Connecting rod driving type bionic mechanical finger and bionic manipulator thereof
By designing a linkage-driven bionic mechanical finger, the combination of linkage and elastic sleeve solves the problem of balancing structural compactness and control precision in existing mechanical fingers, achieving cost reduction, space optimization, and improved grasping accuracy.
Patent Information
- Application Number
- CN202511747616.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-11-26
- Publication Date
- 2026-02-10
AI Technical Summary
Existing mechanical finger designs struggle to achieve a good balance between structural compactness, motion flexibility, and control precision. Traditional drive solutions suffer from problems such as bulkiness, inflexible motion, or poor control accuracy.
It adopts a linkage-driven bionic mechanical finger design. Through support components, finger segments and linkage mechanism, a motor drives multiple finger segments to bend. Combined with elastic sleeve and flexible rod to simulate the flexibility of human hand, it can achieve multi-dimensional movement and stable grasping.
It achieves cost reduction, space optimization, anti-jamming, and improved grasping accuracy and stability, enhancing the flexibility and applicability of the robotic arm, especially its ability to grasp objects with special shapes.
Smart Images
Figure CN121492086A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the field of mechanical hands, in particular, to a link-driven bionic mechanical finger and a bionic mechanical hand thereof. BACKGROUND
[0002] As one of the core technologies in the field of robots, the bionic mechanical hand aims to imitate the dexterous manipulation ability of human hands and is widely used in the fields of service robots, industrial grabbing, prosthetics, etc. The mechanical finger, as the core executive component of the bionic mechanical hand, directly determines the flexibility and grabbing ability of the whole hand.
[0003] In the existing design of mechanical fingers, the driving and transmission scheme is the key to realizing bionic motion. The traditional design usually adopts the following schemes:
[0004] Hinge link and spur gear transmission: this kind of design has simple structure, but often has the disadvantages of large volume 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 joint can follow the motion), a complex linkage mechanism is usually required, which leads to low space utilization inside the finger and makes it difficult to realize miniaturization and light weight.
[0005] Cable drive: this scheme drives the finger joint to bend by winding and unwinding the cable by the motor. Although it can realize 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 the cable drive are poor, and it is difficult to maintain a stable grabbing posture, especially when carrying a large load.
[0006] The existing technology is difficult to achieve a good balance between structural compactness, motion flexibility and control accuracy. Either the structure is sacrificed for the realization of coupled motion, or the volume and weight are sacrificed for control accuracy. SUMMARY
[0007] The summary part of the present application is used to introduce the concepts in a brief form, which will be described in detail in the specific embodiment part. The summary part of the present application is not intended to identify the key features or essential features of the claimed technical solution, nor is it intended to limit the scope of the claimed technical solution.
[0008] To address the technical problems mentioned in the background section, some embodiments of this application provide a linkage-driven bionic mechanical finger comprising: a support component, a first finger segment, a second finger segment, a third finger segment, a driving component, and a transmission component, a first connecting rod and a second connecting rod; the first finger segment is connected to the support component, the second finger segment is connected to the first finger segment, and the third finger segment is connected to the second finger segment; the transmission component is disposed between the support component and the first finger segment; the driving component is connected to the transmission component, and the driving component drives the first finger segment to rotate through the transmission component; one end of the first connecting rod is hinged to the support component, and the other end is hinged to the second finger segment; one end of the second connecting rod is hinged to the first finger segment, and the other end is hinged to the third finger segment.
[0009] Furthermore, slots are formed on the first finger segment, the second finger segment, and the third finger segment; the first connecting rod and the second connecting rod are aligned with the slots.
[0010] Furthermore, the first connecting rod includes: a first docking portion, a second docking portion, and a connecting portion; the first docking portion is hinged to the support component, and the second docking portion is hinged to the second finger segment; the connecting portion is connected to the first docking portion and the second docking portion; the first docking portion is located on the back of the first finger segment, and the second docking portion is located on the front of the second finger segment.
[0011] Furthermore, the connecting part is curved in shape, and when the second finger segment bends relative to the first finger segment, the connecting part protrudes outward from the groove and forms an arc-shaped protrusion between the first finger tip and the second finger tip.
[0012] Furthermore, one end of the first connecting rod is hinged to the supporting component at a first point, and the other end of the connecting rod is hinged to the second finger segment at a second point; the first finger segment and the second finger segment are hinged to 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.
[0013] Furthermore, the end of the third finger segment is provided with an abutment plane.
[0014] Furthermore, the first finger segment, the second finger segment, and the third finger tip are all wrapped with elastic sleeves; multiple flexible rods are provided on the outside of the elastic sleeves.
[0015] Furthermore, an elastic cavity is provided in the middle of the elastic sleeve.
