Thumb bionic mechanical finger, gear driving type bionic mechanical finger and bionic manipulator thereof

Abstract

The invention discloses a thumb bionic mechanical finger, a gear driving type bionic mechanical finger and a bionic manipulator thereof, and belongs to the field of manipulators. Comprising a supporting part, a first finger section, a second finger section, a third finger section, a first driving part, a second driving part, a first gear transmission part and a second gear transmission part. The first finger section is connected with the supporting part, the second finger section is connected with the first finger section, and the third finger section is connected with the second finger section; the first gear transmission part is arranged between the supporting part and the first finger section, and the second gear transmission part is arranged between the first finger section and the second finger section; the first driving piece is connected with the first gear transmission piece, and the second driving piece is connected with the second gear transmission piece. The mechanical arm has the beneficial effects that the two independent driving parts are matched with the two bevel gear transmission parts to drive the first finger section and the second finger section correspondingly, and independent and accurate control over the metacarpophalangeal joint and the middle joint is achieved. The design allows the fingers to move complexly and flexibly, and is suitable for fine operation tasks.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of mechanical hands, in particular, to a big thumb bionic mechanical finger, a gear-driven bionic mechanical finger and a bionic mechanical hand thereof. BACKGROUND

[0002] As one of the core technologies in the field of robots, bionic mechanical hands aim to simulate the dexterous manipulation ability of human hands and are widely used in fields such as service robots, industrial grabbing, and prosthetics. Mechanical fingers, as the core executive components of bionic mechanical hands, directly determine the flexibility and grabbing ability of the entire hand.

[0003] In existing mechanical finger designs, the driving and transmission scheme is the key to achieving bionic motion. Traditional designs usually adopt the following schemes:

[0004] Hinge link and spur gear transmission: This type of design has a simple structure, but often has the disadvantages of large size and inflexible motion. In particular, in order to simulate the coupled motion of multiple finger segments of the human hand (i.e., when one joint is bent, the subsequent joints can follow the motion), a complex linkage mechanism is usually required, which results in low space utilization inside the finger and makes it difficult to achieve miniaturization and lightweight.

[0005] Cable drive: This scheme uses a motor to wind and unwind a cable to pull the finger joint to bend. Although it can achieve a compact finger structure, the cable has the problems of easy wear and tear, easy stretching, the need for a pre-tightening mechanism, and low force transmission efficiency. In addition, the control accuracy and reverse self-locking ability of cable drive are poor, making it difficult to maintain a stable grabbing posture, especially when carrying a large load.

[0006] Existing technologies are difficult to achieve a good balance between structural compactness, motion flexibility, and control accuracy. Either the structure is sacrificed for the sake of achieving coupled motion, or the volume and weight are sacrificed for the sake of control accuracy. SUMMARY

[0007] The summary portion of the present application is used to introduce the concepts in a brief form, which will be described in detail in the specific embodiments section. The summary portion of the present application is not intended to identify key or essential features of the claimed technical solution or to limit the scope of the claimed technical solution.

[0008] To solve the technical problems mentioned in the above background section, some embodiments of the present application provide a big thumb bionic mechanical finger, comprising: a palm seat, a first rotating part, a second rotating part, a fourth finger segment, a fifth finger segment and a power device; the first rotating part is rotationally connected with the palm seat, the second rotating part is rotationally connected with the first rotating part, the fourth finger segment is rotationally connected with the second rotating part, and the fifth finger segment is rotationally connected with the fourth finger segment; the power device is used to drive the first rotating part to rotate along a second dimension, drive the second rotating part to rotate along a third dimension, and drive the fourth finger segment and the fifth finger segment to rotate; the second dimension and the third dimension are perpendicular.

[0009] Further, the power device comprises a fourth driving part, a fourth gear transmission part, a fifth driving part, a fifth gear transmission part, a sixth driving part, a sixth gear transmission part, a seventh driving part and a seventh gear transmission part; the fourth driving part drives the first rotating part to rotate along the second dimension through the fourth gear transmission part; the fifth driving part drives the second rotating part to rotate along the third dimension through the fifth gear transmission part; the sixth driving part drives the fourth finger segment to rotate through the sixth gear transmission part; and the seventh driving part drives the fifth finger segment to rotate through the seventh gear transmission part.

