A bionic manipulator and a robot

Abstract

The application discloses a bionic manipulator and a robot, and relates to the technical field of robots, and specifically discloses a bionic manipulator, which comprises a manipulator palm, a manipulator finger and a first swing finger mechanism, wherein the manipulator palm comprises a mounting base; the manipulator finger comprises an index finger unit and a middle finger unit connected with the mounting base, and the index finger unit and the middle finger unit are configured to be in a flexed state or an extended state relative to the mounting base; the first swing finger mechanism comprises a first swing finger motor and a first swing finger assembly, the first swing finger assembly is connected to the mounting base, the index finger unit and the first swing finger motor respectively, the first swing finger motor is configured to drive the index finger unit to swing away from the middle finger unit under the action of the first swing finger assembly when driven in a first direction, and the index finger unit swings towards the middle finger unit when driven in a second direction, and the first direction is opposite to the second direction. In this way, the index finger unit can swing relative to the middle finger unit under the action of the first swing finger mechanism, the flexibility of the index finger unit is improved, and complex operation instructions can be conveniently completed.

Description

Technical Field

[0001] This invention relates to the field of biomimetic robots, and in particular to a biomimetic manipulator 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 arms to complete commands. These bionic robotic arms are the end effectors of robots, typically used to mimic human hand movements, thus assisting users in performing tasks. However, commercially available bionic robotic arms have relatively simple designs, with fingers only capable of bending or straightening. For example, the index finger, a crucial component of a bionic robotic arm, currently only allows for flexion or extension, limiting its application scenarios and causing inconvenience. Summary of the Invention

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

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

[0005] A bionic robotic hand includes a robotic palm, robotic fingers, and a first finger-swinging mechanism. The robotic palm includes a mounting base; the robotic fingers include an index finger unit and a middle finger unit, both of which are connected to the mounting base. Both the index finger unit and the middle finger unit are configured to be in a flexed or extended state relative to the mounting base. The first finger-swinging mechanism includes a first finger-swinging motor and a first finger-swinging assembly. The first finger-swinging assembly is connected to the mounting base, the index finger unit, and the first finger-swinging motor. The first finger-swinging motor is configured to, when driven in a first direction, swing the index finger unit away from the middle finger unit under the action of the first finger-swinging assembly, and when driven in a second direction, swing the index finger unit closer to the middle finger unit. The first direction is opposite to the second direction.

[0006] In some embodiments, the first swivel finger assembly includes a first traction rope, a first reel, a first connector, and a first shaft. The first connector is connected to one end of the index finger unit near the mounting base. The first shaft rotatably connects the mounting base and one end of the index finger unit near the mounting base. The first reel is connected to the output end of the first swivel finger motor. One end of the first traction rope is connected to the first reel, and the other end of the first traction rope is fixed to the first connector.

[0007] When the output of the first swivel motor drives the first reel to rotate in the first direction to wind up the first traction rope, the index finger unit swings away from the middle finger unit around the first axis; when the output of the first swivel motor drives the first reel to rotate in the second direction to release the first traction rope, the index finger unit swings towards the middle finger unit around the first axis.

[0008] In some embodiments, the first finger swing assembly further includes a first reset member, one end of which is connected to the first connector and the other end of which is connected to the mounting base. The first reset member is configured to abut against the first connector when the first spool releases the first traction rope, so that the index finger unit swings about the first pivot towards the middle finger unit.

[0009] In some embodiments, the index finger unit includes an index finger body, a first index finger driving mechanism, and a second index finger driving mechanism. The index finger body includes a first index finger joint, a second index finger joint, and a third index finger joint connected in sequence. The third index finger joint is connected to both the first index finger driving mechanism and the second index finger driving mechanism. The second index finger driving mechanism is connected to both the first index finger joint and the second index finger joint. The first index finger driving mechanism drives the third index finger joint to rotate relative to the mounting base. The second index finger driving mechanism drives both the first and second index finger joints to rotate relative to the third index finger joint.

[0010] In some embodiments, the index finger first driving mechanism includes an index finger first driving motor, an index finger driving component, an index finger connecting shaft, and an index finger mounting base. The index finger first driving motor and the index finger mounting base are both mounted on the mounting base. The index finger driving component is mounted on the index finger mounting base. The index finger driving component is connected to both the index finger first driving motor and the index finger connecting shaft. The index finger connecting shaft is connected to the third index finger joint. The index finger first driving motor is connected to the index finger driving component. The driving component is configured to drive the index finger connecting shaft to rotate under the drive of the index finger first driving motor, so that the third index finger joint rotates relative to the mounting base.

[0011] Alternatively, the second index finger drive mechanism includes a second index finger drive motor, an index finger guide wheel assembly, an index finger traction rope, an index finger reel, and at least two index finger torsion springs. The second index finger drive motor is mounted on the mounting base, the index finger guide wheel assembly is mounted on the index finger body, the index finger reel is mounted on the output end of the second index finger drive motor, the index finger traction rope is wound around the index finger guide wheel assembly in a preset winding manner, one end of the index finger traction rope is connected to the first index finger joint, the other end of the index finger traction rope is connected to the index finger reel, and at least two index finger torsion springs are spaced apart on the index finger body.

[0012] When the output end of the second drive motor of the index finger drives the index finger reel to rotate to wind up the index finger traction rope, the first index finger joint and the second index finger joint rotate relative to the third index finger joint, so that the index finger unit is in a flexed state, and at least two index finger torsion springs are in a torsional state.

[0013] When the output end of the second drive motor of the index finger drives the index finger pulley to rotate to release the index finger traction rope, the first index finger joint and the second index finger joint rotate relative to the third index finger joint, and the index finger torsion spring restores its deformation so that the index finger unit is in a straight state.

[0014] In some embodiments, the middle finger unit includes a middle finger body, a first middle finger drive mechanism, and a second middle finger drive mechanism. The middle finger body includes a first middle finger joint, a second middle finger joint, and a third middle finger joint connected in sequence. The third middle finger joint is connected to both the first and second middle finger drive mechanisms. The second middle finger drive mechanism is connected to both the first and second middle finger joints. The first middle finger drive mechanism drives the third middle finger joint to rotate relative to the mounting base. The second middle finger drive mechanism drives both the first and second middle finger joints to rotate relative to the third middle finger joint.

[0015] In some embodiments, the middle finger first drive mechanism includes a middle finger first drive motor, a middle finger drive assembly, and a middle finger connecting shaft. The middle finger first drive motor is mounted on the mounting base. The middle finger drive assembly is connected to both the middle finger first drive motor and the middle finger connecting shaft. The middle finger connecting shaft is connected to the third middle finger joint. The first drive motor is connected to the middle finger drive assembly. The drive assembly is configured to drive the middle finger connecting shaft to rotate under the drive of the first drive motor, so that the third middle finger joint rotates relative to the mounting base.

[0016] Alternatively, the second driving mechanism for the middle finger includes a second driving motor for the middle finger, a middle finger guide wheel assembly, a middle finger traction rope, a middle finger reel, and at least two middle finger torsion springs. The second driving motor for the middle finger is located on the mounting base, the middle finger guide wheel assembly is located on the middle finger body, the middle finger reel is mounted on the output end of the second driving motor for the middle finger, the middle finger traction rope is wound around the middle finger guide wheel assembly in a predetermined winding manner, one end of the middle finger traction rope is connected to the first middle finger joint, the other end of the middle finger traction rope is connected to the second driving motor for the middle finger, and at least two middle finger torsion springs are spaced apart on the middle finger body.

[0017] When the output end of the second drive motor of the middle finger rotates to drive the middle finger reel to wind the middle finger traction rope, the first middle finger joint and the second middle finger joint rotate relative to the third middle finger joint, so that the middle finger unit is in a flexed state, and at least two middle finger torsion springs are in a torsional state.

[0018] When the output end of the second drive motor of the middle finger rotates to drive the middle finger reel to release the middle finger traction rope, the first middle finger joint and the second middle finger joint rotate relative to the third middle finger joint, and the middle finger torsion spring restores its deformation so that the middle finger unit is in a straight state.

[0019] In some embodiments, the mechanical finger further includes a ring finger unit and a little finger unit, both of which are connected to the mounting base;

[0020] The bionic robotic hand also includes a second finger-swinging mechanism, which includes a second finger-swinging motor mounted on the mounting base and three sets of second finger-swinging components. One end of each of the three sets of second finger-swinging components is connected to the second finger-swinging motor, and the other end of each set of second finger-swinging components is connected to the middle finger unit, the ring finger unit, and the little finger unit, respectively.

[0021] The second oscillating finger motor is configured to drive the middle finger unit, the ring finger unit, and the little finger unit to swing together in the same direction away from the index finger unit when driven along the first winding direction, under the action of the three sets of the second oscillating finger components, and when driven along the second winding direction, the middle finger unit, the ring finger unit, and the little finger unit to swing together in the direction closer to the index finger unit, wherein the first winding direction and the second winding direction are opposite.

[0022] In some embodiments, each group of second finger swinging components includes a second traction rope, a second reel, a second connector, and a second shaft; the second connector is connected to one end of a preset finger unit near the mounting base, the second shaft rotatably connects the mounting base and the end of the preset finger unit near the mounting base, the second reel is connected to the output end of the second finger swinging motor, one end of the second traction rope is connected to the second reel, and the other end of the second traction rope is fixed to the second connector, wherein the preset finger unit is any one of the middle finger unit, the ring finger unit, and the little finger unit; when the output end of the second finger swinging motor drives all three second reels to rotate along the first winding direction to wind up the three second traction ropes, the middle finger unit, the ring finger unit, and the little finger unit all swing away from the index finger unit; when the output end of the second finger swinging motor drives all three second reels to rotate along the second winding direction to release the three second traction ropes, the middle finger unit, the ring finger unit, and the little finger unit all swing towards the index finger unit.

[0023] In some embodiments, each group of the second swing finger assembly further includes an elastic tension member, and the second traction rope includes a first traction rope and a second traction rope. The two ends of the elastic tension member are respectively connected to one end of the first traction rope and one end of the second traction rope. The other end of the first traction rope is connected to the second connector, and the other end of the second traction rope is connected to the second reel.

[0024] In some embodiments, the ring finger unit includes a ring finger body and a ring finger driving mechanism, the ring finger body and the ring finger driving mechanism being connected, the ring finger driving mechanism being used to drive the ring finger body to bend or straighten relative to the mounting base.

[0025] In some embodiments, the ring finger driving mechanism includes a ring finger driving motor, a ring finger mounting base, a ring finger driving assembly, a ring finger guide wheel assembly, a ring finger traction rope, and a ring finger take-up reel. The ring finger driving motor and the ring finger mounting base are both mounted on the mounting base. The ring finger driving assembly is connected to the output end of the ring finger mounting base, the ring finger take-up reel, and the ring finger driving motor, respectively. The ring finger guide wheel assembly is disposed on the ring finger body. The ring finger traction rope is wound around the ring finger guide wheel assembly in a preset winding manner. One end of the ring finger traction rope is connected to the end of the ring finger body away from the mounting base, and the other end of the ring finger traction rope is connected to the ring finger take-up reel.

[0026] When the output end of the ring finger drive motor drives the ring finger take-up wheel to rotate through the ring finger drive assembly to take up the ring finger traction rope, the ring finger body bends relative to the mounting base, and when the output end of the ring finger drive motor drives the ring finger take-up wheel to release the ring finger traction rope, the ring finger body straightens relative to the mounting base.

[0027] In some embodiments, the little finger unit includes a little finger body and a little finger drive mechanism, the little finger body and the little finger drive mechanism being connected, the little finger drive mechanism being used to drive the little finger body to bend or straighten relative to the mounting base.

[0028] In some embodiments, the little finger drive mechanism includes a little finger drive motor, a little finger mounting base, a little finger drive assembly, a little finger guide wheel assembly, a little finger traction rope, and a little finger take-up reel. The little finger drive motor and the little finger mounting base are both mounted on the mounting base. The little finger drive assembly is connected to the little finger mounting base, the little finger take-up reel, and the output end of the little finger drive motor, respectively. The little finger guide wheel assembly is disposed on the little finger body. The little finger traction rope is wound around the little finger guide wheel assembly in a preset winding manner. One end of the little finger traction rope is connected to the end of the little finger body away from the mounting base, and the other end of the little finger traction rope is connected to the little finger take-up reel. When the output end of the little finger drive motor drives the little finger take-up reel to rotate via the little finger drive assembly to take up the little finger traction rope, the little finger body bends relative to the mounting base. When the output end of the little finger drive motor drives the little finger take-up reel to release the little finger traction rope, the little finger body straightens relative to the mounting base.

[0029] In some embodiments, the mechanical finger further includes a thumb unit; the bionic robotic hand further includes a thumb swing mechanism mounted on the mounting base and connected to the thumb unit, the thumb swing 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 mounting base.

[0030] In some embodiments, the thumb swing mechanism includes a swing member and a first drive assembly. One end of the swing member is connected to the thumb unit, and the other end of the swing member is connected to the first drive assembly. The first drive assembly is connected to the mounting base. The first drive assembly drives the swing member to move the thumb unit to adjust the distance between the thumb unit and the index finger unit, or to adjust the swing of the thumb unit relative to the index finger unit.

