Screw-driven bionic mechanical finger and bionic manipulator thereof

Abstract

The invention discloses a screw driving type bionic mechanical finger and a bionic manipulator thereof. The screw driving type bionic mechanical finger comprises a supporting part, a first finger section, a second finger section, a third finger section, a first driving part, a second driving part, a first screw transmission part and a second screw transmission part. The first finger section is connected with the supporting part, the second finger section is connected with the first finger section, and the third finger section is connected with the second finger section; the first screw transmission part is arranged between the supporting part and the first finger section, and the second screw transmission part is arranged between the first finger section and the second finger section; the first driving piece is connected with the first screw transmission piece, and the second driving piece is connected with the second screw transmission piece.

Description

Technical Field

[0001] This application relates to the field of robotic hands, and more specifically, to a screw-driven bionic robotic finger and its bionic robotic hand. Background Technology

[0002] Bionic robotic hands, as one of the core technologies in the field of robotics, aim to mimic the dexterity of the human hand and are widely used in service robots, industrial grasping, prosthetics, and other fields. The mechanical finger, as the core actuator of the bionic robotic hand, directly determines the dexterity and grasping ability of the entire hand.

[0003] In existing mechanical finger designs, the drive and transmission schemes are key to achieving biomimetic motion. Traditional designs typically employ the following approaches:

[0004] Hinge linkages and spur gear transmissions: These designs are simple in structure, but often suffer from drawbacks such as large size and inflexible movement. In particular, to simulate the coupled movements of multiple finger segments in the human hand (i.e., when one joint bends, subsequent joints can follow suit), complex linkage mechanisms are usually required, which leads to low utilization of the internal space of the fingers and makes it difficult to achieve miniaturization and weight reduction.

[0005] Cable-driven: This solution uses a motor to wind and unwind a cable to pull the knuckles into bending motion. While this allows for a compact finger structure, the cable suffers from problems such as easy wear and stretching, the need for a pre-tensioning mechanism, and low force transmission efficiency. Furthermore, cable-driven systems have poor control precision and reverse locking capability, making it difficult to maintain a stable gripping posture, especially under heavy loads.

[0006] Existing technologies struggle to achieve a good balance between structural compactness, motion flexibility, and control precision. Either structural simplicity and load-bearing capacity are sacrificed to achieve coupled motion, or volume and weight are sacrificed to achieve precise control. Summary of the Invention

[0007] The summary section of this application is intended to provide a brief overview of the concepts, which will be described in detail in the detailed description section below. This summary section is not intended to identify key or essential features of the claimed technical solutions, nor is it intended to limit the scope of the claimed technical solutions.

[0008] To address the technical problems mentioned in the background section, some embodiments of this application provide a screw-driven bionic mechanical finger, comprising: a support component, a first finger segment, a second finger segment, a third finger segment, a first driving member, a second driving member, a first screw drive member, and a second screw drive member; 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 first screw drive member is disposed between the support component and the first finger segment, and the second screw drive member is disposed between the first finger segment and the second finger segment; the first driving member is connected to the first screw drive member, and the second driving member is connected to the second screw drive member.

[0009] Furthermore, the first screw drive component includes a first screw and a first helical tube that mesh with each other; the second screw drive component includes a second screw and a second helical tube that mesh with each other; the first screw is connected to the first drive component, and the first helical tube is connected to the first finger segment; the second screw is connected to the second drive component, and the second helical tube is connected to the second finger segment.

[0010] Furthermore, the first finger segment is provided with an installation chamber, and the second driving member is disposed in the installation chamber; the axis of the first screw is perpendicular to the axis of the first solenoid, and the axis of the second screw is perpendicular to the axis of the second solenoid.

[0011] Furthermore, the bionic mechanical finger also includes: a transmission component disposed between the second finger segment and the third finger segment; when the second finger segment rotates, the transmission component drives the third finger segment to rotate relative to the second finger segment; so that the first finger segment, the second finger segment, and the third finger segment bend.

[0012] Furthermore, the bionic mechanical finger also includes: a transmission component disposed between the second finger segment and the third finger tip; when the second finger segment rotates, the transmission component drives the third finger segment to rotate relative to the second finger segment; so that the first finger segment, the second finger segment, and the third finger segment bend.

[0013] Furthermore, the transmission component includes a connecting rod; one end of the connecting rod is hinged to the first finger segment at a first point, and the other end of the connecting rod is hinged to the third finger segment at a second point; the first finger segment and the third 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.

[0014] Furthermore, a first limiting part is provided on the first finger segment, and a second limiting part is provided on the second finger segment; a first abutting part is provided on the supporting member, and a second abutting part is provided on the first finger segment; the first abutting part is located below the first limiting part, and the second abutting part is located below the second limiting part.

[0015] Furthermore, the end of the third finger segment is provided with an abutment plane.

