Bionic finger and bionic manipulator

Abstract

The embodiment of the invention provides a bionic finger and a bionic manipulator, and relates to the technical field of robots, the bionic finger comprises at least two knuckles which are in pivot connection in sequence, and each knuckle is internally provided with a communicated wiring channel; the flexible circuit board sequentially penetrates through and is fixed in the wiring channel; the magnetic field generating unit is fixed on one of the two adjacent knuckles; the magnetic field induction units are fixed to the flexible circuit board, fixedly connected with the other one of the two adjacent knuckles and in one-to-one correspondence with the magnetic field generation units, and the magnetic field induction units are used for monitoring the magnetic field variation of the magnetic field generation units corresponding to the magnetic field induction units in real time; the magnetic field variable quantity is used for representing the relative rotation angle of two adjacent knuckles.

Description

Technical Field

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

[0002] Robots are now widely used in numerous technological fields, replacing humans in mechanical tasks. As the core component of robots that perform key operations such as movement and grasping, the performance of bionic manipulators directly determines the performance of robots in practical applications.

[0003] Existing bionic manipulators typically include multiple bionic fingers, each of which includes multiple joints. In actual operation, operations such as grasping objects are achieved by controlling the rotation angle of each joint. However, in the existing technology, it is difficult to control the rotation angle of each joint, resulting in the bionic manipulator having an unstable grip when performing grasping operations. In addition, existing bionic fingers are prone to the problem of multiple wires being arranged in an interlaced manner during wiring. This not only makes the assembly and maintenance process cumbersome, but also seriously squeezes the internal space of the bionic finger, limiting the possibility of its structural optimization.

[0004] Therefore, how to provide a bionic manipulator that can control the rotation angle of each knuckle and has a simple and reasonable wire layout is an urgent problem that needs to be solved. Summary of the Invention

[0005] This section provides a general summary of the disclosure, and is not a comprehensive disclosure of its full scope or all of its features.

[0006] The purpose of the present disclosure is to provide a bionic finger and a bionic manipulator that can monitor the rotation angle of two adjacent knuckles in real time to control the rotation angle of each knuckle and has a simple and reasonable wire layout.

[0007] In order to achieve the above objectives, according to one aspect of the present disclosure, a bionic finger is provided, comprising: At least two finger joints are pivotally connected in sequence, and each finger joint has a connected wiring channel; The flexible printed circuit board passes through and is fixed in the wiring channel in sequence; a magnetic field generating unit fixed to one of the two adjacent finger joints; and The magnetic field sensing unit is fixed on the flexible circuit board, fixedly connected to the other of the two adjacent knuckles, and corresponds one-to-one with the magnetic field generating unit; wherein the magnetic field sensing unit is used to sense the magnetic field change generated by the corresponding magnetic field generating unit in real time, and the magnetic field change is used to characterize the relative rotation angle of the two adjacent knuckles.

[0008] Optionally, in some embodiments, two adjacent finger joints are connected by a joint rotation axis, and the magnetic field generating unit is sleeved on the joint rotation axis.

[0009] Optionally, in some embodiments, the bionic finger further includes: a pressure sensing unit, which is provided at one end of the flexible circuit board connected to the fingertip of the bionic finger, and is used to sense the pressure exerted on the fingertip in real time.

[0010] Optionally, in some embodiments, the bionic finger further includes a traction rope, and each knuckle is provided with a threading hole. The traction rope passes through the threading hole in turn to connect with each knuckle, and is used to drive the knuckle to move toward the direction close to the palm.

[0011] Optionally, in some embodiments, the bionic finger further includes a transmission assembly, which is in transmission connection with the traction rope; wherein the transmission assembly includes: Drive unit; a worm connected to the driving portion; a worm gear meshingly connected to the worm; a rotatable member fixedly connected to the worm gear and to which the traction rope is connected; When the driving portion drives the worm to rotate to drive the worm wheel to rotate, the rotatable member also rotates and causes the traction rope to be stretched in a direction close to the palm.

[0012] Optionally, in some embodiments, the bionic finger further comprises a frame connector, which is used to connect the knuckle closest to the palm of the at least two knuckles with the palm, wherein a wiring channel is opened in the frame connector for the flexible circuit board to pass through.