[0010] Further, the fourth driving part is arranged in a direction perpendicular to the rotation axis direction of the fourth finger segment.

[0011] Further, the fourth gear transmission part, the sixth gear transmission part and the seventh gear transmission part are all bevel gear transmissions.

[0012] Further, the fifth gear transmission part is a straight gear transmission.

[0013] A gear-driven bionic mechanical finger, comprising: a support part, a first finger segment, a second finger segment, a third finger segment, a first driving part, a second driving part, a first gear transmission part and a second gear transmission part; the first finger segment is connected with the support part, the second finger segment is connected with the first finger segment, and the third finger segment is connected with the second finger segment; the first gear transmission part is arranged between the support part and the first finger segment, and the second gear transmission part is arranged between the first finger segment and the second finger segment; the first driving part is connected with the first gear transmission part, and the second driving part is connected with the second gear transmission part.

[0014] Further, the first gear transmission comprises a first bevel gear and a second bevel gear which are engaged with each other; the second gear transmission comprises a third bevel gear and a fourth bevel gear which are engaged with each other; the first bevel gear is connected with the first driving member, and the second bevel gear is connected with the first finger segment; the third bevel gear is connected with the second driving member, and the fourth bevel gear is connected with the second finger segment.

[0015] Further, the first finger segment is provided with a mounting chamber, and the second driving member is arranged in the mounting chamber; the axis of the first bevel gear is perpendicular to the axis of the second bevel gear, and the axis of the third bevel gear is perpendicular to the axis of the fourth bevel gear.

[0016] The application further provides a bionic hand, comprising the big thumb bionic finger, the gear-driven bionic finger and the palm base as described above; the gear-driven bionic finger is arranged in multiple, and the multiple gear-driven bionic fingers are respectively index finger, middle finger, ring finger and little finger; the first finger segment, the second finger segment and the third finger segment all rotate along the first dimension; the support component is rotationally connected with the palm base, and the third driving member and the third gear transmission are arranged between the support component and the palm base, the third driving member drives the support component to rotate along the second dimension through the third gear transmission; the first dimension, the second dimension and the third dimension are perpendicular.

[0017] The application further provides a bionic hand, comprising the gear-driven bionic finger, the big thumb and the palm base as described above; the gear-driven bionic finger is arranged in multiple, and the multiple gear-driven bionic fingers are respectively index finger, middle finger, ring finger and little finger; the first finger segment, the second finger segment and the third finger segment all rotate along the first dimension; the support component is rotationally connected with the palm base, and the third driving member and the third gear transmission are arranged between the support component and the palm base, the third driving member drives the support component to rotate along the second dimension through the third gear transmission; the big thumb comprises a first rotating component, a second rotating component, a fourth finger segment, a fifth finger segment and a power device; the power device is used for driving the first rotating component to rotate along the second dimension, driving the second rotating component to rotate along the third dimension and driving the fourth finger segment and the fifth finger segment to rotate; the first dimension, the second dimension and the third dimension are perpendicular.

[0018] The application has the following beneficial effects:

[0019] 1. By means of two independent driving members cooperating with two sets of bevel gear transmissions, the first finger segment and the second finger segment are respectively driven, so that independent and accurate control of the metacarpophalangeal joint and the intermediate joint is realized. This design allows the finger to perform complex and flexible movements, and is suitable for fine operation tasks.

[0020] 2. The bevel gear transmission can change the direction of power transmission, allowing the axis of the driver to be perpendicular to the rotation axis of the finger segment, optimizing the spatial layout.

[0021] 3. The gear transmission has the characteristics of accurate transmission ratio, high efficiency, and reliable operation, ensuring the accuracy and stability of motion control.

[0022] 4. The bevel gear can transmit large torque, allowing the mechanical finger to have high load capacity and impact resistance, suitable for grasping objects of different weights, enhancing applicability.

[0023] 5. The second driving member is built into the mounting chamber of the first finger segment, greatly saving space and making the entire finger structure more compact and small. This design is particularly suitable for use in space-limited application scenarios such as multi-fingered dexterous hands, improving integration

[0024] 6. The connecting rod transmission mechanism (connecting rod) connects the second finger segment and the third finger segment, automatically transmitting the driving motion of the second finger segment to the third finger segment, achieving coordinated bending of the three finger segments. This "coupling" motion makes the finger movement trajectory close to that of a human finger, achieving high-level simulation, and only two drivers are needed to control three finger segments, reducing cost, weight, and complexity.