[0031] In some embodiments, 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 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 mounting base, and the output end of the drive motor assembly is connected to the first gear set; wherein, the drive motor assembly is configured to drive the 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 mounting base or a direction away from the mounting base.

[0032] In some embodiments, the bionic robotic hand further includes a thumb drive mechanism, which includes a thumb mounting base, a first thumb drive mechanism, and a second thumb drive mechanism. The thumb mounting base is mounted on the swing member, the first thumb drive mechanism is mounted on the thumb mounting base, and the second thumb drive mechanism is mounted on the thumb unit and the mounting base. The thumb unit includes a first thumb segment and a second thumb segment connected together. The second thumb segment is connected to the thumb mounting base, the first thumb drive mechanism is connected to the second thumb segment, and the second thumb drive mechanism is connected to the first thumb segment, the second thumb segment, and the mounting base, respectively. The first thumb drive mechanism is used to drive the second thumb segment to rotate relative to the thumb mounting base, and the second thumb drive mechanism is used to drive the first thumb segment to rotate relative to the second thumb segment.

[0033] In some embodiments, the first thumb drive mechanism includes a first thumb drive motor, a thumb drive assembly, and a thumb connecting shaft. The first thumb drive motor is mounted on the thumb mounting base, and its output end is connected to the thumb drive assembly. The thumb drive assembly is mounted on the thumb mounting base, and the thumb connecting shaft is connected to the thumb drive assembly and the second thumb joint. The thumb drive assembly is configured to drive the thumb connecting shaft to rotate under the drive of the first thumb drive motor, so that the second thumb joint rotates in relation to the thumb mounting base. Alternatively, the second thumb drive mechanism includes a second thumb drive motor, a thumb guide wheel assembly, and a thumb traction rope. A drive motor is mounted on the mounting base. The thumb guide wheel assembly is respectively disposed on the thumb unit. The thumb traction rope is wound around the thumb guide wheel assembly in a preset winding manner, with one end of the thumb traction rope connected to the first thumb joint and the other end of the thumb traction rope extending out of the thumb unit and connected to the second drive motor. When the output end of the second drive motor rotates to wind up the thumb traction rope, the first thumb joint rotates relative to the second thumb joint, so that the thumb unit is in a flexed state. When the output end of the second drive motor rotates to release the thumb traction rope, the first thumb joint rotates in the opposite direction relative to the second thumb joint, so that the thumb unit is in an extended state.

[0034] The technical solutions adopted by the embodiments of the present invention to solve their technical problems are as follows:

[0035] A robot, including the aforementioned bionic robotic hand.

[0036] The beneficial effects of this invention are as follows: The bionic robotic hand provided in this application includes a robotic palm, robotic fingers, and a first finger-swinging mechanism. The robotic palm includes a mounting base; the robotic fingers include an index finger unit and a middle finger unit, both of which are connected to the mounting base. Both the index finger unit and the middle finger unit are configured to be in a flexed or extended state relative to the mounting base. The first finger-swinging mechanism includes a first finger-swinging motor and a first finger-swinging assembly. The first finger-swinging assembly is connected to the mounting base, the index finger unit, and the first finger-swinging motor. The first finger-swinging motor is configured to drive the index finger unit to swing away from the middle finger unit under the action of the first finger-swinging assembly when driven in a first direction, and to swing towards the middle finger unit when driven in a second direction, the first direction being opposite to the second direction. Thus, under the action of the first finger-swinging mechanism, the index finger unit can swing relative to the middle finger unit to adjust the distance between them, increasing the flexibility of the index finger unit, facilitating the completion of more complex operation commands, and making it more convenient to use. Attached Figure Description

[0037] 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.

[0038] Figure 1 This is a schematic diagram of a bionic robotic hand according to one embodiment of this application;

[0039] Figure 2 yes Figure 1 A schematic diagram of some of the structures in it;

[0040] Figure 3 yes Figure 2 A diagram from another perspective;

[0041] Figure 4 yes Figure 2 Enlarged view of part A in the image;

[0042] Figure 5 yes Figure 2 A schematic diagram showing the unfolded state of the index finger unit relative to the middle finger unit;

[0043] Figure 6a This is a schematic diagram of the index finger unit;

[0044] Figure 6b yes Figure 6a A sectional view;

[0045] Figure 6c This is a cross-sectional view of the index finger unit with all three phalanges in a bent position;

[0046] Figure 6d This is a schematic diagram showing the first and second index joints of the index finger unit rotated relative to the third index joint.

[0047] Figure 6e This is a schematic diagram showing the state after all three segments of the index finger unit have been rotated.

[0048] Figure 7 yes Figure 3 A schematic diagram of some of the structures in it;

[0049] Figure 8a This is a schematic diagram of the middle finger unit;

[0050] Figure 8b yes Figure 8a A sectional view;

[0051] Figure 8c It is a cross-sectional view of the middle finger unit where all three phalanges are in a bent position;

[0052] Figure 8dThis is a schematic diagram showing the first and second middle phalanges of the middle finger unit rotated relative to the third middle phalange.

[0053] Figure 8e This is a schematic diagram showing the state after all three segments of the index finger unit have been rotated.

[0054] Figure 9 This is a schematic diagram showing the middle finger unit, ring finger unit, and little finger unit all swinging relative to the middle finger unit;

[0055] Figure 10 This is a schematic diagram of the second swing finger mechanism in another embodiment of this application;

[0056] Figure 11a This is a schematic diagram of the ring finger unit;

[0057] Figure 11b yes Figure 11a A sectional view;

[0058] Figure 12a This is a schematic diagram of the little finger unit;

[0059] Figure 12b This is a cross-sectional view of the penultimate finger unit;

[0060] Figure 13 This is a schematic diagram showing the thumb unit swinging relative to the index finger unit;

[0061] Figure 14 This is a schematic diagram of the thumb unit after it has been rotated around the first axis;

[0062] Figure 15 yes Figure 3 Enlarged view of part B;

[0063] Figure 16 yes Figure 2 A schematic diagram of the middle section structure;

[0064] Figure 17 yes Figure 16 Exploded view of part of the structure;

[0065] Figure 18a This is a schematic diagram of the thumb unit;

[0066] Figure 18b yes Figure 18a A sectional view;

[0067] Figure 19 This is a partial cross-sectional view of a bionic robotic arm;

[0068] 1000. Bionic robotic hand; 1100. Robotic palm; 1200. Robotic finger; 101. Mounting base;

[0069] 1. Thumb unit; 2. Index finger unit; 3. Middle finger unit; 4. Ring finger unit; 5. Little finger unit; 6. First finger swing mechanism; 7. Second finger swing mechanism; 8. Thumb swing mechanism; 9. Thumb drive mechanism; 15. Force tactile sensor; 16. Control board; 17. Protective shell;

[0070] 61. First pendulum motor; 62. First pendulum assembly;

[0071] 621. First traction rope; 622. First reel; 623. First connector; 624. First shaft; 625. First reset component; 626. First limiting plate;

[0072] 21. Index finger body; 22. First driving mechanism of index finger; 23. Second driving mechanism of index finger;

[0073] 211. First index finger joint; 212. Second index finger joint; 213. Third index finger joint; 214. First index finger pivot; 215. Second index finger pivot; 216. First index finger stopper; 217. Second index finger stopper;

[0074] 221. First drive motor for index finger; 222. Index finger drive assembly; 223. Index finger connecting shaft; 224. Index finger mounting base; 2221. First bevel gear for index finger; 2222. Second bevel gear for index finger;

[0075] 231. Second drive motor for index finger; 232. Index finger guide wheel assembly; 233. Index finger traction rope; 234. Index finger torsion spring; 235. Index finger reel;

[0076] 31. Middle finger body; 32. Middle finger first drive mechanism; 33. Middle finger second drive mechanism;

[0077] 311. First middle finger joint; 312. Second middle finger joint; 313. Third middle finger joint; 314. First middle finger pivot; 315. Second middle finger pivot; 316. First middle finger stopper; 317. Second middle finger stopper;

[0078] 321. Middle finger first drive motor; 322. Middle finger drive assembly; 323. Middle finger connecting shaft; 324. Middle finger mounting base; 3221. Middle finger first bevel gear; 3222. Middle finger second bevel gear;

[0079] 331. Middle finger second drive motor; 332. Middle finger guide wheel assembly; 333. Middle finger traction rope; 334. Middle finger torsion spring;

[0080] 71. Second pendulum motor; 72. Second pendulum assembly;

[0081] 721. Second traction rope; 722. Second reel; 723. Second connector; 724. Second shaft; 725. Second reset component; 726. Elastic tension component; 727. Second limiting plate; 728. Third limiting plate;

[0082] 7211, First section of the traction rope; 7212, Second section of the traction rope;

[0083] 41. Ring finger body; 42. Ring finger drive mechanism;

[0084] 411. First ring finger joint; 412. Second ring finger joint; 413. Third ring finger joint; 414. First ring finger pivot; 415. Second ring finger pivot; 416. First ring finger stopper; 417. Second ring finger stopper;

[0085] 421. Ring finger drive motor; 422. Ring finger mounting base; 423. Ring finger drive assembly; 424. Ring finger guide wheel assembly; 425. Ring finger traction rope; 426. Ring finger winding wheel; 427. Ring finger torsion spring;

[0086] 4231. Ring finger first bevel gear; 4232. Ring finger second bevel gear; 4233. Ring finger connecting shaft;

[0087] 51. Little finger body; 52. Little finger drive mechanism;

[0088] 511. First little finger joint; 512. Second little finger joint; 513. Third little finger joint; 514. First little finger pivot; 515. Second little finger pivot; 516. First little finger stopper; 517. Second little finger stopper;

[0089] 521. Little finger drive motor; 522. Little finger mounting base; 523. Little finger drive assembly; 524. Little finger guide wheel assembly; 525. Little finger traction rope; 526. Little finger take-up reel; 527. Little finger torsion spring;

[0090] 5231. Void finger first bevel gear; 5232. Void finger second bevel gear; 5233. Void finger connecting shaft;

[0091] 81. Swing component; 82. First drive assembly; 1011. First mounting base; 83. First feedback assembly; 84. Second feedback assembly;

[0092] 811. Connecting block; 812. Mounting block; 813. Limiting block; 8111. First connecting hole; 8112. First mounting port; 8121. Second mounting port;

[0093] 821. First drive shaft; 822. First gear set; 823. Drive motor assembly; 824. First bearing component; 825. Second bearing component; 826. Third bearing component;

[0094] 8211, Shaft body; 8212, Protruding shaft; 821a, First threading hole; 821b, Second threading hole; 1012, Outlet hole; 8131, Threading opening;

[0095] 8221, First transmission bevel gear; 8222, Second transmission bevel gear; 8223, Third transmission bevel gear; 82211, First power gear ring; 82212, First meshing gear ring; 82221, Second power gear ring; 82222, Second meshing gear ring;

[0096] 8231, First power motor; 8232, Second power motor;

[0097] 831. First Hall angle sensor; 832. First magnet; 833. First magnet mounting base;

[0098] 841. Second Hall angle sensor; 842. Second magnet;

[0099] 11. First thumb joint; 12. Second thumb joint;

[0100] 91. Thumb mounting base; 92. First thumb drive mechanism; 93. Second thumb drive mechanism;

[0101] 921. First drive motor for thumb; 922. Thumb drive assembly; 923. Thumb connecting shaft; 9221. First bevel gear for thumb; 9222. Second bevel gear for thumb;

[0102] 931. Second drive motor for thumb; 932. Thumb guide wheel assembly; 933. Thumb traction rope;

[0103] 102. Locking hole; 103. Clearance hole. Detailed Implementation

[0104] 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.

[0105] 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.

[0106] 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.

[0107] Please see Figure 1As shown, the bionic robotic hand 1000 includes a robotic palm 1100 and robotic fingers 1200. The robotic fingers 1100 and the robotic palm 1200 can be directly or indirectly connected to achieve movement of the robotic fingers 1200 relative to the robotic palm 1100, thereby realizing different operations. The number of robotic fingers 1200 in the bionic robotic hand 1000 is not fixed at five; it can be set as needed, for example, two, three, four, five, or more. That is, the number of robotic fingers 1200 in the bionic robotic hand 1000 can be reduced or increased as needed. Furthermore, the naming of the robotic fingers in the bionic robotic hand 1000 follows the naming conventions of human hands. Five or fewer robotic fingers are named as thumb unit 1, index finger unit 2, middle finger unit 3, ring finger unit 4, and little finger unit 5. If the number of robotic fingers is less than five, they are named sequentially as thumb unit 1, index finger unit 2, middle finger unit 3, ring finger unit 4, and little finger unit 5. If the number of mechanical fingers 1200 exceeds five, the extra mechanical fingers 1200 will be uniformly named as the remaining mechanical fingers. For ease of description, the structure of the bionic robotic hand of this application will be described below using the following example of mechanical fingers 1200 including thumb unit 1, index finger unit 2, middle finger unit 3, ring finger unit 4, and little finger unit 5. However, this does not mean that the mechanical fingers of this application only include the above five finger units.

