Bionic manipulator

Abstract

The invention relates to the field of manipulators, and discloses a bionic manipulator which comprises a mechanical palm, mechanical fingers and a first driving mechanism, the mechanical fingers comprise a thumb unit and an index finger unit, and the index finger unit is connected with the mechanical palm; the first driving mechanism is connected to the thumb unit and the mechanical palm, and the first driving mechanism is configured to drive the thumb unit to be close to or away from the index finger unit so as to adjust the distance between the thumb unit and the index finger unit; and the thumb unit is driven to swing towards the palm center of the mechanical palm or swing away from the palm center of the mechanical palm relative to the index finger unit. Thus, by means of the bionic mechanical arm, the distance between the thumb unit and the index finger unit can be adjusted, the thumb unit can swing towards the center of the mechanical palm or swing away from the center of the mechanical palm, more complex operation instructions can be completed easily, and use is convenient.

Description

Technical Field

[0001] The present invention relates to the field of robotic arms, and in particular to a bionic robotic arm. Background Technology

[0002] In scenarios involving radiation, extreme weather, or hazardous environments, robots can often replace humans in performing tasks, using their bionic robotic arms to complete commands. Bionic robotic arms are the end effectors of robots, typically used to mimic human hand movements, thus assisting users in performing tasks. However, commercially available bionic robotic arms have relatively simple designs, with fingers only capable of bending or straightening. For example, the thumb, a crucial component of a bionic robotic arm, currently only allows for flexion or extension, limiting its application scenarios and causing inconvenience. Summary of the Invention

[0003] To address the aforementioned technical problems, embodiments of the present invention provide a user-friendly bionic robotic hand.

[0004] The technical solutions adopted by the embodiments of the present invention to solve their technical problems are as follows:

[0005] A bionic robotic hand includes a robotic palm, robotic fingers, and a first driving mechanism. The robotic fingers include a thumb unit and an index finger unit, with the index finger unit connected to the robotic palm. The first driving mechanism is connected to both the thumb unit and the robotic palm. The first driving mechanism is configured to drive the thumb unit to move closer to or further away from the index finger unit to adjust the distance between the thumb unit and the index finger unit; and to drive the thumb unit to swing relative to the index finger unit toward or away from the palm of the robotic palm.

[0006] In some embodiments, the first driving mechanism includes a swing member and a first driving assembly. One end of the swing member is connected to the thumb unit, and the other end of the swing member is connected to the first driving assembly. The first driving assembly is connected to the mechanical hand. The first driving assembly drives the swing member to move the thumb unit to adjust the distance between the thumb unit and the index finger unit, or to adjust the swing of the thumb unit relative to the index finger unit.

[0007] In some embodiments, the robotic hand includes a first mounting base; the first driving assembly includes a first transmission shaft, a first gear set, and a drive motor assembly, wherein the first transmission shaft is rotatably disposed on the first mounting base, the first gear set and the oscillating member are movably disposed on the first transmission shaft, the drive motor assembly is disposed on the first mounting base, and the output end of the drive motor assembly is connected to the first gear set; wherein, the drive motor assembly is configured to drive the oscillating member to rotate around the first transmission shaft when in a first working state, so as to adjust the distance between the thumb unit and the index finger unit; and to drive the oscillating member and the transmission shaft to rotate together in the same direction when in a second working state, so that the thumb unit oscillates with the oscillating member, and the direction of oscillation includes a direction closer to the palm of the robotic hand or a direction away from the palm of the robotic hand.

[0008] In some embodiments, the first drive shaft includes a shaft body and a cam shaft connected to each other. The shaft body and the cam shaft are used together to set the first gear set. The shaft body extends along a first axis, and the cam shaft is arranged along a second axis. The first axis and the second axis are perpendicular to each other.

[0009] In some embodiments, the first gear set includes a first bevel gear, a second bevel gear, and a third bevel gear. The first bevel gear and the second bevel gear are spaced apart on the shaft body along a first axis of the first transmission shaft. The third bevel gear is disposed on the cam shaft. The third bevel gear meshes with the first bevel gear and the second bevel gear respectively. The first bevel gear and the second bevel gear rotate around the first axis, and the third bevel gear rotates around the second axis. The third bevel gear is fixedly connected to the oscillating member. When the drive motor set is in the first working state, and the first bevel gear and the second bevel gear rotate at different speeds relative to the first transmission shaft, the third bevel gear drives the oscillating member to rotate along the second axis. When the drive motor set is in the second working state, and the first bevel gear and the second bevel gear rotate at the same speed relative to the first transmission shaft, the third bevel gear and the lever rotate together around the first axis.

[0010] In some embodiments, the drive motor assembly includes a first drive motor and a second drive motor, both of which are mounted on the first mounting base. The output end of the first drive motor is connected to the first bevel gear, and the output end of the second drive motor is connected to the second bevel gear. The first drive motor and the second drive motor are both located on the same side of the first transmission shaft, and the output end of the first drive motor is located in the gap between the first bevel gear and the second bevel gear.

[0011] In some embodiments, the first drive mechanism further includes a first feedback component, which is disposed on the first mounting base and located at one end of the first drive shaft, and the first feedback component is used to detect the angle of rotation of the first drive shaft.

[0012] In some embodiments, the first feedback component includes a first Hall angle sensor and a first magnet. The first magnet is disposed on the first mounting base and located at one end of the first drive shaft. The first Hall angle sensor is disposed on the first magnet and is used to detect the angle of rotation of the first shaft.

[0013] In some embodiments, the first mounting base is provided with a first mounting hole, and the first feedback component further includes a first magnet mounting base, the first magnet mounting base being disposed in the first mounting hole, and the first magnet being disposed in the first magnet mounting base.

[0014] In some embodiments, the first drive mechanism further includes a second feedback component disposed on the oscillating member, the second feedback component being used to detect the angle of rotation of the oscillating member about a second axis of the first drive shaft.

[0015] In some embodiments, the second feedback component includes a second magnet and a second Hall angle sensor. The second magnet is disposed at one end of the oscillating member for connection with the third bevel gear, and the second Hall angle sensor is disposed on the second magnet. The second Hall angle sensor is used to detect the angle of rotation of the oscillating member about the second axis of the first drive shaft.

[0016] In some embodiments, the robotic finger further includes a middle finger unit connected to the robotic palm, the middle finger unit being disposed adjacent to the index finger unit, and the index finger unit being rotatable relative to the robotic palm; the bionic robotic hand further includes a second driving mechanism disposed on the robotic palm, the second driving mechanism being used to drive the index finger unit to swing in a plane parallel to the palm of the robotic palm, so that the index finger unit abuts against the middle finger unit, or so that the index finger unit moves away from the middle finger unit.

