Bionic finger, bionic hand and robot

Abstract

The utility model discloses a bionic finger, a bionic hand and a robot, and belongs to the technical field of robots. The bionic finger comprises a mounting frame, a first rotating piece, a finger mechanism, a driving mechanism and an elastic piece. The first rotating part is rotationally connected with the mounting frame; the finger mechanism is rotationally connected with the first rotating part, so that the finger mechanism can rotate relative to the mounting frame; the driving mechanism is arranged on the mounting frame, is in transmission connection with the finger mechanism and is used for driving the finger mechanism to rotate relative to the mounting frame; the elastic piece is arranged on the first rotating piece in a sleeving mode and connected with the driving mechanism and the finger mechanism. According to the bionic finger, in the process that the finger mechanism rotates clockwise or anticlockwise relative to the mounting frame under the action of external force or the action of the driving mechanism, under the elastic damping action of the elastic piece, the buffering and vibration reduction effects on the finger mechanism are achieved, damage caused by hard impact is effectively reduced, and therefore the service life of the bionic finger is prolonged.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a bionic finger, a bionic hand and a robot. Background Art

[0002] At present, bionic robots are increasingly used in all walks of life and can perform actions such as assembly and transportation.

[0003] The robot hand is an important joint part of the bionic robot. It can move with the robot body and can also make corresponding actions according to human-machine interaction instructions or internal control instructions. The bearing force of the robot hand to hold or open in the prior art is usually on the steel wire rope of the robot hand or the plastic parts wrapped around the fingers. This leads to the problem that the robot hand may be broken and damaged due to improper collision by users or passers-by in different usage scenarios, and the finger joints of the hand may also be damaged due to frequent use. Utility Model Content

[0004] In view of this, the purpose of this application is to overcome the deficiencies in the prior art and provide a bionic finger.

[0005] To solve the above technical problems, this application provides:

[0006] A bionic finger, comprising:

[0007] Mounting frame;

[0008] A first rotating member, rotatably connected to the mounting frame;

[0009] a finger mechanism, the finger mechanism being rotatably connected to the first rotating member so that the finger mechanism can rotate relative to the mounting frame;

[0010] A driving mechanism, the driving mechanism is disposed on the mounting frame and is transmission-connected to the finger mechanism, and is used to drive the finger mechanism to rotate relative to the mounting frame;

[0011] An elastic member is sleeved on the first rotating member and is respectively connected to the driving mechanism and the finger mechanism.

[0012] In addition, the bionic finger according to the present application may also have the following additional technical features:

[0013] In some embodiments of the present application, the driving mechanism includes a driving member, a transmission member, a moving member and a second rotating member, the moving member is sleeved on the transmission member, the output end of the driving member is connected to the transmission member, and is used to drive the transmission member to rotate, so as to drive the moving member to reciprocate along the axial direction of the transmission member, the end of the moving member away from the driving member is connected to the second rotating member and abuts against the finger mechanism, the second rotating member is sleeved on the first rotating member, and the elastic member is respectively connected to the second rotating member and the finger mechanism.

[0014] In some embodiments of the present application, the elastic member includes a spring body, a first torsion arm located at one end of the spring body, and a second torsion arm located at the other end of the spring body, the spring body and the first torsion arm and the second torsion arm are integrally formed, the first torsion arm and the second torsion arm are located on two opposite sides of the spring body, the spring body is sleeved on the first rotating member, the second rotating member is provided with a first mounting hole adapted to the first torsion arm, and the finger mechanism is provided with a second mounting hole adapted to the second torsion arm.

[0015] In some embodiments of the present application, the bionic finger also includes a controller and a first detection sensor, the controller is arranged in the mounting frame, the first detection sensor is arranged on the controller and is located at one end of the transmission member close to the driving member, the first detection sensor is provided with a sensing slot adapted to the moving member, and the controller is electrically connected to the driving member and the first detection sensor respectively.

[0016] In some embodiments of the present application, the bionic finger also includes a second detection sensor and a matching piece. The second detection sensor is arranged in the mounting frame and is located at the end of the transmission member away from the driving member. The end of the transmission member away from the driving member is provided with a third mounting hole adapted to the matching piece. The controller is electrically connected to the second detection sensor.