[0108] The robotic hand 1100 can be a single block or formed by connecting several mounting bases and mounting substrates, depending on the specific requirements. The following description uses the case where the robotic hand consists of two mounting substrates and other block-shaped components as an example. To distinguish the mounting objects between the various parts, they are named as the first mounting base, the second mounting base, the third mounting base, etc.

[0109] Please see Figure 1-2 One embodiment of this application provides a bionic robotic hand 1000, which includes the robotic palm 1100 and robotic fingers 1200 described in the above embodiments. The robotic palm 1100 includes a mounting base 101 for connecting to the robotic fingers 1200. The robotic fingers 1200 include an index finger unit 2 and a middle finger unit 3, both of which are connected to the mounting base 101. Both the index finger unit 2 and the middle finger unit 3 are configured to be in a flexed or extended state relative to the mounting base 101. That is, the index finger unit 2 and the middle finger unit 3 can respectively mimic the straightening or bending of the index and middle fingers of a human hand.

[0110] like Figures 2 to 4As shown, the bionic robotic hand 1000 also includes a first finger-swinging mechanism 6, which includes a first finger-swinging motor 61 and a first finger-swinging assembly 62. The first finger-swinging assembly 62 is connected to the mounting base 101, the index finger unit 2, and the first finger-swinging motor 61. The first finger-swinging motor 61 is configured to drive the index finger unit 2 away from the middle finger unit 3 when driven in a first direction, and to drive the index finger unit 2 towards the middle finger unit 3 when driven in a second direction. The first direction and the second direction are opposite. Wherein, if the first direction is the direction in which the output end of the first finger-swinging motor 61 rotates clockwise, then the second direction is the direction in which the output end of the first finger-swinging motor 61 rotates counterclockwise. In this way, under the action of the first finger-swinging mechanism 6, the index finger unit 2 can swing relative to the middle finger unit 3 to adjust the distance between the two, that is, the index finger unit 2 can open or close relative to the middle finger unit 3, increasing the flexibility of the index finger unit 2 and facilitating the completion of more complex operation commands. For example, by adjusting the distance between the index finger unit 2 and the middle finger unit 3, the operation of gripping objects can be achieved.

[0111] It should be noted that when the index finger unit 2 is joined relative to the middle finger unit 3, it means that the index finger unit 2 is not deflected relative to the middle finger unit 3, which is similar to the state of the index and middle fingers being joined together when the palm of a human hand is open.

[0112] In some embodiments, such as Figure 4 As shown, the first finger-swinging assembly 62 includes a first traction rope 621, a first reel 622, a first connector 623, and a first rotating shaft. The first connector 623 is connected to the end of the index finger unit 2 near the mounting base 101. The first rotating shaft rotatably connects the mounting base 101 and the end of the index finger unit 2 near the mounting base 101. The first reel 622 is connected to the output end of the first finger-swinging motor 61. One end of the first traction rope 621 is connected to the first reel 622, and the other end of the first traction rope 621 is fixed to the first connector 623. In this embodiment, the first connector 623 is located at the end of the index finger unit 2 near the mounting base 101 and on the side opposite to the middle finger unit 3.

[0113] When the output of the first swivel motor 61 drives the first reel 622 to rotate in the first direction to wind up the first traction rope 621, the index finger unit 2 swings around the first axis in a direction away from the middle finger unit 3, thereby increasing the distance between the index finger unit 2 and the middle finger unit 3, achieving the effect of the index finger unit 2 unfolding relative to the middle finger unit 3. The specific effect is as follows: Figure 5As shown. When the output of the first finger-swinging motor 61 drives the first spool 622 to rotate in the second direction to release the first traction rope 621, the index finger unit 2 swings around the first axis toward the middle finger unit 3, thereby reducing the distance between the index finger unit 2 and the middle finger unit 3 until the index finger unit 2 and the middle finger unit 3 are facing each other and pointing together. It should be understood that if the index finger unit 2 and its position relative to the middle finger unit 3 are already in the initial position, the index finger unit 2 will not move when the output of the first finger-swinging motor 61 drives the first spool 622 to rotate in the second direction.

[0114] In some embodiments, such as Figure 4 As shown, the first finger swing assembly 62 also includes a first reset member 625. One end of the first reset member 625 is connected to the first connector 623, and the other end of the first reset member 625 is connected to the mounting base 101. The first reset member 625 is configured to abut against the first connector 623 when the first spool 622 releases the first traction rope 621, so that the index finger unit 2 swings around the first pivot towards the middle finger unit 3. In this embodiment, the first reset member 625 is a torsion spring, which is sleeved on the first pivot. One end of the torsion spring abuts against the first connector 623, and the other end of the torsion spring is fixed to the mounting base 101. Thus, when the first traction rope 621 pulls the first connector 623 to move so that the index finger unit 2 swings relative to the middle finger unit 3, the torsion spring is in a torsional state. When the output end of the first swinging finger motor 61 drives the first pulley 622 to release the first traction rope 621, the torsion spring restores its deformation and pushes the first connector 623 to move so that the index finger unit 2 rotates in the opposite direction around the first rotating shaft.

[0115] Understandably, the first reset member 625 can be a torsion spring or a tension spring. One end of the tension spring is fixedly connected to the mounting base 101, and the other end of the tension spring is connected to the first connecting member 623. Thus, when the index finger unit 2 is unfolded relative to the middle finger unit 3 under the drive of the first finger-swinging motor 61, the tension spring will be in a stretched state. When the first finger-swinging motor 61 is driven in the reverse direction, the tension spring will pull the first connecting member 623 to move, so that the index finger unit 2 moves towards the middle finger unit 3, so as to realize that the index finger unit 2 and the middle finger unit 3 are parallel to each other.

[0116] In some embodiments, such as Figure 4As shown, the first swing finger assembly 62 also includes a first limiting plate 626, which is mounted on the mounting base 101. The first limiting plate 626 has multiple spaced first limiting wheels (not shown), and a first channel for constraining the first traction rope 621 is formed between two adjacent first limiting wheels. The first traction rope 621 passes through the first channel. In this way, under the constraint of the first limiting plate 626, the first traction rope 621 is prevented from moving arbitrarily, which helps to improve the stability of the first swing finger mechanism 6 driving the index finger unit 2 to swing.

[0117] In some embodiments, please combine Figure 6a , Figure 6b The index finger unit 2 includes an index finger body 21, an index finger first driving mechanism 22, and an index finger second driving mechanism 23. The index finger body 21 includes a first index finger joint 211, a second index finger joint 212, and a third index finger joint 213 that are rotatably connected in sequence. The third index finger joint 213 is connected to the index finger first driving mechanism 22 and the index finger second driving mechanism 23, respectively. The index finger second driving mechanism 23 is connected to the first index finger joint 211 and the second index finger joint 212, respectively. The index finger first driving mechanism 22 is used to drive the third index finger joint 213 to rotate relative to the mounting base 101. The index finger second driving mechanism 23 is used to drive both the first index finger joint 211 and the second index finger joint 212 to rotate relative to the third index finger joint 213.

[0118] It should be understood that the index finger is in a flexed state relative to the mounting base 101, including the rotation of the third index finger joint 213 relative to the mounting base 101 (e.g., Figure 6c (as shown), or both the first index phalanx 211 and the second index phalanx 212 rotate relative to the third index phalanx 213 (as shown). Figure 6d (as shown), or the first index finger joint 211, the second index finger joint 212, and the third index finger joint 213 all rotate relative to the mounting base 101 (as shown). Figure 6e As shown in the diagram, the fact that the three phalanges of the index finger are all offset from their positions when the finger is straight can be interpreted as the index finger being in a bent state. The index finger being in a straight state relative to the mounting base 101 refers to the state when the first index finger phalanx 211, the second index finger phalanx 212, and the third index finger phalanx 213 are in a straight line.

[0119] In some embodiments, please combine Figure 6a , Figure 6bThe index finger first drive mechanism 22 includes an index finger first drive motor 221, an index finger drive assembly 222, an index finger connecting shaft 223, and an index finger mounting base 224. The index finger first drive motor 221 and the index finger mounting base 224 are both mounted on the mounting base 101. The index finger drive assembly 222 is mounted on the index finger mounting base 224. The index finger drive assembly 222 is connected to both the index finger first drive motor 221 and the index finger connecting shaft 223. The index finger connecting shaft 223 is connected to the third index finger joint 213. The index finger first drive motor 221 is connected to the index finger drive assembly 222. The index finger drive assembly 222 is configured to drive the index finger connecting shaft 223 to rotate under the drive of the index finger first drive motor 221, thereby causing the third index finger joint 213 to rotate relative to the mounting base 101. In this embodiment, as... Figure 6a As shown, the index finger drive assembly 222 includes a meshing index finger first bevel gear 2221 and an index finger second bevel gear 2222. The index finger first bevel gear 2221 is connected to the output end of the index finger first drive motor 221. The index finger second bevel gear 2222 is rotatably mounted on the index finger mounting base 224. One end of the index finger connecting shaft 223 is connected to the index finger second bevel gear 2222, and the other end of the index finger connecting shaft 223 is connected to the index finger mounting base 224. When the index finger first drive motor 221 drives the index finger first bevel gear 2221 to rotate, the index finger second bevel gear 2222 drives the index finger connecting shaft 223 to rotate, thereby driving the third index finger joint 213 to rotate around the axis of the index finger connecting shaft 223, thus realizing the rotation of the third index finger joint 213 relative to the mounting base 101.

[0120] It should be understood that, in addition to the first bevel gear 2221 and the second bevel gear 2222 of the index finger, the index finger drive assembly 222 can also be a combination of a worm gear and a worm. The worm gear is connected to the index finger connecting shaft 223, and the worm is installed at the output end of the first index finger drive motor 221. In this way, the index finger connecting shaft 223 can be driven to rotate, thereby driving the third index finger joint 213 to rotate around the axis of the index finger connecting shaft 223.

[0121] In some embodiments, such as Figure 6a , Figure 6b and Figure 7As shown, the index finger second drive mechanism 23 includes an index finger second drive motor 231, an index finger guide wheel assembly 232, an index finger traction rope 233, at least two index finger torsion springs 234, and an index finger reel 235. The index finger second drive motor 231 is mounted on the mounting base 101, the index finger guide wheel assembly 232 is mounted on the index finger body 21, the index finger reel 235 is mounted on the output end of the index finger second drive motor 231, the index finger traction rope 233 is wound around the index finger guide wheel assembly 232 in a preset winding manner, one end of the index finger traction rope 233 is connected to the first index finger joint 211, and the other end of the index finger traction rope 233 is connected to the index finger reel 235. At least two index finger torsion springs 234 are spaced apart on the index finger body 21.

[0122] When the output end of the second index finger drive motor 231 rotates to drive the index finger reel 235 to wind up the index finger traction rope 233, the first index finger joint 211 and the second index finger joint 212 both rotate relative to the third index finger joint 213, so that the index finger unit 2 is in a flexed state. At this time, at least two index finger torsion springs 234 are in a torsional state. When the output end of the second index finger drive motor 231 rotates to drive the index finger reel 235 to release the index finger traction rope 233, the first index finger joint 211 and the second index finger joint 212 both rotate relative to the third index finger joint 213, and the index finger torsion springs 234 restore their deformation, so that the index finger unit 2 is in an extended state.

[0123] There are at least two index finger torsion springs 234, and their specific number can be set according to needs. In this embodiment, for example... Figure 6a and Figure 6bAs shown, there are two index finger torsion springs 234, namely a first index finger torsion spring 234 and a second index finger torsion spring 234. The index finger body 21 includes a first index finger pivot 214, a second index finger pivot 215, two first index finger blocking members 216, and two second index finger blocking members 217. The first index finger torsion spring 234 is sleeved on the first index finger pivot 214 at the rotatable connection between the first index finger joint and the second index finger joint. The second index finger torsion spring 234 is sleeved on the rotatable connection between the second index finger joint and the third index finger joint. The second index finger pivot 215 is connected to the first index finger torsion spring 234, and the two ends of the first index finger torsion spring 234 abut against the two first index finger blocking members 216 respectively. The two ends of the second index finger torsion spring 234 abut against the two second index finger blocking members 217 respectively. One of the two first index finger blocking members 216 is located at the first index finger joint 211, and the other is located at the second index finger joint 212. Similarly, one of the two second index finger blocking members 217 is located at the second index finger joint 212, and the other is located at the third index finger joint 213. Thus, when all three joints of the index finger body 21 are in a flexed state, equivalent to the mounting base 101, the first index finger torsion spring 234 and the second index finger torsion spring 234 are both under compression and torsion. Utilizing the traction force of the index finger traction rope 233 and the force of the two index finger torsion springs 234, the index finger can be kept in a stable flexed or extended state when the index finger second drive motor 231 stops winding the index finger traction rope 233.

[0124] In some embodiments, such as Figure 8a and Figure 8b As shown, the middle finger unit 3 includes a middle finger body 31, a middle finger first drive mechanism 32, and a middle finger second drive mechanism 33. The middle finger body 31 includes a first middle finger joint 311, a second middle finger joint 312, and a third middle finger joint 313 that are rotatably connected in sequence. The third middle finger joint 313 is connected to the middle finger first drive mechanism 32 and the middle finger second drive mechanism 33, respectively. The middle finger second drive mechanism 33 is connected to the first middle finger joint 311 and the second middle finger joint 312, respectively. The middle finger first drive mechanism 32 is used to drive the third middle finger joint 313 to rotate relative to the mounting base 101. The middle finger second drive mechanism 33 is used to drive the first middle finger joint 311 and the second middle finger joint 312 to rotate relative to the third middle finger joint 313.

