of the bionic finger structure is as follows: The power source 41 drives the driving bevel gear 420 to rotate via the universal joint 6, which in turn drives the first and second driven bevel gears 421 and 422. The rotation of the first driven bevel gear 421 causes the proximal joint 2 to rotate relative to the connecting base 1. Furthermore, as the second driven bevel gear 422 rotates, the first spur gear 423 rotates synchronously. The first spur gear 423 meshes with the second spur gear 424, driving the first rod 431. Motion is transmitted between the first rod 431, the second rod 432, the third rod 433 (swinging), and the fourth rod 434, and then transmitted to the distal joint 3 via the fourth rod 434, achieving synchronous operation of the distal joint 3 and the proximal joint 2, thereby realizing flexion and extension of the bionic finger structure.

[0055] See also Figures 1 to 10 The connecting base 1 is provided with an installation area 11 and a hinge hole 12; the installation area 11 passes through the connecting base 1 from the proximal end to the distal end to accommodate a part of the gear set 42, and the gear set 42 is connected to the power source 41 through the universal joint 6; the hinge hole 12 is located below the installation area 11, and the connecting base 1 is rotatably connected to the palm part 100 of the bionic hand through the hinge hole 12.

[0056] It is not difficult to understand that in this embodiment, through the mutual cooperation of the universal joint 6, the connecting seat 1 and the flexion and extension drive mechanism 4, the connecting seat 1 can synchronously drive the proximal joint 2, the distal joint 3, the gear set 42 and the transmission rod set 43 to rotate around the central axis of the hinge hole 12, thereby realizing the swing of the bionic finger structure, further increasing the flexibility of the finger, and at the same time, does not affect the flexion and extension drive mechanism 4 to drive the proximal joint 2 and the distal joint 3 to flex and extend.

[0057] See also Figures 10 to 16 This embodiment also provides a bionic hand, including a palm portion 100 and several of the above-mentioned bionic finger structures, wherein the bionic finger structures are movably installed on the palm portion 100.

[0058] Specifically, the palm portion 100 includes a shell 101, a mounting cavity 102 formed in the shell 101, and a connector 103 for connecting to the wrist; the bionic finger structure is provided with five fingers, four of which are mounted on the end of the palm portion 100 away from the connector 103 to form the index finger, middle finger, ring finger and little finger, and the other is mounted on the end of the palm portion 100 relatively close to the connector 103 to form the thumb; the bionic hand also includes a finger swing drive assembly 200, which is at least used to drive the index finger, ring finger and little finger to move relatively away from or closer to each other; the power source 41 of the flexion and extension drive mechanism 4 of the bionic finger structure and the finger swing drive assembly 200 are both mounted in the mounting cavity 102, and are rotated in the mounting cavity 102 along a direction perpendicular to the end surface of the palm portion 100 (i.e. Figure 10 and Figure 11 distribution in the Y direction and the opposite direction of the Y direction as shown).

[0059] What is difficult to understand is that, in this embodiment, the finger swing drive assembly 200 can be used to achieve the relative proximity or separation of multiple bionic finger structures, further increasing the flexibility of the bionic hand. At the same time, compared to the original method of using a motor to drive the swing of each finger, the use of motors can be effectively reduced, thereby reducing the size and weight of the bionic hand. At the same time, the power source 41 and the finger swing drive assembly 200 are distributed in the installation cavity 102 along a direction perpendicular to the end face of the palm portion 100. On the one hand, it can make the structure distribution more compact while avoiding interference between the two movements, further reducing the size of the bionic hand. On the other hand, the two structures are used to support the two end faces of the shell 101 (the palm side and the back of the hand), preventing excessive deformation of the shell 101.

[0060] Furthermore, the connection bases 1 of the index finger, the ring finger and the little finger are all rotatably mounted on the housing 101 through the hinge hole 12 and the hinge shaft 300; the connection bases 1 of the index finger, the ring finger and the little finger are also provided with an arc guide rail 13, the central axis of the arc guide rail 13 coincides with the central axis of the hinge hole 12, and the arc guide rail 13 is slidably connected to the first guide column 400 mounted on the housing 101; the finger swing drive assembly 200 includes a connecting plate 201, a second guide column 202, a sliding plate 203 and Driving unit 204; the connecting plate 201 is arranged in a one-to-one correspondence with the connecting base 1 of the index finger, ring finger and little finger, and the connecting plate 201 is fixed to the end of the connecting base 1 of the index finger, ring finger and little finger away from its hinge hole 12; the second guide column 202 is connected to the connecting plate 201 in a one-to-one correspondence; a preset guide rail 2031 is provided on the sliding plate 203, and the preset guide rail 2031 is slidingly connected to the second guide column 202 in a one-to-one correspondence; the driving unit 204 is used to drive the sliding plate 203 to slide relative to the shell 101.