[0025] 7. The first limiting part and the first abutting part, the second limiting part and the second abutting part are set, effectively limiting the overstretching and bending angle of the first finger segment and the second finger segment, preventing mechanical structure damage due to motion overtravel, improving the reliability and service life of the equipment.

[0026] 8. The abutting plane is designed at the end of the third finger segment, allowing the finger to form stable surface contact when grasping objects, especially small objects, increasing the contact area and friction, and improving the stability and accuracy of grasping.

[0027] 9. First and second accommodating chambers are provided on the support part and the first finger segment, respectively, for accommodating the gear transmission, making the structure more integral, clean in appearance, and providing good protection and dust prevention for the internal gear set, ensuring stable operation of the transmission system in complex environments. BRIEF DESCRIPTION OF DRAWINGS

[0028] The accompanying drawings, which form a part of this application, are included to provide a further understanding of the application and are incorporated in and constitute a part of this application. The illustrations, together with their description, serve to explain the application without imposing undue limitation on the application.

[0029] Additionally, and where appropriate, the same or similar reference numerals have been used throughout the drawings to refer to the same or like components. It should be appreciated that the various illustrative logics can be implemented in any desired computer system or other processing system. Additionally, the logic can be implemented in a system including any number of computers or other processing elements.

[0030] In the drawings:

[0031] Figure 1 is a schematic view of the overall embodiment according to the present application;

[0032] Figure 2 is a schematic view of the structure of a part of the embodiment, mainly showing the structure of the first finger segment and part of the surrounding parts, seen from another perspective; Figure 1

[0033] Figure 3 is a schematic view of the structure of a part of the embodiment, mainly showing the structure of the first finger segment and part of the surrounding parts;

[0034] Figure 4 is a schematic view of the structure of a part of the embodiment, mainly showing Figure 3 an exploded schematic view of the structure;

[0035] Figure 5 is a schematic view of the structure of a part of the embodiment, mainly showing the structure of the bionic robot hand;

[0036] Figure 6 is a schematic view of the structure of a part of the embodiment, mainly showing the structure of the bionic robot hand, seen from another perspective; Figure 5

[0037] Figure 7 is a schematic view of the structure of a part of the embodiment, mainly showing the structure of the thumb;

[0038] Figure 8 is a schematic view of the structure of a part of the embodiment, mainly showing the structure of the bionic robot hand, seen from another perspective; Figure 7

[0039] Figure 9 is a schematic view of the structure of a part of the embodiment, mainly showing the structure of the fourth finger segment and the fifth finger segment;

[0040] Figure 10 is a schematic view of the structure of a part of the embodiment, mainly showing the structure of the bionic robot hand, seen from another perspective; Figure 9

[0041] Figure 11 is a schematic view of the structure of a part of the embodiment, mainly showing Figure 3 a sectional schematic view of the structure;

[0042] Reference numerals:

[0043] 1. support member; ​​​​

[0044] 11, first finger segment; 111, mounting chamber; 112, first limiting portion; 113, second abutting portion; 114, first containing chamber; 115, first connecting frame; 116, second connecting frame; 117, connecting shell; 118, first abutting portion; 119, second containing chamber;

[0045] 12, second finger segment; 121, second limiting portion;

[0046] 13, third finger segment; 131, abutting plane;

[0047] 2, first driving member; 21, first gear transmission member; 211, first bevel gear; 212, second bevel gear;

[0048] 3, second driving member; 31, heat dissipation gap; 32, second gear transmission member; 321, third bevel gear; 322, fourth bevel gear;

[0049] 4, transmission member;

[0050] 5, third driving member; 51, third gear transmission member;

[0051] 6, palm seat;

[0052] 7, thumb; 71, first rotating member; 72, second rotating member; 73, fourth finger segment; 74, fifth finger segment; 75, power device; 751, fourth driving member; 752, fourth gear transmission member; 753, fifth driving member; 754, fifth gear transmission member; 755, sixth driving member; 756, sixth gear transmission member; 757, seventh driving member; 758, seventh gear transmission member. DETAILED DESCRIPTION

[0053] Embodiments of the present disclosure will be described in more detail with reference to the drawings. Although certain embodiments of the present disclosure are shown in the drawings, it is understood that the present disclosure can be embodied in various forms and should not be construed as being limited to the embodiments set forth herein. Rather, these embodiments are provided so that the present disclosure will be more thoroughly and completely understood. It should be understood that the drawings of the present disclosure are only for illustrative purposes and are not intended to limit the scope of protection of the present disclosure.