[0125] It should be understood that the middle finger is in a flexed position relative to the mounting base 101, including the rotation of the third middle finger joint 313 relative to the mounting base 101 (e.g., Figure 8c (as shown), or both the first middle phalanx 311 and the second middle phalanx 312 rotate relative to the third middle phalanx 313 (as shown). Figure 8d (As shown), or the first middle finger joint 311, the second middle finger joint 312, and the third middle finger joint 313 all rotate relative to the mounting base 101 (as shown). Figure 8eAs shown in the diagram, the fact that the three phalanges of the middle finger are all offset from their positions when the finger is straight can be interpreted as the middle finger being in a bent state. The middle finger being in a straight state relative to the mounting base 101 means that the first middle finger phalanx 311, the second middle finger phalanx 312, and the third middle finger phalanx 313 are in a straight line.

[0126] In some embodiments, such as Figure 8a and Figure 8b As shown, the middle finger first drive mechanism 32 includes a middle finger first drive motor 321, a middle finger drive assembly 322, a middle finger connecting shaft 323, and a middle finger mounting base 324. The middle finger first drive motor 321 and the middle finger mounting base 324 are both mounted on the mounting base 101. The middle finger drive assembly 322 is mounted on the middle finger mounting base 324. The middle finger drive assembly 322 is connected to the middle finger first drive motor 321 and the middle finger connecting shaft 323 respectively. The middle finger connecting shaft 323 is connected to the third middle finger joint 313. The middle finger first drive motor 321 is connected to the middle finger drive assembly 322. The middle finger drive assembly 322 is configured to drive the middle finger connecting shaft 323 to rotate under the drive of the middle finger first drive motor 321, so that the third middle finger joint 313 rotates relative to the mounting base 101. In this embodiment, the middle finger drive assembly 322 includes a meshing middle finger first bevel gear 3221 and a middle finger second bevel gear 3222. The middle finger first bevel gear 3221 is connected to the output end of the middle finger first drive motor 321. The middle finger second bevel gear 3222 is rotatably mounted on the middle finger mounting base 324. One end of the middle finger connecting shaft 323 is connected to the middle finger second bevel gear 3222, and the other end of the middle finger connecting shaft 323 is connected to the middle finger mounting base 324. When the middle finger first drive motor 321 drives the middle finger first bevel gear 3221 to rotate, the middle finger second bevel gear 3222 drives the middle finger connecting shaft 323 to rotate, thereby driving the third middle finger joint 313 to rotate around the axis of the middle finger connecting shaft 323, thereby realizing the rotation of the third middle finger joint 313 relative to the mounting base 101.

[0127] It should be understood that, in addition to the middle finger first bevel gear 3221 and the middle finger second bevel gear 3222, the middle finger drive assembly 322 can also be a combination of a worm gear and a worm. The worm gear is connected to the middle finger connecting shaft 323, and the worm is installed at the output end of the middle finger first drive motor 321. In this way, the middle finger connecting shaft 323 can be driven to rotate, thereby driving the third middle finger joint 313 to rotate around the axis of the middle finger connecting shaft 323.

[0128] In some embodiments, such as Figure 8a and Figure 8bAs shown, the middle finger second drive mechanism 33 includes a middle finger second drive motor 331, a middle finger guide wheel assembly 332, a middle finger traction rope 333, a middle finger reel (not shown), and at least two middle finger torsion springs 334. The middle finger second drive motor 331 is mounted on the mounting base 101, the middle finger guide wheel assembly 332 is mounted on the middle finger body 31, the middle finger reel is mounted on the output end of the middle finger second drive motor 331, the middle finger traction rope 333 is wound around the middle finger guide wheel assembly 332 in a preset winding manner, one end of the middle finger traction rope 333 is connected to the first middle finger joint 311, and the other end of the middle finger traction rope 333 is connected to the middle finger second drive motor 331. At least two middle finger torsion springs 334 are spaced apart on the middle finger body 31.

[0129] When the output end of the second drive motor 331 of the middle finger rotates to drive the middle finger reel to wind up the middle finger traction rope 333, the first middle finger joint 311 and the second middle finger joint 312 both rotate relative to the third middle finger joint 313, so that the middle finger unit 3 is in a flexed state. At this time, at least two middle finger torsion springs 334 are in a torsional state. When the output end of the second drive motor 331 of the middle finger rotates to drive the middle finger reel to release the middle finger traction rope 333, the first middle finger joint 311 and the second middle finger joint 312 both rotate relative to the third middle finger joint 313, and the middle finger torsion springs 334 restore their deformation, so that the middle finger unit 3 is in a straightened state.

[0130] There are at least two middle finger torsion springs 334, and their specific number can be set according to needs. In this embodiment, for example... Figure 8a and Figure 8b As shown, there are two middle finger torsion springs 334, namely a first middle finger torsion spring 334 and a second middle finger torsion spring 334. The middle finger body 31 includes a first middle finger pivot 314, a second middle finger pivot 315, two first middle finger blocking members 316, and two second middle finger blocking members 317. The first middle finger torsion spring 334 is sleeved on the first middle finger pivot 314 at the rotatable connection between the first and second middle finger knuckles. The second middle finger torsion spring 334 is sleeved on the rotatable connection between the second and third middle finger knuckles. The second middle finger pivot 315 is connected to the first middle finger torsion spring 334, and the two ends of the first middle finger torsion spring 334 abut against the two first middle finger blocking members 316 respectively. The two ends of the second middle finger torsion spring 334 abut against the two second middle finger blocking members 317 respectively. One of the two first middle finger blocking members 316 is located at the first middle finger joint 311 and the other is located at the second middle finger joint 312. Similarly, one of the two second middle finger blocking members 317 is located at the second middle finger joint 312 and the other is located at the third middle finger joint 313.

[0131] Thus, when all three phalanges of the middle finger body 31 are in a flexed state, equivalent to the mounting base 101, the first middle finger torsion spring 334 and the second middle finger torsion spring 334 are under pressure and twisted. By utilizing the traction force of the middle finger traction rope 333 and the force of the two middle finger torsion springs 334, the middle finger can be in a stable flexed or extended state when the second drive motor 331 of the middle finger stops winding the middle finger traction rope 333.

[0132] In some embodiments, the mechanical finger 1200 further includes a ring finger unit 4 and a little finger unit 5, both of which are connected to the mounting base 101.

[0133] Please refer to it again. Figure 4 The bionic robotic hand 1000 also includes a second finger-swinging mechanism 7. The second finger-swinging mechanism 7 includes a second finger-swinging motor 71 mounted on the mounting base 101 and three sets of second finger-swinging assemblies 72. One end of each of the three sets of second finger-swinging assemblies 72 is connected to the second finger-swinging motor 71, and the other end is connected to the middle finger unit 3, the ring finger unit 4, and the little finger unit 5, respectively. The second finger-swinging motor 71 is configured to, when driven along the first winding direction, drive the middle finger unit 3, the ring finger unit 4, and the little finger unit 5 to swing together in the same direction away from the index finger unit 2 under the action of the three sets of second finger-swinging assemblies 72. When driven along the second winding direction, the middle finger unit 3, the ring finger unit 4, and the little finger unit 5 swing together in the direction closer to the index finger unit 2. The first and second winding directions are opposite. Thus, under the action of the second finger-swinging mechanism 7, the following can be achieved: Figure 9 The middle finger unit 3, ring finger unit 4, and little finger unit 5 shown are spread out relative to the index finger unit 2, which increases the flexibility of the middle finger unit 3, ring finger unit 4, and little finger unit 5 and is conducive to completing more complex operation commands.

[0134] It should be noted that the first winding direction refers to the direction in which the output end of the second oscillating motor 71 rotates along the first direction, which can be either clockwise or counterclockwise, depending on the position of the second oscillating motor 71 on the mounting base 101. Similarly, the second winding direction refers to the direction in which the output end of the second oscillating motor 71 rotates along the second direction. For example, if the first direction is clockwise, then the second direction is counterclockwise.

[0135] In some embodiments, for ease of describing the connection method of each group of second swing components, a preset finger unit is used to represent any one of the middle finger unit 3, ring finger unit 4, and little finger unit 5, as follows:

[0136] Please refer to it again. Figure 4Each second finger swing assembly 72 includes a second traction rope 721, a second reel 722, a second connector 723, and a second rotating shaft 724. The second connector 723 is connected to one end of the preset finger unit near the mounting base 101. The second rotating shaft 724 rotatably connects the mounting base 101 and the end of the preset finger unit near the mounting base 101. The second reel 722 is connected to the output end of the second finger swing motor 71. One end of the second traction rope 721 is connected to the second reel 722, and the other end of the second traction rope 721 is fixed to the second connector 723.

[0137] When the output of the second swivel motor 71 drives all three second spools 722 to rotate along the first winding direction to wind up the three second traction ropes 721, the middle finger unit 3, ring finger unit 4, and little finger unit 5 all swing away from the index finger unit 2. When the output of the second swivel motor 71 drives all three second spools 722 to rotate along the second winding direction to release the three second traction ropes 721, the middle finger unit 3, ring finger unit 4, and little finger unit 5 all swing towards the index finger unit 2.

[0138] It should be understood that the second pulleys 722 of the three sets of second swing finger assemblies 72 are installed at intervals on the output end of the second swing finger motor 71 so that the three second pulleys 722 can be driven to rotate simultaneously by the second swing finger motor 71, so as to realize that the three second traction ropes 721 can be wound or released simultaneously. This is beneficial to realize that the middle finger unit 3, the ring finger unit 4 and the little finger unit 5 swing together in the direction closer to the middle finger unit 3 or further away from the middle finger unit 3.

[0139] For ease of understanding, taking the middle finger unit 3 as an example, the connection relationship between one set of second swing components and the middle finger unit 3 is described. Specifically, the second connector 723 is connected to the end of the middle finger unit 3 near the mounting base 101, the second rotating shaft 724 rotatably connects the mounting base 101 and the end of the middle finger unit 3 near the mounting base 101, the second spool 722 is connected to the output end of the second swing motor 71, one end of the second traction rope 721 is connected to the second spool 722, and the other end of the second traction rope 721 is fixed to the second connector 723 near the middle finger unit 3.

[0140] In some embodiments, such as Figure 4As shown, each set of second finger-swinging components 72 also includes a second reset member 725. One end of the second reset member 725 is connected to the second rotating shaft 724, and the other end is connected to the mounting base 101. The second reset member 725 is configured to abut against the second connecting member 723 when the second spool 722 releases the second traction rope 721, so that the preset finger unit swings around the second rotating shaft 724 in a direction closer to the index finger unit 2. In this embodiment, the second reset member 725 is a torsion spring, which is sleeved on the second rotating shaft 724. One end of the torsion spring abuts against the second connecting member 723, and the other end of the torsion spring is fixed to the mounting base 101. Thus, when the second traction rope 721 pulls the second connector 723 to move so that the preset finger unit swings relative to the index finger unit 2, the torsion spring is in a torsional state. When the output end of the second finger-swinging motor 71 drives the second pulley 722 to rotate to release the second traction rope 721, the torsion spring restores its deformation and pushes the second connector 723 to move so that the preset finger unit rotates in the opposite direction around the second rotating shaft 724.

[0141] In some embodiments, such as Figure 10 As shown, each set of second swing finger components 72 also includes an elastic tension member 726. The second traction rope 721 includes a first traction rope 7211 and a second traction rope 7212. The two ends of the elastic tension member 726 are respectively connected to one end of the first traction rope 7211 and the second traction rope 7212. The other end of the first traction rope 7211 is connected to the second connector 723, and the other end of the second traction rope 7212 is connected to the second reel 722.

[0142] Thus, if any one of the three finger units—middle finger unit 3, ring finger unit 4, and little finger unit 5—is fixed and does not swing under the action of external force, the second traction rope 721 connected to the fixed finger unit can still be wound by the second pulley 722 through the stretching elastic tension member 726, thus avoiding the impact of the swinging of the remaining two finger units due to the non-swinging of one finger unit, which is beneficial to improving the flexibility of the bionic robotic hand 1000.

[0143] In some embodiments, please refer again Figure 4 The second finger-swinging mechanism 7 also includes a second limiting plate 727, which is mounted on the mounting base 101. The second limiting plate 727 has multiple spaced second limiting wheels, and a second channel for constraining the second traction rope 721 is formed between two adjacent second limiting wheels. The second traction rope 721 passes through the second channel. In this way, under the constraint of the second limiting plate 727, the second traction rope 721 is prevented from moving arbitrarily, which helps to improve the stability of the second finger-swinging mechanism 7 in driving the middle finger unit 3, the ring finger unit 4, and the little finger unit 5 to swing.

