Bionic joint structure, manipulator and robot

Abstract

The utility model discloses a bionic joint structure, manipulator and robot, the bionic joint structure comprises a first finger section, the first finger section comprises a body and a rotating mechanism, the rotating mechanism comprises a first connecting piece and a second connecting piece, the first connecting piece is connected with the body, and the second connecting piece is connected with the body. The second connecting piece is connected with the first connecting piece in a pivoted mode around a first axis, the second connecting piece is used for being connected with a palm or other finger sections in a pivoted mode around a second axis, the first axis and the second axis form an angle alpha, and alpha is larger than or equal to 45 degrees and smaller than or equal to 135 degrees. The body of the bionic joint structure provided by the utility model can adaptively rotate relative to the second connecting piece of the rotating mechanism so as to realize closed moment balance with the finger sections of the other bionic joint structures, so that an object can be accurately and stably grabbed.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a bionic joint structure, a manipulator and a robot. Background Art

[0002] Humanoid dexterous hands tend to develop into highly anthropomorphic hands that are highly flexible and have fully adjustable gripping force when performing tasks. The fingers of the humanoid dexterous hands in the related art include multiple finger segments that are pivotally connected in sequence. When the humanoid dexterous hands grasp an object, the multiple finger segments of multiple fingers are used to achieve compression and positioning of the object. However, when grasping objects of different shapes, there is often a small contact area between a certain finger segment, especially the fingertip of a finger, and the object, resulting in unstable compression and positioning of the object, which in turn causes the humanoid dexterous hands to have the defects of poor grasping accuracy and stability of the object. Utility Model Content

[0003] The utility model aims to solve one of the technical problems in the related art at least to a certain extent.

[0004] To this end, an embodiment of the utility model proposes a bionic joint structure, the body of which can adaptively rotate relative to the second connecting piece of the rotating mechanism to achieve a closed torque balance with the remaining finger segments of the bionic joint structure, thereby achieving precise and stable grasping of objects.

[0005] The embodiments of the present utility model also provide a manipulator and a robot.

[0006] The bionic joint structure of the utility model embodiment includes a first finger segment, the first finger segment includes a main body and a rotating mechanism, the rotating mechanism includes a first connecting member and a second connecting member, the first connecting member is connected to the main body, the second connecting member is pivotally connected to the first connecting member around a first axis, the second connecting member is used to be pivotally connected to a palm or other finger segments around a second axis, the first axis and the second axis form an angle α, wherein 45°≤α≤135°.

[0007] According to the bionic joint structure of the embodiment of the utility model, the body of the first finger segment is pivotally connected to the palm or other finger segments through the second connecting member of the rotating mechanism, so that the body can rotate relative to the palm or other finger segments around the second axis, and the first connecting member and the second connecting member of the rotating mechanism are pivotally connected, so that the body can also rotate relative to the palm or other finger segments around the first axis. When the bionic joint structure needs to grasp an object, the driving device thereon drives the body of the first finger segment to rotate around the second axis to gradually press on the object. During this process, the body rotates around the first axis to adaptively adjust the angle of the body, so that there is a larger contact area between the body and the object, and the body can better achieve a closed torque balance with other finger segments, thereby more accurately and stably grasping the object.

[0008] Moreover, by setting the angle between the first axis and the second axis between 45° and 135°, when the first connecting member adaptively rotates relative to the second connecting member without the need for power, the main body connected to the first connecting member will not move too far in the direction away from the object, thereby effectively ensuring the clamping and limiting of the object by the main body.

[0009] In some embodiments, 75°≤α≤105°.

[0010] In some embodiments, the first connecting member includes a first rotating shaft, the second connecting member includes a second rotating shaft, and the axis of the first rotating shaft and the axis of the second rotating shaft both coincide with the first axis.

[0011] In some embodiments, one of the first end surface of the first rotating shaft and the first end surface of the second rotating shaft is provided with a limiting hole, and the cross-sectional area of ​​at least part of the limiting hole gradually increases or increases in a stepwise manner toward the opening direction away from the limiting hole, and the other of the first end surface of the first rotating shaft and the first end surface of the second rotating shaft is provided with a protrusion, and the protrusion can be pivotally engaged in the limiting hole.