[0013] Optionally, in some embodiments, the bionic finger also includes a torsion spring mounted on the joint rotation axis, which is used to drive the knuckle to move in a direction away from the palm. The torsion spring includes a first torsion arm and a second torsion arm. The first torsion arm is inserted into a torsion arm mounting hole opened on one of the two adjacent knuckles, and the second torsion arm is arranged in the wiring channel of the other of the two adjacent knuckles.

[0014] Optionally, the bionic finger further includes a sleeve, which is arranged between the magnetic field generating unit and the torsion spring.

[0015] Optionally, in some embodiments, the bionic finger further includes a silicone cover, which is disposed at the fingertip of the bionic finger.

[0016] According to another aspect of the present disclosure, there is provided a bionic manipulator, comprising: palm; A plurality of bionic fingers as in any of the aforementioned embodiments, wherein the bionic fingers are connected to the palm via a frame connector.

[0017] According to the above technical solution, the wiring structure of the flexible circuit board is designed to rationally utilize the internal space of the bionic finger, solving the problem of multiple wire strands being entangled during routing. Furthermore, by using the magnetic field sensing unit to real-timely detect the magnetic field changes of the corresponding magnetic field generating unit, the relative rotation angle of two adjacent finger joints can be promptly determined, thereby controlling the rotation angle of each finger joint. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present disclosure and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 The figure is a structural diagram of a bionic finger provided according to an embodiment of the present disclosure.

[0020] Figure 2 for Figure 1 Exploded diagram.

[0021] Figure 3 This is a structural diagram of a bionic finger provided according to an embodiment of the present disclosure, which includes a traction rope, a flexible circuit board and a frame connector.

[0022] Figure 4 for Figure 3 The structure diagram of the bionic finger after the traction rope, flexible circuit board, joint rotation axis and magnetic field generating unit are removed is shown.

[0023] Figure 5 The figure is an exploded view of a transmission assembly provided according to an embodiment of the present disclosure.

[0024] Figure 6 for Figure 5 An assembly drawing of the transmission assembly is shown.

[0025] Figure 7 for Figure 5 Schematic diagram of the meshing of the worm wheel and worm shown in FIG.

[0026] Figure 8 for Figure 3 Schematic diagram of the structure for removing the traction rope in the bionic finger.

[0027] Figure 9This is a structural diagram of a bionic finger provided according to an embodiment of the present disclosure, wherein the bionic finger includes a torsion spring.

[0028] Figure 10 for Figure 9 sectional view of .

[0029] Description of reference numerals: 100: Bionic finger; 101: Fingertip; 11: Knuckle; 111: Wiring channel; 112: Threading hole; 113: Torsion arm mounting hole; 12: Joint rotation axis; 121: First mother axis; 122: First sub-axis; 13: Flexible circuit board; 14: Magnetic field generating unit; 15: Magnetic field sensing unit; 16: Pressure sensing unit; 17: Traction rope; 18: Transmission assembly; 181: Drive unit; 182: Worm; 183: Worm gear ; 184: Rotatable part; 185: Fastener; 186: Worm fixing rod; 187: Gearbox; 188: Rotating shaft; 189: Bushing; 1810: Bearing; 1811: Threaded connection; 1812: First buffer; 1813: Second buffer; 1814: Gearbox cover; 19: Frame connection; 20: Torsion spring; 201: First torsion arm; 202: Second torsion arm; 21: Silicone cover; 2001: Bolt connection hole. DETAILED DESCRIPTION

[0030] To make the objectives, technical solutions, and advantages of the embodiments of the present disclosure more clear, the technical solutions of the embodiments of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present disclosure. Obviously, the described embodiments are only some of the embodiments of the present disclosure, but not all of them. Generally, the components of the embodiments of the present disclosure described and shown in the drawings herein can be arranged and designed in various different configurations.

[0031] Therefore, the following detailed description of the embodiments of the present disclosure provided in the accompanying drawings is not intended to limit the scope of the present disclosure as claimed, but merely represents selected embodiments of the present disclosure. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present disclosure without creative effort shall fall within the scope of protection of the present disclosure.

