Bionic manipulator and robot

Abstract

The bionic manipulator comprises a mounting base body, mechanical fingers and a finger swinging mechanism, each mechanical finger comprises a thumb unit and an auxiliary finger unit which are mounted on the mounting base body, and each auxiliary finger unit is configured to be in a finger bending state or a straightening state relative to the mounting base body; wherein the auxiliary finger unit is provided with a rotating part capable of rotating around a first axis, the rotating part is connected to the mounting base body, and the first axis is perpendicular to the mounting base body; the finger swinging mechanism is mounted on the mounting base body, is connected with the auxiliary finger unit and is used for actively deflecting towards the direction close to the thumb unit when the auxiliary finger unit is driven to rotate around the first axis in the first direction and actively deflecting towards the direction away from the thumb unit when the auxiliary finger unit is driven to rotate in the second direction; the first direction is opposite to the second direction. Therefore, the finger swinging mechanism is utilized to actively drive the auxiliary finger unit to perform finger swinging movement relative to the thumb unit, and more functional actions can be performed by matching with the movement of the thumb unit.

Description

Technical Field

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

[0002] In scenarios involving radiation, extreme weather, or hazardous environments, robots can often replace humans in performing tasks, using their bionic robotic hands to complete commands. A bionic robotic hand is the robot's end effector, typically consisting of a thumb unit and auxiliary finger units. These units work together to mimic human hand movements, assisting users in performing tasks. The number of auxiliary finger units varies depending on the needs; it can be one, two, or more. For example, if there are four, they can be named the index finger unit, middle finger unit, ring finger unit, and little finger unit.

[0003] However, the auxiliary finger unit structure of the bionic robotic hand on the market is relatively simple, usually only having finger flexion or extension movements, which limits the application scenarios of the bionic robotic hand and causes inconvenience. Summary of the Invention

[0004] To address the aforementioned technical problems, embodiments of the present invention provide a user-friendly bionic manipulator and robot capable of enabling the auxiliary finger unit to perform finger-swinging movements relative to the mounting base.

[0005] The technical solutions adopted by the embodiments of the present invention to solve their technical problems are as follows: A bionic robotic hand includes a mounting base, robotic fingers, and a finger-swinging mechanism. The robotic fingers include a thumb unit and an auxiliary finger unit, both mounted on the mounting base. The auxiliary finger unit is configured to be in a flexed or extended state relative to the mounting base. The auxiliary finger unit has a rotating portion rotatable about a first axis relative to the mounting base, the rotating portion being rotatably connected to the mounting base. The first axis is perpendicular to the mounting base. The finger-swinging mechanism is mounted on the mounting base and connected to the auxiliary finger unit. When the auxiliary finger unit is driven to rotate in a first direction, the auxiliary finger unit actively deflects about the first axis toward the thumb unit. When the auxiliary finger unit is driven to rotate in a second direction, the auxiliary finger unit actively deflects about the first axis away from the thumb unit. The first and second directions are opposite.

[0006] In some embodiments, the finger-swinging mechanism includes a finger-swinging motor and a finger-swinging assembly. The finger-swinging motor is mounted on the mounting base, and the finger-swinging assembly is connected to the finger-swinging motor and the auxiliary finger unit respectively. The finger-swinging assembly is used to drive the auxiliary finger unit to actively swing relative to the thumb unit under the drive of the finger-swinging motor.

[0007] In some embodiments, the swing finger assembly includes a linkage group, a sliding block, and a limiting block. One end of the linkage group is connected to the output end of the swing finger motor, and the other end of the linkage group is connected to the sliding block. The limiting block is mounted on the mounting base. The sliding block is movably disposed on the mounting base and connected to the auxiliary finger unit. The limiting block is used to constrain the sliding block to perform linear motion. When the swing finger motor drives the linkage to move the sliding block toward the auxiliary finger unit, the sliding block pushes the auxiliary finger unit to rotate around the first axis in a first direction; and when the swing finger motor drives the linkage to move the sliding block away from the auxiliary finger unit, the sliding block pulls the auxiliary finger unit to rotate around the first axis in a second direction.

[0008] In some embodiments, the sliding block is provided with a socket hole, the auxiliary finger unit has a plug post, the plug post is inserted into the socket hole, and the diameter of the socket hole is larger than the outer diameter of the plug post.

[0009] In some embodiments, the limiting block is provided with a limiting groove, and the sliding block is disposed in the limiting groove and moves linearly along the limiting groove.

[0010] In some embodiments, the mounting base has a sandwich cavity and an installation port communicating with the sandwich cavity, the limiting block is mounted on the mounting base and extends into the installation port, and the limiting groove communicates with the installation port.

[0011] In some embodiments, the limiting block includes a fixing part and a limiting part connected to each other. The fixing part is connected to the mounting base, and the limiting part is located in the mounting opening and is provided with the limiting groove.

[0012] In some embodiments, the sliding block includes a sliding portion, a sleeve portion, and a connecting portion connected together. The sleeve portion is located at one end of the sliding portion away from the oscillating finger motor. The sliding portion is slidably disposed in the limiting groove. One end of the connecting portion is connected to the sliding portion, and the other end of the connecting portion is connected to the linkage assembly.

[0013] In some embodiments, the mounting base is provided with a limiting hole; the auxiliary finger unit includes a plug-in post and a limiting post, the plug-in post and the limiting post are respectively located at opposite ends of the auxiliary finger unit, the plug-in post is connected to the swing finger assembly, the limiting post is inserted into the limiting hole, the outer diameter of the limiting post is smaller than the diameter of the limiting hole, and the limiting post is used to constrain the angle of deflection of the auxiliary finger unit relative to the mounting base.

[0014] In some embodiments, the number of auxiliary finger units is four, namely an index finger unit, a middle finger unit, a ring finger unit, and a little finger unit. The index finger unit, the middle finger unit, the ring finger unit, and the little finger unit are all detachably mounted on the mounting base, and the index finger unit, the middle finger unit, the ring finger unit, and the little finger unit can all be in the flexed state or the extended state relative to the mounting base. At least one of the index finger unit, the middle finger unit, the ring finger unit, and the little finger unit is connected to the finger swinging mechanism.

[0015] In some embodiments, the bionic robotic hand further includes a drive mechanism mounted on the mounting base and connected to the thumb unit, the drive mechanism being configured to drive the thumb unit toward 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 side of the mounting base.

[0016] In some embodiments, the driving mechanism includes a swing member and a first driving component. 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 component. The first driving component is connected to the mounting base. The first driving component 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 thumb unit to swing toward or away from the palm side of the mounting base.

[0017] In some embodiments, the mounting base includes a first mounting seat; the first driving assembly includes a first drive shaft, a first gear set, and a drive motor assembly, wherein the first drive shaft is rotatably disposed on the first mounting seat, the first gear set and the swing member are movably disposed on the first drive shaft, the drive motor assembly is disposed on the first mounting seat, 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 swing member to rotate around the first drive 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 drive 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 direction of swing includes a direction toward the palm surface of the mounting base or a direction away from the palm surface of the mounting base.

[0018] In some embodiments, the bionic robotic hand further includes a sensor plate disposed on the palm side of the mounting base and / or the back side of the mounting base; and / or, it further includes a shell sleeve disposed on the mounting base, the shell sleeve having finger openings for the thumb unit and the auxiliary finger unit to pass through.

[0019] The technical solutions adopted by the embodiments of the present invention to solve their technical problems are as follows: A robot includes the aforementioned bionic robotic hand and a robot body, wherein the bionic robotic hand is mounted on the robot body.