[0012] In some embodiments, the inner wall surface of the limiting hole and / or the outer surface of the protrusion is provided with a first damping coating;

[0013] And / or, the first end surface of the first rotating shaft and / or the first end surface of the second rotating shaft is provided with a second damping coating, and the first end surface of the first rotating shaft is in close contact with the first end surface of the second rotating shaft through the second damping coating.

[0014] In some embodiments, the rotating mechanism includes a driving motor, one of a housing and a rotating shaft of the driving motor is the first connecting member, and the other of the housing and the rotating shaft of the driving motor is the second connecting member.

[0015] In some embodiments, the bionic joint structure further includes a second finger segment. The second connecting member is pivotally connected to the second finger segment about the second axis, and the second finger segment is pivotally connected to the palm about a third axis, where the third axis is parallel to or angled with respect to the second axis.

[0016] Alternatively, the bionic joint structure further includes a second finger segment that forms the fingertip of the bionic joint structure. One of the second connecting member and the body is pivotally connected to the palm about the second axis, and the other of the second connecting member and the body is pivotally connected to the second finger segment about a third axis, where the third axis is parallel to or angled with respect to the second axis.

[0017] In some embodiments, the number of the first finger segments is at least two, and the second connecting member of one of the first finger segments is pivotally connected to the body of the adjacent first finger segment about the second axis.

[0018] In some embodiments, a first mounting hole is provided on the outer peripheral surface of the first rotating shaft, and the first mounting hole penetrates through the first rotating shaft along the radial direction of the first rotating shaft.

[0019] The body further includes a bracket and a first fastener. The outer surface of the bracket is provided with a first through hole and a second mounting hole. The axis of the first through hole coincides with the first axis, the second mounting hole extends along the radial direction of the first through hole and communicates with the first through hole. The second end of the first rotating shaft is fitted in the first through hole, and the first fastener is inserted into the first mounting hole and the second mounting hole.

[0020] In some embodiments, a third mounting hole is provided on the outer peripheral surface of the second rotating shaft, and the third mounting hole penetrates through the second rotating shaft along the radial direction of the second rotating shaft.

[0021] The first finger segment further includes an adapter and a second fastener. The outer surface of the adapter is provided with a second through hole and a fourth mounting hole. The axis of the second through hole coincides with the first axis, the fourth mounting hole extends along the radial direction of the second through hole and communicates with the second through hole. The second end of the second rotating shaft is fitted in the second through hole, and the second fastener is inserted into the third mounting hole and the fourth mounting hole.

[0022] The robotic hand according to an embodiment of the present invention includes the bionic joint structure as described in any of the above embodiments.

[0023] The technical advantages of the robotic hand according to an embodiment of the present invention are the same as those of the bionic joint structure in the above embodiments, and will not be elaborated herein.

[0024] The robot according to the embodiment of the utility model includes the manipulator as described in the above embodiment.

[0025] The technical advantages of the robot according to the embodiment of the utility model are the same as the technical advantages of the manipulator in the above-mentioned embodiment, which will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of a bionic joint structure according to an embodiment of the utility model.

[0027] Figure 2 It is a cross-sectional view of a bionic joint structure according to an embodiment of the utility model.

[0028] Figure 3 It is a schematic diagram of the main body and the rotating mechanism in the bionic joint structure according to an embodiment of the utility model, wherein the rubber sleeve is hidden.

[0029] Figure 4 It is a schematic diagram of the main body in the bionic joint structure according to an embodiment of the utility model, wherein the rubber sleeve is hidden.

[0030] Figure 5 It is a schematic diagram of a rotating mechanism in a bionic joint structure according to an embodiment of the utility model.

[0031] Figure 6 It is a cross-sectional view of the rotating mechanism in the bionic joint structure according to the embodiment of the utility model.

[0032] Figure 7 is a schematic diagram of an adapter in a bionic joint structure according to an embodiment of the utility model;

[0033] Figure 8 It is a cross-sectional view of a manipulator according to an embodiment of the utility model.

[0034] Reference numerals:

[0035] 100, first finger segment; 200, second finger segment; 300, palm; 1, main body; 11, bracket; 111, first through hole; 112, second mounting hole; 12, rubber sleeve; 2, rotating mechanism; 21, first rotating shaft; 211, protrusion; 212, first mounting hole; 22, second rotating shaft; 221, limiting hole; 222, third mounting hole; 3, adapter; 31, second through hole; 32, fourth mounting hole. DETAILED DESCRIPTION

[0036] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to be used to explain the present invention, but cannot be understood as limiting the present invention.