[0032] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0033] In the description of the present disclosure, it should be noted that the terms "upper", "lower", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or the orientations or positional relationships in which the inventive product is conventionally placed when in use. These are merely for the convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they should not be understood as limitations on the present disclosure.

[0034] It should also be noted that, unless otherwise expressly specified or limited, the terms "disposed" and "connected" should be understood broadly. For example, they can refer to fixed, removable, or integral connections; they can refer to mechanical or electrical connections, etc. Those skilled in the art will understand the specific meanings of these terms in this disclosure based on the specific circumstances. Furthermore, the terms "first," "second," etc., are used solely for descriptive purposes and should not be construed as indicating or implying relative importance.

[0035] It should be noted that, for the convenience of description, in this disclosure, only one bionic finger in a bionic manipulator is used as an example to explain the technical solution in detail.

[0036] Reference Figure 1 and Figure 2 According to an embodiment of the present disclosure, a bionic finger 100 is provided. The bionic finger 100 includes: at least two finger joints 11 pivotally connected in sequence, and each finger joint 11 is provided with a connected wiring channel 111.

[0037] In the present disclosure, two adjacent phalanges 11 may be connected via a joint rotation axis 12 , so that the two adjacent phalanges 11 can rotate relative to each other around the central axis of the joint rotation axis 12 , thereby achieving bending or extension of the bionic finger 100 .

[0038] It should be noted that in Figure 1 and Figure 2 , the bionic finger 100 includes three joints 11. Of course, in a specific implementation, the bionic finger 100 may also include two joints 11. In the present disclosure, the number of joints 11 included in the bionic finger 100 is not specifically limited.

[0039] In addition, in order to facilitate the explanation of the technical solution below, in the present disclosure, the knuckle 11 farthest from the palm of the bionic manipulator among the at least two knuckles 11 is referred to as the distal knuckle, the knuckle 11 closest to the palm among the at least two knuckles 11 is referred to as the proximal knuckle, and the knuckle 11 located between the distal knuckle and the proximal knuckle is referred to as the middle knuckle.

[0040] Continue as Figure 2As shown, to facilitate assembly, the joint rotation axis 12 may include a first mother axis 121 and a first sub-axis 122. During assembly, the first sub-axis 122 can be threadedly connected to the first mother axis 121 after passing through two adjacent phalanges 11. The mating installation of the first mother axis 121 and the first sub-axis 122 prevents the joint rotation axis 12 from loosening or falling out during use, thereby improving the reliability of the bionic finger 100.

[0041] In an embodiment of the present disclosure, the flexible printed circuit (FPC) 13 passes through and is fixed in the wiring channel 111 in sequence.

[0042] Specifically, the flexible circuit board 13 can be fixed in the wiring channel 111 by means of bolts. Figure 2 In the embodiment, bolt connection holes 2001 are provided on the flexible circuit board 13 and each wiring channel 111. Of course, in some examples, the flexible circuit board 13 can also be fixed in the wiring channel 111 by other connection methods, such as bonding, welding, etc.

[0043] In this case, the multi-layer wiring structure design of the flexible circuit board 13 is used to avoid the phenomenon of multiple wires being arranged in a staggered manner inside the bionic finger 100 during routing.

[0044] Here, “routing” refers to the process of laying out wires for transmitting signals inside the bionic finger 100 to connect components.

[0045] It is understandable that due to the material properties of the flexible circuit board 13, when each knuckle 11 rotates, the flexible circuit board 13 will also bend. However, this bending will not cause damage to the flexible circuit board 13 itself, thereby ensuring the stability of signal transmission when the bionic finger 100 performs operations such as grasping. It should be noted that during the rotation of the knuckles 11, the projected length of the back contours of two adjacent knuckles 11 on the plane will increase. This change in length will cause the flexible circuit board 13 to be stretched. Therefore, during assembly, a set margin will be reserved for the length of the flexible circuit board 13 to accommodate the rotation of the knuckles 11.

[0046] In the embodiment of the present disclosure, the magnetic field generating unit 14 is fixedly connected to one of the two adjacent phalanges 11. In a specific implementation, the magnetic field generating unit 14 can be sleeved on the joint rotation axis 12 and fixedly connected to one of the two adjacent phalanges 11.