[0144] Understandably, if there is sufficient space on the mounting base 101, a sufficient number of second limiting wheels can be provided on the second limiting plate 727 to construct three second channels through which the three second traction ropes 721 pass. These three second channels are independent of each other, facilitating the separate restraint of the three second traction ropes 721. In this embodiment, as... Figure 4 As shown, the second swing finger assembly 72 also includes a third limiting plate 728. The third limiting plate 728 is mounted on the mounting base and is arranged adjacent to the first swing finger motor 61. The third limiting plate 728 is provided with a plurality of third limiting wheels. Two adjacent third limiting wheels form a third channel. The third channel is used to constrain the second traction rope 721 connected to the tail finger unit 5. In this way, only the second channel for constraining the other two second traction ropes 721 needs to be constructed on the second limiting plate 727, which can reduce the length of the second limiting plate 727, which is beneficial to make the structure of the second swing finger mechanism 7 compact and reduce the space occupied by the mounting base 101.

[0145] In some embodiments, such as Figure 11a and Figure 11b As shown, the ring finger unit 4 includes a ring finger body 41 and a ring finger driving mechanism 42. The ring finger body 41 and the ring finger driving mechanism 42 are connected. The ring finger driving mechanism 42 is used to drive the ring finger body 41 to bend or straighten relative to the mounting base 101.

[0146] In some embodiments, such as Figure 11a and Figure 11b As shown, the ring finger body 41 includes a first ring finger joint 411, a second ring finger joint 412, and a third ring finger joint 413 that are rotatably connected in sequence, and also includes a first ring finger pivot 414, a second ring finger pivot 415, two first ring finger blocking members 416, and two second ring finger blocking members 417. The first ring finger pivot 414 is located at the connection between the first ring finger joint 411 and the second ring finger joint 412, the second ring finger pivot 415 is located at the connection between the second ring finger joint 412 and the third ring finger joint 413, and the two first ring finger blocking members 416 are respectively located at the first ring finger joint 411 and the second ring finger joint 412, and the two second ring finger blocking members 417 are respectively located at the second ring finger joint 412 and the third ring finger joint 413.

[0147] In some embodiments, such as Figure 11a and Figure 11bAs shown, the ring finger drive mechanism 42 includes a ring finger drive motor 421, a ring finger mounting base 422, a ring finger drive assembly 423, a ring finger guide wheel assembly 424, a ring finger traction rope 425, and a ring finger take-up wheel 426. The ring finger drive motor 421 and the ring finger mounting base 422 are both mounted on the mounting base 101. The ring finger drive assembly 423 is connected to the ring finger mounting base 422, the ring finger take-up wheel 426, and the output end of the ring finger drive motor 421, respectively. The ring finger guide wheel assembly 424 is located on the ring finger body 41. The ring finger traction rope 425 is wound around the ring finger guide wheel assembly 424 in a preset winding manner. One end of the ring finger traction rope 425 is connected to the end of the ring finger body 41 away from the mounting base 101, and the other end of the ring finger traction rope 425 is connected to the ring finger take-up wheel 426.

[0148] When the output of the ring finger drive motor 421 drives the ring finger take-up wheel 426 to rotate through the ring finger drive assembly 423 to take up the ring finger traction rope 425, the ring finger body 41 bends relative to the mounting base 101, and when the output of the ring finger drive motor 421 drives the ring finger take-up wheel 426 to release the ring finger traction rope 425, the ring finger body 41 straightens relative to the mounting base 101.

[0149] In some embodiments, such as Figure 11a and Figure 11b As shown, the ring finger drive assembly 423 includes a ring finger first bevel gear 4231, a ring finger second bevel gear 4232, and a ring finger connecting shaft 4233. The ring finger first bevel gear 4231 and the ring finger second bevel gear 4232 mesh. The ring finger first bevel gear 4231 is connected to the output end of the ring finger first drive motor. The ring finger second bevel gear 4232 is rotatably mounted on the ring finger mounting base 422. One end of the ring finger connecting shaft 4233 is connected to the ring finger second bevel gear 4232, and the other end of the ring finger connecting shaft 4233 is connected to the ring finger mounting base 422. The ring finger take-up wheel 426 is fixed to the ring finger connecting shaft 4233.

[0150] When the first drive motor of the ring finger drives the first bevel gear 4231 of the ring finger to rotate, the second bevel gear 4232 of the ring finger drives the connecting shaft 4233 of the ring finger to rotate, thereby driving the winding wheel 426 of the ring finger to rotate. This causes the winding wheel 426 of the ring finger to release or wind up the traction rope 425 of the ring finger, thereby enabling the body of the ring finger 41 to bend or straighten relative to the mounting base 101. For example, if the first drive motor of the ring finger drives the winding wheel 426 of the ring finger to rotate and wind up the traction rope 425 of the ring finger in the first direction, the body of the ring finger 41 bends relative to the mounting base 101. Conversely, if the first drive motor of the ring finger drives the winding wheel 426 of the ring finger to rotate and release the traction rope 425 of the ring finger in the second direction, the body of the ring finger 41 can gradually straighten relative to the mounting base 101 from a bent state.

[0151] It should be understood that, in addition to being a combination of the first bevel gear 4231, the second bevel gear 4232, and the connecting shaft 4233 of the ring finger, the ring finger drive assembly 423 can also be a combination of a worm gear, a worm, and the connecting shaft 4233 of the ring finger. The worm gear is connected to the connecting shaft 4233 of the ring finger, and the worm is installed at the output end of the first drive motor of the ring finger. In this way, the ring finger connecting shaft 4233 can be driven to rotate to drive the ring finger winding wheel 426 to rotate, so as to release or wind up the ring finger traction rope 425.

[0152] In some embodiments, such as Figure 11a and Figure 11b As shown, the ring finger drive mechanism 42 also includes at least two ring finger torsion springs 427, which are spaced apart on the ring finger body 41. The ring finger torsion springs 427 are configured to be in a torsional state when the ring finger winding wheel 426 winds up the ring finger traction rope 425, and to recover their deformation when the ring finger winding wheel 426 releases the ring finger traction rope 425, so that the ring finger body 41 switches from a bent state to a straight state. In this embodiment, there are two ring finger torsion springs 427, namely a first ring finger torsion spring 427 and a second ring finger torsion spring 427. The first ring finger torsion spring 427 is sleeved on the first ring finger pivot 414, and the two ends of the first ring finger torsion spring 427 abut against the two first ring finger blocking members 416 respectively. The second ring finger torsion spring 427 is sleeved on the second ring finger pivot 415, and the two ends of the second ring finger torsion spring 427 abut against the two second ring finger blocking members 417 respectively.

[0153] Thus, when all three phalanges of the ring finger body 41 are in a flexed state, equivalent to the mounting base 101, the first ring finger torsion spring 427 and the second ring finger torsion spring 427 are both under pressure and twisted. By utilizing the traction force of the ring finger traction rope 425 and the force of the two ring finger torsion springs 427, the ring finger can be in a stable flexed or extended state when the first drive motor of the ring finger stops winding the ring finger traction rope 425.

[0154] In some embodiments, such as Figure 12a and Figure 12b As shown, the little finger unit 5 includes a little finger body 51 and a little finger drive mechanism 52. The little finger body 51 and the little finger drive mechanism 52 are connected. The little finger drive mechanism 52 is used to drive the little finger body 51 to bend or straighten relative to the mounting base 101.

[0155] In some embodiments, such as Figure 12a and Figure 12b As shown, the main body 51 of the little finger includes a first little finger joint 511, a second little finger joint 512, and a third little finger joint 513 that are rotatably connected in sequence, and also includes a first little finger pivot 514, a second little finger pivot 515, two first little finger blocking members 516, and two second little finger blocking members 517. The first little finger pivot 514 is located at the connection between the first little finger joint 511 and the second little finger joint 512, the second little finger pivot 515 is located at the connection between the second little finger joint 512 and the third little finger joint 513, and the two first little finger blocking members 516 are respectively located at the first little finger joint 511 and the second little finger joint 512, and the two second little finger blocking members 517 are respectively located at the second little finger joint 512 and the third little finger joint 513.

[0156] In some embodiments, such as Figure 12a and Figure 12b As shown, the little finger drive mechanism 52 includes a little finger drive motor 521, a little finger mounting base 522, a little finger drive assembly 523, a little finger guide wheel assembly 524, a little finger traction rope 525, and a little finger take-up wheel 526. The little finger drive motor 521 and the little finger mounting base 522 are both mounted on the mounting base 101. The little finger drive assembly 523 is connected to the output end of the little finger mounting base 522, the little finger take-up wheel 526, and the little finger drive motor 521, respectively. The little finger guide wheel assembly 524 is located on the little finger body 51. The little finger traction rope 525 is wound around the little finger guide wheel assembly 524 in a preset winding manner. One end of the little finger traction rope 525 is connected to the end of the little finger body 51 away from the mounting base 101, and the other end of the little finger traction rope 525 is connected to the little finger take-up wheel 526.

[0157] When the output end of the little finger drive motor 521 drives the little finger take-up wheel 526 to rotate through the little finger drive assembly 523 to take up the little finger traction rope 525, the little finger body 51 bends relative to the mounting base 101, and when the output end of the little finger drive motor 521 drives the little finger take-up wheel 526 to release the little finger traction rope 525, the little finger body 51 straightens relative to the mounting base 101.

[0158] In some embodiments, such as Figure 12a and Figure 12b As shown, the little finger drive assembly 523 includes a little finger first bevel gear 5231, a little finger second bevel gear 5232, and a little finger connecting shaft 5233. The little finger first bevel gear 5231 and the little finger second bevel gear 5232 mesh. The little finger first bevel gear 5231 is connected to the output end of the little finger first drive motor. The little finger second bevel gear 5232 is rotatably mounted on the little finger mounting base 522. One end of the little finger connecting shaft 5233 is connected to the little finger second bevel gear 5232, and the other end of the little finger connecting shaft 5233 is connected to the little finger mounting base 522. The little finger take-up wheel 526 is fixed to the little finger connecting shaft 5233.

[0159] When the first drive motor of the little finger drives the first bevel gear 5231 of the little finger to rotate, the second bevel gear 5232 of the little finger drives the connecting shaft 5233 of the little finger to rotate, thereby driving the winding wheel 526 of the little finger to rotate. This causes the winding wheel 526 of the little finger to release or wind up the little finger traction rope 525, thereby enabling the little finger body 51 to bend or straighten relative to the mounting base 101. For example, if the first drive motor of the little finger drives the winding wheel 526 of the little finger to rotate and wind up the little finger traction rope 525 in the first direction, then the little finger body 51 bends relative to the mounting base 101. Conversely, if the first drive motor of the little finger drives the winding wheel 526 of the little finger to rotate and release the little finger traction rope 525 in the second direction, then the little finger body 51 can gradually straighten relative to the mounting base 101 from a bent state.

[0160] It should be understood that, in addition to being a combination of the first bevel gear 5231, the second bevel gear 5232, and the connecting shaft 5233, the little finger drive assembly 523 can also be a combination of a worm gear, a worm, and the connecting shaft 5233. The worm gear is connected to the connecting shaft 5233, and the worm is installed at the output end of the first drive motor of the little finger. In this way, the little finger connecting shaft 5233 can be driven to rotate to drive the little finger winding wheel 526 to rotate, so as to release or wind up the little finger traction rope 525.

[0161] In some embodiments, such as Figure 12a and Figure 12bAs shown, the little finger drive mechanism 52 also includes at least two little finger torsion springs 527. These two torsion springs 527 are spaced apart on the little finger body 51. The little finger torsion springs 527 are configured to be in a torsional state when the little finger winding wheel 526 winds up the little finger traction rope 525, and to recover their deformation when the little finger winding wheel 526 releases the little finger traction rope 525, thereby switching the little finger body 51 from a bent state to a straight state. In this embodiment, there are two little finger torsion springs 527, namely a first little finger torsion spring 527 and a second little finger torsion spring 527. The first little finger torsion spring 527 is sleeved on the first little finger pivot 514, and its two ends abut against two first little finger blocking members 516, respectively. The second little finger torsion spring 527 is sleeved on the second little finger pivot 515, and its two ends abut against two second little finger blocking members 517, respectively.

[0162] Thus, when all three phalanges of the little finger body 51 are in a flexed state, equivalent to the mounting base 101, the first little finger torsion spring 527 and the second little finger torsion spring 527 are both under pressure and twisted. By utilizing the traction force of the little finger traction rope 525 and the force of the two little finger torsion springs 527, the little finger can be in a stable flexed or extended state when the first little finger drive motor stops winding the little finger traction rope 525.

[0163] In some embodiments, such as Figure 2 As shown, the mechanical finger 1200 also includes a thumb unit 1. The bionic robotic hand 1000 also includes a thumb swing mechanism 8, which is mounted on the mounting base 101 and connected to the thumb unit 1. The thumb swing mechanism 8 is configured to drive the thumb unit 1 to move closer to or away from the index finger unit 2 to adjust the distance between the thumb unit 1 and the index finger unit 2; and to drive the thumb unit 1 to swing relative to the index finger unit 2 toward or away from the mounting base 101.