[0017] In some embodiments of the present application, the finger mechanism includes a finger joint assembly, which includes a first finger joint, a second finger joint and a third finger joint that are hinged in sequence, the end of the first finger joint away from the second finger joint is hinged to the mounting frame through the first rotating member, the end of the moving member away from the driving member is abutted against the first finger joint, and the elastic member is respectively connected to the second rotating member and the first finger joint.

[0018] In some embodiments of the present application, the finger mechanism also includes a connecting rod assembly, which includes a first connecting rod and a second connecting rod, the first connecting rod is transmission-connected between the first knuckle and the second knuckle, and the second connecting rod is transmission-connected between the second knuckle and the third knuckle.

[0019] In some embodiments of the present application, a first arc-shaped guide groove is formed at one end of the first finger joint away from the mounting frame, a first guide shaft is disposed at one end of the first connecting rod away from the mounting frame, the first guide shaft is hinged to the second finger joint, and is slidably disposed in the first arc-shaped guide groove;

[0020] A second arc-shaped guide groove is formed at one end of the second knuckle near the first knuckle, and a second guide shaft is arranged at one end of the second connecting rod near the first knuckle. The second guide shaft is hinged to one end of the first knuckle near the second knuckle and slides through the second arc-shaped guide groove.

[0021] In a second aspect, the present application also provides a bionic hand, comprising the bionic finger described in any of the above embodiments.

[0022] In a third aspect, the present application also provides a robot comprising the bionic hand described in the above embodiments.

[0023] Compared with the prior art, the beneficial effects of this application are:

[0024] The present application proposes a bionic finger, which includes a mounting frame, a first rotating member, a finger mechanism, a driving mechanism and an elastic member. The first rotating member is rotatably connected to the mounting frame and the finger mechanism respectively, so that the finger mechanism can rotate relative to the mounting frame. By arranging the driving mechanism on the mounting frame and connecting it to the finger mechanism, the finger mechanism is driven to automatically rotate relative to the mounting frame, thereby realizing the opening and gripping functions of the bionic finger. By sleeve-arranging the elastic member on the first rotating member and connecting it to the driving mechanism and the finger mechanism respectively, when the finger mechanism is subjected to an external force to rotate clockwise or counterclockwise relative to the mounting frame, the finger mechanism is separated from the driving mechanism, one end of the elastic member is fixed to the driving mechanism, and the other end rotates synchronously with the finger mechanism to generate a reset elastic force, so that when the external force is eliminated, the finger mechanism can be reset by rotating counterclockwise or clockwise relative to the mounting frame under the action of the reset elastic force to be reconnected to the driving mechanism. At the same time, when the finger mechanism is rotated clockwise or counterclockwise relative to the mounting frame by external force or driving mechanism, the elastic damping of the elastic part has a buffering and vibration-reducing effect on the finger mechanism, effectively reducing the damage caused by hard impact, thereby extending the service life of the bionic finger. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0026] Figure 1 A three-dimensional schematic diagram of a bionic finger in some embodiments of the present application is shown. Figure 1 ;

[0027] Figure 2 Shows the explosion diagram of the bionic finger in some embodiments of the present application Figure 1 ;

[0028] Figure 3 Shows the explosion diagram of the bionic finger in some embodiments of the present application Figure 2 ;

[0029] Figure 4 Shows the explosion diagram of the bionic finger in some embodiments of the present application Figure 3 ;

[0030] Figure 5 Shows the explosion diagram of the bionic finger in some embodiments of the present application Figure 4 ;

[0031] Figure 6 A three-dimensional schematic diagram of a bionic finger in some embodiments of the present application is shown. Figure 2 .