[0017] In some embodiments, the robotic hand includes a second mounting base; the second driving mechanism includes a third driving motor, a second driving assembly, and a sleeve assembly, wherein the third driving motor and the second driving assembly are both disposed on the second mounting base, the third driving motor and the sleeve assembly are both connected to the second driving assembly, the sleeve assembly is connected to the index finger unit, and the second driving assembly is used to drive the sleeve assembly to move under the action of the third driving motor, so that the index finger unit swings relative to the middle finger unit.

[0018] In some embodiments, the second drive assembly includes a fourth bevel gear, a fifth bevel gear, and a second drive shaft. The fourth bevel gear is sleeved on the output end of the third drive motor, the fifth bevel gear is rotatably mounted on the second mounting base, one end of the second drive shaft is inserted into the fifth bevel gear, and the other end of the second drive shaft is rotatably mounted on the second mounting base. The sleeve assembly is connected to the second drive shaft, and the fourth and fifth bevel gears mesh with each other. When the output end of the third drive motor drives the fourth bevel gear to rotate, the fifth bevel gear drives the second drive shaft to rotate, thereby moving the sleeve assembly.

[0019] In some embodiments, the lever assembly includes a swing arm and a sleeve, one end of the swing arm is connected to the second drive assembly, the other end of the swing arm is connected to the sleeve, and the sleeve is fitted onto the index finger unit.

[0020] In some embodiments, the connector includes an elastic cord, rubber band, spring, or loop.

[0021] In some embodiments, the second drive mechanism further includes a third feedback unit, which is disposed on the second mounting base and located at one end of the second drive shaft. The third feedback unit is used to detect the angle of rotation of the second drive shaft.

[0022] In some embodiments, the third feedback unit includes a third magnet and a third Hall angle sensor. The third magnet is disposed at one end of the second drive shaft, and the third Hall angle sensor is disposed on the third magnet. The third Hall angle sensor is used to detect the rotation angle of the second drive shaft.

[0023] In some embodiments, the mechanical finger further includes a ring finger unit and a little finger unit, both of which are connected to the mechanical hand; the bionic mechanical hand further includes a third driving mechanism, which is connected to the mechanical hand and is used to drive the thumb unit, the index finger unit, the middle finger unit, the ring finger unit, or the little finger unit to switch between a flexed state and an extended state.

[0024] In some embodiments, the bionic robotic hand further includes a plurality of force-tactile sensors disposed on the robotic fingers.

[0025] In some embodiments, the bionic robotic hand further includes a sensor plate disposed in the palm of the robotic hand and / or the back of the palm of the robotic hand.

[0026] The beneficial effects of the embodiments of the present invention are as follows: The bionic robotic hand provided in this application includes a robotic palm, robotic fingers, and a first driving mechanism. The robotic fingers include a thumb unit and an index finger unit, with the index finger unit connected to the robotic palm. The first driving mechanism is connected to both the thumb unit and the robotic palm. The first driving mechanism is configured to drive the thumb unit to move closer to or away from the index finger unit to adjust the distance between the thumb unit and the index finger unit; and to drive the thumb unit to swing relative to the index finger unit toward or away from the palm of the robotic palm. Thus, by using the bionic robotic hand of this application, not only can the distance between the thumb and index finger units be adjusted, but the thumb unit can also be swung toward or away from the palm of the robotic palm, which is beneficial for completing more complex operation commands and is more convenient to use. Attached Figure Description

[0027] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0028] Figure 1 This is a schematic diagram of a bionic robotic hand according to one embodiment of this application;

[0029] Figure 2 yes Figure 1 A diagram from another perspective;

[0030] Figure 3 yes Figure 1 A partial structural diagram;

[0031] Figure 4 yes Figure 3 A diagram from another perspective;

[0032] Figure 5 yes Figure 3 A schematic diagram of the middle section structure;

[0033] Figure 6 yes Figure 3 Exploded view of the first drive mechanism in the middle;

[0034] Figure 7 yes Figure 3 A diagram showing the reduction in the web space between the thumb and index finger units;

[0035] Figure 8 yes Figure 3 A diagram showing the thumb unit swinging towards the palm and the index finger unit moving towards the middle finger unit;

[0036] Figure 9 yes Figure 4Enlarged view of point P in the middle;

[0037] Figure 10 yes Figure 9 Exploded view of the second drive mechanism in the middle;

[0038] Figure 11 This is a schematic diagram of the structure of the index finger unit and the third drive mechanism;

[0039] Figure 12 yes Figure 11 A sectional view;

[0040] Figure 13 yes Figure 12 A schematic diagram of the index finger unit in a flexed position;

[0041] Figure 14 This is a schematic diagram of the force-touch sensor structure;

[0042] Figure 15 yes Figure 14 A sectional view;

[0043] Figure 16 yes Figure 14 Exploded view;

[0044] Figure 17 This is a schematic diagram of the distribution of MEMS pressure sensors on a circuit board;

[0045] In the image: 1. Bionic robotic hand; 2. Robotic palm; 3. Robotic finger; 4. First drive mechanism; 5. Second drive mechanism; 6. Third drive mechanism; 7. Force tactile sensor; 8. Sensor board; 9. Control board; 10. Protective cover;

[0046] 201, First mounting base; 2011, First mounting hole; 202, Second mounting base; 203, Third mounting base; 2021, First fixing hole; 2022, Second fixing hole; 2023, Third fixing hole;

[0047] 31. Thumb unit; 32. Index finger unit; 33. Middle finger unit; 34. Ring finger unit; 35. Little finger unit;

[0048] 321. First finger amputation; 322. Second finger amputation; 323. Third finger amputation;

[0049] 41. Swinging component;

[0050] 411. First connecting block; 412. Second connecting block; 413. Mounting block; 4111. First connecting hole; 4112. First mounting port; 4131. Second mounting port;

[0051] 42. First driving component;

[0052] 421. First drive shaft; 422. First gear set; 423. Drive motor assembly; 424. First bearing component; 425. Second bearing component; 426. Third bearing component;

[0053] 4211, Shaft body; 4212, Chamfered shaft;

[0054] 4221. First bevel gear; 4222. Second bevel gear; 4223. Third bevel gear;

[0055] 42211, First power gear ring; 42212, First meshing gear ring;

[0056] 42221, Second power gear ring; 42222, Second meshing gear ring;

[0057] 4231, First drive motor; 4232, Second drive motor;

[0058] 43. First feedback component; 44. Second feedback component;

[0059] 431. First Hall angle sensor; 432. First magnet; 433. First magnet mounting base;

[0060] 441. Second Hall angle sensor; 442. Second magnet;

[0061] 51. Third drive motor; 52. Second drive assembly; 53. Sleeve assembly; 54. Fourth bearing component; 55. Fifth bearing component; 56. Third feedback unit;

[0062] 521. Fourth bevel gear; 522. Fifth bevel gear; 523. Second drive shaft;

[0063] 531. Swing rod; 532. Connecting piece;