[0164] Specifically, the thumb swing mechanism 8 drives the thumb unit 1 to move closer to or further away from the index finger unit 2, thereby adjusting the distance between the thumb unit 1 and the index finger unit 2. This movement is equivalent to adjusting the opening size of the web between the thumb and index finger of a human hand. For example, as shown... Figure 2 and Figure 13 The difference in effect shown is that when the thumb unit 1 and index finger unit 2 perform the operation of merging the mechanical finger 1200, the distance between the thumb unit 1 and index finger unit 2 is the smallest, which is approximately the same as when the web of the human hand is closed. For example, when the thumb unit 1 moves away from the index finger unit 2, the distance between the thumb unit 1 and index finger unit 2 increases, which is equivalent to the opening size of the web of the human hand gradually increasing.

[0165] When the thumb swing mechanism 8 drives the thumb unit 1 to swing relative to the index finger unit 2 toward the mounting base 101, or to swing away from the mounting base 101, such as... Figure 2 and Figure 14 The difference in effect is shown. It is understandable that the swinging of thumb unit 1 relative to index finger unit 2 towards the mounting base 101 refers to the rotational movement of the end of thumb unit 1 away from the mounting base 101, thus causing it to swing relative to index finger unit 2 towards the mounting base 101. When thumb unit 1 reaches its limit position, it is positioned above the mounting base 101. The swinging of thumb unit 1 away from the mounting base 101 refers to the swinging of the end of thumb unit 1 away from the mounting base 101, that is, swinging from a position close to the mounting base 101 towards a position away from the mounting base 101. It should be noted that when the thumb swinging mechanism 8 drives the swinging of thumb unit 1 relative to index finger unit 2, it is a rotational movement around the direction in which index finger unit 2 extends out of the mounting base 101, with the end of thumb unit 1 connected to the mounting base 101 as the fulcrum.

[0166] In some embodiments, please combine Figure 2 and Figure 15 The thumb swing mechanism 8 includes a swing member 81 and a first drive assembly 82. One end of the swing member 81 is connected to the thumb unit 1, and the other end of the swing member 81 is connected to the first drive assembly 82. The first drive assembly 82 is connected to the mounting base 101. The first drive assembly 82 drives the swing member 81 to move the thumb unit 1 to adjust the distance between the thumb unit 1 and the index finger unit 2, or to adjust the swing of the thumb unit 1 relative to the index finger unit 2.

[0167] In some embodiments, such as Figure 16 and Figure 17 As shown, the swing member 81 includes a connecting block 811, a mounting block 812, and a limiting block 813. One end of the connecting block 811 is connected to both the limiting block 813 and the mounting block 812, and the other end of the connecting block 811 is connected to the first drive assembly. The connecting block 811 has several first connecting holes 8111 and first mounting openings 8112. The mounting block 812 has a second mounting opening 8121 for mounting the thumb unit 1. The limiting block 813 has a threading opening 8131.

[0168] The structure of the first drive component 82 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 81 can drive the thumb unit 1 to move.

[0169] In some embodiments, such as Figure 16 and Figure 17As shown, the mounting base 101 includes a first mounting seat 1011, and the first drive assembly 82 includes a first drive shaft 821, a first gear set 822, and a drive motor assembly 823. The first drive shaft 821 is rotatably mounted on the first mounting seat 1011. The first gear set 822 and the swing member 81 are both movably mounted on the first drive shaft 821. The drive motor assembly 823 is mounted on the mounting base 101, and its output end is connected to the first gear set 822. The drive motor assembly 823 is configured to drive the swing member 81 to rotate around the first drive shaft 821 in a first working state to adjust the distance between the thumb unit 1 and the index finger unit 2; and in a second working state, to drive the swing member 81 and the first drive shaft 821 to rotate in the same direction, so that the thumb unit 1 swings with the swing member 81, and the swing direction includes either towards the mounting base 101 or away from the mounting base 101.

[0170] In some embodiments, such as Figure 16 and Figure 17 As shown, the first transmission shaft 821 includes a shaft body 8211 and a cam shaft 8212 connected to each other. The shaft body 8211 and the cam shaft 8212 are used together to set the first gear set 822. The shaft body 8211 extends along the first axis L1, and the cam shaft 8212 extends along the second axis L2. The first axis L1 and the second axis L2 are perpendicular to each other. In this embodiment, the swing member 81 rotates around the second axis L1. The shaft body 8211 is a hollow shaft and is provided with a first wire hole 821a and a second wire hole 821b communicating with the outside. The second wire hole 821b communicates with the wire outlet hole 1012 of the first mounting base 1011.

[0171] In some embodiments, such as Figure 16 and Figure 17 As shown, the first gear set 822 includes a first transmission bevel gear 8221, a second transmission bevel gear 8222, and a third transmission bevel gear 8223. The first transmission bevel gear 8221 and the second transmission bevel gear 8222 are spaced apart on the shaft body 8211 along the first axis L1 of the first transmission shaft 821. The third transmission bevel gear 8223 is located on the cam shaft 8212. The third transmission bevel gear 8223 meshes with the first transmission bevel gear 8221 and the second transmission bevel gear 8222 respectively. The first transmission bevel gear 8221 and the second transmission bevel gear 8222 rotate around the first axis L1, and the third transmission bevel gear 8223 rotates around the second axis L2. The third transmission bevel gear 8223 is fixedly connected to the swing member 81. In this embodiment, the third transmission bevel gear 8223 is provided with a threaded hole (not shown) that mates with the first connecting hole 8111. After the threaded hole and the first connecting hole 8111 are aligned, they can be connected by bolts or screws, so that the first connecting block 811 and the third transmission bevel gear 8223 are fixed.

[0172] When the drive motor assembly 823 is in the first working state, and the first transmission bevel gear 8221 and the second transmission bevel gear 8222 rotate at different speeds relative to the first transmission shaft 821, the third transmission bevel gear 8223 drives the swing member 81 to rotate along the second axis L2. At this time, the third transmission bevel gear 8223 rotates in place without moving relative to the shaft body 8211. The first connecting block 811 rotates around the second axis L2 along with the rotation of the third transmission bevel gear 8223, thereby driving the thumb unit 1 to rotate around the second axis L2, realizing the adjustment of the distance between the thumb unit 1 and the index finger unit 2. Figure 2 and Figure 13 The different positions of the thumb unit shown correspond to the movement of a human hand adjusting the size of its thumb and forefinger when the drive motor assembly 823 is in its first operating state. The rotational speed of the first transmission bevel gear 8221 relative to the first transmission shaft 821 includes the direction and rotational speed of the first transmission bevel gear 8221. The rotational speed of the second set of gears relative to the first transmission shaft 821 includes the direction and rotational speed of the second transmission bevel gear 8222.

[0173] The first transmission bevel gear 8221 and the second transmission bevel gear 8222 rotate at different speeds relative to the first transmission shaft 821. This could be due to the first transmission bevel gear 8221 and the second transmission bevel gear 8222 rotating in different directions or rotating at different speeds.

[0174] When the drive motor assembly 823 is in the second working state, the first transmission bevel gear 8221 and the second transmission bevel gear 8222 rotate at the same speed relative to the first transmission shaft 821. That is, when the first transmission bevel gear 8221 and the second transmission bevel gear 8222 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 transmission bevel gear 8223 to remain stationary between the first transmission bevel gear 8221 and the second transmission bevel gear 8222. The shaft body 8211 rotates and, under the action of the cam shaft 8212, drives the third transmission bevel gear 8223 to move between the first transmission bevel gear 8221 and the second transmission bevel gear 8222. The third transmission bevel gear 8223 will then drive the connecting block 811 to rotate around the first axis L1, thereby enabling the thumb unit 1 to swing towards the mounting base 101 or to swing away from the mounting base 101. Figure 2 and Figure 14 The thumb unit 1 is shown in different positions.

[0175] In some embodiments, such as Figure 16 and Figure 17As shown, the first transmission bevel gear 8221 includes a first power gear ring 82211 and a first meshing gear ring 82212. The tooth units of the first power gear ring 82211 and the first meshing gear ring 82212 are inclined in two opposite directions. The first power gear ring 82211 is used to connect with the drive motor assembly 823, and the first meshing gear ring 82212 is used to mesh with the third transmission bevel gear 8223.

[0176] In some embodiments, such as Figure 16 and Figure 17 As shown, the second transmission bevel gear 8222 includes a second power gear ring 82221 and a second meshing gear ring 82222. The inclination direction of the tooth units in the second power gear ring 82221 and the second meshing gear ring 82222 is the same. The second power gear ring 82221 is used to connect with the drive motor assembly 823, and the second meshing gear ring 82222 is used to mesh with the third transmission bevel gear 8223.

[0177] In some embodiments, such as Figure 17 As shown, the first drive assembly 82 also includes a first bearing 824, a second bearing 825, and a third bearing 826. The inner rings of the first bearing 824 and the second bearing 825 are both fitted onto the shaft body 8211. The outer ring of the first bearing 824 is fixed to the first transmission bevel gear 8221, the outer ring of the second bearing 825 is fixed to the second transmission bevel gear 8222, the inner ring of the third bearing 826 is fitted onto the cam shaft 8212, and the outer ring of the third bearing 826 is fixed to the third transmission bevel gear 8223. This reduces frictional resistance and improves the stability of the thumb swing mechanism 8.

[0178] In some embodiments, such as Figure 17 As shown, the drive motor assembly 823 includes a first power motor 8231 and a second power motor 8232. Both the first power motor 8231 and the second power motor 8232 are mounted on the first mounting base 1011. The output end of the first power motor 8231 is connected to the first transmission bevel gear 8221, and the output end of the second power motor 8232 is connected to the second transmission bevel gear 8222. In this embodiment, the output end of the first power motor 8231 is connected to the first power gear ring 82211, and the output end of the second power motor 8232 is connected to the second power gear ring 82221.

[0179] In some embodiments, such as Figure 17As shown, the first power motor 8231 and the second power motor 8232 are located on the same side of the first transmission shaft 821, meaning that the output ends of both motors are located on the same side of the first transmission shaft 821. The output end of the first power motor 8231 is located in the gap between the first transmission bevel gear 8221 and the second transmission bevel gear 8222. This design avoids the drive motor assembly 823 occupying too much space, resulting in a compact thumb-swinging mechanism 8 and reducing the overall size of the bionic robotic hand 1000.

[0180] In some other embodiments, the first power motor 8231 and the second power motor 8232 are located on different sides of the first drive shaft 821, that is, the output ends of the first power motor 8231 and the second power motor 8232 are located on both sides of the first drive shaft 821.

[0181] In some embodiments, such as Figure 17 As shown, the thumb swing mechanism 8 also includes a first feedback component 83, which is disposed on the first mounting base 1011 and located at one end of the first transmission shaft 821. The first feedback component 83 is used to detect the rotation angle of the first transmission shaft 821. In this embodiment, the first feedback component 83 includes a first Hall angle sensor 831 and a first magnet 832. The first magnet 832 is disposed on the first mounting base 1011 and located at one end of the first transmission shaft 821, and the first Hall angle sensor 831 is disposed on the first magnet 832. The first Hall angle sensor 831 is used to detect the rotation angle of the first transmission shaft 821. Thus, by detecting the first Hall angle sensor 831, the rotation angle of the first transmission shaft 821 relative to the first mounting base 1011 can be obtained, thereby indirectly knowing the rotation angle of the swing member 81 around the first axis L1 with the first transmission shaft 821, and thus obtaining the swing data of the thumb unit 1, which is beneficial for realizing real-time motion data feedback.

[0182] In some embodiments, such as Figure 17 As shown, the first mounting base 1011 has a first mounting hole (not shown), and the first feedback component 83 also includes a first magnet mounting base 833, which is located in the first mounting hole, and the first magnet 832 is located in the first magnet mounting base 833. This can constrain the first magnet 832 and prevent the first magnet 832 from detaching from the first mounting base 1011.

[0183] In some embodiments, such as Figure 15 and Figure 17As shown, the thumb swing mechanism 8 also includes a second feedback component 84, which is disposed at the first mounting port 8112 of the swing member 81. The second feedback component 84 is used to detect the angle of rotation of the swing member 81 around the second axis L2 of the first transmission shaft 821. In this embodiment, the second feedback component 84 includes a second magnet 842 and a second Hall angle sensor 841. The second magnet 842 is disposed at the end of the swing member 81 that is connected to the third transmission bevel gear 8223, and the second Hall angle sensor 841 is disposed at the second magnet 842. The second Hall angle sensor 841 is used to detect the angle of rotation of the swing member 81 around the second axis L2 of the first transmission shaft 821. Thus, the angle of rotation of the third transmission bevel gear 8223 around the second axis L2 of the first transmission shaft 821 can be obtained through the detection of the second Hall angle sensor 841, thereby obtaining the angle of rotation of the swing member 81 around the second axis L2, and thus determining the angle of swing of the thumb unit 1 toward the index finger unit 2, thereby obtaining the real-time size of the tiger's mouth, which is beneficial for realizing real-time motion data feedback.

[0184] The above structure allows for movement in two degrees of freedom for the thumb unit 1. One degree of freedom is the movement of the thumb unit 1 towards or away from the index finger unit 2 when the thumb swing mechanism 8 is in its first working state. This degree of freedom can be used to adjust the size of the thumb's web to simulate the human hand's grip size for picking up objects. The other degree of freedom is the swing of the thumb unit 1 relative to the index finger unit 2 towards the mounting base 101 or away from the mounting base 101 when the thumb swing mechanism 8 is in its second working state. This degree of freedom allows the thumb unit 1 to perform more complex operations in conjunction with the mounting base 101 or other mechanical finger units 1200.