[0047] In some examples, the magnetic field generating unit 14 can be a magnet.

[0048] In the embodiment of the present disclosure, the magnetic field sensing unit 15 is fixed to the flexible circuit board 13 and is fixedly connected to the other of the two adjacent phalanges 11. In the present disclosure, there is a one-to-one correspondence between the magnetic field generating unit 14 and the magnetic field sensing unit 15. When the two adjacent phalanges 11 rotate relative to each other, for example, about the central axis of the corresponding joint rotation axis 12, the magnetic field sensing unit 15 is used to sense the change in the magnetic field of the corresponding magnetic field generating unit 14 in real time. This change in the magnetic field is used to represent the relative rotation angle of the two adjacent phalanges 11.

[0049] In some examples, the magnetic field sensing unit 15 may be a magnetic encoder.

[0050] In this case, as the two adjacent phalanges 11 rotate relative to each other, the flexible printed circuit board 13 also bends accordingly, causing relative deflection between the magnetic field sensing unit 15 mounted on the flexible printed circuit board 13 and its corresponding magnetic field generating unit 14. During this process, the magnetic field sensing unit 15 can monitor the changes in the magnetic flux in the magnetic field generated by the magnetic field generating unit 14 in real time, and then obtain the angle of change in the magnetic field direction based on this change in magnetic flux. This angle of change in the magnetic field direction is used to represent the relative rotation angle of the two adjacent phalanges 11.

[0051] During implementation, the relationship between the relative rotation angle and magnetic flux of two adjacent phalanges 11 in the bionic finger 100 can be pre-obtained. Subsequently, during the movement of the bionic finger 100, the magnetic flux detected in real time by the magnetic field sensing unit 15 is used to determine whether the relative rotation angle between the two adjacent phalanges 11 has reached the target angle. If not, the relative rotation angle between the two adjacent phalanges 11 can be compensated based on the aforementioned relationship between the relative rotation angle and magnetic flux, thereby controlling the movement position of each phalange 11 in the bionic finger 100.

[0052] According to the above technical solution, the wiring structure design of the flexible circuit board 13 rationally utilizes the internal space of the bionic finger 100, solving the problem of multiple wire strands being entangled during wiring. Furthermore, the magnetic field sensing unit 15 real-timely senses the magnetic field changes of the corresponding magnetic field generating unit 14, enabling timely acquisition of the relative rotation angle of two adjacent phalanges 11, thereby controlling the rotation angle of each phalange 11.

[0053] In the embodiment of the present disclosure, continue as Figure 1 and Figure 2 As shown, the bionic finger 100 further includes a pressure sensing unit 16 , which is disposed at one end of the flexible circuit board 13 connected to the fingertip 101 of the bionic finger 100 , and is used to sense the pressure borne by the fingertip 101 in real time.

[0054] In some examples, the pressure sensing unit 16 may be a pressure sensor.

[0055] When the bionic manipulator performs operations such as grasping, the pressure sensing unit 16 located at the fingertip 101 can sense the dynamic mechanical parameters of the fingertip 101 in real time when it contacts the object, which is used to reflect the current grasping state. These dynamic mechanical parameters include, but are not limited to, the magnitude of the pressure and the pressure change trend. Once the grasp is not firm, for example, when the object shows signs of slipping or the bionic manipulator's grasping force is insufficient, the pressure data obtained by the pressure sensing unit 16 can quickly analyze and determine the abnormality of the grasping state, and then issue adjustment instructions in a timely manner. In this case, the reliability and adaptability of the bionic manipulator are enhanced, enabling it to better cope with various complex grasping scenarios and object characteristics.

[0056] In the present disclosure, a magnetic field sensing unit 15 and a pressure sensing unit 16 are integrated on a flexible circuit board 13, enabling simultaneous monitoring of the rotation angle of each phalanx 11 and the pressure applied to the fingertip 101. This integrated design enables timely and accurate reflection of the bionic finger 100's grasping state during actual operation, allowing for timely adjustment of the bionic finger 100's grasping control parameters and significantly improving the bionic finger 100's grasping stability. Furthermore, integrating the magnetic field sensing unit 15 and the pressure sensing unit 16 on the same flexible circuit board 13 not only simplifies the layout of multiple wires and reduces assembly costs, but also optimizes the spatial layout of the bionic finger 100.