[0064] 561. Third Hall angle sensor; 562. Third magnet; 563. Third magnet mounting base;

[0065] 61. Fourth drive motor; 62. Third drive assembly; 63. Linkage assembly;

[0066] 621. Sixth bevel gear; 622. Seventh bevel gear; 623. Connecting shaft;

[0067] 631. First link; 632. Second link;

[0068] 71. Housing; 72. Circuit board; 73. MEMS pressure sensor; 701. Receiving cavity. Detailed Implementation

[0069] To facilitate understanding of the present invention, a more detailed description is provided below with reference to the accompanying drawings and specific embodiments. It should be noted that when an element is described as being "fixed to" another element, it can be directly on the other element, or one or more intermediate elements may exist between them. When an element is described as being "connected" to another element, it can be directly connected to the other element, or one or more intermediate elements may exist between them. The terms "upper," "lower," "inner," "outer," "vertical," "horizontal," etc., used in this specification indicate orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0070] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. The term "and / or" as used in this specification includes any and all combinations of one or more of the associated listed items.

[0071] Furthermore, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0072] Please see Figure 1-2 As shown, the bionic robotic hand 1 includes a robotic palm 2 and robotic fingers 3. The robotic fingers 3 can be directly or indirectly connected to the robotic palm 2 to enable movement of the robotic fingers 3 relative to the robotic palm 2, thereby performing different operations. The number of robotic fingers 3 in the bionic robotic hand 1 is not fixed at five; it can be set as needed, for example, two, three, four, five, or more. That is, the number of robotic fingers 3 in the bionic robotic hand 1 can be reduced or increased as required. Furthermore, the naming of the robotic fingers 3 in the bionic robotic hand 1 follows the naming conventions for human hands. Five or fewer robotic fingers 3 are named as thumb unit, index finger unit, middle finger unit, ring finger unit, and little finger unit. If the number of robotic fingers 3 is less than five, they are named in the following order: thumb unit, index finger unit, middle finger unit, ring finger unit, and little finger unit. If the number of robotic fingers 3 exceeds five, the excess robotic fingers 3 are uniformly named as "other robotic fingers."

[0073] The robotic hand 2 can be a single block or formed by connecting several units such as mounting bases, depending on the needs. The following description uses the case where the robotic hand 2 is composed of multiple mounting bases as an example. To distinguish the mounting objects of each component, they are named as first mounting base, second mounting base, third mounting base, etc.

[0074] Please see Figure 1-3 As shown, in one embodiment of this application, the bionic robotic hand 1 includes, in addition to the aforementioned robotic palm 2 and robotic fingers 3, a first driving mechanism 4. The robotic palm 2 includes a palm and a back of the hand, and the robotic fingers 3 include a thumb unit 31 and an index finger unit 32. The index finger unit 32 is connected to the robotic palm 2. The first driving mechanism 4 is connected to the thumb unit 31 and the robotic palm 2 respectively, and the first driving mechanism 4 is used to drive the thumb unit 31 to move.

[0075] Specifically, the first driving mechanism 4 drives the thumb unit 31 to move closer to or further away from the index finger unit 32 to adjust the distance between the thumb unit 31 and the index finger unit 32. This movement is equivalent to adjusting the opening size of the web between the thumb and index finger of a human hand. For example, when the thumb unit 31 and the index finger unit 32 perform the operation of merging the mechanical fingers 3, the distance between the thumb unit 31 and the index finger unit 32 is at its minimum, which is equivalent to the web between the thumb and index finger of a human hand being closed. As another example, when the thumb unit 31 moves away from the index finger unit 32, the distance between the thumb unit 31 and the index finger unit 32 increases, which is equivalent to the opening size of the web between the thumb and index finger of a human hand gradually increasing.

[0076] When the first drive mechanism 4 drives the thumb unit 31 to swing relative to the index finger unit 32 toward the palm of the mechanical hand 2, as... Figure 8 As shown, or swing towards the palm away from the mechanical hand 2, such as Figure 3 As shown. It can be understood that the swinging of the thumb unit 31 relative to the index finger unit 32 towards the palm of the mechanical hand 2 refers to the rotational movement of the end of the thumb unit 31 away from the mechanical hand 2, thus swinging relative to the index finger unit 32 towards the palm of the mechanical hand 2. When the thumb unit 31 reaches its limit position, it is located above the palm of the mechanical hand 2. The swinging of the thumb unit 31 away from the palm of the mechanical hand 2 refers to the swinging of the end of the thumb unit 31 away from the palm of the mechanical hand 2, that is, swinging from a position close to the palm of the mechanical hand 2 towards a position away from the palm of the mechanical hand 2. It should be noted that when the first drive mechanism 4 drives the swinging of the thumb unit 31 relative to the index finger unit 32, it is a rotational movement around the direction in which the index finger unit 32 extends out of the mechanical hand 2, with the end of the thumb unit 31 connected to the mechanical hand 2 as the fulcrum.

[0077] In some embodiments, such as Figure 4As shown, the first drive structure 4 includes a swing member 41 and a first drive assembly 42. One end of the swing member 41 is connected to the thumb unit 31, and the other end of the swing member 41 is connected to the first drive assembly 42. The first drive assembly 42 is connected to the mechanical hand 2. The first drive assembly 42 drives the swing member 41 to move the thumb unit 31 to adjust the distance between the thumb unit 31 and the index finger unit 32; or, to adjust the swing of the thumb unit 31 relative to the index finger unit 32, that is, the thumb unit 31 swings toward the palm of the mechanical hand 2 or swings toward the palm away from the mechanical hand 2.

[0078] In some embodiments, such as Figures 5-6 As shown, the swing member 41 includes a first connecting block 411, a second connecting block 412, and a mounting block 413. The two ends of the second connecting block 412 are respectively connected to the first connecting block 411 and the mounting block 413. The first connecting block 411 is provided with a plurality of first connecting holes 4111 and a first mounting port 4112. The mounting block 413 is provided with a second mounting port 4131. The first connecting block 411 is used to connect with the first drive assembly 42, and the second mounting port 4131 of the mounting block 413 is used to install the thumb unit 31.

[0079] The structure of the first drive component 42 can be varied. For example, it can be a drive structure formed by a worm gear, a gear drive structure, or other types of structures, as long as the swinging component 41 can drive the thumb unit 31 to move.