[0061] It is easy to understand that when the driving unit 204 drives the sliding plate 203 to slide, the interaction between the predetermined guide rail 2031 and the abutting surface of the second guide post 202 enables the connecting plate 201 and its corresponding connecting seat 1 to swing, thereby achieving the swing of the bionic finger structure. The first guide post 400 cooperates with the circular arc guide rail 13 to ensure that the bionic finger structure rotates around the predetermined axis (i.e., the central axis of the hinge hole 12), making the bionic finger structure's operating trajectory more stable.

[0062] Furthermore, the driving portion 204 can be configured as a variety of structures as long as it can drive the sliding plate 203 to slide relative to the housing 101 .

[0063] In this embodiment, the driving part 204 includes a threaded hole 2041, a screw rod 2042 and a sliding drive motor 2043. The threaded hole 2041 is set on the sliding plate 203, the screw rod 2042 is threadedly connected to the threaded hole 2041, and is driven by the sliding drive motor 2043 to drive the sliding of the sliding plate 203.

[0064] It should be understood that, since the opening angle between two adjacent bionic finger structures is generally not too large, the threaded hole 2041, the screw rod 2042 and the sliding drive motor 2043 are used in combination here to achieve stable adjustment.

[0065] Furthermore, the sliding plate 203 may be provided with a protrusion 500 at the upper end, and the protrusion 500 may be slidably matched with the sliding groove 600 on the inner wall surface of the housing 101 to achieve a sliding fitting connection between the sliding plate 203 and the housing 101 .

[0066] Of course, in other embodiments, the driving unit 204 may also be configured as an electric push rod or a cylinder.

[0067] See also Figures 10 to 16 The connecting base 1 of the middle finger is fixedly connected to the housing 101 ; the power source 41 of the thumb is arranged between the power source 41 of the middle finger and the power source 41 of the index finger.

[0068] It is not difficult to understand that since the index finger is fixedly connected to the palm 100, that is, it will not move toward the adjacent bionic finger structure, the power source 41 of the thumb is arranged between the power source 41 of the middle finger and the power source 41 of the index finger in this embodiment, which can further make the bionic hand structure more compact without affecting the swing of the index finger (that is, moving away from or close to the middle finger).

[0069] See also Figure 10 and Figure 11 In this embodiment, the connecting bases 1 of the middle finger and the thumb are fixedly mounted on the housing 101, that is, the middle finger and the thumb can only be flexed and extended, and at this time, the thumb is aligned with the middle finger position to ensure the stability of grasping the object.

[0070] See also Figures 17 to 19 In this embodiment, the thumb connector 1 is rotatably mounted on the housing 101 via the hinge hole 12 and the hinge shaft 300. A thumb actuator 700 is provided on one side of the thumb connector 1 to align the distal joint 3 of the thumb with the index finger, middle finger, ring finger, or pinky finger. In other words, the thumb actuator 700 can drive the thumb to swing, aligning it with different fingers as needed, thereby achieving pinching of the thumb with different fingers.

[0071] Specifically, the thumb drive device 700 includes a bevel rack 701, a thumb drive bevel gear 702 and a thumb drive motor 703; the bevel rack 701 is fixedly mounted on the connecting seat 1, and its center axis coincides with the center axis of the hinge hole 12; the thumb drive bevel gear 702 is fixedly connected to the rotating shaft of the thumb drive motor 703, and meshes with the bevel rack 701 for transmission.

[0072] The above embodiments are only preferred embodiments of the present invention and cannot be used to limit the scope of protection of the present invention. Any non-substantial changes and replacements made by technicians in this field on the basis of the present invention fall within the scope of protection required by the present invention.

Claims

1. A bionic finger structure, characterized in that: include: A connecting seat (1) for connecting to the palm portion (100) of the bionic hand; The proximal joint (2) is rotatably connected to the connecting seat (1); A distal joint (3) is rotatably connected to an end of the proximal joint (2) away from the connecting seat (1); A flexion-extension drive mechanism (4) is used to drive the proximal joint (2) and the distal joint (3) to flex and extend synchronously; the flexion-extension drive mechanism (4) comprises a power source (41), a gear set (42), and a transmission rod set (43) which are sequentially connected in transmission; An angle sensor (5) is installed at the rotational connection position of the proximal joint (2) and the distal joint (3) to detect the relative rotation angle between the two.

2. The bionic finger structure according to claim 1, characterized in that: The transmission ratio of each stage of the gear set (42) is greater than 1; and / or, The transmission ratio of the gear set (42) increases step by step.