[0016] Furthermore, the support member is provided with a first receiving chamber, and the first finger segment is provided with a second receiving chamber; the first screw drive member is disposed in the first receiving chamber, and the second screw drive member is disposed in the second receiving chamber.

[0017] This application also provides a bionic robotic hand, including the aforementioned screw-driven bionic robotic finger, thumb, and palm base; multiple screw-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 first 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 first 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. By using two independent drive components in conjunction with two sets of tapered screw transmission components to drive the first and second finger segments respectively, independent and precise control of the metacarpophalangeal joints and intermediate joints is achieved. This design allows for complex and flexible finger movements, making it suitable for fine motor tasks.

[0020] 2. By integrating the second drive component into the mounting chamber of the first finger segment, space is significantly saved, making the entire finger structure more compact and small. This design is particularly suitable for space-constrained applications such as multi-finger dexterity hands, improving integration.

[0021] 3. The second and third finger segments are connected by a linkage mechanism (connecting rod), which automatically transmits the active movement of the second finger segment to the third finger segment, achieving coordinated bending of the three finger segments. This "coupled" movement makes the finger movement trajectory close to that of a human finger, achieving a high degree of biomimicry. At the same time, only two actuators are needed to control the three finger segments, reducing cost, weight, and complexity.

[0022] 4. The first limiting part and the first abutting part, and the second limiting part and the second abutting part are set to effectively limit the excessive extension and bending angle of the first finger segment and the second finger segment, prevent the mechanical structure from being damaged due to excessive movement, and improve the reliability and service life of the equipment.

[0023] 5. A contact surface is designed at the end of the third finger segment to form a stable surface contact when the finger grasps objects, especially small objects, increasing the contact area and friction, and improving the stability and accuracy of grasping.

[0024] 9. First and second receiving chambers are respectively provided on the support component and the first finger segment to accommodate the screw transmission component, which makes the overall structure stronger, the appearance neater, and can provide good protection and dust prevention for the internal gear set, ensuring that the transmission system works stably in complex environments. Attached Figure Description

[0025] 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.

[0026] 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.

[0027] In the attached diagram:

[0028] Figure 1 This is an overall schematic diagram based on an embodiment of this application;

[0029] Figure 2 This is a structural schematic diagram as part of an embodiment, mainly showing an observation from another perspective. Figure 1 The structure;

[0030] 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;

[0031] Figure 4 This is a structural schematic diagram of a part of the embodiment, mainly showing... Figure 3 Explosion diagram of the structure;

[0032] Figure 5 This is a structural diagram of a part of the embodiment, mainly showing the structure of the bionic robotic hand;

[0033] Figure 6 This is a structural schematic diagram as part of an embodiment, mainly showing an observation from another perspective. Figure 5 The structure;

[0034] Figure 7 This is a structural diagram of a part of an embodiment, mainly showing the structure of the thumb;

[0035] Figure 8 This is a structural schematic diagram as part of an embodiment, mainly showing an observation from another perspective. Figure 7 The structure;

[0036] Figure 9 This is a structural diagram as part of an embodiment, mainly showing the structure of the fourth and fifth finger segments.

[0037] Figure label:

[0038] 1. Support components;

[0039] 11. First finger segment; 111. Mounting chamber; 112. First limiting part; 113. Second abutting part; 114. First receiving chamber; 115. First connecting frame; 116. Second connecting frame; 117. Connecting shell; 118. First abutting part; 119. Second receiving chamber;

[0040] 12. Second finger segment; 121. Second limiting part;

[0041] 13. Third finger segment; 131. Contact plane;

[0042] 2. First driving component; 21. First screw transmission component; 211. First screw; 212. First solenoid; 213. First connecting rod;

[0043] 3. Second driving component; 31. Second screw transmission component; 311. Second screw; 312. Second solenoid; 313. Second connecting rod;

[0044] 4. Transmission components;

[0045] 5. Third driving component; 51. First gear transmission component;

[0046] 6. Hand-shaped base;

[0047] 7. Thumb; 71. First rotating component; 72. Second rotating component; 73. Fourth finger segment; 74. Fifth finger segment; 75. Power unit; 751. Fourth driving component; 752. Second gear transmission component; 753. Fifth driving component; 754. Third gear transmission component; 755. Sixth driving component; 756. Third screw transmission component; 757. Seventh driving component; 758. Fourth screw transmission component. Detailed Implementation

[0048] 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.

[0049] 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.

[0050] 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.

[0051] 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".

[0052] This disclosure will now be described in detail with reference to the accompanying drawings and embodiments.