[0016] Furthermore, the elastic cavities of the plurality of elastic sleeves are connected in sequence.
[0017] This application also provides a bionic robotic hand, including the aforementioned linkage-driven bionic robotic fingers, thumb, and palm base; multiple linkage-driven bionic robotic fingers are provided, namely the 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 a first dimension; the support component is rotatably connected to the palm base, and a third driving component and a third gear transmission component are provided between the support component and the palm base, the third driving component driving the support component to rotate along a second dimension through the third gear transmission component; the thumb includes 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 to drive the first rotating component to rotate along the second dimension, drive the second rotating component to rotate along the third dimension, and drive the fourth and fifth finger segments to rotate; the first dimension, the second dimension, and the third dimension are perpendicular.
[0018] The beneficial effects of this application are as follows:
[0019] 1. Cost reduction and space optimization: It uses only one motor to drive the first, second and third finger segments to bend simultaneously through transmission components and linkage mechanisms, which simplifies the structure, reduces the number of parts, lowers manufacturing costs, and is suitable for confined spaces.
[0020] 2. Anti-jamming and grip stability: The connecting part of the first link adopts a curved shape, which protrudes outward when the finger segment bends, forming an arc-shaped protrusion. This can effectively prevent objects from getting stuck between the first and second finger segments and push the objects outward, improving the gripping ability of special-shaped objects (such as spherical or irregular objects).
[0021] 3. Grasping accuracy and stability: The contact surface at the end of the third finger provides surface contact, increasing the contact area and friction with the object. Especially when pinching small objects, it improves the stability and accuracy of grasping, simulating the tactile sensation of human fingertips.
[0022] 4. Adaptive and enhanced friction: The finger segments are wrapped in an elastic sleeve with multiple flexible rods. The elastic cavity in the sleeve allows deformation, simulating the soft tissue and elasticity of the human hand. It can adapt to the shape of objects, increase friction, and further improve the stability and comfort of grip.
[0023] 5. Multidimensional motion flexibility: In the bionic robotic hand, the thumb can rotate along the second and third dimensions through a power device, and cooperate with the first-dimensional movement of other fingers to provide multi-degree-of-freedom grasping ability, which enhances the overall flexibility and applicability of the robotic hand, such as grasping objects of different shapes and sizes. Attached Figure Description
[0024] The accompanying drawings, which form part of this application, are used to provide a further understanding of the application and to make other features, objects, and advantages of the application more apparent. The illustrative embodiments and descriptions of this application are used to explain the application and do not constitute an undue limitation of the application.
[0025] Furthermore, throughout the accompanying drawings, the same or similar reference numerals denote the same or similar elements. It should be understood that the drawings are schematic, and the elements are not necessarily drawn to scale.
[0026] In the attached diagram:
[0027] Figure 1 This is an overall schematic diagram based on an embodiment of this application;
[0028] Figure 2 This is a structural schematic diagram of a part of the embodiment, mainly showing... Figure 1 Local structure;
[0029] Figure 3 This is a structural schematic diagram as part of an embodiment, mainly showing the structure of the first finger segment and some surrounding parts;
[0030] Figure 4 This is a structural diagram of a part of the embodiment, mainly showing the structure of the bionic robotic hand;
[0031] Figure 5 This is a structural schematic diagram as part of an embodiment, mainly showing an observation from another perspective. Figure 4 The structure.
[0032] Figure label:
[0033] 1. Support component; 11. First finger segment; 12. Second finger segment; 13. Third finger segment; 14. Groove; 2. Drive component; 3. Transmission component; 31. First connecting rod; 32. Second connecting rod; 311. First docking part; 312. Second docking part; 313. Connecting part; 4. Palm base; 5. Thumb; 51. Rotating component; 52. Fourth finger segment; 53. Fifth finger segment; 54. Power unit; 541. First rotary motor; 542. Second rotary motor; 55. Mounting base. Detailed Implementation
[0034] Embodiments of this disclosure will now be described in more detail with reference to the accompanying drawings. While some embodiments of this disclosure are shown in the drawings, it should be understood that this disclosure can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of this disclosure. It should be understood that the accompanying drawings and embodiments of this disclosure are for illustrative purposes only and are not intended to limit the scope of protection of this disclosure.
[0035] It should also be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings. Unless otherwise specified, the embodiments and features described in this disclosure can be combined with each other.
[0036] It should be noted that the concepts of "first" and "second" mentioned in this disclosure are used only to distinguish different devices, modules or units, and are not used to limit the order of functions performed by these devices, modules or units or their interdependencies.
[0037] It should be noted that the terms "a" and "a plurality of" used in this disclosure are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".
[0038] This disclosure will now be described in detail with reference to the accompanying drawings and embodiments.