[0020] The beneficial effects of the embodiments of the present invention are as follows: The bionic robotic hand provided in the embodiments of this application includes a mounting base, a robotic finger, and a finger-swinging mechanism. The robotic finger includes a thumb unit and an auxiliary finger unit, both of which are mounted on the mounting base. The auxiliary finger unit is configured to be in a flexed or extended state relative to the mounting base. The auxiliary finger unit has a rotating part that can rotate relative to the mounting base about a first axis. The rotating part is rotatably connected to the mounting base, and the first axis is perpendicular to the mounting base. The finger-swinging mechanism is mounted on the mounting base and connected to the auxiliary finger unit. When the auxiliary finger unit is driven to rotate in a first direction, the auxiliary finger unit actively deflects about the first axis toward the direction closer to the thumb unit. When the auxiliary finger unit is driven to rotate in a second direction, the auxiliary finger unit actively deflects about the first axis toward the direction away from the thumb unit. The first and second directions are opposite. In this way, by actively driving the auxiliary finger unit to swing relative to the thumb unit using the swinging finger mechanism, the function of grasping or clamping objects can be realized when it is coordinated with the movement of the thumb unit. This helps to realize more functional actions that mimic the human hand. Moreover, the auxiliary finger unit swings actively under the action of the swinging finger mechanism, which is beneficial to enhancing the stability of the movement of the auxiliary finger unit compared to the passive swinging of the auxiliary finger unit under the action of a spring or tension spring. Attached Figure Description

[0021] 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.

[0022] Figure 1 This is a schematic diagram of a bionic robotic hand according to one embodiment of this application; Figure 2 yes Figure 1 A schematic diagram of another perspective on the bionic robotic hand; Figure 3 yes Figure 1 A schematic diagram of the middle section structure; Figure 4 yes Figure 3 A diagram from another perspective; Figure 5a yes Figure 3 A schematic diagram showing the swinging of the auxiliary finger unit driven by the swinging finger mechanism. Figure 5b yes Figure 3 Another schematic diagram showing the swinging of the auxiliary finger unit driven by the swinging finger mechanism; Figure 6 yes Figure 3 A schematic diagram of the swing finger mechanism in the diagram; Figure 7 yes Figure 6 A schematic diagram of the limiting block in the middle; Figure 8a yes Figure 3 A schematic diagram showing the thumb unit moving away from the auxiliary finger unit; Figure 8b yes Figure 3 A schematic diagram showing the thumb unit moving closer to the auxiliary finger unit; Figure 8c yes Figure 3 A schematic diagram showing the thumb unit moving away from the palm side of the mounting base; Figure 8d yes Figure 3 A schematic diagram showing the thumb unit moving towards the palm side of the mounting base; Figure 9 yes Figure 3 A schematic diagram of the drive mechanism in the diagram; Figure 10 yes Figure 9 Exploded view; Figure 11a This is a structural diagram of the thumb unit; Figure 11b yes Figure 11a A sectional view; Figure 12a This is a schematic diagram of the index finger unit; Figure 12b yes Figure 12a A sectional view; In the image: 1. Bionic robotic hand; 2. Mounting base; 3. Mechanical finger; 4. Finger swinging mechanism; 5. Drive mechanism; 6. Force and tactile sensor; 7. Sensor board; 8. Protective cover; 2a. Palm side; 2b. Palm back; 21. First mounting plate; 22. Second mounting plate; 201. Interlayer cavity; 202. Through hole; 203. Mounting opening; 204. Limiting hole; 23. First mounting base; 31. Thumb unit; 3b. Auxiliary finger unit; 32. Index finger unit; 33. Middle finger unit; 34. Ring finger unit; 35. Little finger unit; 301. Rotating part; 302. Insertion post; 303. Limiting post; 231. First mounting hole; 41. Swinging finger motor; 42. Swinging finger assembly; 43. Mounting base; 44. Angle detection assembly; 421. Linkage assembly; 422. Limit block; 423. Sliding block; 4211, First link; 4212, Second link; 42221, Limiting groove; 42321, Socket hole; 4221. Fixing part; 4222. Limiting part; 4231. Sliding part; 4232. Sleeve part; 4233. Connecting part; 441. Angle detection component; 442. Magnet block; 443. Connecting seat; 51. Swing component; 511. First connecting block; 512. Second connecting block; 513. Mounting block; 5111. First connecting hole; 5112. First mounting port; 5131. Second mounting port; 52. First drive component; 521. First drive shaft; 522. First gear set; 523. Drive motor assembly; 524. First bearing component; 525. Second bearing component; 526. Third bearing component; 5211, Shaft body; 5212, Chamfered shaft; 5221, First bevel gear; 5222, Second bevel gear; 5223, Third bevel gear; 52211, First power gear ring; 52212, First meshing gear ring; 52221, Second power gear ring; 52222, Second meshing gear ring; 5231, First drive motor; 5232, Second drive motor; 53. First feedback component; 54. Second feedback component; 531. First Hall angle sensor; 532. First magnet; 533. First magnet mounting base; 541. Second Hall angle sensor; 542. Second magnet; 311. First thumb joint; 312. Second thumb joint; 313. Thumb base; 314. Thumb linkage; 315. Thumb drive assembly; 316. Thumb reset component; 3151. Thumb drive motor; 3152. First bevel gear of the thumb; 3153. Second bevel gear of the thumb; 321. First index finger joint; 322. Second index finger joint; 323. Third index finger joint; 324. Index finger base; 325. Index finger linkage assembly; 326. Index finger drive assembly; 327. Index finger reset component; 3251, First linkage of the index finger; 3252, Second linkage of the index finger; 3261. Index finger drive motor; 3262. Index finger first bevel gear; 3263. Index finger second bevel gear. Detailed Implementation

[0023] 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.

[0024] 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.

[0025] 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.

[0026] Please see Figure 1-2 As shown, the bionic robotic hand 1 includes a mounting base 2 and robotic fingers 3. The robotic fingers 3 can be directly or indirectly connected to the mounting base 2 to enable the robotic fingers 3 to move relative to the mounting base 2, thereby performing different operations. The movement of the robotic fingers 3 relative to the mounting base 2 includes, but is not limited to, the straightening or bending of a single finger unit, and the cooperation of multiple finger units to achieve actions such as twisting, pinching, and finger-to-finger.

[0027] The number of mechanical fingers 3 in the bionic robotic hand 1 is not fixed at five; it can be increased or decreased depending on the scenario and functional requirements, for example, it can be two, three, four, five, or more. Furthermore, the naming of the finger units of the mechanical fingers 3 in the bionic robotic hand 1 follows the naming conventions of the human hand. For five or fewer finger units, they are named as thumb unit 31, index finger unit 32, middle finger unit 33, ring finger unit 34, and little finger unit 35. If the number of finger units in the mechanical finger 3 is less than five, they are named in the following order: thumb unit 31, index finger unit 32, middle finger unit 33, ring finger unit 34, and little finger unit 35. If the number of finger units in the mechanical finger 3 exceeds five, the extra finger units are uniformly named as "other finger units."

[0028] For ease of description, the mechanical finger 3 is divided into a thumb unit 31 and multiple auxiliary finger units 3b. These auxiliary finger units 3b can be named the index finger unit 32, middle finger unit 33, ring finger unit 34, little finger unit 35, and the remaining finger units. Furthermore... Figure 3 As shown, the mounting base 2 is modeled after the palm of a human hand, and has a palmar surface 2a and a palmar back surface 2b. For ease of explanation, the mechanical fingers 3 of the bionic robotic hand 1 shown in all the following figures are only examples of one case, but this does not constitute a limitation. The specific number of auxiliary finger units 3b can be set as needed.

[0029] like Figure 1-3 As shown, one embodiment of this application provides a bionic robotic hand 1, including a mounting base 2, robotic fingers 3, and a finger-swinging mechanism 4. Both the robotic fingers 3 and the finger-swinging mechanism 4 are mounted on the mounting base 2. The robotic finger 3 includes a thumb unit 31 and an auxiliary finger unit 3b, both connected to the mounting base 2. The auxiliary finger unit 3b is configured to be in a flexed or extended state relative to the mounting base 2. Furthermore, the auxiliary finger unit 3b has a rotating portion 301 that can rotate relative to the mounting base 2 about a first axis Q. The rotating portion 301 is rotatably connected to the mounting base 2, and the first axis Q is perpendicular to the mounting base 2.