[0057] In some embodiments, as Figure 3 and Figure 4 As shown, the bionic finger 100 further includes a traction rope 17 , and each knuckle 11 is provided with a threading hole 112 . The traction rope 17 passes through the threading hole 112 in sequence to connect with each knuckle 11 , and is used to drive the knuckle 11 to move toward the direction close to the palm.

[0058] In this case, one end of the traction rope 17 is fixed to the fingertip 101, and the other end thereof is led out through each threading hole 112. The traction rope 17 drives the rotation between any two adjacent phalanges 11, thereby realizing the linkage control of each phalange 11 in the bionic finger 100.

[0059] In some embodiments, as Figures 5 to 7 As shown, the bionic finger 100 further includes a transmission component 18 , which is in transmission connection with the traction rope 17 .

[0060] Specifically, the transmission assembly 18 includes: Driving unit 181; a worm 182 connected to the driving portion 181; A worm gear 183 meshingly connected with the worm 182; a rotatable member 184 , the rotatable member 184 being fixedly connected to the worm gear 183 , and the traction rope 17 being connected to the rotatable member 184 ; When the driving portion 181 drives the worm 182 to rotate to drive the worm wheel 183 to rotate, the rotatable member 184 also rotates and causes the traction rope 17 to be stretched in a direction close to the palm.

[0061] In this case, the interaction between the drive unit 181, worm 182, worm wheel 183, and rotatable member 184 enables the movement of the traction rope 17, thereby driving the rotation of each knuckle 11. It is conceivable that after each knuckle 11 rotates to the target position, the cessation of the drive unit 181 can maintain the current meshing state between the worm wheel 183 and the worm 182. In this meshed state, the tension of the traction rope 17 can stably maintain each knuckle 11 in the target position.

[0062] Specifically, the fixed connection between the worm 182 and the driving portion 181 includes: the worm 182 is connected to the worm fixing rod 186 via a fastener 185 (such as a jackscrew), and the worm fixing rod 186 is connected to the driving portion 181 via the fastener 185 .

[0063] In a specific implementation, the rotatable member 184 is connected to the worm gear 183 via a fastener 185 .

[0064] In some examples, rotatable member 184 may be a roller.

[0065] In the disclosed embodiment, transmission assembly 18 further includes a gearbox 187, which is used to accommodate the aforementioned worm gear 183, worm 182, and rotatable member 184. In some examples, worm gear 183 and rotatable member 184 are sleeved on a rotating shaft 188, and rotating shaft 188 is connected to gearbox 187 via a rotating shaft mounting hole 1871 defined in gearbox 187. To facilitate assembly, rotating shaft 188 can be formed by threading a second mother shaft 1881 and a second sub-shaft 1882 together.

[0066] It should be noted that, in order to prevent friction between the worm gear 183 and the inner wall of the gear box 187 , a shaft sleeve 189 is further sleeved on the rotating shaft 188 , and the shaft sleeve 189 is arranged between the worm gear 183 and the inner wall of the gear box 187 .

[0067] In addition, the transmission assembly 18 also includes: bearing 1810. Figures 5 to 7It can be seen that the outer ring of the bearing 1810 is fixed to the gear box 187 , and the inner ring thereof is fixedly connected to the worm fixing rod 186 .

[0068] In a specific implementation, the first buffer member 1812, the second buffer member 1813, the bearing 1810, and the worm fixing rod 186 can be sequentially connected using the threaded connector 1811. Specifically, the threaded connector 1811 passes through the first buffer member 1812, the second buffer member 1813, and the bearing 1810 in sequence and then is threadedly connected to the worm fixing rod 186.

[0069] In some examples, the first buffer member 1812 may be a spring washer, and the second buffer member 1813 may be a flat washer.

[0070] Furthermore, in the transmission assembly 18 , the gear box 187 is bolted to the gear box cover 1814 .