[0080] In some embodiments, such as Figures 4-6 As shown, the robotic hand 2 includes a first mounting base 201. The first drive assembly 42 includes a first drive shaft 421, a first gear set 422, and a drive motor assembly 423. The first drive shaft 421 is rotatably mounted on the first mounting base 201. The first gear set 422 and the swing member 41 are both movably mounted on the first drive shaft 421. The drive motor assembly 423 is mounted on the first mounting base 201, and its output end is connected to the first gear set 422. When the drive motor assembly 423 is configured in a first working state, it drives the swing member 41 to rotate around the first drive shaft 421 to adjust the distance between the thumb unit 31 and the index finger unit 32. When the drive motor assembly 423 is in a second working state, it drives the swing member 41 and the first drive shaft 421 to rotate in the same direction, causing the thumb unit 31 to swing with the swing member 41. The direction of the swing includes either towards the palm of the robotic hand 2 or away from the palm of the robotic hand 2. In some embodiments, such as... Figure 6As shown, the first transmission shaft 421 includes a shaft body 4211 and a cam shaft 4212 connected to each other. The shaft body 4211 and the cam shaft 4212 are used together to set the first gear set 422. The shaft body 4211 extends along the first axis L1, and the cam shaft 4212 is set along the second axis L2. The first axis L1 and the second axis L2 are perpendicular to each other. In this embodiment, the swing member 41 rotates around the second axis L2.

[0081] In some embodiments, such as Figure 6 As shown, the first gear set 422 includes a first bevel gear 4221, a second bevel gear 4222, and a third bevel gear 4223. The first bevel gear 4221 and the second bevel gear 4222 are spaced apart on the shaft body 4211 along the first axis L1 of the first transmission shaft 421. The third bevel gear 4223 is located on the cam shaft 4212. The third bevel gear 4223 meshes with the first bevel gear 4221 and the second bevel gear 4222 respectively. The first bevel gear 4221 and the second bevel gear 4222 rotate around the first axis L1, and the third bevel gear 4223 rotates around the second axis L2. The third bevel gear 4223 is fixedly connected to the swing member 41. In this embodiment, the third bevel gear 4223 is provided with a threaded hole (not shown) that mates with the first connecting hole 4111. After the threaded hole is aligned with the first connecting hole 4111, it can be connected by bolts or screws, so that the first connecting block 411 and the third bevel gear 4223 are fixed.

[0082] When the drive motor assembly 423 is in its first operating state, and the first bevel gear 4221 and the second bevel gear 4222 rotate at different speeds relative to the first transmission shaft 421, the third bevel gear 4223 drives the oscillating member 41 to rotate along the second axis L2. At this time, the third bevel gear 4223 rotates in place without moving relative to the shaft body 4211. The first connecting block 411 rotates around the second axis L2 along with the rotation of the third bevel gear 4223, thereby driving the thumb unit 31 to rotate around the second axis L2, thus adjusting the distance between the thumb unit 31 and the index finger unit 32, which is equivalent to the movement of a human hand adjusting the size of the thumb's web. The rotational speed of the first bevel gear 4221 relative to the first transmission shaft 421 includes both the direction and speed of rotation of the first bevel gear 4221. The rotational speed of the second set of gears 4222 relative to the first transmission shaft 421 includes both the direction and speed of rotation of the second bevel gear 4222.

[0083] The first bevel gear 4221 and the second bevel gear 4222 rotate at different speeds relative to the first transmission shaft 421. This could be due to the first bevel gear 4221 and the second bevel gear 4222 rotating in different directions or rotating at different speeds.

[0084] When the drive motor assembly 423 is in the second working state, the first bevel gear 4221 and the second bevel gear 4222 rotate at the same speed relative to the first transmission shaft 421. That is, when the first bevel gear 4221 and the second bevel gear 4222 rotate in the same direction and at the same speed relative to the first rotating shaft 421, there is no speed difference. This causes the third bevel gear 4223 to not rotate between the first bevel gear 4221 and the second bevel gear 4222. The shaft body 4211 rotates and, under the action of the cam shaft 4212, drives the third bevel gear 4223 to move between the first bevel gear 4221 and the second bevel gear 4222. The third bevel gear 4223 will drive the first connecting block 411 to rotate around the first axis L1, thereby realizing the thumb unit 31 swinging towards the palm of the mechanical hand 2, or the thumb unit 31 swinging away from the palm of the mechanical hand 2.

[0085] In some embodiments, such as Figure 6 As shown, the first bevel gear 4221 includes a first power gear ring 42211 and a first meshing gear ring 42212. The tooth units of the first power gear ring 42211 and the first meshing gear ring 42212 are inclined in two opposite directions. The first power gear ring 42211 is used to connect with the drive motor assembly 423, and the first meshing gear ring 42212 is used to mesh with the third bevel gear 4223.

[0086] In some embodiments, the second bevel gear 4222 includes a second power gear ring 42221 and a second meshing gear ring 42222. The inclination directions of the tooth units in the second power gear ring 42221 and the second meshing gear ring 42222 are in the same direction. The second power gear ring 42221 is used to connect with the drive motor assembly 423, and the second meshing gear ring 42222 is used to mesh with the third bevel gear 4223.

[0087] In some embodiments, such as Figure 6 As shown, the first drive assembly 42 further includes a first bearing 424, a second bearing 425, and a third bearing 426. The inner rings of the first bearing 424 and the second bearing 425 are both fitted onto the shaft body 4211. The outer ring of the first bearing 424 is fixed to the first bevel gear 4221, the outer ring of the second bearing 425 is fixed to the second bevel gear 4222, the inner ring of the third bearing 426 is fitted onto the cam shaft 4212, and the outer ring of the third bearing 426 is fixed to the third bevel gear 4223. This reduces frictional resistance and improves the stability of the first drive mechanism 4.

[0088] In some embodiments, such as Figure 6As shown, the drive motor assembly 423 includes a first drive motor 4231 and a second drive motor 4232. Both the first drive motor 4231 and the second drive motor 4232 are mounted on the first mounting base 201. The output end of the first drive motor 4231 is connected to the first bevel gear 4221, and the output end of the second drive motor 4232 is connected to the second bevel gear 4222. In this embodiment, the output end of the first drive motor 4231 is connected to the first power gear ring 42211, and the output end of the second drive motor 4232 is connected to the second power gear ring 42221.

[0089] In some embodiments, such as Figure 3 As shown, the first drive motor 4231 and the second drive motor 4232 are located on the same side of the first transmission shaft 421, meaning that the output ends of both the first drive motor 4231 and the second drive motor 4232 are located on the same side of the first transmission shaft 421. The output end of the first drive motor 4231 is located in the gap between the first bevel gear 4221 and the second bevel gear 4222. This avoids the drive motor assembly 423 occupying too much space, making the first drive mechanism 4 compact and reducing the size of the bionic robotic hand 1.

[0090] In some other embodiments, the first drive motor 4231 and the second drive motor 4232 are located on different sides of the first drive shaft 421, that is, the output ends of the first drive motor 4231 and the second drive motor 4232 are located on both sides of the first drive shaft 421.