[0054] In addition, it should be further noted that only the parts related to the present application are shown in the drawings for the convenience of description. The embodiments in the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0055] It should be noted that the concepts of "first", "second", etc. mentioned in the present disclosure are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0056] It should be noted that the modification of "one", "a plurality of" mentioned in the present disclosure is illustrative but not restrictive, and those skilled in the art should understand that unless otherwise explicitly indicated in the context, it should be understood as "one or more".

[0057] The present disclosure will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0058] Referring to Figures 1-11 ,

[0059] A gear-driven bionic mechanical finger, comprising: a support component 1, a first finger segment 11, a second finger segment 12, a third finger segment 13, a first driving member 2, a second driving member 3, a first gear transmission member 421 and a second gear transmission member 432; the first finger segment 11 is connected with the support component 1, the second finger segment 12 is connected with the first finger segment 11, and the third finger segment 13 is connected with the second finger segment 12; the first gear transmission member 421 is arranged between the support component 1 and the first finger segment 11, and the second gear transmission member 432 is arranged between the first finger segment 11 and the second finger segment 12; the first driving member 2 is connected with the first gear transmission member 421, and the second driving member 3 is connected with the second gear transmission member 432.

[0060] Through the cooperation of two independent driving members (motors) and two sets of bevel gear transmissions 4, the first finger segment 11 and the second finger segment 12 are driven respectively, and the independent and precise control of the basic joint (metacarpophalangeal joint) and the intermediate joint of the finger is realized.

[0061] Specifically, the first gear transmission member 421 comprises a first bevel gear 211 and a second bevel gear 212 which are engaged with each other; the second gear transmission member 432 comprises a third bevel gear 321 and a fourth bevel gear 322 which are engaged with each other; the first bevel gear 211 is connected with the first driving member 2, and the second bevel gear 212 is connected with the first finger segment 11; the third bevel gear is connected with the second driving member 3, and the fourth bevel gear 322 is connected with the second finger segment 12. The bevel gears are used for transmission, which can change the transmission direction of the power, so that the axis of the driver can be arranged vertically to the rotation axis of the finger segment. The gear transmission has the characteristics of accurate transmission ratio, high efficiency and reliable work. The bevel gear transmission can transmit a large torque, so that the mechanical finger has high load capacity and impact resistance, and is suitable for grabbing objects of different weights.

[0062] Specifically, the first finger segment 11 is provided with a mounting chamber 111, and the second driving member 3 is arranged in the mounting chamber 111; the axis of the first bevel gear 211 is perpendicular to the axis of the second bevel gear 212, and the axis of the third bevel gear 321 is perpendicular to the axis of the fourth bevel gear 322. The second driving member 3 is ingeniously arranged in the mounting chamber 111 of the first finger segment 11, thereby greatly saving space and making the whole finger structure more compact and small, which is particularly suitable for use in space-limited application scenarios such as multi-fingered dexterous hands.

[0063] Specifically, the bionic mechanical finger further comprises a transmission member 4 arranged between the second finger segment 12 and the third finger segment 13; when the second finger segment 12 rotates, the transmission member 4 drives the third finger segment 13 to rotate relative to the second finger segment 12; so that the first finger segment 11, the second finger segment 12 and the third finger segment 13 bend.

[0064] Specifically, the transmission member 4 comprises a connecting rod; one end of the connecting rod is hinged to the first finger segment 11 at a first point, and the other end of the connecting rod is hinged to the third finger segment 13 at a second point; the first finger segment 11 is hinged to the third finger segment 13 at a third point; the distance between the first point and the second point is less than the distance between the third point and the second point. A unique connecting rod transmission mechanism is adopted to automatically transmit the active motion of the second finger segment 12 to the third finger segment 13, thereby realizing "coupling" motion. This enables two driving members to control the coordinated bending of three finger segments, the motion trajectory is very close to that of a human finger, and the purpose of high simulation is achieved.