[0053] Reference Figure 1-9 , A screw-driven bionic mechanical finger includes: a support component, a first finger segment, a second finger segment, a third finger segment, a first driving member, a second driving member, a first screw drive member, and a second screw drive member; 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 first screw drive member is disposed between the support component and the first finger segment, and the second screw drive member is disposed between the first finger segment and the second finger segment; the first driving member is connected to the first screw drive member, and the second driving member is connected to the second screw drive member.

[0054] A screw-driven bionic mechanical finger includes: a support component, a first finger segment, a second finger segment, a third finger segment, a first driving member, a second driving member, a first screw drive member, and a second screw drive member; 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 first screw drive member is disposed between the support component and the first finger segment, and the second screw drive member is disposed between the first finger segment and the second finger segment; the first driving member is connected to the first screw drive member, and the second driving member is connected to the second screw drive member.

[0055] By using two independent drive components (motors) in conjunction with two sets of conical screw transmission components, the first and second finger segments are driven respectively, thus achieving independent and precise control of the basic joints (metaphalic joints) and intermediate joints of the fingers.

[0056] Specifically, the first screw drive component includes a first screw and a first helical tube that mesh with each other; the second screw drive component includes a second screw and a second helical tube that mesh with each other; the first screw is connected to the first drive component, and the first helical tube is connected to the first finger segment; the second screw is connected to the second drive component, and the second helical tube is connected to the second finger segment.

[0057] Specifically, a mounting chamber is provided in the first finger segment, and the second driving component is disposed in the mounting chamber; the axis of the first screw is perpendicular to the axis of the first solenoid, and the axis of the second screw is perpendicular to the axis of the second solenoid. The ingenious integration of the second driving component into the mounting chamber of the first finger segment greatly saves space, making the entire finger structure more compact and small, particularly suitable for use in space-constrained applications such as multi-fingered dexterous hands.

[0058] Specifically, the bionic mechanical finger further includes: a transmission component disposed between the second finger segment and the third finger segment; when the second finger segment rotates, the transmission component drives the third finger segment to rotate relative to the second finger segment; so that the first finger segment, the second finger segment and the third finger segment bend.

[0059] Specifically, the transmission component includes a connecting rod; one end of the connecting rod is hinged to the first finger segment at a first point, and the other end of the connecting rod is hinged to the third finger segment at a second point; the first finger segment and the third 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. By employing a unique linkage transmission mechanism, the active movement of the second finger segment is automatically transmitted to the third finger segment, achieving "coupled" movement. This allows for the coordinated bending of three finger segments using only two actuators, with a movement trajectory very close to that of a human finger, achieving a high degree of biomimicry.

[0060] Specifically, a first limiting part is provided on the first finger segment, and a second limiting part is provided on the second finger segment; a first abutting part is provided on the supporting component, and a second abutting part is provided on the first finger segment; the first abutting part is located below the first limiting part, and the second abutting part is located below the second limiting part. The provision of limiting parts and abutting parts (such as the first limiting part and the first abutting part, and the second limiting part and the second abutting part) can effectively limit the excessive extension and bending angle of the first and second finger segments, preventing damage to the mechanical structure due to excessive movement, and improving the reliability and service life of the equipment.

[0061] 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.

[0062] Specifically, the support component has a first receiving chamber, and the first finger segment has a second receiving chamber; the first screw drive component is disposed in the first receiving chamber, and the second screw drive component is disposed in the second receiving chamber. The first and second receiving chambers on the support component and the first finger segment, respectively, are used to accommodate the screw drive components. This design not only enhances the overall structural integrity and creates a cleaner appearance, but also provides excellent protection and dust prevention for the internal gear set, ensuring stable operation of the transmission system even in complex environments.

[0063] This application also provides a bionic robotic hand, including the aforementioned screw-driven bionic robotic fingers, thumb, and palm base; multiple screw-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 supporting component is rotatably connected to the palm base, and a third driving component and a first gear transmission component are provided between the supporting component and the palm base, the third driving component driving the supporting component to rotate along a second dimension through the first 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. By utilizing the first rotating component, the second rotating component, and the fourth and fifth finger segments, multi-degree-of-freedom movement is achieved through the power device, giving the thumb a human-like palm-opposing function, enhancing grasping and manipulation capabilities.

[0064] The power unit includes a fourth drive component, a second gear transmission component, a fifth drive component, a third gear transmission component, a sixth drive component, a third screw transmission component, a seventh drive component, and a fourth screw transmission component. The fourth drive component drives the first rotating component to rotate along the second dimension via the second gear transmission component. The fifth drive component drives the second rotating component to rotate along the third dimension via the third gear transmission component. The sixth drive component drives the fourth finger segment to rotate via the third screw transmission component. The seventh drive component drives the fifth finger segment to rotate via the fourth screw transmission component. The first rotating component is rotatably connected to the hand base, the second rotating component is rotatably connected to the first rotating component, the fourth finger segment is rotatably connected to the second rotating component, and the fifth finger segment is rotatably connected to the fourth finger segment. Both the first and second gear transmission components are bevel gear drives.