[0091] In some embodiments, such as Figure 6 As shown, the first drive mechanism 4 also includes a first feedback component 43, which is disposed on the first mounting base 201 and located at one end of the first drive shaft 421. The first feedback component 43 is used to detect the rotation angle of the first drive shaft 421. In this embodiment, the first feedback component 43 includes a first Hall angle sensor 431 and a first magnet 432. The first magnet 432 is disposed on the first mounting base 201 and located at one end of the first drive shaft 421, and the first Hall angle sensor 431 is disposed on the first magnet 432. The first Hall angle sensor 431 is used to detect the rotation angle of the first drive shaft 421. Thus, by detecting the first Hall angle sensor 431, the rotation angle of the first drive shaft 421 relative to the first mounting base 201 can be obtained, thereby indirectly knowing the rotation angle of the swing member 41 around the first axis L1 with the first drive shaft 421, and thus obtaining the swing data of the thumb unit 31, which is beneficial for realizing real-time motion data feedback.

[0092] In some embodiments, such as Figure 6As shown, the first mounting base 201 has a first mounting hole 2011, and the first feedback component 43 also includes a first magnet mounting base 433. The first magnet mounting base 433 is disposed in the first mounting hole 2011, and the first magnet 432 is disposed in the first magnet mounting base 433. This can constrain the first magnet 432 and prevent the first magnet 432 from detaching from the first mounting base 201.

[0093] In some embodiments, such as Figure 6 As shown, the first drive mechanism 4 also includes a second feedback component 44, which is disposed at the first mounting port 4112 of the swing member 41. The second feedback component 44 is used to detect the angle of rotation of the swing member 41 around the second axis L2 of the first transmission shaft 421. In this embodiment, the second feedback component 44 includes a second magnet 442 and a second Hall angle sensor 441. The second magnet 442 is disposed at the end of the swing member 41 that is connected to the third bevel gear 4223, and the second Hall angle sensor 441 is disposed at the second magnet 442. The second Hall angle sensor 441 is used to detect the angle of rotation of the swing member 41 around the second axis L2 of the first transmission shaft 421. Thus, by detecting the angle of rotation of the third bevel gear 4223 around the second axis L2 of the first transmission shaft 421 through the second Hall angle sensor 441, the angle of rotation of the swing member 41 around the second axis L2 can be obtained, thereby determining the angle of swing of the thumb unit 31 toward the index finger unit 32, thus obtaining the real-time size of the tiger's mouth, which is beneficial for realizing real-time motion data feedback.

[0094] The above structure allows for movement of the thumb unit 31 in two degrees of freedom. One degree of freedom is the movement of the thumb unit 31 towards or away from the index finger unit 32 when the first drive mechanism 4 is in the first working state. This degree of freedom can be used to simulate the adjustment of the size of the thumb's web to grasp objects. The other degree of freedom is the swinging of the thumb unit 31 relative to the index finger unit 32 toward the palm of the robotic hand 2, or the swinging of the thumb unit 31 away from the palm of the robotic hand 2, when the first drive mechanism 4 is in the second working state. This degree of freedom can be used to enable the thumb unit 31 to perform more complex operations in conjunction with the palm of the robotic hand 2 or other robotic finger units.

[0095] Second drive mechanism 5

[0096] In some embodiments, the mechanical finger 3 further includes a middle finger unit 33 connected to the mechanical palm 2. The middle finger unit 33 is disposed adjacent to the index finger unit 32, and the index finger unit 32 can rotate relative to the mechanical palm 2. For example, the index finger unit 32 can be hinged to the mechanical palm 2 by providing a pivot, or it can be rotatably connected to the mechanical palm 2 by other structures, which can be configured as needed.

[0097] In some embodiments, such as Figure 7-8 As shown, the bionic robotic hand 1 also includes a second drive mechanism 5, which is located on the robotic hand 2. The second drive mechanism 5 is used to drive the index finger unit 32 to swing on a plane parallel to the palm of the robotic hand 2, so that the index finger unit 32 abuts against the middle finger unit 33, or the index finger unit 32 moves away from the middle finger unit 33.

[0098] In some embodiments, such as Figure 9-10 As shown, the robotic hand 2 includes a second mounting base 202. The second drive mechanism 5 includes a third drive motor 51, a second drive assembly 52, and a sleeve assembly 53. The third drive motor 51 and the second drive assembly 52 are both located on the second mounting base 202. The third drive motor 51 and the sleeve assembly 53 are both connected to the second drive assembly 52. ​​The sleeve assembly 53 is connected to the index finger unit 32. The second drive assembly 52 is used to drive the sleeve assembly 53 to move under the action of the third drive motor 51, so that the index finger unit 32 swings relative to the middle finger unit 33.

[0099] The second drive assembly 52 can have various structural forms, as long as it can enable the lever assembly 53 to drive the index finger unit 32 to rotate relative to the robotic hand 2. For example, the second drive mechanism 5 can be a gear-driven structure, a worm gear drive, or other types.

[0100] In some embodiments, such as Figure 9-10 As shown, the second drive assembly 52 includes a fourth bevel gear 521, a fifth bevel gear 522, and a second drive shaft 523. The fourth bevel gear 521 is sleeved on the output end of the third drive motor 51. The fifth bevel gear 522 is rotatably mounted on the second mounting base 202. One end of the second drive shaft 523 is inserted into the fifth bevel gear 522, and the other end of the second drive shaft 523 is rotatably mounted on the second mounting base 202. The sleeve assembly 53 is connected to the second drive shaft 523. The fourth bevel gear 521 and the fifth bevel gear 522 mesh with each other. When the output end of the third drive motor 51 drives the fourth bevel gear 521 to rotate, the fifth bevel gear 522 drives the second drive shaft 523 to rotate, causing the sleeve assembly 53 to swing, thereby realizing the swinging of the index finger unit 32 relative to the middle finger unit 33.

[0101] In some embodiments, such as Figure 9-10As shown, the sleeve assembly 53 includes a swing arm 531 and a sleeve 532. One end of the swing arm 531 is connected to the second drive assembly 52, and the other end of the swing arm 531 is connected to the sleeve 532. The sleeve 532 is sleeved on the index finger unit 32. In this embodiment, the swing arm 531 is fixedly connected to the second transmission shaft 523, so that when the third drive motor 51 drives the fourth bevel gear 521 to rotate, the fifth bevel gear 522 is driven by the fourth bevel gear 521 to drive the second transmission shaft 523 to rotate, thereby realizing the swing of the swing arm 531. The sleeve 532 drives the index finger unit 32 to rotate relative to the mechanical hand 2, and realizes that the index finger unit 32 abuts against the middle finger unit 33, or the index finger unit 32 opens relative to the middle finger unit 33.

[0102] It should be understood that the lever assembly 532 can be directly or indirectly sleeved on the index finger unit 32 to drive the index finger unit 32 to swing, or it can be indirectly driven to swing the index finger unit 32 through other objects connected to the index finger unit 32, as long as the other objects connected to the index finger unit 32 can move synchronously with the index finger unit 32. The specific configuration can be set according to needs. In this embodiment, the lever assembly 532 is indirectly sleeved on the index finger unit 32.