[0065] Specifically, the first finger segment 11 is provided with a first limiting portion 112, and the second finger segment 12 is provided with a second limiting portion 121; the support member 1 is provided with a first abutting portion 118, and the first finger segment 11 is provided with a second abutting portion 113; the first abutting portion 118 is located below the first limiting portion 112, and the second abutting portion 113 is located below the second limiting portion 121. The limiting portions and the abutting portions (such as the first limiting portion 112 and the first abutting portion 118, and the second limiting portion 121 and the second abutting portion 113) can effectively limit the excessive stretching and bending angle of the first finger segment 11 and the second finger segment 12, prevent the mechanical structure from being damaged due to overtravel, and improve the reliability and service life of the equipment.

[0066] Specifically, the end of the third finger segment 13 is provided with an abutting plane 131. The abutting plane 131 is designed at the end of the third finger segment 13 (the fingertip). This plane structure enables the finger to form stable surface contact when grasping objects, especially when pinching small objects, thereby increasing the contact area and friction, and improving the stability and accuracy of grasping.

[0067] Specifically, the support component 1 is provided with a first accommodating chamber 114, and the first finger segment 11 is provided with a second accommodating chamber 119; the first gear transmission member 421 is arranged in the first accommodating chamber 114, and the second gear transmission member 432 is arranged in the second accommodating chamber 119. The first and second accommodating chambers 119 are arranged on the support component 1 and the first finger segment 11 respectively, and are used for accommodating the gear transmission member 4. This design not only makes the structure more integral and the appearance more neat, but also protects and prevents dust from entering the internal gear set, and ensures that the transmission system can work stably in a complex environment.

[0068] More specifically, a plurality of grooves and protruding plates are arranged in the first accommodating chamber 114. The support component 1 is further provided with a motor compartment, and the first driving member 2, the second driving member 3 and the third driving member 5 are all electric motors. The first driving member 2 is installed in the motor compartment, and the grooves and protruding plates in the motor compartment assist the first driving member 2 in heat dissipation, so that part of the heat of the first driving member 2 is diffused to the first accommodating chamber. This is conducive to the lubricating oil or grease in the first accommodating chamber being put into use more quickly. That is, when the present application is not used for a long time, the lubricating oil or grease in the first accommodating chamber will solidify or its viscosity will decrease, which is not conducive to the lubrication of the gear transmission. However, once the present application is put into use, the first driving member 2 will generate heat, which can diffuse the heat of the first driving member 2 to the first accommodating chamber, so that the lubricating oil or grease is quickly in the best lubrication state.

[0069] The first finger segment 11 comprises a first connecting frame 115, a second connecting frame 116 and a connecting shell 117. The first connecting frame 115 and the second connecting frame 116 are respectively located at two ends of the connecting shell 117. The first connecting frame 115 is rotationally connected with the support component 1, and the second connecting frame 116 is rotationally connected with the second finger segment 12. The first connecting frame 115 and the second connecting frame 116 both have insertion portions, and the first connecting frame 115 and the second connecting frame 116 are both inserted into the connecting shell 117. A through hole is formed in the insertion portion, and the second driving member 3 is installed in the through hole. Part of the second driving member 3 is located outside the first connecting frame 115, and a heat dissipation gap 31 exists between the second driving member 3 and the installation shell. The first finger segment 11 adopts the combined design of the first connecting frame 115, the second connecting frame 116 and the connecting shell 117, which is convenient for assembly and maintenance. Part of the second driving member 3 is located outside the first connecting frame 115, forming the heat dissipation gap 31, which enhances the heat diffusion effect.

[0070] The inner wall of the second accommodating chamber 119 is provided with a plurality of grooves and protruding plates, which also have the effect of making the lubricating oil or grease in the first accommodating chamber 114 quickly in the best lubrication state. Since part of the second driving member 3 is located outside the first connecting frame 115, part of the heat of the second driving member 3 will also be diffused to the first accommodating chamber.

[0071] The first accommodating cavity and the second accommodating cavity are both provided with sealing plates to seal the first accommodating cavity and the second accommodating cavity.

[0072] In summary, the recess and the convex plate provided in the first accommodating chamber 114 assist the first driving member 2 in heat dissipation, spreading the heat into the chamber and helping the lubricating oil or grease to quickly reach the optimal lubrication state (especially when not used for a long time, the lubricant may solidify or the viscosity may decrease). Similar design is also applied to the second accommodating chamber 119, and the heat of the second driving member 3 is also spread into the chamber to promote lubrication. This heat management mechanism improves the transmission efficiency and prolongs the service life of the components.