[0185] In some embodiments, such as Figure 18a and Figure 18b As shown, the bionic robotic hand 1000 also includes a thumb drive mechanism 9, which includes a thumb mounting base 91, a first thumb drive mechanism 92, and a second thumb drive mechanism 93. The thumb mounting base 91 is mounted on the swing member 81, the first thumb drive mechanism 92 is mounted on the thumb mounting base 91, and the second thumb drive mechanism 93 is mounted on the thumb unit 1 and the mounting base 101.

[0186] Among them, such as Figure 18a and Figure 18bAs shown, the thumb unit 1 includes a first thumb joint 11 and a second thumb joint 12 connected to each other. The second thumb joint 12 is connected to the thumb mounting base 91. The first thumb driving mechanism 92 is connected to the second thumb joint 12. The second thumb driving mechanism 93 is connected to the first thumb joint 11, the second thumb joint 12 and the mounting base 101 respectively. The first thumb driving mechanism 92 is used to drive the second thumb joint 12 to rotate relative to the thumb mounting base 91. The second thumb driving mechanism 93 is used to drive the first thumb joint 11 to rotate relative to the second thumb joint 12.

[0187] Thus, under the action of the first thumb drive mechanism 92 and the second thumb drive mechanism 93, the rotation of the first thumb joint 11 and the second thumb joint 12 can be controlled respectively, increasing the flexibility of the thumb unit 1 and making it easier to complete more complex operation commands.

[0188] In some embodiments, such as Figure 18a and Figure 18b As shown, the first thumb drive mechanism 92 includes a first thumb drive motor 921, a thumb drive assembly 922, and a thumb connecting shaft 923. The first thumb drive motor 921 is mounted on the thumb mounting base 91, and the output end of the first thumb drive motor 921 is connected to the thumb drive assembly 922. The thumb drive assembly 922 is mounted on the thumb mounting base 91, and the thumb connecting shaft 923 is connected to the thumb drive assembly 922 and the second thumb joint 12. The thumb drive assembly 922 is configured to drive the thumb connecting shaft 923 to rotate under the drive of the first thumb drive motor 921, so that the second thumb joint 12 rotates relative to the thumb mounting base 91, thereby realizing the rotation of the second thumb joint 12 relative to the mounting base 101.

[0189] In some embodiments, such as Figure 18a and Figure 18b As shown, the thumb drive assembly 922 includes a meshing thumb first bevel gear 9221 and a thumb second bevel gear 9222. The thumb first bevel gear 9221 is connected to the output end of the thumb first drive motor 921. The thumb second bevel gear 9222 is rotatably mounted on the thumb mounting base 91. One end of the thumb connecting shaft 923 is connected to the thumb second bevel gear 9222, and the other end of the thumb connecting shaft 923 is connected to the thumb mounting base 91. When the thumb first drive motor 921 drives the thumb first bevel gear 9221 to rotate, the thumb second bevel gear 9222 drives the thumb connecting shaft 923 to rotate, thereby causing the second thumb joint 12 to rotate around the axis of the thumb connecting shaft 923, thus realizing the rotation of the second thumb joint 12 relative to the mounting base 101.

[0190] It should be understood that, in addition to the first bevel gear 9221 and the second bevel gear 9222 of the thumb, the thumb drive assembly 922 can also be a combination of a worm gear and a worm. The worm gear is connected to the thumb connecting shaft 923, and the worm is installed at the output end of the first thumb drive motor 921. In this way, the thumb connecting shaft 923 can be driven to rotate, thereby driving the second thumb segment 12 to rotate around the axis of the thumb connecting shaft 923.

[0191] In some embodiments, such as Figure 18a , Figure 18b and Figure 19 As shown, the second thumb drive mechanism 93 includes a second thumb drive motor 931, a thumb guide wheel assembly 932, and a thumb traction rope 933. The second thumb drive motor 931 is mounted on the mounting base 101. The thumb guide wheel assembly 932 is respectively disposed on the first thumb joint 11 and the second thumb joint 12. The thumb traction rope 933 is wound around the thumb guide wheel assembly 932 in a preset winding manner, with one end of the thumb traction rope 933 connected to the first thumb joint 11 and the other end of the thumb traction rope 933 extending out of the thumb unit 1 and connected to the second drive motor. In this embodiment, after the other end of the thumb traction rope 933 extends out of the thumb unit 1, it passes through the threading opening 8131 of the limiting block 813 and extends into the first threading hole 821a, and then extends out of the exit hole 1012 from the second threading hole 821b and is wound around the second thumb drive motor 931. This helps to constrain the thumb traction rope 933, reduce the risk of the thumb traction rope 933 swinging randomly, and improve the stability of the second thumb drive mechanism 93 driving the thumb unit 1 to bend.

[0192] When the output end of the second thumb drive motor 931 rotates to retract the thumb traction rope 933, the first thumb joint 11 rotates relative to the second thumb joint 12 to put the thumb unit 1 in a flexed state; when the output end of the second thumb drive motor 931 rotates to release the thumb traction rope 933, the first thumb joint 11 rotates in the opposite direction relative to the second thumb joint 12 to put the thumb unit 1 in an extended state.

[0193] Through the aforementioned first thumb drive mechanism 92 and second thumb drive mechanism 93, at least one of the first thumb joint 11 and the second thumb joint 12 can rotate relative to the mounting base 101, thereby enabling the thumb unit 1 to be in a flexed or extended state. Furthermore, by combining the thumb swing mechanism 8 to adjust the swing of the thumb unit 1 relative to the mounting base 101, the flexibility of the thumb unit 1 is increased, allowing it to perform more complex operational commands and improving the user experience.

[0194] In some embodiments, please refer again Figure 9At least one of the four units—index finger unit 2, middle finger unit 3, ring finger unit 4, and little finger unit 5—is provided with a locking hole 102. The bionic robotic hand 1000 also includes a locking element (not shown). The mounting base 101 is provided with a clearance hole 103 communicating with the locking hole 102. The locking element passes through the clearance hole 103 and connects to the locking hole 102. Thus, under the constraint of the locking element, the finger unit connected to the locking element can be restricted from swinging, which is equivalent to the mounting base 101. This allows the user to choose to lock any one of the four finger units according to their needs, providing better flexibility and improving the user experience. In this embodiment, the index finger unit 2, middle finger unit 3, ring finger unit 4, and little finger unit 5 are all provided with locking holes 102. The mounting base 101 is provided with four clearance holes 103, and there are four locking elements, with one locking element connected to one locking hole 102.

[0195] In some embodiments, the locking hole 102 is a threaded hole with threads on its inner wall, and the locking element is a screw.

[0196] It should be understood that if a user wants to drive one or two of the middle finger unit 3, ring finger unit 4, and little finger unit 5 to swing through the second finger swinging mechanism 7, the finger unit that needs to be constrained can be locked by the locking member. Under the drive of the second finger swinging motor 71, the unlocked finger unit can still swing normally relative to the mounting base 101, while the finger unit constrained by the locking member cannot swing at this time. Meanwhile, the three second pulleys 722 on the output end of the second finger swinging motor 71 rotate simultaneously to wind up the second traction rope 721. At this time, the elastic tension member 726 connected to the finger unit constrained by the locking member will be further stretched by the tension of the second traction rope 721, which avoids the other two finger units from being affected by the inability of the finger unit constrained by the locking member to swing. This is conducive to realizing the individual swinging of one or both of the middle finger unit 3, ring finger unit 4, and little finger unit 5, and improves the user experience.

[0197] For ease of understanding, taking the middle finger unit 3, which is constrained by the locking member, as an example, under the drive of the second finger-swinging motor 71, the ring finger unit 4 and the little finger unit 5 are allowed to swing by the second traction rope 721. However, the middle finger unit 3, constrained by the locking member, will not be able to swing relative to the mounting base 101. The second traction rope 721 connected to the middle finger unit 3 will be wound up as the second finger-swinging motor 71 drives the second spool 722 to rotate. At this time, the elastic tension member 726 connected to the middle finger unit 3 will be stretched to ensure that the ring finger unit 4 and the little finger unit 5 can swing normally relative to the mounting base 101.

[0198] In some embodiments, such as Figure 2As shown, the bionic robotic hand also includes multiple force-tactile sensors 15. These force-tactile sensors 15 are located on the mechanical fingers 1200, meaning that force-tactile sensors 15 can be installed on the thumb unit 1, index finger unit 2, middle finger unit 3, ring finger unit 4, and little finger unit 5, and can be installed on each joint of each finger unit. For ease of understanding, taking the thumb unit 1 and index finger unit 2 as examples, force-tactile sensors can be installed on the first thumb joint 11 and the second thumb joint 12 of the thumb unit 1. Similarly, force-tactile sensors 15 can be installed on the first index joint 211, the second index joint 212, and the third index joint 213 of the index finger unit 2.

[0199] The force sensor 15 can detect the force applied to the mechanical finger 1200 and the location of the force. In this embodiment, each phalanx of the thumb unit 1, index finger unit 2, middle finger unit 3, ring finger unit 4, and little finger unit 5 is equipped with a force sensor 15 to obtain the status of the bionic mechanical hand 1000 in real time.

[0200] In some embodiments, such as Figure 3 As shown, the bionic robotic hand 1000 also includes a control board 16, which is connected to the first finger-swinging motor 61, the second finger-swinging motor 71, the first index finger drive motor 221, the second index finger drive motor 231, the first middle finger drive motor 321, the second middle finger drive motor 331, the ring finger drive motor 421, the little finger drive motor 521, the drive motor group 823, the first thumb drive motor 921, and the second thumb drive motor 931. The control board 16 is used to control the robotic finger 1200 to execute input action commands, such as finger flexion commands, finger opposition commands, and opening the tiger's mouth commands.

[0201] In some embodiments, such as Figure 1 As shown, the bionic robotic arm 1000 also includes a protective shell 17, which is fitted onto the mounting base plate to protect the mounting base plate and other structures. The protective shell 17 can be a rubber sleeve, a leather sleeve, a plastic shell, or other materials, as long as it can protect the mounting base plate 101 and other structures.

[0202] The bionic robotic hand 1000 provided in this application embodiment includes a robotic palm 1100, robotic fingers 1200, and a first finger-swinging mechanism 6. The robotic palm 1100 includes a mounting base 101. The robotic fingers 1200 include an index finger unit 2 and a middle finger unit 3, both of which are connected to the mounting base 101. Both the index finger unit 2 and the middle finger unit 3 are configured to be in a flexed or extended state relative to the mounting base 101. The first finger-swinging mechanism 6 includes a first finger-swinging motor 61 and a first finger-swinging assembly 62. The first finger-swinging assembly 62 is connected to the mounting base 101, the index finger unit 2, and the first finger-swinging motor 61. The first finger-swinging motor 61 is configured to drive the index finger unit 2 to swing away from the middle finger unit 3 under the action of the first finger-swinging assembly 62 when driven in a first direction, and to swing the index finger unit 2 towards the middle finger unit 3 when driven in a second direction. The first direction and the second direction are opposite. Thus, under the action of the first finger-swinging mechanism 6, the index finger unit 2 can swing relative to the middle finger unit 3 to adjust the distance between the two, increasing the flexibility of the index finger unit 2, which is conducive to completing more complex operation commands and is more convenient to use.

[0203] Another embodiment of this application provides a robot including the bionic robotic arm 1000 from the above embodiments and a robot body, wherein the bionic robotic arm 1000 is mounted on the robot body.

[0204] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A bionic robotic hand, characterized in that, include: Mechanical hand, including mounting base; The mechanical finger includes an index finger unit and a middle finger unit, both of which are connected to the mounting base. Both the index finger unit and the middle finger unit are configured to be in a flexed or extended state relative to the mounting base. The first finger-swinging mechanism includes a first finger-swinging motor and a first finger-swinging assembly. The first finger-swinging assembly is connected to the mounting base, the index finger unit, and the first finger-swinging motor. The first finger-swinging motor is configured to drive the index finger unit to swing away from the middle finger unit under the action of the first finger-swinging assembly when driven in a first direction, and to drive the index finger unit to swing closer to the middle finger unit when driven in a second direction. The first direction is opposite to the second direction.

2. The bionic robotic hand according to claim 1, characterized in that, The first swing finger assembly includes a first traction rope, a first reel, a first connector, and a first rotating shaft. The first connector is connected to one end of the index finger unit near the mounting base. The first rotating shaft rotatably connects the mounting base and the end of the index finger unit near the mounting base. The first reel is connected to the output end of the first swing finger motor. One end of the first traction rope is connected to the first reel, and the other end of the first traction rope is fixed to the first connector. When the output of the first swivel motor drives the first reel to rotate in the first direction to wind up the first traction rope, the index finger unit swings away from the middle finger unit around the first axis; when the output of the first swivel motor drives the first reel to rotate in the second direction to release the first traction rope, the index finger unit swings towards the middle finger unit around the first axis.