[0103] In some embodiments, the sleeve 532 may be an elastic cord, rubber band, spring, or cord, or other ring-shaped body that can form a sleeve for the index finger unit 32, and may be configured as needed.

[0104] In some embodiments, such as Figure 10 As shown, the second drive mechanism 5 also includes a fourth bearing 54 and a fifth bearing 55. The fourth bearing 54 is sleeved on the output shaft of the third drive motor 51 and fixed in the first fixing hole 2021 of the second mounting base 202. The fifth bearing 55 is sleeved on the fifth bevel gear 522 and fixed in the second fixing hole 2022 of the second mounting base 202. This reduces frictional resistance and improves the stability of the second drive mechanism 5.

[0105] When the third drive motor 51 drives the second drive assembly 52 along the first drive direction, the sleeve assembly 53 causes the index finger unit 32 to open relative to the middle finger unit 33, at which point the included angle between the index finger unit 32 and the middle finger unit 33 increases. Conversely, when the third drive motor 51 drives the second drive assembly 52 along the second drive direction, the sleeve assembly 53 causes the index finger unit 32 to abut against the middle finger unit 33. The first drive direction is opposite to the second drive direction. For example, if the first drive direction is when the output shaft of the third drive motor 51 rotates clockwise, then the second drive direction is when the output shaft of the third drive motor 51 rotates counterclockwise.

[0106] In some embodiments, such as Figure 10As shown, the second drive mechanism 5 also includes a third feedback unit 56. The third feedback unit 56 is disposed on the second mounting base 202 and located at one end of the second drive shaft 523. The third feedback unit 56 is used to detect the rotation angle of the second drive shaft 523. In this embodiment, the third feedback unit 56 includes a third magnet 562 and a third Hall angle sensor 561. The third magnet 562 is disposed at one end of the second drive shaft 523, and the third Hall angle sensor 561 is disposed at the third magnet 562. The third Hall angle sensor 561 is used to detect the rotation angle of the second drive shaft 523. Thus, through the design of the third feedback unit 56, the rotation angle of the second drive shaft 523 can be obtained in a timely manner, thereby indirectly obtaining the amplitude of the swing of the index finger unit 32 driven by the sleeve assembly 53, which is more convenient to use.

[0107] In some embodiments, such as Figure 10 As shown, the third feedback unit 56 also includes a third magnet mounting base 563, which is disposed in the third fixing hole 2023 of the second mounting base 202. The third magnet mounting base 563 is used to mount the third magnet 562, thereby preventing the third magnet 562 from detaching from the second mounting base 202.

[0108] Through the action of the second driving mechanism 5, the index finger unit 32 can be driven to swing relative to the middle finger unit 33, so that the index finger unit 32 has the freedom to open or touch relative to the middle finger unit 33, which is conducive to the bionic robotic hand 1 to complete more complex operation commands.

[0109] Third drive mechanism 6

[0110] In some embodiments, the mechanical finger 3 further includes a ring finger unit 34 and a little finger unit 35, both of which are connected to the mechanical hand 2.

[0111] In some embodiments, such as Figure 3 As shown, the bionic robotic hand 1 also includes a third drive mechanism 6, which is connected to the robotic hand 2. The third drive mechanism 6 is used to drive the thumb unit 31, index finger unit 32, middle finger unit 33, ring finger unit 34, or little finger unit 35 to switch between a flexed and extended state. It should be noted that in the flexed state, the finger unit connected to the third drive mechanism 6 in the robotic finger 3 folds at the joints compared to the extended state; this folding can occur at some or all joints. The extended state refers to the unit connected to the third drive mechanism 6 in the robotic finger 3 being in a straight position. A finger unit refers to any one of the thumb unit 31, index finger unit 32, middle finger unit 33, ring finger unit 34, or little finger unit 35.

[0112] To facilitate the description of the switching between the flexed and extended states of the finger unit, the following explanation uses the index finger unit 32 as an example. Figure 11 As shown, the index finger unit 32 includes a first amputation 321, a second amputation 322, and a third amputation 323. The first amputation 321, the second amputation 322, and the third amputation 323 can all rotate relative to each other. The third amputation 323 is closer to the mechanical hand 2 than the first amputation 321 and the second amputation 322. The joints are the points where the first amputation 321 connects to the second amputation 322 and the second amputation 322 connects to the third amputation 323.

[0113] In some embodiments, such as Figure 11-13 As shown, the robotic hand 2 also includes a third mounting base 203. The third drive structure includes a fourth drive motor 61, a third drive assembly 62, and a linkage assembly 63. Both the fourth drive motor 61 and the third drive assembly 62 are mounted on the third mounting base 203. The output end of the fourth drive motor 61 is connected to the third drive assembly 62, and the linkage assembly 63 is connected to the first finger 321, the second finger 322, and the third finger 323, respectively. When the output end of the fourth drive motor 61 drives the third drive assembly 62, the third drive assembly 62 drives the linkage assembly 63 to move, thereby causing the first finger 321, the second finger 322, and the third finger 323 to move together.

[0114] In some implementations, such as Figure 12 As shown, the third drive assembly 62 includes a sixth bevel gear 621, a seventh bevel gear 622, and a connecting shaft 623. The sixth bevel gear 621 is located at the output end of the fourth drive motor 61, and the seventh bevel gear 622 is sleeved and fixedly connected to the connecting shaft 623. The sixth bevel gear 621 and the seventh bevel gear 622 mesh. One end of the connecting shaft 623 is connected to the third mounting base 203, and the other end of the connecting shaft 623 is fixedly connected to the third finger 323. Thus, when the output shaft of the fourth drive motor 61 drives the sixth bevel gear 621 to rotate, the seventh bevel gear 622 drives the connecting shaft 623 to rotate. This causes the third finger 323 to rotate with the connecting shaft 623, and under the action of the connecting rod assembly 63, the first finger 321, the second finger 322, and the third finger 323 fold at the joint, thereby entering a flexed state. Figure 13 As shown, Figure 13 The image shows the index finger unit in a flexed state. When the output shaft of the fourth drive motor 61 drives the sixth bevel gear 621 to rotate in the opposite direction, the third segmented finger 323 can rotate in the opposite direction, and under the action of the connecting rod assembly 63, the first segmented finger 321 and the second segmented finger 322 can be straightened, as shown. Figure 11 As shown, Figure 11 The middle and index fingers are in an extended position.