[0073] The application further provides a bionic mechanical hand, which comprises the above-mentioned gear-driven bionic mechanical fingers, the thumb 7 and the palm seat 6; the gear-driven bionic mechanical fingers are provided in plurality, and the plurality of gear-driven bionic mechanical fingers are respectively the index finger, the middle finger, the ring finger and the little finger; the first finger segment 11, the second finger segment 12 and the third finger segment 13 all rotate along the first dimension; the support component 1 is rotationally connected with the palm seat 6, and the third driving member 5 and the third gear transmission member 514 are arranged between the support component 1 and the palm seat 6, the third driving member 5 drives the support component 1 to rotate along the second dimension through the third gear transmission member 514; the thumb 7 comprises a first rotating component 71, a second rotating component 72, a fourth finger segment 73, a fifth finger segment 74 and a power device 75; the power device 75 is used to drive the first rotating component 71 to rotate along the second dimension, drive the second rotating component 72 to rotate along the third dimension and drive the fourth finger segment 73 and the fifth finger segment 74 to rotate; the first dimension, the second dimension and the third dimension are perpendicular. Among them, by the arrangement of the first rotating component 71, the second rotating component 72 and the fourth finger segment 73 and the fifth finger segment 74, multi-degree-of-freedom motion is realized through the power device 75, so that the thumb 7 has the function of turning the palm similar to human beings, and the grasping and operating ability is enhanced.

[0074] The power device 75 comprises a fourth driving member 751, a fourth gear transmission member 7524, a fifth driving member 753, a fifth gear transmission member 7544, a sixth driving member 755, a sixth gear transmission member 7564, a seventh driving member 757 and a seventh gear transmission member 4. The fourth driving member 751 drives the first rotating component 71 to rotate along the second dimension through the fourth gear transmission member 7524. The fifth driving member 753 drives the second rotating component 72 to rotate along the third dimension through the fifth gear transmission member 7544. The sixth driving member 755 drives the fourth finger segment 73 to rotate through the sixth gear transmission member 7564. The seventh driving member 757 drives the fifth finger segment 74 to rotate through the seventh gear transmission member 4. The first rotating component 71 is rotationally connected with the palm base 6, the second rotating component 72 is rotationally connected with the first rotating component 71, the fourth finger segment 73 is rotationally connected with the second rotating component 72, and the fifth finger segment 74 is rotationally connected with the fourth finger segment 73. The third gear transmission member 514, the fourth gear transmission member 7524, the sixth gear transmission member 7564 and the seventh gear transmission member 4 are all bevel gear transmissions. The fifth gear transmission member 7544 can be a straight gear transmission. The fourth driving member 751 is arranged in a direction perpendicular to the arrangement direction of the first driving member 2, which makes better use of the space on the palm base 6 and makes the overall structure compact, suitable for integration into a robot platform.

[0075] The motion process of the present application is as follows:

[0076] 1. First finger segment 11 driving: the first driving member 2 drives the first finger segment 11 to rotate relative to the support component 1 through the first gear transmission member 421, realizing the motion of the metacarpophalangeal joint.

[0077] 2. Second finger segment 12 driving: the second driving member 3 drives the second finger segment 12 to rotate relative to the first finger segment 11 through the second gear transmission member 432, realizing the motion of the intermediate joint.

[0078] 3. Third finger segment 13 driving: when the second finger segment 12 rotates, the third finger segment 13 is driven to rotate relative to the second finger segment 12 through the transmission member 4, realizing the coupled motion of the third finger segment 13, so that the three finger segments bend in coordination, simulating the motion trajectory of the human finger.

[0079] 4. Support component 1 rotation: in the bionic manipulator, the third driving member 5 drives the support component 1 to rotate relative to the palm base 6 along the second dimension through the third gear transmission member 514, increasing the flexibility of the fingers.

[0080] 5. Big thumb 7 multi-degree-of-freedom motion: the big thumb 7 realizes the rotation of the first rotating component 71 along the second dimension, the rotation of the second rotating component 72 along the third dimension, and the rotation of the fourth finger segment 73 and the fifth finger segment 74 through the power device 75, providing a palm function.