[0039] Reference Figures 1-5 ,
[0040] A linkage-driven bionic mechanical finger includes: a support component, a first finger segment, a second finger segment, a third finger segment, a driving component, and a transmission component consisting of a first connecting rod and a second connecting rod; the first finger segment is connected to the support component, the second finger segment is connected to the first finger segment, and the third finger segment is connected to the second finger segment; the transmission component is disposed between the support component and the first finger segment; the driving component is connected to the transmission component, and the driving component drives the first finger segment to rotate through the transmission component; one end of the first connecting rod is hinged to the support component, and the other end is hinged to the second finger segment; one end of the second connecting rod is hinged to the first finger segment, and the other end is hinged to the third finger segment.
[0041] By using a linkage mechanism to simultaneously bend the first, second, and third finger segments, it is possible to achieve the movement of the first, second, and third finger segments using only one motor and multiple linkages within a confined space, thus significantly reducing costs.
[0042] Specifically, slots are formed on the first, second, and third finger segments; the first and second connecting rods are aligned with the slots. The first connecting rod includes a first mating portion, a second mating portion, and a connecting portion; the first mating portion is hinged to the support component, and the second mating portion is hinged to the second finger segment; the connecting portion is connected to the first and second mating portions; the first mating portion is located on the back of the first finger segment, and the second mating portion is located on the front of the second finger segment.
[0043] Specifically, the connecting part is curved. When the second finger segment bends relative to the first finger segment, the connecting part protrudes outward from the groove, forming an arc-shaped protrusion between the first and second finger tips. By utilizing the shape of the connecting part, when the second finger segment bends relative to the first finger segment, the outward protrusion at the groove prevents the object from getting stuck between the first and second finger segments when holding a special object. Instead, the outward protrusion of the connecting part forces the object outward, allowing for a better grip on specially shaped objects.
[0044] Specifically, one end of the first connecting rod is hinged to the supporting component at a first point, and the other end of the connecting rod is hinged to the second finger segment at a second point; the first finger segment and the second finger segment are hinged to 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. With this configuration, the connecting rod can normally drive the rotation of multiple finger segments.
[0045] Specifically, the end of the third finger segment is provided with an abutment plane. An abutment plane is designed at the end of the third finger segment (fingertip). This planar structure allows the finger to form a stable surface contact when grasping objects, especially small objects, increasing the contact area and friction, and improving the stability and accuracy of the grasp.
[0046] Specifically, the first finger segment, the second finger segment, and the third finger tip are all wrapped with an elastic sleeve; multiple flexible rods are provided on the outside of the elastic sleeve. The purpose of the elastic sleeve is to tighten the first finger segment, the second finger tip, and the third finger segment. The flexible rods on the outside of the elastic sleeve can better increase the friction between the finger and the object to be picked up.
[0047] Specifically, an elastic cavity is provided in the middle of the elastic sleeve. The elastic cavities of multiple elastic sleeves are sequentially connected. The elastic cavity allows for deformation of the distribution positions of multiple flexible rods on the outside of the elastic sleeve, as well as deformation of the outer wall of the elastic sleeve, thus replicating the feel and elasticity of a human hand in real time. This significantly increases the stability of gripping objects.
[0048] More specifically, the first link also includes a first segment, a second segment, and an elastic connection structure connecting the first and second segments. The elastic connection structure includes a guide rod and an elastic component. The guide rod is fixed to the second segment, the first segment is slidably connected to the guide rod, and the elastic component is positioned between the first and second segments, providing an elastic tension that brings the first and second segments closer together. The slidable connection between the first segment and the guide rod can also be achieved by providing a limiting structure on the guide rod to prevent the first segment from sliding off; this limiting structure will not be described in detail. The elastic component can be an elastic rope or a tension spring. The second link has a similar structure to the first link and will not be described in detail. In practical use, the arrangement of the first and second links results in the first, second, and third finger segments having the same bending angle, making it difficult to grip objects of different shapes. The elastic component allows adjustment of the length of the first or second link, resulting in different bending angles for the second and third finger segments compared to the first finger segment, thus facilitating the gripping of objects of different shapes.
[0049] This application also provides a bionic robotic hand, including the aforementioned link-driven bionic robotic finger, thumb, and palm base; multiple link-driven bionic robotic fingers are provided, and the multiple link-driven bionic robotic fingers are respectively the 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 a first dimension; the support component is connected to the palm base.
[0050] The thumb includes a rotating component, a fourth finger segment, a fifth finger segment, and a power device; the power device is used to drive the rotating component to rotate along the second dimension and drive the fourth finger segment to rotate along the third dimension; the first dimension, the second dimension, and the third dimension are perpendicular.