[0032] Description of main component symbols:

[0033] 100-bionic finger; 110-mounting frame; 120-first rotating member; 130-finger mechanism; 131-knuckle assembly; 1311-first knuckle; 13111-second mounting hole; 13112-first arc guide groove; 1312-second knuckle; 13121-second arc guide groove; 1313-third knuckle; 132-connecting rod assembly; 1321-first connecting rod; 13211-first guide shaft; 1322-second connecting rod; 13221-second guide shaft; 140-driving mechanism; 141-driving member; 142-transmission member; 1421-third mounting hole; 143-moving member; 144-second rotating member; 1441-first mounting hole; 150-elastic member; 160-controller; 171-first detection sensor; 172-second detection sensor; 173-matching member. DETAILED DESCRIPTION

[0034] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0035] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0036] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0037] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0038] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being “above”, “above”, and “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0039] like Figure 1 , Figure 4 and Figure 5 As shown, the embodiment of the present application provides a bionic finger 100, which is mainly used in a bionic hand, and the bionic hand is mainly used in a robot. The bionic finger 100 includes a mounting frame 110, a first rotating member 120, a finger mechanism 130, a driving mechanism 140 and an elastic member 150.

[0040] The first rotating member 120 is rotatably connected to the mounting frame 110, and the finger mechanism 130 is rotatably connected to the first rotating member 120, so that the finger mechanism 130 can rotate relative to the mounting frame 110. The driving mechanism 140 is disposed on the mounting frame 110 and is transmission-connected to the finger mechanism 130, and is used to drive the finger mechanism 130 to rotate relative to the mounting frame 110. The elastic member 150 is sleeved on the first rotating member 120, and is respectively connected to the driving mechanism 140 and the finger mechanism 130.

[0041] In the bionic finger 100 provided in the embodiment of the present application, the first rotating member 120 is rotatably connected to the mounting frame 110 and the finger mechanism 130 respectively, so that the finger mechanism 130 can rotate relative to the mounting frame 110. By arranging the driving mechanism 140 on the mounting frame 110 and being transmission-connected to the finger mechanism 130, the finger mechanism 130 is driven to automatically rotate relative to the mounting frame 110, thereby realizing the opening and closing functions of the bionic finger 100. By sleeved the elastic member 150 on the first rotating member 120 and connected to the driving mechanism 140 and the finger mechanism 130 respectively, when the finger mechanism 130 is subjected to an external force to rotate clockwise or counterclockwise relative to the mounting frame 110, the finger mechanism 130 is separated from the driving mechanism 140, one end of the elastic member 150 is fixed to the driving mechanism 140, and the other end rotates synchronously with the finger mechanism 130 to generate a reset elastic force, so that when the external force is eliminated, the finger mechanism 130 can be reset counterclockwise or clockwise relative to the mounting frame 110 under the action of the reset elastic force to be re-connected with the driving mechanism 140. At the same time, when the finger mechanism 130 is subjected to an external force or the driving mechanism 140 to rotate clockwise or counterclockwise relative to the mounting frame 110, under the elastic damping action of the elastic member 150, the finger mechanism 130 has a buffering and vibration reduction effect, effectively reducing the damage caused by hard impact, thereby extending the service life of the bionic finger 100.

[0042] For example, the first rotating member 120 may be a hinge shaft, and the elastic member 150 may be a torsion spring. The driving mechanism 140 may be composed of a rotary motor, a reducer, and a linear module to convert high-speed rotary motion into low-speed reciprocating linear motion. The linear module is connected to the hinge shaft through a crank and abuts against a side of the finger mechanism 130 away from the axis of the hinge shaft, thereby converting the low-speed reciprocating linear motion into low-speed rotation, thereby enabling the finger mechanism 130 to rotate relative to the mounting frame 110.

[0043] like Figure 1 , Figure 4 and Figure 5 As shown, in one embodiment of the present application, the driving mechanism 140 includes a driving member 141, a transmission member 142, a moving member 143 and a second rotating member 144, the moving member 143 is sleeved on the transmission member 142, the output end of the driving member 141 is connected to the transmission member 142, and is used to drive the transmission member 142 to rotate, so as to drive the moving member 143 to reciprocate along the axial direction of the transmission member 142, the end of the moving member 143 away from the driving member 141 is connected to the second rotating member 144, and abuts against the finger mechanism 130, the second rotating member 144 is sleeved on the first rotating member 120, and the elastic member 150 is respectively connected to the second rotating member 144 and the finger mechanism 130.