[0037] Combine the following Figure 1-Figure 8 A bionic joint structure according to an embodiment of the utility model is described.

[0038] The bionic joint structure of the embodiment of the utility model comprises a first finger segment 100, and the first finger segment 100 comprises a body 1 and a rotating mechanism 2. The rotating mechanism 2 comprises a first connecting member and a second connecting member, the first connecting member is connected to the body 1, the second connecting member is pivotally connected to the first connecting member around a first axis, and the second connecting member is used to pivotally connect to the palm 300 or other finger segments around a second axis, and the first axis and the second axis form an angle α, wherein 45°≤α≤135°.

[0039] According to the bionic joint structure of the embodiment of the utility model, the body 1 of the first finger segment 100 is pivotally connected to the palm 300 or other finger segments through the second connecting member of the rotating mechanism 2, so that the body 1 can rotate relative to the palm 300 or other finger segments around the second axis, and the pivotable connection between the first connecting member and the second connecting member of the rotating mechanism 2 also enables the body 1 to rotate relative to the palm 300 or other finger segments around the first axis. When the bionic joint structure needs to grasp an object, the driving device thereon drives the body 1 of the first finger segment 100 to rotate around the second axis to gradually press against the object. During this process, the body 1 rotates around the first axis to adaptively adjust the angle of the body 1, so that there is a larger contact area between the body 1 and the object, and the body 1 can better achieve a closed torque balance with other finger segments, thereby more accurately and stably grasping the object.

[0040] Moreover, by setting the angle between the first axis and the second axis between 45° and 135°, when the first connecting member adaptively rotates relative to the second connecting member without the need for power, the main body 1 connected to the first connecting member will not move too far in the direction away from the object, thereby effectively ensuring that the main body 1 is pressed and limited on the object.

[0041] It should be noted that when a driving mechanism is not provided to drive the first connecting member to rotate relative to the second connecting member, if the angle between the first axis and the second axis is too small or too large, when the main body 1 is gradually pressed against the object, it is easy for the main body 1 to bend too much around the first axis in a direction away from the object or even detach from the object, thereby failing to achieve reliable pressing and limiting of the object.

[0042] For ease of understanding, Figure 8 The middle straight line X represents the first axis of the bionic joint structure of the embodiment of the utility model. Figure 8 The middle straight line Y represents the second axis of the bionic joint structure of the embodiment of the utility model. Figure 8 The center line Z represents the third axis of the bionic joint structure of the embodiment of the utility model.

[0043] In some embodiments, 75°≤α≤105°.

[0044] At this time, the angle between the first axis and the second axis is closer to 90°. When the first connecting member adaptively rotates relative to the second connecting member without power, the main body 1 will not move too far away from the object, thereby being able to stably and reliably achieve clamping and limiting of the object.

[0045] Specifically, the angle between the first axis and the second axis can be 45°, 75°, 90°, 105° and 135°. Among them, taking the case where the outer contour of the main body 1 is cylindrical and its axis is perpendicular to the second axis as an example, when the above angle is 90° and the first connecting member is adaptively rotated relative to the second connecting member without power, the displacement amplitude of the main body 1 relative to the second connecting member is small, and the contact with the object can be closer on the basis of the main body 1 keeping the position of the pressed object substantially unchanged, and the pressing reliability of the main body 1 on the object is higher. When the above angle is 45° or 135° and the first connecting member is adaptively rotated relative to the second connecting member without power, the displacement amplitude of the main body 1 relative to the second connecting member is large, so that the main body 1 can achieve reliable pressing and limiting of the object by pressing on other positions of the object.

[0046] In some embodiments, Figure 2 , Figure 5 and Figure 6 As shown, the first connecting member includes a first rotating shaft 21, and the second connecting member includes a second rotating shaft 22. The axis of the first rotating shaft 21 and the axis of the second rotating shaft 22 both coincide with the first axis.