[0071] In some embodiments, as Figure 8 As shown, the bionic finger 100 may further include a frame connector 19 , and the frame connector 19 is used to connect the finger joint 11 closest to the palm of the at least two finger joints 11 with the palm (not shown in the figure).

[0072] In the specific implementation process, Figure 8 As shown, the frame connector 19 and the proximal phalanx can also be connected via the joint rotation axis 12. In other words, the proximal phalanx and the frame connector 19 can rotate relative to each other. Therefore, a magnetic field generating unit 14 is also provided on the joint rotation axis 12 connecting the frame connector 19 and the proximal phalanx, and a magnetic field sensing unit 15 corresponding to the magnetic field generating unit 14 is provided on the flexible circuit board 13.

[0073] In some examples, the connection between the frame connection member 19 and the palm includes, but is not limited to, a bolt connection.

[0074] In some embodiments, continuing as Figure 8 As shown, the frame connector 19 is provided with a wiring channel 111 for the flexible circuit board 13 to pass through. In this case, one end of the flexible circuit board 13, which is provided with the pressure sensing unit 16, is connected to the fingertip 101, and the other end thereof passes through the wiring channel 111 through each finger joint 11 and the frame connector 19, and is then fixedly connected to the palm.

[0075] Illustratively, the flexible circuit board 13 and the wiring channel 111 in the rack connector 19 can be connected by bolts. Of course, in other examples, the flexible circuit board 13 and the wiring channel 111 in the rack connector 19 can also be connected by other methods, such as bonding, welding, etc.

[0076] It is understood that the transmission assembly 18 is disposed in the palm of the hand. Therefore, in order to connect the traction rope 17 to the transmission assembly 18, a threading hole 112 is also provided in the frame connector 19 for the traction rope 17 to pass through. After the other end of the traction rope 17 is sequentially led out through the threading holes 112 on each of the knuckles 11 and the frame connector 19, the other end is connected to the rotatable member 184.

[0077] In the present disclosure, the traction rope 17 is used to control the bionic finger 100 to move toward the direction close to the palm. Therefore, in some embodiments, Figure 9 As shown, the bionic finger 100 further includes a torsion spring 20 , which is sleeved on the joint rotation axis 12 and is used to drive the knuckle 11 to move in a direction away from the palm.

[0078] During the specific implementation process, when relative rotation occurs between the distal phalanx and the middle phalanx, the torsion spring 20 produces torsional deformation and accumulates elastic potential energy. Then, when the bionic finger needs to be extended, the elastic potential energy is released by the torsion spring 20 to drive the middle phalanx and the distal phalanx to move away from the palm.

[0079] In some examples, such as Figure 10 As shown, the torsion spring 20 includes a first torsion arm 201 and a second torsion arm 202. The first torsion arm 201 is inserted into the torsion arm mounting hole 113 opened on one of the two adjacent finger joints 11, and the second torsion arm 202 is installed in the wiring channel 111 of the other of the two adjacent finger joints 11.

[0080] In this case, through the plug-in cooperation between the first torque arm 201 and the torque arm mounting hole 113, the first torque arm 201 can only move along the axial direction of the torque arm mounting hole 113. This design of limiting the movement path of the first torque arm 201 avoids the first torque arm 201 from sliding on the surface of the finger joint 11, thereby preventing the end of the first torque arm 201 from causing damage to the surface of the finger joint 11.

[0081] In some embodiments, continuing as Figure 9 As shown, the bionic finger 100 further includes a sleeve 189 , which is arranged between the magnetic field generating unit 14 and the torsion spring 20 .

[0082] In this case, the sleeve 189 can prevent direct contact between the magnetic field generating unit 14 and the torsion spring 20. Therefore, the magnetic field generating unit 14 and the torsion spring 20 are not damaged by friction with each other.

[0083] In some embodiments, continuing as Figure 10 As shown, the bionic finger 100 further includes a silicone cover 21 , which is disposed at the fingertip 101 of the bionic finger 100 .

[0084] In this case, when the bionic finger 100 grasps an object, for example, the deformation of the silicone cover 21 can trigger the pressure sensing unit 16 located at the fingertip 101 , thereby monitoring the pressure on the fingertip 101 .