[0030] The finger-swinging mechanism 4 is connected to the auxiliary finger unit 3b. When the auxiliary finger unit 3b is driven to rotate in the first direction, the auxiliary finger unit 3b actively deflects around the first axis Q toward the direction closer to the thumb unit 31. When the auxiliary finger unit 3b is driven to rotate in the second direction, the auxiliary finger unit 3b actively deflects around the first axis Q toward the direction away from the thumb unit 31. The first direction is opposite to the second direction.

[0031] Thus, under the action of the finger swinging mechanism 4, the auxiliary finger unit 3b can be driven to swing actively. When it moves in conjunction with the thumb unit 31, it can grasp or hold objects, which helps to realize more functional actions that mimic the human hand. Moreover, the auxiliary finger unit 3b swings actively under the action of the finger swinging mechanism 4. Compared with the passive swinging of the auxiliary finger unit 3b under the action of a spring or tension spring, it is beneficial to enhance the stability of the movement of the auxiliary finger unit 3b.

[0032] Active drive refers to the auxiliary finger unit 3b being driven to move actively by an active power source. For example, a motor drives a linkage to move, causing the target object to actively perform an action; the power for the target object to actively perform this action comes from the power provided by the motor. In contrast, the action of a spring or tension spring pulling the target object to reset is driven by the power inherent in its own material properties, and is therefore passive drive, not active drive. Compared to passive drive, active drive allows for better control of the target object, such as increasing the force applied to the auxiliary finger unit 3b without being limited by the material properties of the object to which the force is applied.

[0033] This means that if the first direction is clockwise, then the second direction is counterclockwise, and vice versa. For ease of understanding, observe along the direction from the palm side 2a of the mounting base 2 to the back side 2b of the mounting base 2. When the rotating part 301 of the auxiliary finger unit 3b rotates counterclockwise around the first axis Q, as... Figure 5a As shown, the auxiliary finger unit 3b will actively deflect towards the thumb unit 31, and when the rotating part 301 of the auxiliary finger unit 3b rotates clockwise around the first axis Q, the auxiliary finger unit 3b will actively deflect away from the thumb unit 31, as shown. Figure 5b As shown, at this time, the auxiliary finger unit 3b driven by the finger-swinging mechanism 4 comes into contact with the adjacent auxiliary finger unit 3b to achieve finger synthesis. Moreover, regardless of whether the auxiliary finger unit 3b is in an extended or flexed state, the auxiliary finger unit 3b can move closer to or further away from the thumb unit 31 under the drive of the finger-swinging mechanism 4.

[0034] The mounting base 2 can be a single, solid block, or it can be formed by connecting several blocks together, depending on the specific requirements. In this embodiment, as shown... Figure 3 and Figure 4 As shown, Figure 3 This is a schematic diagram from one perspective of the bionic robotic hand 1. Figure 4This is a schematic diagram from another perspective of the bionic robotic hand 1. The mounting base 2 includes a first mounting plate 21 and a second mounting plate 22. The first mounting plate 21 and the second mounting plate 22 are spaced apart and connected to each other. Both the first mounting plate 21 and the second mounting plate 22 are connected to the robotic finger 3, and the first mounting plate 21 and the second mounting plate 22 together form a sandwich cavity 201.

[0035] The rotating part 301 can be a protruding block-shaped body. In this case, the mounting base 2 can be correspondingly provided with a through hole 202 for constraining the rotating part 301, such as... Figure 3 As shown, the through hole 202 is fitted onto the rotating part 301 to restrict the rotation of the auxiliary finger unit 3b around the first axis Q of the rotating part 301. Of course, the rotating part 301 can also be a through hole 202. In this case, the mounting base 2 can be provided with a corresponding protruding block-shaped body connected to the through hole 202, which can also restrict the rotation of the auxiliary finger unit 3b around the first axis Q of the rotating part 301. Of course, the rotating part 301 can also have other structures, which can be set according to needs.

[0036] In some embodiments, please combine Figure 3 and Figure 4 The auxiliary finger unit 3b has two rotating parts 301, which are located on opposite sides of the auxiliary finger unit 3b. The two rotating parts 301 are spaced apart along the first axis Q and are both connected to the mounting base 2. In this way, the two rotating parts 301 are more conducive to constraining the auxiliary finger unit 3b to always rotate around the first axis Q relative to the mounting base 2, avoiding the situation where only one side of the auxiliary finger unit 3b is constrained by the mounting base 2 and the other side of the auxiliary finger unit 3b is twisted relative to the mounting base 2. This is conducive to the uniform force on the auxiliary finger unit 3b.

[0037] In some embodiments, such as Figure 3 As shown, the finger-swinging mechanism 4 includes a finger-swinging motor 41 and a finger-swinging assembly 42. The finger-swinging motor 41 is mounted on the mounting base 2, and the finger-swinging assembly 42 is connected to both the finger-swinging motor 41 and the auxiliary finger unit 3b. The finger-swinging assembly 42 is used to drive the auxiliary finger unit 3b to actively swing relative to the thumb unit 31 under the drive of the finger-swinging motor 41. That is, the finger-swinging motor 41 provides active power to the finger-swinging assembly 42, and the finger-swinging assembly 42 actively drives the auxiliary finger unit 3b to swing under the power provided by the finger-swinging motor 41, thereby enabling the auxiliary finger unit 3b to move closer to or further away from the thumb unit 31.

[0038] In some embodiments, such as Figure 6-7As shown, the swing finger assembly 42 includes a linkage group 421, a sliding block 423, and a limiting block 422. One end of the linkage group 421 is connected to the output end of the swing finger motor 41, and the other end of the linkage group 421 is connected to the sliding block 423. The limiting block 422 is installed on the mounting base 2. The sliding block 423 is movably disposed on the mounting base 2 and connected to the auxiliary finger unit 3b. The limiting block 422 is used to constrain the sliding block 423 to perform linear motion.

[0039] When the swaying finger motor 41 drives the linkage 421 to move the sliding block 423 towards the auxiliary finger unit 3b, the sliding block 423 pushes the auxiliary finger unit 3b to rotate around the first axis Q in the first direction; and when the swaying finger motor 41 drives the linkage 421 to move the sliding block 423 away from the auxiliary finger unit 3b, the sliding block 423 pulls the auxiliary finger unit 3b to rotate around the first axis Q in the second direction. That is, by using the linkage 421 as the medium of transmission power, and the limiting block 422 constraining the sliding block 423 to make linear motion, it is possible to realize that when the linkage 421 acts on the sliding block 423, the sliding block 423 moves in a directional manner to pull the auxiliary finger unit 3b to actively rotate around the first axis Q, thereby realizing the swaying finger motion of the auxiliary finger unit 3b relative to the mounting base 2.

[0040] For the aforementioned linkage 421, as follows Figure 6 As shown, it includes a first connecting rod 4211 and a second connecting rod 4212. One end of the first connecting rod is connected to the output end of the finger-swinging motor 41, and the other end of the first connecting rod 4211 is movably connected to one end of the second connecting rod 4212. The other end of the second connecting rod 4212 is movably connected to the sliding block 423. When the finger-swinging motor 41 drives the first connecting rod 4211 to rotate, the first connecting rod 4211 drives the second connecting rod 4212 to rotate, thereby causing the sliding block 423 to slide relative to the limiting block 422 and driving the auxiliary finger unit 3b to swing. In this embodiment, the length of the first connecting rod 4211 is less than the length of the second connecting rod 4212 to reduce the swing amplitude when the finger-swinging motor 41 drives the first connecting rod 4211.