[0051] The power unit includes: a mounting base connected to the palm base, and a first rotary motor and a second rotary motor mounted on the mounting base. The first rotary motor drives the first rotating component to rotate. The first rotary motor drives the first rotating component to rotate, and the second rotary motor drives the fourth finger segment to rotate. The connection method of the fourth and fifth finger segments is the same as that of the first and second finger segments, and will not be described in detail.
[0052] Movement process:
[0053] Initial state: All fingers are in the extended position, and the drive mechanism is not activated.
[0054] Drive phase: The drive component (such as a motor) drives the first finger segment to rotate relative to the support component through the transmission component (such as a gear or connecting rod).
[0055] Linkage transmission:
[0056] When the first finger segment rotates, the second finger segment bends relative to the first finger segment through the first connecting rod (one end is hinged to the support component, and the other end is hinged to the second finger segment).
[0057] At the same time, the second link (one end hinged to the first finger segment, and the other end hinged to the third finger segment) causes the third finger segment to bend relative to the second finger segment.
[0058] Synchronous bending: Throughout the movement, the first, second, and third finger segments bend synchronously under the drive of the linkage, forming a natural grasping motion similar to human fingers. The connecting part protrudes outward at the groove to avoid interference.
[0059] Thumb movement: The first rotary motor in the power unit drives the rotating component to rotate along the second dimension (such as swinging inward and outward), and the second rotary motor drives the fourth finger segment to rotate along the third dimension (such as bending), realizing the multi-directional movement of the thumb, which works in conjunction with other fingers to complete complex grasping tasks.
[0060] The above description is merely a selection of preferred embodiments of this disclosure and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in the embodiments of this disclosure is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-described inventive concept. For example, technical solutions formed by substituting the above-described features with (but not limited to) technical features with similar functions disclosed in the embodiments of this disclosure.
Claims
1. A linkage-driven bionic mechanical finger, characterized in that, include: Support component, first finger segment, second finger segment, third finger segment, drive component, transmission component, first link and second link; The first finger segment is connected to the support component, the second finger segment is connected to the first finger segment, and the third finger segment is connected to the second finger segment; The transmission component is disposed between the support component and the first finger segment; The driving component is connected to the transmission component, and the driving component drives the first finger segment to rotate through the transmission component; One end of the first connecting rod is hinged to the support component, and the other end is hinged to the second finger segment; one end of the second connecting rod is hinged to the first finger segment, and the other end is hinged to the third finger segment.
2. The linkage-driven bionic mechanical finger according to claim 1, characterized in that: The first finger segment, the second finger segment, and the third finger segment are all provided with slots; the first connecting rod and the second connecting rod are aligned with the slots.
3. The linkage-driven bionic mechanical finger according to claim 1, characterized in that: The first connecting rod includes: a first docking portion, a second docking portion, and a connecting portion; the first docking portion is hinged to the support component, the second docking portion is hinged to the second finger segment; the connecting portion is connected to the first docking portion and the second docking portion; The first docking part is located on the back of the first finger segment, and the second docking part is located on the front of the second finger segment.
4. The linkage-driven bionic mechanical finger according to claim 1, characterized in that: The connecting part is curved. When the second finger segment bends relative to the first finger segment, the connecting part protrudes outward from the groove and forms an arc-shaped protrusion between the first finger tip and the second finger tip.
5. The linkage-driven bionic mechanical finger according to claim 1, characterized in that: One end of the first connecting rod is hinged to the supporting component at a first point, and the other end of the connecting rod is hinged to the second finger segment at a second point; the first finger segment and the second finger segment are hinged to 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.
6. The linkage-driven bionic mechanical finger according to claim 1, characterized in that: The end of the third finger segment is provided with an abutment plane.
7. The linkage-driven bionic mechanical finger according to claim 1, characterized in that: The first finger segment, the second finger segment, and the third finger tip are all wrapped with elastic sleeves; Multiple flexible rods are provided on the outside of the elastic sleeve.
8. The linkage-driven bionic mechanical finger according to claim 1, characterized in that: An elastic cavity is provided in the middle of the elastic sleeve.
9. The linkage-driven bionic mechanical finger according to claim 1, characterized in that: The elastic cavities of the plurality of elastic sleeves are connected in sequence.
10. A bionic robotic hand, characterized in that: Includes the linkage-driven bionic mechanical finger, thumb, and palm base as described in any one of claims 1-8; Multiple linkage-driven bionic mechanical fingers are provided, and the multiple linkage-driven bionic mechanical fingers are the 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 connected to the palm base; The thumb includes 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 to drive the first rotating component to rotate along the second dimension, drive the second rotating component to rotate along the third dimension, and drive the fourth finger segment and the fifth finger segment to rotate. The first dimension, the second dimension, and the third dimension are perpendicular.