[0047] That is, the first rotating shaft 21 rotates relative to the second rotating shaft 22 around the first axis to achieve unpowered adaptive rotation of the body 1 around the first axis. The structure of the rotating mechanism 2 is simple, and the manufacturing cost of the bionic joint structure is low.

[0048] In some embodiments, one of the first end faces of the first rotating shaft 21 and the first end faces of the second rotating shaft 22 is provided with a limiting hole 221, and the cross-sectional area of ​​at least part of the limiting hole 221 gradually increases or increases in a stepwise manner toward the opening direction away from the limiting hole 221, and the other of the first end faces of the first rotating shaft 21 and the first end faces of the second rotating shaft 22 is provided with a protrusion 211, and the protrusion 211 can be pivotally engaged in the limiting hole 221.

[0049] The cooperation between the limiting hole 221 and the protrusion 211 realizes the relative fixation of the first rotating shaft 21 and the second rotating shaft 22 in their axial directions, ensuring that the first rotating shaft 21 can only rotate relative to the second rotating shaft 22 around the first axial direction.

[0050] Specifically, Figure 5 and Figure 6As shown, the limiting hole 221 is a spherical hole, and the outer surface of the protrusion 211 is a spherical surface that matches the inner wall profile of the limiting hole 221. After the protrusion 211 is fitted in the limiting hole 221, the first end surface of the first rotating shaft 21 and the first end surface of the second rotating shaft 22 are in close contact. The protrusion 211 is arranged on the first end surface of the first rotating shaft 21, and the limiting hole 221 is arranged on the first end surface of the second rotating shaft 22. In order to facilitate the assembly of the two, the second rotating shaft 22 can be arranged to include a left half shaft and a right half shaft that are mirror-symmetrical along its radial direction, and the left half shaft and the right half shaft are detachably connected by fasteners to fit the protrusion 211 in the limiting hole 221.

[0051] In some embodiments, the inner wall surface of the limiting hole 221 and / or the outer surface of the protrusion 211 is provided with a first damping coating. And / or, the first end surface of the first rotating shaft 21 and / or the first end surface of the second rotating shaft 22 is provided with a second damping coating, and the first end surface of the first rotating shaft 21 is in contact with the first end surface of the second rotating shaft 22 through the second damping coating.

[0052] Therefore, the first rotating shaft 21 has a certain rotation resistance relative to the second rotating shaft 22, which effectively prevents the body 1 connected to the first rotating shaft 21 from rotating erroneously relative to the second rotating shaft 22 under the action of gravity or other external forces, thereby affecting the function of the bionic joint structure.

[0053] For example, the outer surface of the protrusion 211 is provided with a first damping coating, and the first end surface of the first rotating shaft 21 and the first end surface of the second rotating shaft 22 are both provided with a second damping coating.

[0054] In some embodiments, the rotating mechanism 2 includes a driving motor, one of a housing and a rotating shaft of the driving motor is a first connecting member, and the other of the housing and the rotating shaft of the driving motor is a second connecting member.

[0055] That is, the rotating mechanism 2 can automatically drive the first connecting member to rotate relative to the second connecting member. When the closed torque balance is not achieved when multiple bionic joint structures grasp an object, it can actively drive the first connecting member to rotate relative to the second connecting member to achieve the closed torque balance more quickly and accurately. When grasping the object to move, it can better ensure the relative fixation of the first connecting member and the second connecting member, thereby improving the grasping accuracy and stability of the object.

[0056] In some embodiments, the bionic joint structure further includes a second finger segment 200, a second connector is pivotally connected to the second finger segment 200 around a second axis, and the second finger segment 200 is pivotally connected to the palm 300 around a third axis, and the third axis is parallel to or angled with the second axis.

[0057] That is, in the bionic joint structure, only the body 1 on the finger segment close to the fingertip rotates relative to the second connecting piece to better grasp the object, thereby ensuring accurate and stable grasping of the object and effectively reducing the manufacturing cost of the bionic joint structure.

[0058] Specifically, the first finger segment 100 is the fingertip of a bionic joint structure, the bionic joint structure can be the thumb, index finger and middle finger of a human hand, the number of the second finger segments 200 can be one or two, wherein the body 1 of the first finger segment 100 can rotate 360° around the second connecting member without interference from the adjacent second finger segment 200.