[0041] Understandable, such as Figure 6 and Figure 7As shown, the limiting block 422 is used to constrain the sliding block 423 to perform linear motion. There are several ways to achieve this. For example, the limiting block 422 can be provided with a limiting groove 42221, and the sliding block 423 can move linearly within the limiting groove 42221. Another example is that the limiting block 422 can be provided with a protrusion (not shown), and the side wall of the sliding block 423 can be provided with a limiting groove 42221 (not shown). The protrusion of the limiting block 422 is inserted into the limiting groove 42221. Under the cooperative action of the limiting groove 42221 and the protrusion, the sliding block 423 can achieve linear motion relative to the limiting block 422. Of course, the limiting block 422 can also be used to constrain the sliding block 423 to perform linear motion in other ways, not limited to the two methods mentioned here, as long as it can achieve the goal of constraining the sliding block 423 to perform linear motion.

[0042] In some embodiments, please combine Figure 3 and Figure 6 As shown, to ensure that the sliding block 423 can stably drive the auxiliary finger unit 3b to swing and avoid jamming, the sliding block 423 is provided with a sleeve hole 42321, and the auxiliary finger unit 3b has a plug post 302. The plug post 302 is inserted into the sleeve hole 42321, which prevents the sliding block 423 from disengaging when driving the auxiliary finger unit 3b to swing around the first axis Q, thus improving the stability of the swing finger assembly 42 driving the auxiliary finger unit 3b to swing. Furthermore, the diameter of the sleeve hole 42321 is larger than the outer diameter of the plug post 302, which allows space for the auxiliary finger unit 3b to rotate around the first axis Q, reducing the risk of jamming when the auxiliary finger unit 3b rotates relative to the mounting base 2.

[0043] In some embodiments, such as Figure 7 As shown, the limiting block 422 includes a fixed part 4221 and a limiting part 4222 connected to each other. The fixed part 4221 is connected to the mounting base 2. The limiting part 4222 is provided with a limiting groove 42221. The sliding block 423 is slidably disposed in the limiting groove 42221 to constrain the sliding block 423 to make linear movements.

[0044] In some embodiments, such as Figure 3 As shown, the mounting base 2 has a mounting opening 203 communicating with the interlayer cavity 201. A limiting block 422 is mounted on the mounting base 2 and partially located within the mounting opening 203. A limiting groove 42221 communicates with the mounting opening 203. Thus, by placing the sliding block 423 within the mounting opening 203, excessive space occupation by the sliding block 423 can be avoided, which helps reduce the thickness of the bionic robotic hand 1. In this embodiment, the limiting portion 4222 of the limiting block 422 is located within the mounting opening 203.

[0045] In some embodiments, such as Figure 6As shown, the sliding block 423 includes a sliding portion 4231, a sleeve portion 4232, and a connecting portion 4233 connected together. The sleeve portion 4232 is located at the end of the sliding portion 4231 opposite to the swing finger motor 41. The sliding portion 4231 is slidably disposed in the limiting groove 42221. One end of the connecting portion 4233 is connected to the sliding portion 4231, and the other end of the connecting portion 4233 is connected to the connecting rod assembly 421. In this embodiment, the sleeve portion 4232 is provided with a sleeve hole 42321, and the connecting portion 4233 protrudes from the surface of the sliding portion 4231 to facilitate connection with the connecting rod assembly 421. Thus, when the swing finger motor 41 drives the connecting rod assembly 421 to swing, the connecting rod assembly 421 will pull the connecting portion 4233 of the sliding block 423 to move, thereby indirectly causing the sleeve portion 4232 to pull the insertion post 302 to move, thereby realizing the rotation of the auxiliary finger unit 3b around the first axis Q.

[0046] It should be understood that, in addition to the combination of the connecting rod group 421, sliding block 423, and limiting block 422 described above, the swing finger assembly 42 can also adopt other combination structures, as long as it can drive the auxiliary finger unit 3b to swing relative to the near-mounted base 2 under the drive of the swing finger motor 41. For example, the swing finger assembly 42 includes a worm gear (not shown), a worm (not shown), and a connecting rod (not shown). The worm is connected to the swing finger motor 41, the worm gear is meshed with the worm, one end of the connecting rod is connected to the worm gear, and the other end of the connecting rod is movably connected to the auxiliary finger unit 3b. When the swing finger motor 41 drives the worm to rotate, the worm gear will drive the worm wheel to rotate, so that the connecting rod drives the auxiliary finger unit 3b to swing.

[0047] In some embodiments, such as Figure 6 As shown, the finger-swinging mechanism 4 also includes a fixed base 43, which is detachably connected to the mounting base 2 and connected to the finger-swinging motor 41. The fixed base 43 secures the finger-swinging motor 41 to the mounting base 2, preventing it from moving freely during operation and ensuring the stability of the finger-swinging drive assembly 42.

[0048] In some embodiments, the finger-swinging mechanism 4 further includes an angle detection component 44, which is mounted on a fixed base 43. The angle detection component 44 is used to detect the angle at which the finger-swinging motor 41 drives the finger-swinging component 42 to rotate, so as to achieve accurate control of the finger-swinging component 42 and ensure that the angle at which the finger-swinging motor 41 drives the finger-swinging component 42 to swing is within a controllable range. In this embodiment, the angle detection component 44 includes an angle detection element 441, a magnet block 442, and a connecting base 443. The magnet block 442 is mounted on the output end of the finger-swinging motor 41, and the angle detection element 441 is mounted on the connecting base 443. The connecting base 443 is connected to the fixed base 43. The angle detection element 441 is used to detect the change in the magnetic field when the output end of the finger-swinging motor 41 drives the magnet block 442 to rotate, so as to indirectly know the angle at which the output end of the finger-swinging motor 41 rotates.

[0049] In some embodiments, please refer again Figure 4 The mounting base 2 is provided with a limiting hole 204, and the auxiliary finger unit 3b is provided with a limiting post 303. The insertion post 302 and the limiting post 303 are located at opposite ends of the auxiliary finger unit 3b, respectively. The limiting post 303 is inserted into the limiting hole 204, and the outer diameter of the limiting post 303 is smaller than the diameter of the limiting hole 204. The limiting post 303 is used to constrain the angle of deflection of the auxiliary finger unit 3b relative to the mounting base 2. That is, under the action of the limiting hole 204, the limiting post 303 can be restricted to move within a predetermined space, thereby limiting the angle of rotation of the auxiliary finger unit 3b relative to the mounting base 2 and preventing the auxiliary finger unit 3b from deflecting too much and affecting the normal use of the bionic robotic hand 1.

[0050] It should be noted that the aforementioned finger-swinging mechanism 4 is used to drive the auxiliary finger unit 3b to swing. It can drive the index finger unit 32, middle finger unit 33, ring finger unit 34, little finger unit 35, or other finger units to swing, depending on the number of finger units in the auxiliary finger unit 3b. In some embodiments, the auxiliary finger unit 3b includes the index finger unit 32, middle finger unit 33, ring finger unit 34, or little finger unit 35. The index finger unit 32, middle finger unit 33, ring finger unit 34, or little finger unit 35 is detachably mounted on the mounting base 2, and the index finger unit 32, middle finger unit 33, ring finger unit 34, or little finger unit 35 can be in a flexed or extended state relative to the mounting base 2. Of course, the finger-swinging mechanism 4 can be used to drive one finger unit to swing, or it can drive multiple finger units to swing, depending on the specific needs. In this embodiment, the finger-swinging mechanism 4 is connected to the index finger unit 32, and the finger-swinging mechanism 4 is used to drive the index finger unit 32 to swing.

[0051] In some embodiments, such as Figure 3As shown, the bionic robotic hand 1 also includes a drive mechanism 5, which is mounted on the mounting base 2 and connected to the thumb unit 31. The drive mechanism 5 is configured to drive the thumb unit 31 to move closer to or away from the index finger unit 32 to adjust the distance between the thumb unit 31 and the index finger unit 32; and to drive the thumb unit 31 to swing relative to the index finger unit 32 toward the palm surface 2a of the mounting base 2 or toward the palm surface 2a away from the mounting base 2.