[0044] In this embodiment, the moving member 143 is sleeved on the transmission member 142, and the output end of the driving member 141 is connected to the transmission member 142 to drive the transmission member 142 to rotate, thereby driving the moving member 143 to reciprocate along the axial direction of the transmission member 142, thereby realizing the conversion of high-speed rotational motion into low-speed reciprocating linear motion. By connecting one end of the moving member 143 away from the driving member 141 to the second rotating member 144 sleeved on the first rotating member 120, and one end of the moving member 143 away from the driving member 141 is in contact with the finger mechanism 130, thereby converting the low-speed reciprocating linear motion into low-speed rotation, and then enabling the finger mechanism 130 to rotate relative to the mounting frame 110, thereby realizing the opening and closing functions of the bionic finger 100.

[0045] By connecting the elastic member 150 to the second rotating member 144 and the finger mechanism 130 respectively, when the finger mechanism 130 is subjected to an external force to rotate clockwise or counterclockwise relative to the mounting frame 110, the finger mechanism 130 is separated from the movable member 143, and one end of the elastic member 150 is fixed to the second rotating member 144, and the other end rotates synchronously with the finger mechanism 130 to generate a reset elastic force, so that when the external force is eliminated, the finger mechanism 130 can be reset by rotating counterclockwise or clockwise relative to the mounting frame 110 under the action of the reset elastic force to re-engage with the movable member 143.

[0046] Exemplarily, the driving mechanism 140 may be a rotary motor, the transmission member 142 may be a screw, the moving member 143 may be composed of a push rod and a nut sleeved on the screw, and the second rotating member 144 may be a crank.

[0047] like Figure 4 and Figure 5 As shown, in the above embodiment of the present application, the elastic member 150 includes a spring body, a first torsion arm located at one end of the spring body and a second torsion arm located at the other end of the spring body, the spring body and the first torsion arm and the second torsion arm are integrally formed, the first torsion arm and the second torsion arm are located at two opposite sides of the spring body, the spring body is sleeved on the first rotating member 120, the second rotating member 144 is provided with a first mounting hole 1441 adapted to the first torsion arm, and the finger mechanism 130 is provided with a second mounting hole 13111 adapted to the second torsion arm.

[0048] In this embodiment, the spring body is sleeved on the first rotating member 120, the first torsion arm is installed in the first installation hole 1441 of the second rotating member 144, and the second torsion arm is installed in the second installation hole 13111 of the finger mechanism 130. In this way, when the finger mechanism 130 is subjected to an external force to rotate clockwise or counterclockwise relative to the mounting frame 110, the finger mechanism 130 is separated from the moving member 143, the first torsion arm and the second rotating member 144 are fixed, and the spring body and the second torsion arm rotate synchronously with the finger mechanism 130 to generate a reset elastic force, so that when the external force is eliminated, the finger mechanism 130 can be reset by rotating counterclockwise or clockwise relative to the mounting frame 110 under the action of the reset elastic force to contact the moving member 143 again.

[0049] like Figure 6 As shown, in the above embodiment of the present application, the bionic finger 100 also includes a controller 160 and a first detection sensor 171, the controller 160 is arranged in the mounting frame 110, the first detection sensor 171 is arranged on the controller 160, and is located at one end of the transmission member 142 close to the driving member 141, the first detection sensor 171 is provided with a sensing slot adapted to the moving member 143, and the controller 160 is electrically connected to the driving member 141 and the first detection sensor 171 respectively.

[0050] In this embodiment, the first detection sensor 171 is arranged at one end of the transmission member 142 close to the driving member 141, and the first detection sensor 171 is provided with a sensing slot adapted to the moving member 143, so as to play the role of a travel switch. At the same time, the controller 160 is electrically connected to the driving member 141 and the first detection sensor 171 respectively, so that when the moving member 143 moves to the extreme position, the moving member 143 is located in the sensing slot of the first detection sensor 171, and the controller 160 controls the driving member 141 to stop rotating according to the electrical signal fed back by the first detection sensor 171, so that the moving member 143 stops moving, and the travel control function of the moving member 143 is realized.

[0051] Exemplarily, the controller 160 is a circuit board, and the first detection sensor 171 may be a photoelectric switch.