3. The bionic finger structure according to claim 2, characterized in that: The gear set (42) includes a driving bevel gear (420), a first driven bevel gear (421), a second driven bevel gear (422), a first spur gear (423), and a second spur gear (424); The first driven bevel gear (421) is fixedly connected relative to the proximal joint (2) and meshes with the driving bevel gear (420) for transmission; The second driven bevel gear (422) is rotatably connected relative to the proximal joint (2) and the connecting seat (1), and is meshed with the driving bevel gear (420) for transmission; The first spur gear (423) is coaxially fixedly connected to the second driven bevel gear (422); The second spur gear (424) is rotatably connected relative to the proximal joint (2) and is meshed with the first spur gear (423) for transmission. The second spur gear (424) is connected to the transmission rod group (43).

4. The bionic finger structure according to claim 3, characterized in that: The transmission rod assembly (43) comprises a first rod (431), a second rod (432), a third rod (433) and a fourth rod (434); One end of the first rod (431) is fixedly connected to the extension shaft of the second spur gear (424), and the other end is rotatably connected to the second rod (432); The middle portion of the third rod (433) is rotatably connected to the proximal joint (2), and its two ends are respectively connected to one end of the second rod (432) away from the first rod (431) and one end of the fourth rod (434); One end of the fourth rod (434) away from the third rod (433) is rotatably connected to the distal joint (3).

5. The bionic finger structure according to any one of claims 1 to 4, characterized in that: The connecting seat (1) is provided with a mounting area (11) and a hinge hole (12); The installation area (11) passes through the connection seat (1) in a proximal-to-distal direction to accommodate a portion of the gear set (42), and the gear set (42) is transmission-connected to the power source (41) via a universal joint (6); The hinge hole (12) is located below the installation area (11), and the connection seat (1) is rotatably connected to the palm portion (100) through the hinge hole (12).

6. A bionic hand, characterized in that: It comprises a palm portion (100), and a plurality of bionic finger structures according to any one of claims 1 to 5 above; The bionic finger structure is movably mounted on the palm (100).

7. The bionic hand according to claim 6, characterized in that: The palm portion (100) comprises a housing (101), a mounting cavity (102) formed in the housing (101), and a connecting piece (103) for connecting to a wrist; The bionic finger structure is provided with five fingers, four of which are mounted on an end of the palm portion (100) away from the connecting member (103) to form the index finger, middle finger, ring finger and little finger, and the other is mounted on an end of the palm portion (100) relatively close to the connecting member (103) to form the thumb; The bionic hand further comprises a finger swing driving assembly (200), wherein the finger swing driving assembly (200) is at least used to drive the index finger, the ring finger, and the little finger to move relatively away from or closer to each other; The power source (41) of the flexion and extension drive mechanism (4) of the bionic finger structure and the finger swing drive assembly (200) are both installed in the installation cavity (102) and distributed in the installation cavity (102) along a direction perpendicular to the end surface of the palm (100).

8. The bionic hand according to claim 7, characterized in that: The connection seats (1) for the index finger, ring finger, and little finger are all rotatably mounted on the housing (101) via the hinge hole (12) and the hinge shaft (300); The connecting seat (1) for the index finger, the ring finger and the little finger is further provided with an arc guide rail (13), the central axis of the arc guide rail (13) coincides with the central axis of the hinge hole (12), and the arc guide rail (13) is slidably connected to a first guide column (400) mounted on the housing (101); The finger swing driving assembly (200) comprises a connecting plate (201), a second guide column (202), a sliding plate (203) and a driving portion (204); The connecting plate (201) is provided in one-to-one correspondence with the connecting seats (1) of the index finger, the ring finger and the little finger, and the connecting plate (201) is fixed to one end of the connecting seats (1) of the index finger, the ring finger and the little finger away from the hinge hole (12); The second guide column (202) is connected to the connecting plate (201) in a one-to-one correspondence; A preset guide rail (2031) is provided on the sliding plate (203), and the preset guide rail (2031) is slidingly connected to the second guide column (202) in a one-to-one correspondence; The driving portion (204) is used to drive the sliding plate (203) to slide relative to the housing (101).

9. A bionic hand according to claim 7 or 8, characterized in that: The middle finger connection seat (1) is fixedly connected to the housing (101); The power source (41) of the thumb is arranged between the power source (41) of the middle finger and the power source (41) of the index finger.

10. The bionic hand according to claim 7, characterized in that: The thumb connection seat (1) is rotatably mounted on the housing (101) via a hinge hole (12) and a hinge shaft (300); A thumb driving device (700) is provided on one side of the thumb connection seat (1) to drive the distal joint (3) of the thumb to align with the index finger, the middle finger, the ring finger or the little finger; The thumb drive device (700) comprises a bevel rack (701), a thumb drive bevel gear (702) and a thumb drive motor (703); the bevel rack (701) is fixedly mounted on the connecting seat (1), and its central axis coincides with the central axis of the hinge hole (12); the thumb drive bevel gear (702) is fixedly connected to the rotating shaft of the thumb drive motor (703), and meshes with the bevel rack (701) for transmission.

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