[0052] For specific details, please refer to... Figure 8a and Figure 8b The driving mechanism 5 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 mimicking the adjustment of the opening size of the thumb's web by a human hand. For example, when the thumb unit 31 and the index finger unit 32 merge their finger units, as... Figure 8b As shown, the distance between the thumb unit 31 and the index finger unit 32 is small, which is equivalent to the hand's web being approximately closed. For example, when the thumb unit 31 moves away from the index finger unit 32, as... Figure 8a As shown, the distance between the thumb unit 31 and the index finger unit 32 increases, and this movement is equivalent to the opening size of the tiger's mouth of the human hand gradually increasing.

[0053] In some embodiments, such as Figure 9 As shown, the drive mechanism 5 includes a swing member 51 and a first drive assembly 52. ​​One end of the swing member 51 is connected to the thumb unit 31, and the other end of the swing member 51 is connected to the first drive assembly 52. ​​The first drive assembly 52 is connected to the mounting base 2. The first drive assembly 52 drives the swing member 51 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 or toward the palm away from the mechanical hand.

[0054] In some embodiments, such as Figure 9 and Figure 10 As shown, the swing member 51 includes a first connecting block 511, a second connecting block 512, and a mounting block 513. The two ends of the second connecting block 512 are respectively connected to the first connecting block 511 and the mounting block 513. The first connecting block 511 is provided with a plurality of first connecting holes 5111 and a first mounting port 5112. The mounting block 513 is provided with a second mounting port 5131. The first connecting block 511 is used to connect with the first drive assembly 52, and the second mounting port 5131 of the mounting block 513 is used to install the thumb unit 31.

[0055] The structure of the first drive component 52 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 51 can drive the thumb unit 31 to move.

[0056] In some embodiments, such as Figure 9 and Figure 10 As shown, the mounting base 2 includes a first mounting seat 23. The first drive assembly 52 includes a first drive shaft 521, a first gear set 522, and a drive motor assembly 523. The first drive shaft 521 is rotatably mounted on the first mounting seat 23. The first gear set 522 and the swing member 51 are both movably mounted on the first drive shaft 521. The drive motor assembly 523 is mounted on the first mounting seat 23, and its output end is connected to the first gear set 522. When the drive motor assembly 523 is configured in a first working state, it drives the swing member 51 to rotate around the first drive shaft 521 to adjust the distance between the thumb unit 31 and the index finger unit 32. When the drive motor assembly 523 is in a second working state, it drives the swing member 51 and the first drive shaft 521 to rotate in the same direction, causing the thumb unit 31 to swing with the swing member 51. The direction of the swing includes either towards the palm of the robotic hand or away from the palm of the robotic hand. In some embodiments, such as... Figure 10 As shown, the first transmission shaft 521 includes a shaft body 5211 and a cam shaft 5212 connected to each other. The shaft body 5211 and the cam shaft 5212 are used together to set the first gear set 522. The shaft body 5211 extends along the first rotation axis L1, and the cam shaft 5212 is set along the second rotation axis L2. The first rotation axis L1 and the second rotation axis L2 are perpendicular to each other. In this embodiment, the swing member 51 rotates around the second rotation axis L2.

[0057] In some embodiments, such as Figure 10 As shown, the first gear set 522 includes a first bevel gear 5221, a second bevel gear 5222, and a third bevel gear 5223. The first bevel gear 5221 and the second bevel gear 5222 are spaced apart on the shaft body 5211 along the first rotation axis L1 of the first transmission shaft 521. The third bevel gear 5223 is located on the cam shaft 5212. The third bevel gear 5223 meshes with the first bevel gear 5221 and the second bevel gear 5222. The first bevel gear 5221 and the second bevel gear 5222 rotate around the first rotation axis L1, and the third bevel gear 5223 rotates around the second rotation axis L2. The third bevel gear 5223 is fixedly connected to the swing member 51. In this embodiment, the third bevel gear 5223 is provided with a threaded hole (not shown) that mates with the first connecting hole 5111. After the threaded hole is aligned with the first connecting hole 5111, it can be connected by bolts or screws, so that the first connecting block 511 and the third bevel gear 5223 are fixed.

[0058] When the drive motor assembly 523 is in its first operating state, and the first bevel gear 5221 and the second bevel gear 5222 rotate at different speeds relative to the first drive shaft 521, the third bevel gear 5223 drives the oscillating member 51 to rotate along the second axis of rotation L2. At this time, the third bevel gear 5223 rotates in place without moving relative to the shaft body 5211. The first connecting block 511 rotates around the second axis of rotation L2 along with the rotation of the third bevel gear 5223, thereby driving the thumb unit 31 to rotate around the second axis of rotation 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 speed of the first bevel gear 5221 relative to the first drive shaft 521 includes the direction and rotational speed of the first bevel gear 5221. The speed of the second set of gears relative to the first drive shaft 521 includes the direction and rotational speed of the second bevel gear 5222.

[0059] The first bevel gear 5221 and the second bevel gear 5222 rotate at different speeds relative to the first transmission shaft 521. This could be due to the first bevel gear 5221 and the second bevel gear 5222 rotating in different directions or rotating at different speeds.

[0060] When the drive motor assembly 523 is in the second working state, the first bevel gear 5221 and the second bevel gear 5222 rotate at the same speed relative to the first transmission shaft 521. That is, when the first bevel gear 5221 and the second bevel gear 5222 rotate in the same direction and at the same speed relative to the first rotating shaft, there is no speed difference. This causes the third bevel gear 5223 to not rotate between the first bevel gear 5221 and the second bevel gear 5222. The shaft body 5211 rotates and, under the action of the cam shaft 5212, drives the third bevel gear 5223 to move between the first bevel gear 5221 and the second bevel gear 5222. The third bevel gear 5223 will drive the first connecting block 511 to rotate around the first rotating axis L1, thereby enabling the thumb unit 31 to swing toward the palm surface 2a of the mounting base 2, or the thumb unit 31 to swing away from the palm surface 2a of the mounting base 2.

[0061] In some embodiments, such as Figure 10 As shown, the first bevel gear 5221 includes a first power gear ring 52211 and a first meshing gear ring 52212. The tooth units of the first power gear ring 52211 and the first meshing gear ring 52212 are inclined in two opposite directions. The first power gear ring 52211 is used to connect with the drive motor assembly 523, and the first meshing gear ring 52212 is used to mesh with the third bevel gear 5223.

[0062] In some embodiments, such as Figure 10As shown, the second bevel gear 5222 includes a second power gear ring 52221 and a second meshing gear ring 52222. The inclination direction of the tooth units in the second power gear ring 52221 and the second meshing gear ring 52222 is the same. The second power gear ring 52221 is used to connect with the drive motor assembly 523, and the second meshing gear ring 52222 is used to mesh with the third bevel gear 5223.

[0063] In some embodiments, such as Figure 10 As shown, the first drive assembly 52 also includes a first bearing 524, a second bearing 525, and a third bearing 526. The inner rings of the first bearing 524 and the second bearing 525 are both fitted onto the shaft body 5211. The outer ring of the first bearing 524 is fixed to the first bevel gear 5221, the outer ring of the second bearing 525 is fixed to the second bevel gear 5222, the inner ring of the third bearing 526 is fitted onto the cam shaft 5212, and the outer ring of the third bearing 526 is fixed to the third bevel gear 5223. This reduces frictional resistance and improves the stability of the drive mechanism 5.

[0064] In some embodiments, such as Figure 10 As shown, the drive motor assembly 523 includes a first drive motor 5231 and a second drive motor 5232. Both the first drive motor 5231 and the second drive motor 5232 are mounted on the first mounting base 23. The output end of the first drive motor 5231 is connected to the first bevel gear 5221, and the output end of the second drive motor 5232 is connected to the second bevel gear 5222. In this embodiment, the output end of the first drive motor 5231 is connected to the first power gear ring 52211, and the output end of the second drive motor 5232 is connected to the second power gear ring 52221.