[0052] like Figure 6 As shown, in the above embodiment of the present application, the bionic finger 100 also includes a second detection sensor 172 and a matching piece 173, the second detection sensor 172 is arranged in the mounting frame 110, and is located at the end of the transmission member 142 away from the driving member 141, and the end of the transmission member 142 away from the driving member 141 is provided with a third mounting hole 1421 adapted to the matching piece 173, and the controller 160 is electrically connected to the second detection sensor 172.

[0053] In this embodiment, the second detection sensor 172 is disposed in the mounting frame 110 and is located at the end of the transmission member 142 away from the driving member 141, and a third mounting hole 1421 for mounting the matching member 173 is provided at the end of the transmission member 142 away from the driving member 141, so that the matching member 173 can rotate synchronously with the transmission member 142, so that the second detection sensor 172 can measure the angular displacement of the rotation of the transmission member 142. At the same time, by electrically connecting the controller 160 to the second detection sensor 172, the controller 160 can accurately control the working state of the driving member 141 according to the angular displacement signal fed back by the second detection sensor 172.

[0054] Exemplarily, the second detection sensor 172 may be a magnetic encoder, and the matching member 173 may be a magnet.

[0055] like Figure 2 and Figure 3As shown, the finger mechanism 130 includes a finger joint assembly 131, and the finger joint assembly 131 includes a first finger joint 1311, a second finger joint 1312, and a third finger joint 1313 that are hinged in sequence. The end of the first finger joint 1311 away from the second finger joint 1312 is hinged to the mounting frame 110 through the first rotating member 120, and the end of the moving member 143 away from the driving member 141 is in contact with the first finger joint 1311, so that the finger joint assembly 131 as a whole can rotate relative to the mounting frame 110, and the second finger joint 1312 can rotate relative to the first finger joint 1311, and the third finger joint 1313 can rotate relative to the second finger joint 1312, thereby realizing the opening and gripping functions of the bionic finger 100. Among them, the elastic member 150 is connected to the second rotating member 144 and the first finger joint 1311 respectively, and the first finger joint 1311 is provided with a second mounting hole 13111 adapted to the second torsion arm.

[0056] Exemplarily, the first knuckle 1311 and the second knuckle 1312 may both adopt a rotating body structure with large ends and a small middle, which is closer to the characteristics of human finger bones with large ends and a thin middle, making the overall volume small.

[0057] like Figure 2 and Figure 3 As shown, the finger mechanism 130 further includes a connecting rod assembly 132, and the connecting rod assembly 132 includes a first connecting rod 1321 and a second connecting rod 1322, wherein the first connecting rod 1321 is transmission-connected between the first finger joint 1311 and the second finger joint 1312, and the second connecting rod 1322 is transmission-connected between the second finger joint 1312 and the third finger joint 1313. Thus, under the action of the first connecting rod 1321 and the second connecting rod 1322, the linkage between the first finger joint 1311, the second finger joint 1312 and the third finger joint 1313 is realized, thereby realizing the opening and closing functions of the bionic finger 100.

[0058] like Figure 2 and Figure 3 As shown, a first arc-shaped guide groove 13112 is formed at one end of the first finger joint 1311 away from the mounting frame 110, and a first guide shaft 13211 is arranged at one end of the first connecting rod 1321 away from the mounting frame 110. The first guide shaft 13211 is hinged to the second finger joint 1312, and the first guide shaft 13211 can be slidably penetrated in the first arc-shaped guide groove 13112 and can move along the first arc-shaped guide groove 13112.

[0059] A second arc-shaped guide groove 13121 is provided at one end of the second knuckle 1312 close to the first knuckle 1311, and a second guide shaft 13221 is arranged at one end of the second connecting rod 1322 close to the first knuckle 1311. The second guide shaft 13221 is hinged to one end of the first knuckle 1311 close to the second knuckle 1312, and the second guide shaft 13221 can be slidably penetrated in the second arc-shaped guide groove 13121 and can move along the second arc-shaped guide groove 13121.

[0060] The embodiment of the present application further provides a bionic hand, comprising the bionic finger 100 described in the above embodiment.