[0065] The process of this application is as follows:

[0066] 1. First finger segment drive: The first drive component drives the first finger segment to rotate relative to the support component through the first screw transmission component, thereby realizing the movement of the metacarpophalangeal joint.

[0067] 2. Second finger segment drive: The second drive component drives the second finger segment to rotate relative to the first finger segment through the second screw transmission component, thereby realizing the movement of the intermediate joint.

[0068] 3. Third finger segment drive: When the second finger segment rotates, the third finger segment rotates relative to the second finger segment through the transmission component, realizing the coupled movement of the third finger segment, so that the three finger segments bend in a coordinated manner, mimicking the movement trajectory of human fingers.

[0069] 4. Rotation of support components: In the bionic robotic hand, the third driving component drives the support component to rotate relative to the palm base along the second dimension through the first gear transmission component, increasing the flexibility of the fingers.

[0070] 5. Multi-degree-of-freedom movement of the thumb: The thumb achieves rotation of the first rotating component along the second dimension, rotation of the second rotating component along the third dimension, and rotation of the fourth and fifth finger segments through a power device, providing palm-opposing function.

[0071] 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 screw-driven bionic mechanical finger, characterized in that, The screw rod driving type bionic mechanical finger comprises a support component, a first finger segment, a second finger segment, a third finger segment, a first driving member, a second driving member, a first screw rod transmission member and a second screw rod transmission member. The first finger segment is connected with the support component, the second finger segment is connected with the first finger segment, and the third finger segment is connected with the second finger segment. The first screw rod transmission member is arranged between the support component and the first finger segment, and the second screw rod transmission member is arranged between the first finger segment and the second finger segment. The first driving member is connected with the first screw rod transmission member, and the second driving member is connected with the second screw rod transmission member.

2. The screw rod driving type bionic mechanical finger according to claim 1, wherein the first screw rod transmission member comprises a first screw rod and a first screw pipe which are in mesh with each other, and the second screw rod transmission member comprises a second screw rod and a second screw pipe which are in mesh with each other. The first screw rod is connected with the first driving member, and the first screw pipe is connected with the first finger segment; the second screw rod is connected with the second driving member, and the second screw pipe is connected with the second finger segment.

3. The screw rod driving type bionic mechanical finger according to claim 1, wherein a mounting cavity is arranged in the first finger segment, and the second driving member is arranged in the mounting cavity. The axis of the first screw rod is perpendicular to the axis of the first screw pipe, and the axis of the second screw rod is perpendicular to the axis of the second screw pipe.

4. The screw rod driving type bionic mechanical finger according to claim 1, wherein the bionic mechanical finger further comprises a transmission member arranged between the second finger segment and the third finger segment. When the second finger segment rotates, the transmission member drives the third finger segment to rotate relative to the second finger segment, so that the first finger segment, the second finger segment and the third finger segment are bent.

5. The screw rod driving type bionic mechanical finger according to claim 1, wherein the bionic mechanical finger further comprises a transmission member arranged between the second finger segment and the third finger segment.

6. The screw rod driving type bionic mechanical finger according to claim 1, wherein the transmission member comprises a connecting rod, one end of the connecting rod is hinged to a first point of the first finger segment, the other end of the connecting rod is hinged to a second point of the third finger segment, and the first finger segment and the third 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.

7. The screw rod driving type bionic mechanical finger according to claim 1, wherein a first limiting part is arranged on the first finger segment, and a second limiting part is arranged on the second finger segment. A first abutting part is arranged on the support component, and a second abutting part is arranged on the first finger segment. The first abutting part is located below the first limiting part, and the second abutting part is located below the second limiting part.

8. The screw rod driving type bionic mechanical finger according to claim 1, wherein an abutting plane is arranged at the end of the third finger segment.

9. The screw rod driving type bionic mechanical finger according to claim 1, ​ ​ ​ ​ ​ ​ ​ ​ The support component is provided with a first accommodating chamber, and the first finger segment is provided with a second accommodating chamber; the first screw driving member is arranged in the first accommodating chamber, and the second screw driving member is arranged in the second accommodating chamber.

10. A biomimetic robot hand characterized by: The screw driving type bionic mechanical finger, the big thumb and the palm base are provided in the application. The screw driving type bionic mechanical finger is provided with a plurality of fingers, which are respectively the index finger, the middle finger, the ring finger and the little thumb. The first finger segment, the second finger segment and the third finger segment are all rotated along the first dimension. The support component is rotationally connected with the palm base, and the third driving member and the first gear driving member are arranged between the support component and the palm base. The big thumb comprises a first rotating component, a second rotating component, a fourth finger segment, a fifth finger segment and a power device. The power device is used 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.

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