[0065] In some embodiments, such as Figure 9-10 As shown, the first drive motor 5231 and the second drive motor 5232 are located on the same side of the first transmission shaft 521, meaning that the output ends of both the first drive motor 5231 and the second drive motor 5232 are located on the same side of the first transmission shaft 521. The output end of the first drive motor 5231 is located in the gap between the first bevel gear 5221 and the second bevel gear 5222. This avoids the drive motor assembly 523 occupying too much space, making the drive mechanism 5 compact and reducing the size of the bionic robotic hand 1. In some other embodiments, the first drive motor 5231 and the second drive motor 5232 are located on different sides of the first drive shaft 521, that is, the output ends of the first drive motor 5231 and the second drive motor 5232 are located on both sides of the first drive shaft 521.

[0066] In some embodiments, such as Figure 9-10As shown, the drive mechanism 5 also includes a first feedback component 53, which is disposed on the first mounting base 23 and located at one end of the first drive shaft 521. The first feedback component 53 is used to detect the rotation angle of the first drive shaft 521. In this embodiment, the first feedback component 53 includes a first Hall angle sensor 531 and a first magnet 532. The first magnet 532 is disposed on the first mounting base 23 and located at one end of the first drive shaft 521, and the first Hall angle sensor 531 is disposed on the first magnet 532. The first Hall angle sensor 531 is used to detect the rotation angle of the first drive shaft 521. Thus, by detecting the first Hall angle sensor 531, the rotation angle of the first drive shaft 521 relative to the rotation of the first mounting base 23 can be obtained, thereby indirectly knowing the angle of rotation of the swing member 51 around the first axis of rotation L1 with the first drive shaft 521, and thus obtaining the swing data of the thumb unit 31, which is beneficial for realizing real-time motion data feedback.

[0067] In some embodiments, such as Figure 9-10 As shown, the first mounting base 23 has a first mounting hole 231, and the first feedback component 53 also includes a first magnet mounting base 533, which is located in the first mounting hole 231, and the first magnet 532 is located in the first magnet mounting base 533. This can constrain the first magnet 532 and prevent it from detaching from the first mounting base 23.

[0068] In some embodiments, such as Figure 10 As shown, the drive mechanism 5 also includes a second feedback component 54, which is disposed at the first mounting port 5112 of the swing member 51. The second feedback component 54 is used to detect the angle of rotation of the swing member 51 around the second rotation axis L2 of the first drive shaft 521. In this embodiment, the second feedback component 54 includes a second magnet 542 and a second Hall angle sensor 541. The second magnet 542 is disposed at the end of the swing member 51 that is connected to the third bevel gear 5223, and the second Hall angle sensor 541 is disposed at the second magnet 542. The second Hall angle sensor 541 is used to detect the angle of rotation of the swing member 51 around the second rotation axis L2 of the first drive shaft 521. Thus, by detecting the angle of rotation of the third bevel gear 5223 around the second rotation axis L2 of the first drive shaft 521 through the second Hall angle sensor 541, the angle of rotation of the swing member 51 around the second rotation 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.

[0069] 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 drive mechanism 5 is in the first working state. This degree of freedom can be used to adjust the size of the thumb's web relative to the index finger unit 32 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 mechanical hand, or the swinging of the thumb unit 31 away from the palm of the mechanical hand, when the drive mechanism 5 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 surface 2a of the mounting base 2 or other finger units.

[0070] To facilitate understanding of how the structure of the mechanical finger 3 of this application achieves extension relative to the mounting base 2 and flexion relative to the mounting base 2, the following description uses the structure of the thumb unit 31 and the auxiliary finger unit 3b as an example. However, this does not mean that the structure of the thumb unit 31 and the auxiliary finger unit 3b is limited to the structure mentioned here. Their actual structure can be adjusted as needed, as long as it can achieve flexion and extension relative to the mounting base 2.

[0071] In some embodiments, such as Figure 11a and Figure 11b As shown, the thumb unit 31 includes a first thumb joint 311, a second thumb joint 312, a thumb base 313, a thumb linkage 314, a thumb drive assembly 315, and a thumb reset member 316. The first thumb joint 311 and the second thumb joint 312 are rotatably connected. The two ends of the thumb linkage 314 are respectively connected to the first thumb joint 311 and the thumb base 313, and the second thumb joint 312 is connected to the thumb drive assembly 315. The two ends of the thumb reset member 316 are respectively connected to the first thumb joint 311 and the thumb linkage 314.

[0072] Thus, driven by the thumb drive assembly 315, the second thumb joint 312 rotates accordingly, and driven by the thumb linkage 314, the first thumb joint 311 and the second thumb joint 312 rotate, so as to realize the rotation of the first thumb joint 311 and the second thumb joint 312 relative to the thumb base 313 to perform flexion or extension movements, thereby simulating the movement of the human thumb.

[0073] Understandably, when the thumb drive assembly 315 drives the second thumb joint 312 to swing in one direction, the first thumb joint 311 will rotate in the same direction relative to the thumb base 313 to perform a flexion movement. At this time, the thumb reset member 316 is in a stretched state. When the thumb drive assembly 315 drives the second thumb joint 312 to swing in the opposite direction, the thumb reset member 316 will restore its deformation, so that the first thumb joint 311 will rotate in the opposite direction relative to the thumb base 313 to perform a straightening movement.

[0074] The thumb drive assembly 315 includes a thumb drive motor 3151, a first bevel gear 3152, and a second bevel gear 3153. All three are mounted on the thumb base 313. The first bevel gear 3152 and the second bevel gear 3153 mesh, with the first bevel gear 3152 connected to the thumb drive motor 3151. The second bevel gear 3153 is connected to the thumb base 313 via the second thumb joint 312. Therefore, when the thumb drive motor 3151 drives the first bevel gear 3152 to rotate, the second bevel gear 3153 will drive the second thumb joint 312 to rotate, thus enabling the first thumb joint 311 to rotate relative to the thumb base 313.

[0075] It should be understood that, in addition to the thumb linkage 314 described above, other mechanisms can be used, as long as they can drive the first thumb joint 311 and the second thumb joint 312 to rotate relative to each other. For example, a traction rope can be used, specifically a combination of a thumb guide wheel assembly (not shown), a thumb traction rope (not shown), a thumb winding wheel (not shown), and a thumb reset member (not shown). The thumb guide wheel assembly is located at the first thumb joint 311 and the second thumb joint 312. One end of the thumb traction rope is connected to the first thumb joint 311, and the other end of the thumb traction rope is wound around the thumb guide wheel assembly and connected to the thumb winding wheel. The thumb winding wheel is connected to the thumb drive assembly 315, and the thumb reset member is connected to the first thumb joint 311 and the second thumb joint 312. When the thumb drive assembly 315 drives the thumb winding wheel to rotate, the thumb traction rope will be wound up, causing the first thumb joint 311 and the second thumb joint 312 to rotate relative to each other, thereby enabling the thumb unit 31 to perform a flexion movement. Conversely, when the thumb retractor releases the traction rope, the thumb reset component will pull the first thumb segment 311 and the second thumb segment 312 to rotate relative to each other, so as to realize the thumb unit 31 to perform an extension movement. Similarly, in addition to the combination of thumb drive motor 3151, thumb first bevel gear 3152 and thumb second bevel gear 3153 mentioned above, the thumb drive assembly 315 can also adopt other structures, as long as it can realize the rotation of the first thumb joint 311 and the second thumb joint 312 relative to the thumb base 313.