[0115] In some embodiments, such as Figure 12 As shown, the linkage assembly 63 includes a first linkage 631 and a second linkage 632. One end of the first linkage 631 is hinged to the end of the first finger 321 near the second finger 322, and the other end of the first linkage 631 is hinged to the end of the third finger 323 near the second finger 322. One end of the second linkage 632 is hinged to the end of the second finger 322 near the third finger 323, and the other end of the second linkage 632 is hinged to the third mounting base 203. Thus, when the third drive assembly 62 drives the third finger 323 to rotate, the first finger 321, the second finger 322, and the third finger 323 move together under the action of the first linkage 631 and the second linkage 632.

[0116] In some other embodiments, the third drive mechanism 6 may also be composed of a fourth drive motor 61, a third drive component 62 and a traction component. The structures of the fourth drive motor 61 and the third drive component 62 can be referred to the above description, and will not be repeated here.

[0117] In some embodiments, the traction assembly includes a traction rope, a guide wheel assembly, and a stranded wheel. The guide wheel assembly is respectively disposed on the first finger segment 321, the second finger segment 322, and the third finger segment 323. The stranded wheel is disposed on the third drive assembly 62, and the traction rope is disposed on the guide wheel assembly. Thus, the fourth drive motor 61 drives the third drive assembly 62 to drive the stranded wheel to rotate, thereby releasing and retracting the traction rope to allow the index finger unit 32 to be in a flexed or extended state. In this embodiment, the guide wheel assembly includes a first guide wheel, a second guide wheel, a third guide wheel, and a fourth guide wheel. The first and second guide wheels are respectively disposed at both ends of the first finger segment 321, the third guide wheel is disposed at the end of the second finger segment 322 near the third finger segment 323, and the fourth guide wheel is disposed on the third mounting base 203. One end of the traction rope is fixedly connected to the end of the first finger 321 away from the second finger 322, and the other end of the traction rope is wound around the second guide wheel, the third guide wheel and the fourth guide wheel until it is wound around the stranded wheel. In this way, the first finger 321, the second finger 322 and the third finger 323 can be pulled together by the traction rope to move together.

[0118] It should be understood that if the thumb unit 31 finger only has two segments, the above structure can be adjusted as needed to achieve the same switching between the flexed and extended states.

[0119] In some embodiments, there are five third drive mechanisms 6, with one third drive mechanism 6 located in one finger unit, so that all finger units of the mechanical finger 3 can perform finger flexion movements.

[0120] In some embodiments, the bionic robot further includes multiple force-tactile sensors 7, which are disposed on the mechanical fingers 3, that is, force-tactile sensors 7 can be disposed on the thumb unit 31, index finger unit 32, middle finger unit 33, ring finger unit 34, and little finger unit 35. The force-tactile sensors 7 can sense the force applied to the mechanical finger 3 and the location of the force. In this embodiment, each of the thumb unit 31, index finger unit 32, middle finger unit 33, ring finger unit 34, and little finger unit 35 is provided with a force-tactile sensor 7 to obtain real-time information about the state of the bionic robotic hand.

[0121] In some embodiments, such as Figure 14-16 As shown, the device includes a housing 71, a circuit board 72, and a MEMS (Micro-Electro-Mechanical Systems) pressure sensor 73. The housing 71 has a receiving cavity 701, and the circuit board 72 is housed in the receiving cavity 701. The MEMS pressure sensor 73 is connected to the circuit board 72 and supports the housing 71. The MEMS pressure sensor 73 is used to sense the external force applied to the housing 71 along the direction from the housing 71 towards the circuit board 72. Thus, by utilizing the high accuracy and stability of the MEMS pressure sensor 73, the influence of the external environment on the detection of the external force applied to the housing 71 is reduced, which helps to improve the detection accuracy.

[0122] In some embodiments, there are at least two MEMS pressure sensors 73. The presence of at least two MEMS pressure sensors 73 allows for the detection of the location of the force point and the magnitude of the force. The distribution of the MEMS pressure sensors 73 on the circuit board 72 can be arbitrary. For example, they can be symmetrically arranged at the four corners of the circuit board 72 in a rectangular manner, or they can be arranged in a straight line.

[0123] To facilitate understanding of the force-sensitive sensor 7 in this application, Figure 17 The four MEMS pressure sensors 73 shown are examples, but this does not mean that the number of MEMS pressure sensors 73 can only be four. They can be any number, as long as they can detect the external pressure.

[0124] When in use, the coordinate positions (X1,Y1), (X2,Y2), (X3,Y3) and (X4,Y4) of the four MEMS pressure sensors 73 can be obtained in advance after calibration.

[0125] Since the external force applied to the housing 71 is a normal force perpendicular to the housing 71, as shown in direction Z in the figure, the torques on the surface of the housing 71 are balanced. That is, the torques in directions X and Y are balanced, thus the position coordinates of the touch point can be deduced, as follows:

[0126] Let the resultant force Fc = F1 + F2 + F3 + F4, where Fc is the external force, and F1, F2, F3 and F4 are the forces shared by the four MEMS pressure sensors 73, respectively. The magnitude of the resultant force Fc is the magnitude of the external force.

[0127] Based on moment equilibrium, the position (Xc, Yc) of the resultant force Fc can be calculated as shown below:

[0128] The position of Fc in the direction X is: Xc = (F1*X1 + F2*X2 + F3*X3 + F4*X4) / Fc;

[0129] The position of Fc in the Y direction is: Yc = (F1*Y1 + F2*Y2 + F3*Y3 + F4*Y4) / Fc.

[0130] Thus, by detecting the force through the four MEMS sensors 73, the position and magnitude of the external force acting on the housing 71 can be determined, thereby enabling the force tactile sensor 7 to detect the force.

[0131] In some instances, such as Figure 3-4 As shown, the bionic robotic hand 1 also includes a sensor plate 8, which is disposed in the palm and / or back of the hand of the robotic hand 2. The sensor plate 8 is provided with a plurality of MEMS pressure sensors 73 for detecting the force applied to the palm and / or back of the hand of the robotic hand 2.

[0132] In some embodiments, such as Figure 4 As shown, the bionic robotic hand 1 also includes a control board 9, which is connected to the first drive mechanism 4, the second drive mechanism 5 and the third drive mechanism 6 respectively. The control board 9 is used to control the robotic finger 3 to execute input action commands, such as finger flexion command, finger opposition command, and opening the tiger's mouth command.

[0133] In some embodiments, such as Figure 1-2 The bionic robotic hand 1 shown also includes a protective sleeve 10, which is fitted onto the robotic hand 2 to protect the robotic hand 2 and other structures. The protective sleeve 10 can be made of rubber, leather, or any other material, as long as it can protect the robotic hand 2.