[0085] Finally, the present disclosure also provides a bionic manipulator, which includes: palm; A plurality of bionic fingers 100 as described in the above technical solution, wherein the bionic fingers 100 are connected to the palm via a frame connector 19 .

[0086] The foregoing description is merely a preferred embodiment of the present disclosure and is not intended to limit the present disclosure. Those skilled in the art will readily appreciate that various modifications and variations are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present disclosure shall be included within the scope of protection of the present disclosure.

Claims

1. A bionic finger, characterized in that: The bionic finger comprises: At least two finger joints (11) pivotally connected in sequence, each of the finger joints (11) being provided with a connected wiring channel (111); The flexible circuit board (13) passes through and is fixed in the wiring channel (111) in sequence; A magnetic field generating unit (14) is fixed on one of the two adjacent finger joints (11); and A magnetic field sensing unit (15) is fixed on the flexible circuit board (13), is fixedly connected to the other of the two adjacent finger joints (11), and corresponds one-to-one with the magnetic field generating unit (14); wherein the magnetic field sensing unit (15) is used to sense the magnetic field variation of the corresponding magnetic field generating unit (14) in real time, and the magnetic field variation is used to represent the relative rotation angle of the two adjacent finger joints (11).

2. The bionic finger according to claim 1, characterized in that: Two adjacent finger joints (11) are connected via a joint rotation shaft (12), and the magnetic field generating unit (14) is sleeved on the joint rotation shaft (12).

3. The bionic finger according to claim 1, characterized in that: The bionic finger also includes: A pressure sensing unit (16) is provided at one end of the flexible circuit board (13) connected to the fingertip of the bionic finger, and is used for sensing the pressure borne by the fingertip in real time.

4. The bionic finger according to claim 1, characterized in that: The bionic finger further comprises a traction rope (17), each of the finger joints (11) is provided with a threading hole (112), and the traction rope (17) passes through the threading holes (112) in sequence to be connected to each of the finger joints (11), and is used to drive the finger joints (11) to move in a direction close to the palm.

5. The bionic finger according to claim 4, characterized in that: The bionic finger further comprises a transmission assembly (18), wherein the transmission assembly (18) is in transmission connection with the traction rope (17); wherein the transmission assembly (18) comprises: Driving unit (181); a worm (182), the worm (182) being connected to the driving portion (181); A worm wheel (183), the worm wheel (183) is meshingly connected with the worm (182); a rotatable member (184), the rotatable member (184) being fixedly connected to the worm gear (183), and the traction rope (17) being connected to the rotatable member (184); When the driving portion (181) drives the worm (182) to rotate to drive the worm wheel (183) to rotate, the rotatable member (184) also rotates and causes the traction rope (17) to be stretched in a direction close to the palm.

6. The bionic finger according to any one of claims 1 to 5, characterized in that The bionic finger further comprises a frame connector (19), the frame connector (19) being used to connect the finger joint (11) closest to the palm of the at least two finger joints (11) and the palm, wherein the wiring channel (111) is provided in the frame connector (19) for the flexible circuit board (13) to pass through.

7. The bionic finger according to claim 2, characterized in that: The bionic finger further comprises a torsion spring (20) sleeved on the joint rotation axis for driving the finger joint (11) to move in a direction away from the palm, the torsion spring (20) comprising a first torsion arm (201) and a second torsion arm (202), the first torsion arm (201) being plugged into a torsion arm mounting hole (113) provided on one of the two adjacent finger joints (11), and the second torsion arm (202) being arranged in the wiring channel (111) of the other of the two adjacent finger joints (11).

8. The bionic finger according to claim 7, characterized in that: The bionic finger further comprises a shaft sleeve (189), wherein the shaft sleeve (189) is arranged between the magnetic field generating unit (14) and the torsion spring (20).

9. The bionic finger according to any one of claims 1 to 5, characterized in that The bionic finger further comprises a silicone cover (21), and the silicone cover (21) is arranged at the fingertip of the bionic finger.

10. A bionic manipulator, characterized in that: The bionic manipulator comprises: palm; A plurality of bionic fingers according to any one of claims 1 to 9, wherein the bionic fingers are connected to the palm via a frame connection (19).

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