[0081] The above description is merely exemplary of some preferred embodiments of the present disclosure and of the principles thereof. It is to be understood that the present disclosure is not limited to the specific technical features described above and that the scope of the present disclosure is not limited to the technical solutions formed by the specific combinations of the above technical features. Rather, the scope of the present disclosure is to cover other technical solutions formed by the combinations of the above technical features or equivalent features thereof without departing from the concept of the present disclosure. For example, technical solutions formed by the mutual replacement of the above features and the technical features disclosed in the embodiments of the present disclosure (but not limited to) with similar functions.

Claims

1. A big thumb bionic mechanical finger, characterized in that, The big thumb bionic mechanical finger comprises: a palm base, a first rotating part, a second rotating part, a fourth finger segment, a fifth finger segment and a power device; the first rotating part is rotationally connected with the palm base, the second rotating part is rotationally connected with the first rotating part, the fourth finger segment is rotationally connected with the second rotating part, and the fifth finger segment is rotationally connected with the fourth finger segment; the power device is used to drive the first rotating part to rotate along a second dimension, drive the second rotating part to rotate along a third dimension, and drive the fourth finger segment and the fifth finger segment to rotate; the second dimension and the third dimension are perpendicular.

2. The big thumb bionic mechanical finger according to claim 1, wherein: the power device comprises a fourth driving part, a fourth gear transmission part, a fifth driving part, a fifth gear transmission part, a sixth driving part, a sixth gear transmission part, a seventh driving part and a seventh gear transmission part; the fourth driving part drives the first rotating part to rotate along the second dimension through the fourth gear transmission part; the fifth driving part drives the second rotating part to rotate along the third dimension through the fifth gear transmission part; the sixth driving part drives the fourth finger segment to rotate through the sixth gear transmission part; the seventh driving part drives the fifth finger segment to rotate through the seventh gear transmission part.

3. The big thumb bionic mechanical finger according to claim 2, wherein: the fourth driving part is arranged in a direction perpendicular to the rotation axis direction of the fourth finger segment.

4. The big thumb bionic mechanical finger according to claim 2, wherein: the fourth gear transmission part, the sixth gear transmission part and the seventh gear transmission part are all bevel gear transmissions.

5. The big thumb bionic mechanical finger according to claim 2, wherein: the fifth gear transmission part is a straight gear transmission.

6. A gear-driven bionic mechanical finger, characterized in that, The gear-driven bionic mechanical finger comprises: a support part, a first finger segment, a second finger segment, a third finger segment, a first driving part, a second driving part, a first gear transmission part and a second gear transmission part; the first finger segment is connected with the support part, the second finger segment is connected with the first finger segment, and the third finger segment is connected with the second finger segment; the first gear transmission part is arranged between the support part and the first finger segment, and the second gear transmission part is arranged between the first finger segment and the second finger segment; the first driving part is connected with the first gear transmission part, and the second driving part is connected with the second gear transmission part.

7. The gear-driven bionic mechanical finger according to claim 6, wherein: the first gear transmission part comprises a first bevel gear and a second bevel gear which are meshed with each other; the second gear transmission part comprises a third bevel gear and a fourth bevel gear which are meshed with each other; the first bevel gear is connected with the first driving part, and the second bevel gear is connected with the first finger segment; the third bevel gear is connected with the second driving part, and the fourth bevel gear is connected with the second finger segment.

8. The gear-driven bionic mechanical finger according to claim 7, wherein: an installation cavity is arranged in the first finger segment, and the second driving part is arranged in the installation cavity. The axis of the first bevel gear is perpendicular to the axis of the second bevel gear, and the axis of the third bevel gear is perpendicular to the axis of the fourth bevel gear.

9. A biomimetic robot hand characterized by: The big thumb bionic mechanical finger of any one of claims 1-5, the gear-driven bionic mechanical finger of any one of claims 6-8, and the palm base; A plurality of the gear-driven bionic mechanical fingers are provided, and the plurality of the gear-driven bionic mechanical fingers are respectively index finger, middle finger, ring finger and little finger; The first finger segment, the second finger segment and the third finger segment are all rotated along a first dimension; The support component is rotationally connected with the palm base, a third driving member and a third gear transmission member are arranged between the support component and the palm base, and the third driving member drives the support component to rotate along a second dimension through the third gear transmission member; The first dimension, the second dimension and the third dimension are perpendicular.

Images