[0134] The bionic robotic hand 1 provided in this application embodiment includes a robotic palm 2, robotic fingers 3, and a first driving mechanism 4. The robotic palm 2 includes a palm center; the robotic fingers 3 include a thumb unit 31 and an index finger unit 32, with the index finger unit 32 connected to the robotic palm 2; the first driving mechanism 4 is connected to both the thumb unit 31 and the robotic palm 2, and is configured to drive the thumb unit 31 to move closer to or further away from the index finger unit 32 to adjust the distance between them; and to drive the thumb unit 31 to swing relative to the index finger unit 32 toward or away from the palm center of the robotic palm 2. Furthermore, under the action of the second driving mechanism 5, the index finger unit 32 swings in a plane parallel to the palm center of the robotic palm 2, so that the index finger unit 32 abuts against or moves away from the middle finger unit 33. Simultaneously, the thumb unit 31, index finger unit 32, middle finger unit 33, ring finger unit 34, and little finger unit 35 can all switch between flexed and extended states, achieving a total of eight degrees of freedom of movement. Thus, the bionic robotic hand 1 of this application facilitates the completion of more complex operational commands and is more convenient to use.

[0135] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A bionic robotic hand, characterized in that, include: Mechanical hands and mechanical fingers, The mechanical finger includes a thumb unit and an index finger unit, with the index finger unit connected to the mechanical hand. A first driving mechanism is connected to the thumb unit and the mechanical hand respectively. The first driving mechanism is configured to drive the thumb unit to move closer to or away from the index finger unit to adjust the distance between the thumb unit and the index finger unit; and to drive the thumb unit to swing relative to the index finger unit toward or away from the palm of the mechanical hand.

2. The bionic robotic hand according to claim 1, characterized in that, The first driving mechanism includes a swing member and a first driving assembly. One end of the swing member is connected to the thumb unit, and the other end of the swing member is connected to the first driving assembly. The first driving assembly is connected to the mechanical hand. The first driving assembly drives the swing member to move the thumb unit to adjust the distance between the thumb unit and the index finger unit, or to adjust the swing of the thumb unit relative to the index finger unit.

3. The bionic robotic hand according to claim 2, characterized in that, The robotic hand includes a first mounting base; The first drive assembly includes a first drive shaft, a first gear set, and a drive motor set. The first drive shaft is rotatably mounted on the first mounting base. The first gear set and the swing member are both movably mounted on the first drive shaft. The drive motor set is mounted on the first mounting base, and the output end of the drive motor set is connected to the first gear set. The drive motor assembly is configured to drive the swing member to rotate around the first transmission shaft when in a first working state, so as to adjust the distance between the thumb unit and the index finger unit; and to drive the swing member and the transmission shaft to rotate together in the same direction when in a second working state, so that the thumb unit swings with the swing member, and the swing direction includes the direction towards the palm of the mechanical hand or away from the palm of the mechanical hand.

4. The bionic robotic hand according to claim 3, characterized in that, The first transmission shaft includes a shaft body and a cam shaft connected to each other. The shaft body and the cam shaft are used together to set the first gear set. The shaft body extends along a first axis, and the cam shaft is set along a second axis. The first axis and the second axis are perpendicular to each other.

5. The bionic robotic hand according to claim 4, characterized in that, The first gear set includes a first bevel gear, a second bevel gear, and a third bevel gear. The first bevel gear and the second bevel gear are spaced apart on the shaft body along the first axis of the first transmission shaft. The third bevel gear is located on the cam shaft. The third bevel gear meshes with the first bevel gear and the second bevel gear respectively. The first bevel gear and the second bevel gear rotate around the first axis, and the third bevel gear rotates around the second axis. The third bevel gear is fixedly connected to the swing member. When the drive motor assembly is in the first working state, the first bevel gear and the second bevel gear rotate at different speeds relative to the first transmission shaft, and the third bevel gear drives the oscillating member to rotate along the second axis; when the drive motor assembly is in the second working state, the first bevel gear and the second bevel gear rotate at the same speed relative to the first transmission shaft, and the third bevel gear and the oscillating member rotate together around the first axis.

6. The bionic robotic hand according to claim 5, characterized in that, The drive motor assembly includes a first drive motor and a second drive motor. Both the first drive motor and the second drive motor are mounted on the first mounting base. The output end of the first drive motor is connected to the first bevel gear, and the output end of the second drive motor is connected to the second bevel gear. The first drive motor and the second drive motor are located on the same side of the first transmission shaft, and the output end of the first drive motor is located in the gap between the first bevel gear and the second bevel gear.

7. The bionic robotic hand according to any one of claims 1-6, characterized in that, The mechanical finger also includes a middle finger unit connected to the mechanical palm, the middle finger unit being disposed adjacent to the index finger unit, and the index finger unit being rotatable relative to the mechanical palm; The bionic robotic hand also includes a second driving mechanism, which is disposed in the palm of the robotic hand. The second driving mechanism is used to drive the index finger unit to swing on a plane parallel to the palm of the robotic hand, so that the index finger unit abuts against the middle finger unit, or so that the index finger unit moves away from the middle finger unit.

8. The bionic robotic hand according to claim 7, characterized in that, The robotic hand includes a second mounting base; The second drive mechanism includes a third drive motor, a second drive assembly, and a sleeve assembly. The third drive motor and the second drive assembly are both mounted on the second mounting base. The third drive motor and the sleeve assembly are both connected to the second drive assembly. The sleeve assembly is connected to the index finger unit. The second drive component is used to drive the sleeve assembly to move under the action of the third drive motor, so that the index finger unit swings relative to the middle finger unit.

9. The bionic robotic hand according to claim 8, characterized in that, The second drive assembly includes a fourth bevel gear, a fifth bevel gear, and a second drive shaft. The fourth bevel gear is sleeved on the output end of the third drive motor. The fifth bevel gear is rotatably mounted on the second mounting base. One end of the second drive shaft is inserted into the fifth bevel gear, and the other end of the second drive shaft is rotatably mounted on the second mounting base. The sleeve assembly is connected to the second drive shaft, and the fourth and fifth bevel gears mesh with each other. When the output of the third drive motor drives the fourth bevel gear to rotate, the fifth bevel gear drives the second transmission shaft to rotate, thereby moving the sleeve assembly.

10. The bionic robotic hand according to claim 8, characterized in that, The lever assembly includes a swing arm and a sleeve. One end of the swing arm is connected to the second drive assembly, and the other end of the swing arm is connected to the sleeve. The sleeve is fitted onto the index finger unit.

11. The bionic robotic hand according to claim 7, characterized in that, The mechanical finger also includes a ring finger unit and a little finger unit, both of which are connected to the mechanical hand. The bionic robotic hand also includes a third driving mechanism connected to the robotic hand palm. The third driving mechanism is used to drive the thumb unit, the index finger unit, the middle finger unit, the ring finger unit, or the little finger unit to switch between a flexed state and an extended state.

12. The bionic robotic hand according to claim 1, characterized in that, It also includes multiple force-tactile sensors, which are disposed on the mechanical finger.

13. The bionic robotic hand according to claim 1, characterized in that, The bionic robotic hand also includes a sensor plate, which is located in the palm of the robotic hand and / or the back of the palm.

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