3. The bionic robotic hand according to claim 2, characterized in that, The first finger swing assembly further includes a first reset member, one end of which is connected to the first connector and the other end of which is connected to the mounting base. The first reset member is configured to abut against the first connector when the first spool releases the first traction rope, so that the index finger unit swings about the first pivot towards the middle finger unit.

4. The bionic robotic hand according to any one of claims 1-3, characterized in that, The index finger unit includes an index finger body, a first index finger driving mechanism, and a second index finger driving mechanism. The index finger body includes a first index finger joint, a second index finger joint, and a third index finger joint connected in sequence. The third index finger joint is connected to both the first index finger driving mechanism and the second index finger driving mechanism. The second index finger driving mechanism is connected to both the first index finger joint and the second index finger joint. The first index finger driving mechanism drives the third index finger joint to rotate relative to the mounting base. The second index finger driving mechanism drives both the first and second index finger joints to rotate relative to the third index finger joint.

5. The bionic robotic hand according to claim 4, characterized in that, The index finger first driving mechanism includes an index finger first driving motor, an index finger driving component, an index finger connecting shaft, and an index finger mounting base. The index finger first driving motor and the index finger mounting base are both mounted on the mounting base. The index finger driving component is mounted on the index finger mounting base. The index finger driving component is connected to both the index finger first driving motor and the index finger connecting shaft. The index finger connecting shaft is connected to the third index finger joint. The index finger first driving motor is connected to the index finger driving component. The index finger driving component is configured to drive the index finger connecting shaft to rotate under the drive of the index finger first driving motor, so that the third index finger joint rotates relative to the mounting base. Alternatively, the second index finger drive mechanism includes a second index finger drive motor, an index finger guide wheel assembly, an index finger traction rope, an index finger reel, and at least two index finger torsion springs. The second index finger drive motor is mounted on the mounting base, the index finger guide wheel assembly is mounted on the index finger body, the index finger reel is mounted on the output end of the second index finger drive motor, the index finger traction rope is wound around the index finger guide wheel assembly in a preset winding manner, one end of the index finger traction rope is connected to the first index finger joint, the other end of the index finger traction rope is connected to the index finger reel, and at least two index finger torsion springs are spaced apart on the index finger body. When the output end of the second drive motor of the index finger drives the index finger reel to rotate to wind up the index finger traction rope, the first index finger joint and the second index finger joint rotate relative to the third index finger joint, so that the index finger unit is in a flexed state, and at least two index finger torsion springs are in a torsional state. When the output end of the second drive motor of the index finger drives the index finger pulley to rotate to release the index finger traction rope, the first index finger joint and the second index finger joint rotate relative to the third index finger joint, and the index finger torsion spring restores its deformation so that the index finger unit is in a straight state.

6. The bionic robotic hand according to claim 4, characterized in that, The middle finger unit includes a middle finger body, a first middle finger drive mechanism, and a second middle finger drive mechanism. The middle finger body includes a first middle finger joint, a second middle finger joint, and a third middle finger joint connected in sequence. The third middle finger joint is connected to both the first and second middle finger drive mechanisms. The second middle finger drive mechanism is connected to both the first and second middle finger joints. The first middle finger drive mechanism drives the third middle finger joint to rotate relative to the mounting base. The second middle finger drive mechanism drives both the first and second middle finger joints to rotate relative to the third middle finger joint.

7. The bionic robotic hand according to claim 6, characterized in that, The middle finger first drive mechanism includes a middle finger first drive motor, a middle finger drive assembly, and a middle finger connecting shaft. The middle finger first drive motor is mounted on the mounting base. The middle finger drive assembly is connected to both the middle finger first drive motor and the middle finger connecting shaft. The middle finger connecting shaft is connected to the third middle finger joint. The first drive motor is connected to the middle finger drive assembly. The drive assembly is configured to drive the middle finger connecting shaft to rotate under the drive of the first drive motor, so that the third middle finger joint rotates relative to the mounting base. Alternatively, the second driving mechanism for the middle finger includes a second driving motor for the middle finger, a middle finger guide wheel assembly, a middle finger traction rope, a middle finger reel, and at least two middle finger torsion springs. The second driving motor for the middle finger is located on the mounting base, the middle finger guide wheel assembly is located on the middle finger body, the middle finger reel is mounted on the output end of the second driving motor for the middle finger, the middle finger traction rope is wound around the middle finger guide wheel assembly in a predetermined winding manner, one end of the middle finger traction rope is connected to the first middle finger joint, the other end of the middle finger traction rope is connected to the second driving motor for the middle finger, and at least two middle finger torsion springs are spaced apart on the middle finger body. When the output end of the second drive motor of the middle finger rotates to drive the middle finger reel to wind the middle finger traction rope, the first middle finger joint and the second middle finger joint rotate relative to the third middle finger joint, so that the middle finger unit is in a flexed state, and at least two middle finger torsion springs are in a torsional state. When the output end of the second drive motor of the middle finger rotates to drive the middle finger reel to release the middle finger traction rope, the first middle finger joint and the second middle finger joint rotate relative to the third middle finger joint, and the middle finger torsion spring restores its deformation so that the middle finger unit is in a straight state.

8. The bionic robotic hand according to claim 1, characterized in that, The mechanical finger also includes a ring finger unit and a little finger unit, both of which are connected to the mounting base; The bionic robotic hand also includes a second finger-swinging mechanism, which includes a second finger-swinging motor mounted on the mounting base and three sets of second finger-swinging components. One end of each of the three sets of second finger-swinging components is connected to the second finger-swinging motor, and the other end of each set of second finger-swinging components is connected to the middle finger unit, the ring finger unit, and the little finger unit, respectively. The second oscillating finger motor is configured to drive the middle finger unit, the ring finger unit, and the little finger unit to swing together in the same direction away from the index finger unit when driven along the first winding direction, under the action of the three sets of the second oscillating finger components, and when driven along the second winding direction, the middle finger unit, the ring finger unit, and the little finger unit to swing together in the direction closer to the index finger unit, wherein the first winding direction and the second winding direction are opposite.

9. The bionic robotic hand according to claim 8, characterized in that, Each of the second pendulum components includes a second traction rope, a second reel, a second connector, and a second pivot. The second connector is connected to one end of the preset finger unit near the mounting base. The second rotating shaft rotatably connects the mounting base and the end of the preset finger unit near the mounting base. The second reel is connected to the output end of the second finger-swinging motor. One end of the second traction rope is connected to the second reel, and the other end of the second traction rope is fixed to the second connector. The preset finger unit is any one of the middle finger unit, the ring finger unit, and the little finger unit. When the output of the second swivel motor drives all three second spools to rotate along the first winding direction to wind up the three second traction ropes, the middle finger unit, the ring finger unit, and the little finger unit all swing away from the index finger unit; when the output of the second swivel motor drives all three second spools to rotate along the second winding direction to release the three second traction ropes, the middle finger unit, the ring finger unit, and the little finger unit all swing towards the index finger unit.

10. The bionic robotic hand according to claim 9, characterized in that, Each set of the second swing finger assembly also includes an elastic tension member. The second traction rope includes a first traction rope and a second traction rope. The two ends of the elastic tension member are respectively connected to one end of the first traction rope and one end of the second traction rope. The other end of the first traction rope is connected to the second connector, and the other end of the second traction rope is connected to the second reel.

11. The bionic robotic hand according to claim 8, characterized in that, The ring finger unit includes a ring finger body and a ring finger driving mechanism. The ring finger body and the ring finger driving mechanism are connected. The ring finger driving mechanism is used to drive the ring finger body to bend or straighten relative to the mounting base.

12. The bionic robotic hand according to claim 11, characterized in that, The ring finger driving mechanism includes a ring finger drive motor, a ring finger mounting base, a ring finger drive assembly, a ring finger guide wheel assembly, a ring finger traction rope, and a ring finger take-up reel. The ring finger drive motor and the ring finger mounting base are both mounted on the mounting base. The ring finger drive assembly is connected to the output end of the ring finger mounting base, the ring finger take-up reel, and the ring finger drive motor, respectively. The ring finger guide wheel assembly is located on the ring finger body. The ring finger traction rope is wound around the ring finger guide wheel assembly in a preset winding manner. One end of the ring finger traction rope is connected to the end of the ring finger body away from the mounting base, and the other end of the ring finger traction rope is connected to the ring finger take-up reel. When the output end of the ring finger drive motor drives the ring finger take-up wheel to rotate through the ring finger drive assembly to take up the ring finger traction rope, the ring finger body bends relative to the mounting base, and when the output end of the ring finger drive motor drives the ring finger take-up wheel to release the ring finger traction rope, the ring finger body straightens relative to the mounting base.

13. The bionic robotic hand according to claim 8, characterized in that, The little finger unit includes a little finger body and a little finger driving mechanism. The little finger body and the little finger driving mechanism are connected. The little finger driving mechanism is used to drive the little finger body to bend or straighten relative to the mounting base.

14. The bionic robotic hand according to claim 13, characterized in that, The little finger drive mechanism includes a little finger drive motor, a little finger mounting base, a little finger drive assembly, a little finger guide wheel assembly, a little finger traction rope, and a little finger take-up reel. The little finger drive motor and the little finger mounting base are both mounted on the mounting base. The little finger drive assembly is connected to the little finger mounting base, the little finger take-up reel, and the output end of the little finger drive motor, respectively. The little finger guide wheel assembly is located on the little finger body. The little finger traction rope is wound around the little finger guide wheel assembly in a preset winding manner. One end of the little finger traction rope is connected to the end of the little finger body away from the mounting base, and the other end of the little finger traction rope is connected to the little finger take-up reel. When the output end of the little finger drive motor drives the little finger take-up wheel to rotate through the little finger drive assembly to take up the little finger traction rope, the little finger body bends relative to the mounting base, and when the output end of the little finger drive motor drives the little finger take-up wheel to release the little finger traction rope, the little finger body straightens relative to the mounting base.

15. The bionic robotic hand according to claim 1, characterized in that, The mechanical finger also includes a thumb unit; The bionic robotic hand also includes a thumb swing mechanism, which is mounted on the mounting base and connected to the thumb unit. The thumb swing mechanism is configured to drive the thumb unit to move closer to or away from the index finger unit to adjust the distance between the thumb unit and the index finger unit; and to drive the thumb unit to swing relative to the index finger unit toward or away from the mounting base.

16. The bionic robotic hand according to claim 15, characterized in that, The thumb swing mechanism includes a swing member and a first drive assembly. One end of the swing member is connected to the thumb unit, and the other end of the swing member is connected to the first drive assembly. The first drive assembly is connected to the mounting base. The first drive assembly drives the swing member to move the thumb unit to adjust the distance between the thumb unit and the index finger unit, or to adjust the swing of the thumb unit relative to the index finger unit.

17. The bionic robotic hand according to claim 16, 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 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 mounting base or the direction away from the mounting base.

18. The bionic robotic hand according to claim 16, characterized in that, It also includes a thumb drive mechanism, which includes a thumb mounting base, a first thumb drive mechanism, and a second thumb drive mechanism. The thumb mounting base is mounted on the swing member, the first thumb drive mechanism is mounted on the thumb mounting base, and the second thumb drive mechanism is mounted on the thumb unit and the mounting base. The thumb unit includes a first thumb segment and a second thumb segment connected together. The second thumb segment is connected to the thumb mounting base. The first thumb driving mechanism is connected to the second thumb segment. The second thumb driving mechanism is connected to the first thumb segment, the second thumb segment, and the mounting base. The first thumb driving mechanism is used to drive the second thumb segment to rotate relative to the thumb mounting base. The second thumb driving mechanism is used to drive the first thumb segment to rotate relative to the second thumb segment.

19. The bionic robotic hand according to claim 18, characterized in that, The thumb first drive mechanism includes a thumb first drive motor, a thumb drive assembly, and a thumb connecting shaft. The thumb first drive motor is mounted on the thumb mounting base, and the output end of the thumb first drive motor is connected to the thumb drive assembly. The thumb drive assembly is mounted on the thumb mounting base, and the thumb connecting shaft is connected to the thumb drive assembly and the second thumb joint. The thumb drive assembly is configured to drive the thumb connecting shaft to rotate under the drive of the thumb first drive motor, so that the second thumb joint rotates in effect, equivalent to the thumb mounting base. Alternatively, the second thumb drive mechanism includes a second thumb drive motor, a thumb guide wheel assembly, and a thumb traction rope. The second thumb drive motor is mounted on the mounting base. The thumb guide wheel assembly is respectively located on the first thumb segment and the second thumb segment. The thumb traction rope is wound around the thumb guide wheel assembly in a preset winding manner, and one end of the thumb traction rope is connected to the first thumb segment. The other end of the thumb traction rope extends out of the thumb unit and is connected to the second drive motor. When the output end of the second drive motor of the thumb rotates to wind up the thumb traction rope, the first thumb segment rotates relative to the second thumb segment so that the thumb unit is in a flexed state. When the output end of the second drive motor of the thumb rotates to release the thumb traction rope, the first thumb segment rotates in the opposite direction to the second thumb segment so that the thumb unit is in an extended state.

20. A robot, characterized in that, Including the bionic robotic hand as described in any one of claims 1-19.

Images