[0076] For ease of description, auxiliary finger unit 3b will be explained using the structure of index finger unit 32 as an example. The structure of index finger unit 32 described below is also applicable to middle finger unit 33, ring finger unit 34, or little finger unit 35. The specific structure of index finger unit 32 is as follows: In some embodiments, such as Figure 12a and Figure 12b As shown, the index finger unit 32 includes a first index finger joint 321, a second index finger joint 322, a third index finger joint 323, an index finger base 324, an index finger linkage component 325, an index finger drive component 326, and an index finger traction component 327. The first index finger joint 321, the second index finger joint 322, and the third index finger joint 323 are all rotatably connected in sequence. The index finger linkage component 325 is connected to the first index finger joint 321, the second index finger joint 322, and the third index finger joint 323 respectively. The index finger base 324 is connected to the third index finger joint 323. The index finger drive component 326 is installed on the index finger base 324. The index finger traction component 327 is connected to the index finger linkage component 325, the first index finger joint 321, and the second index finger joint 322 respectively. Driven by the index finger drive component 326, the third index finger joint 323 rotates, and driven by the index finger linkage component 325, the first index finger joint 321 and the second index finger joint 322 rotate, thereby simulating the movement of the human hand index finger.

[0077] The index finger linkage assembly 325 includes a first index finger linkage 3251 and a second index finger linkage 3252. One end of the first index finger linkage 3251 is rotatably connected to the first index finger joint 321, and the other end of the first index finger linkage 3251 is connected to the third index finger joint 323. One end of the second index finger linkage 3252 is connected to one end of the second index finger joint 322, and the other end of the second index finger linkage 3252 is connected to the index finger base 324.

[0078] Thus, when the thumb drive assembly 315 drives the third index finger joint 323 to rotate, the first index finger linkage 3251 and the second index finger linkage 3252 will also rotate relative to the third index finger joint 323, so as to gradually drive the second index finger joint 322 and the third index finger joint 323 to rotate, so as to realize the first index finger joint 321, the second index finger joint 322 and the third index finger joint 323 to rotate relative to the index finger base 324 to perform flexion or extension movements. Understandably, when the index finger drive assembly 326 drives the third index finger joint 323 to swing in one direction, the first index finger joint 321 and the second index finger joint 322 both rotate relative to the index finger base 324 to perform a flexion movement, at which time the index finger traction member 327 is in a stretched state; while when the index finger drive assembly 326 drives the third index finger joint 323 to swing in the opposite direction, the first index finger joint 321 and the second index finger joint 322 both rotate in the opposite direction relative to the index finger base 324 to perform a straightening movement, and gradually return to their original position under the traction of the index finger traction member 327 as it recovers its deformation.

[0079] like Figure 12a and Figure 12b As shown, the index finger drive assembly 326 includes an index finger drive motor 3261, an index finger first bevel gear 3262, and an index finger second bevel gear 3263. All three are mounted on the index finger base 324. The first and second bevel gears mesh, with the first bevel gear 3262 connected to the index finger drive motor 3261 and the second bevel gear 3263 connected to the third index finger joint 323. Therefore, when the index finger drive motor 3261 drives the first bevel gear 3262 to rotate, the second bevel gear 3263 will drive the third index finger joint 323 to rotate, thus enabling both the first and second index finger joints 321 and 322 to rotate relative to the index finger base 324.

[0080] It should be understood that the index finger linkage component 325 can be any other than the first index finger linkage 3251 and the second index finger linkage 3252 mentioned above, as long as it can drive the first index finger joint 321, the second index finger joint 322 and the third index finger joint 323 to rotate relative to each other. For example, the index finger linkage assembly 325 includes an index finger guide wheel assembly (not shown), an index finger traction rope (not shown), an index finger take-up wheel (not shown), and two index finger reset members (not shown). The index finger guide wheel assembly is disposed on the first index finger joint 321, the second index finger joint 322, and the third index finger joint 323. One end of the index finger traction rope is connected to the first index finger joint 321, and the other end of the index finger traction rope is wound around the index finger guide wheel assembly and connected to the index finger take-up wheel. The index finger take-up wheel is connected to the third index finger joint 323. One index finger reset member is connected to the first index finger joint 321 and the second index finger joint 322, and the other index finger reset member is connected to the second index finger joint 322 and the third index finger joint 323. When the index finger drive assembly 326 drives the index finger take-up wheel to rotate, the index finger traction rope will be wound up, causing the first index finger joint 321, the second index finger joint 322, and the third index finger joint 323 to rotate relative to each other, thereby realizing the index finger unit 32 to perform finger flexion movement. Conversely, when the index finger winding wheel releases the index finger traction rope, the index finger reset component will pull the first index finger joint 321 and the second index finger joint 322 to rotate relative to each other, so as to realize the index finger unit 32 to perform an extension movement.

[0081] Similarly, in addition to the above-mentioned combination of index finger drive motor 3261, index finger first bevel gear 3262 and index finger second bevel gear 3263, the index finger drive assembly 326 can also adopt other structures, as long as it can realize the rotation of the first index finger joint 321, the second index finger joint 322 and the third index finger joint 323 relative to the index finger base 324.

[0082] In some embodiments, please combine Figure 12a and Figure 4 As shown, the index finger base 324 is provided with a rotating part 301, a connecting post 302, and a limiting post 303. The connecting post 302 and the limiting post 303 are respectively provided on opposite sides of the index finger base 324, and the connecting post 302 and the finger-swinging mechanism 4 are located on the same surface of the mounting base 2. Thus, when the finger-swinging mechanism 4 drives the connecting post 302 of the index finger base 324 to rotate around the rotating part 301, the index finger driving assembly 326, the first index finger joint 321, the second index finger joint 322, and the third index finger joint 323 connected to the index finger base 324 will rotate synchronously, thereby realizing that the index finger unit 32 as a whole rotates around the first axis Q to achieve finger-swinging movement. In this embodiment, the rotating part 301 is a block-shaped body protruding from the surface of the index finger base 324.

[0083] Understandably, the structure described above for the index finger unit 32 also applies to the middle finger unit 33, ring finger unit 34, and little finger unit 35, and will not be repeated here. During installation, the index finger unit 32, middle finger unit 33, ring finger unit 34, and little finger unit 35 can extend out of the mounting base 2 by different lengths to simulate the effect of different finger lengths. In this embodiment, to reduce the volume of the bionic robotic hand 1 and reduce the space occupied by the index finger unit 32, middle finger unit 33, ring finger unit 34, and little finger unit 35, the drive motors for the index finger unit 32, middle finger unit 33, ring finger unit 34, and little finger unit 35 are all located within the interlayer cavity 201.

[0084] In some embodiments, such as Figure 1 As shown, the bionic robotic hand 1 also includes several force-tactile sensors 6, which are mounted on the thumb unit 31 and the auxiliary finger unit 3b. The force-tactile sensors 6 are used to sense the forces acting on the areas of the thumb unit 31 and the auxiliary finger unit 3b, so as to perceive the contour of the target object contacted by the bionic robotic hand 1 and the forces applied to the target object. In this embodiment, at least some phalanges in the thumb unit 31 and the auxiliary finger unit 3b are provided with force-tactile sensors 6, located on one side of the fingertip surface of each phalanx.

[0085] In some embodiments, such as Figure 4 As shown, the bionic robotic hand 1 also includes a sensor plate 7, which is disposed on the palm surface 2a and / or the back surface 2b of the mounting base 2. The sensor plate 7 is used to connect with a number of force tactile sensors 6.

[0086] In some embodiments, such as Figure 1-2 As shown, the bionic robotic hand 1 also includes a protective sleeve 8, which is fitted onto the mounting base 2 to protect the mounting base 2 and other structures. The protective sleeve 8 can be made of rubber, leather, or other materials, as long as it can protect the mounting base 2 and other structures.