[0061] The bionic hand has the bionic finger 100 in any of the above embodiments, and thus has all the beneficial effects of the bionic finger 100, which will not be described in detail here.

[0062] An embodiment of the present application also provides a robot, comprising the bionic hand described in the above embodiment.

[0063] The robot has the bionic hand in the above embodiment, and thus has all the beneficial effects of the bionic hand, which will not be described in detail here.

[0064] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0065] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A bionic finger, characterized in that: include: Mounting frame; A first rotating member, rotatably connected to the mounting frame; a finger mechanism, the finger mechanism being rotatably connected to the first rotating member so that the finger mechanism can rotate relative to the mounting frame; A driving mechanism, the driving mechanism is disposed on the mounting frame and is transmission-connected to the finger mechanism, and is used to drive the finger mechanism to rotate relative to the mounting frame; An elastic member is sleeved on the first rotating member and is respectively connected to the driving mechanism and the finger mechanism.

2. The bionic finger according to claim 1, characterized in that: The driving mechanism includes a driving member, a transmission member, a moving member and a second rotating member. The moving member is sleeved on the transmission member. The output end of the driving member is connected to the transmission member for driving the transmission member to rotate so as to drive the moving member to reciprocate along the axial direction of the transmission member. One end of the moving member away from the driving member is connected to the second rotating member and abuts against the finger mechanism. The second rotating member is sleeved on the first rotating member. The elastic member is respectively connected to the second rotating member and the finger mechanism.

3. The bionic finger according to claim 2, characterized in that: The elastic member includes a spring body, a first torsion arm located at one end of the spring body, and a second torsion arm located at the other end of the spring body. The spring body, the first torsion arm, and the second torsion arm are integrally formed. The first torsion arm and the second torsion arm are located at two opposite sides of the spring body. The spring body is sleeved on the first rotating member. The second rotating member is provided with a first mounting hole adapted to the first torsion arm. The finger mechanism is provided with a second mounting hole adapted to the second torsion arm.

4. The bionic finger according to claim 2, characterized in that: The bionic finger also includes a controller and a first detection sensor. The controller is arranged in the mounting frame. The first detection sensor is arranged on the controller and is located at one end of the transmission member close to the driving member. The first detection sensor is provided with a sensing slot adapted to the moving member. The controller is electrically connected to the driving member and the first detection sensor respectively.

5. The bionic finger according to claim 4, characterized in that: The bionic finger also includes a second detection sensor and a matching piece. The second detection sensor is arranged in the mounting frame and is located at the end of the transmission member away from the driving member. The end of the transmission member away from the driving member is provided with a third mounting hole adapted to the matching piece. The controller is electrically connected to the second detection sensor.

6. The bionic finger according to claim 2, characterized in that: The finger mechanism includes a finger joint assembly, which includes a first finger joint, a second finger joint and a third finger joint hinged in sequence, an end of the first finger joint away from the second finger joint is hinged to the mounting frame through the first rotating member, an end of the moving member away from the driving member is abutted against the first finger joint, and the elastic member is respectively connected to the second rotating member and the first finger joint.

7. The bionic finger according to claim 6, characterized in that: The finger mechanism also includes a connecting rod assembly, which includes a first connecting rod and a second connecting rod. The first connecting rod is transmission-connected between the first knuckle and the second knuckle, and the second connecting rod is transmission-connected between the second knuckle and the third knuckle.

8. The bionic finger according to claim 7, characterized in that: A first arc-shaped guide groove is formed at one end of the first finger joint away from the mounting frame, and a first guide shaft is disposed at one end of the first connecting rod away from the mounting frame. The first guide shaft is hinged to the second finger joint and slidably penetrates the first arc-shaped guide groove; A second arc-shaped guide groove is formed at one end of the second knuckle near the first knuckle, and a second guide shaft is arranged at one end of the second connecting rod near the first knuckle. The second guide shaft is hinged to one end of the first knuckle near the second knuckle and slides through the second arc-shaped guide groove.

9. A bionic hand, characterized in that: The bionic finger comprises the bionic finger as claimed in any one of claims 1 to 8.

10. A robot, characterized in that: Including the bionic hand described in claim 9.

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