[0087] In some embodiments, the bionic robotic hand 1 in this application embodiment has eight active degrees of freedom, specifically including: (1) an active degree of freedom in which the finger swinging mechanism 4 drives the auxiliary finger unit 3b to swing relative to the mounting base 2; (2) two active degrees of freedom in which the driving mechanism 5 drives the thumb unit 31 to move, specifically the driving mechanism 5 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, and drives the thumb unit 31 to swing relative to the index finger unit 32 toward the palm surface 2a of the mounting base 2 or toward the palm surface 2a away from the mounting base 2; (3) five active degrees of freedom in which the five finger units (including the thumb unit 31, the index finger unit 32, the middle finger unit 33, the ring finger unit 34 and the little finger unit 35) perform flexion or extension movements. Combining these eight active degrees of freedom, the bionic robotic hand 1 can simulate the human hand to perform functions such as grasping, clamping, twisting, and pinching, which is beneficial to improving the applicable scenarios of the bionic robotic hand 1 and making it more convenient to use. The bionic robotic hand 1 provided in one embodiment of this application includes a mounting base 2, robotic fingers 3, and a finger-swinging mechanism 4. The robotic fingers 3 include a thumb unit 31 and an auxiliary finger unit 3b, both of which are mounted on the mounting base 2. The auxiliary finger units 3b are configured to be in a flexed or extended state relative to the mounting base 2. The auxiliary finger unit 3b has a rotating part 301 that can rotate relative to the mounting base 2 about a first axis Q. The rotating part 301 is rotatably connected to the mounting base 2, and the first axis Q is perpendicular to the mounting base 2. The finger-swinging mechanism 4 is mounted on the mounting base 2 and connected to the auxiliary finger unit 3b. When the auxiliary finger unit 3b is driven to rotate in a first direction, the auxiliary finger unit 3b actively deflects about the first axis Q toward the direction closer to the thumb unit 31. When the auxiliary finger unit 3b is driven to rotate in a second direction, the auxiliary finger unit 3b actively deflects about the first axis Q toward the direction away from the thumb unit 31. The first and second directions are opposite. Thus, by actively driving the auxiliary finger unit 3b to swing relative to the thumb unit 31 using the swinging finger mechanism 4, the function of grasping or clamping objects can be realized when coordinating with the movement of the thumb unit 31. This helps to realize more functional actions that mimic the human hand. Moreover, the auxiliary finger unit 3b swings actively under the action of the swinging finger mechanism 4. Compared with the passive swinging method of the auxiliary finger unit 3b under the action of springs or tension springs, this helps to enhance the stability of the movement of the auxiliary finger unit 3b.

[0088] Another embodiment of this application provides a robot, including the bionic robotic arm 1 in the above embodiments and a robot body, wherein the bionic robotic arm 1 is installed on the robot body.

[0089] 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: Mounting substrate; A mechanical finger includes a thumb unit and an auxiliary finger unit, both of which are mounted on a mounting base. The auxiliary finger unit is configured to be in a flexed or extended state relative to the mounting base. The auxiliary finger unit has a rotating portion that is rotatable relative to the mounting base about a first axis, and the rotating portion is rotatably connected to the mounting base. The first axis is perpendicular to the mounting base. A finger-swinging mechanism is installed on the mounting base and connected to the auxiliary finger unit. The finger-swinging mechanism is used to actively deflect the auxiliary finger unit about the first axis toward the thumb unit when the auxiliary finger unit is driven to rotate in the first direction, and to actively deflect the auxiliary finger unit about the first axis away from the thumb unit when the auxiliary finger unit is driven to rotate in the second direction. The first direction and the second direction are opposite.

2. The bionic robotic hand according to claim 1, characterized in that, The finger-swinging mechanism includes a finger-swinging motor and a finger-swinging assembly. The finger-swinging motor is mounted on the mounting base, and the finger-swinging assembly is connected to the finger-swinging motor and the auxiliary finger unit respectively. The finger-swinging assembly is used to drive the auxiliary finger unit to actively swing relative to the thumb unit under the drive of the finger-swinging motor.

3. The bionic robotic hand according to claim 2, characterized in that, The swing finger assembly includes a linkage group, a sliding block, and a limiting block. One end of the linkage group is connected to the output end of the swing finger motor, and the other end of the linkage group is connected to the sliding block. The limiting block is installed on the mounting base. The sliding block is movably disposed on the mounting base and connected to the auxiliary finger unit. The limiting block is used to constrain the sliding block to perform linear motion. When the swing finger motor drives the linkage to move the sliding block toward the auxiliary finger unit, the sliding block pushes the auxiliary finger unit to rotate around the first axis in a first direction; and when the swing finger motor drives the linkage to move the sliding block away from the auxiliary finger unit, the sliding block pulls the auxiliary finger unit to rotate around the first axis in a second direction.

4. The bionic robotic hand according to claim 3, characterized in that, The sliding block is provided with a socket hole, and the auxiliary finger unit has a plug-in post. The plug-in post is inserted into the socket hole, and the diameter of the socket hole is larger than the outer diameter of the plug-in post.

5. The bionic robotic hand according to claim 3, characterized in that, The limiting block is provided with a limiting groove, and the sliding block is disposed in the limiting groove and moves linearly along the limiting groove.

6. The bionic robotic hand according to claim 5, characterized in that, The mounting base has a sandwich cavity and an installation port communicating with the sandwich cavity. The limiting block is installed on the mounting base and is partially located in the installation port. The limiting groove communicates with the installation port.

7. The bionic robotic hand according to claim 6, characterized in that, The limiting block includes a fixed part and a limiting part connected to each other. The fixed part is connected to the mounting base, and the limiting part is located in the mounting opening and is provided with the limiting groove.

8. The bionic robotic hand according to claim 7, characterized in that, The sliding block includes a sliding part, a sleeve part, and a connecting part connected together. The sleeve part is located at the end of the sliding part away from the swing finger motor. The sliding part is slidably disposed in the limiting groove. One end of the connecting part is connected to the sliding part, and the other end of the connecting part is connected to the connecting rod assembly.

9. The bionic robotic hand according to claim 2, characterized in that, The mounting base is provided with limiting holes; The auxiliary finger unit includes a plug-in post and a limiting post, which are located at opposite ends of the auxiliary finger unit. The plug-in post is connected to the swing finger assembly, and the limiting post is inserted into the limiting hole. The outer diameter of the limiting post is smaller than the diameter of the limiting hole. The limiting post is used to constrain the angle of deflection of the auxiliary finger unit relative to the mounting base.

10. The bionic robotic hand according to claim 1, characterized in that, The auxiliary finger units are four in number: index finger unit, middle finger unit, ring finger unit, and little finger unit. The index finger unit, middle finger unit, ring finger unit, and little finger unit are all detachably mounted on the mounting base. The index finger unit, middle finger unit, ring finger unit, and little finger unit can all be in a flexed or extended state relative to the mounting base. At least one of the index finger unit, middle finger unit, ring finger unit, and little finger unit is connected to the finger swinging mechanism.

11. The bionic robotic hand according to claim 10, characterized in that, It also includes a drive mechanism mounted on the mounting base and connected to the thumb unit, the drive mechanism being 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 surface of the mounting base.

12. The bionic robotic hand according to claim 11, characterized in that, The driving mechanism includes a swing member and a first driving component. 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 component. The first driving component is connected to the mounting base. The first driving component 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 thumb unit to swing towards or away from the palm side of the mounting base.

13. The bionic robotic hand according to claim 12, characterized in that, The mounting base includes a first mounting seat; 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 surface of the mounting base or away from the palm surface of the mounting base.

14. The bionic robotic hand according to claim 1, characterized in that, It also includes a sensor board, which is disposed on the palm side and / or the back side of the mounting base; And / or, it also includes a housing, which is fitted onto the mounting base and has finger openings for the thumb unit and the auxiliary finger unit to pass through.

15. A robot, characterized in that, It includes the bionic robotic hand as described in any one of claims 1-14 and the robot body, wherein the bionic robotic hand is mounted on the robot body.

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