[0059] For example, Figure 8 As shown, the bionic joint structure can be a thumb of a human hand, the number of the second finger segment 200 is one, and the third axis is parallel to the second axis.

[0060] In some embodiments, the bionic joint structure also includes a second finger segment 200 for constituting a fingertip of the bionic joint structure, one of the second connecting member and the main body 1 is pivotally connected to the palm 300 around a second axis, and the other of the second connecting member and the main body 1 is pivotally connected to the second finger segment 200 around a third axis.

[0061] That is, the finger segment of the bionic joint structure away from the fingertips can self-rotate. This setting can also enable the fingertips to adaptively rotate to balance the closing torque, and can also achieve precise and stable grasping of objects.

[0062] Specifically, the number of the first finger segment 100 is one, and the third axis is parallel to the second axis.

[0063] In some embodiments, the number of the first finger segments 100 is at least two, wherein the second connecting member of one first finger segment 100 is pivotally connected to the body 1 of an adjacent first finger segment 100 around a second axis.

[0064] Therefore, when at least two first finger segments 100 are pressed against an object, the bodies 1 on all first finger segments 100 can adaptively rotate relative to the second connecting column to effectively balance the closing torque, and also achieve accurate and stable grasping of the object.

[0065] Taking the thumb as an example of a bionic joint structure, there are two first finger segments 100, the second connecting piece of the first finger segment 100 serving as the fingertip is pivotally connected to the body 1 of another first finger segment 100, and the second connecting piece of the other first finger segment 100 is pivotally connected to the palm 300.

[0066] In some embodiments, Figure 3-Figure 5As shown, the outer circumferential surface of the first rotating shaft 21 is provided with a first mounting hole 212, and the first mounting hole 212 penetrates the first rotating shaft 21 along the radial direction of the first rotating shaft 21. The body 1 also includes a bracket 11 and a first fastener, the outer surface of the bracket 11 is provided with a first through hole 111 and a second mounting hole 112, the axis of the first through hole 111 coincides with the first axis, the second mounting hole 112 extends along the radial direction of the first through hole 111 and communicates with the first through hole 111, the second end of the first rotating shaft 21 is fitted in the first through hole 111, and the first fastener is inserted in the first mounting hole 212 and the second mounting hole 112.

[0067] That is, the first rotating shaft 21 and the bracket 11 can be fastened together by simply inserting the second end of the first rotating shaft 21 into the first through hole 111 and then inserting the first fastener into the first mounting hole 212 and the second mounting hole 112, so that the connection between the first rotating shaft 21 and the bracket 11 is convenient and reliable.

[0068] Specifically, the cross-sectional outer contour of the first through hole 111 matches the cross-sectional outer contour of the second end of the first rotating shaft 21 and is rectangular, which facilitates the rapid alignment of the first mounting hole 212 and the second mounting hole 112. The first fastener may be a positioning pin that is interference-fitted with the first mounting hole 212 and the second mounting hole 112.

[0069] It should be noted that Figure 1 and Figure 2 As shown, the body 1 further includes a rubber sleeve 12 covering the bracket 11. The body 1 is pressed against an object by the rubber sleeve 12, which effectively increases the friction between the body 1 and the object, and provides a higher reliability in gripping the object.

[0070] In some embodiments, the outer circumference of the second rotating shaft 22 is provided with a third mounting hole 222, and the third mounting hole 222 penetrates the second rotating shaft 22 along the radial direction of the second rotating shaft 22. The first finger segment 100 further includes an adapter 3 and a second fastener, and the outer surface of the adapter 3 is provided with a second through hole 31 and a fourth mounting hole 32, the axis of the second through hole 31 coincides with the first axis, the fourth mounting hole 32 extends along the radial direction of the second through hole 31 and communicates with the second through hole 31, the second end of the second rotating shaft 22 is fitted in the second through hole 31, and the second fastener is inserted in the third mounting hole 222 and the fourth mounting hole 32.

[0071] That is, the second end of the second shaft 22 is inserted into the second through hole 31, and then the second fastener is inserted into the third mounting hole 222 and the fourth mounting hole 32, so that the second shaft 22 and the adapter 3 can be fastened and connected, and the connection between the two is convenient and reliable. At the same time, it is more convenient to process the through hole extending along the second axis on the adapter 3, and the first finger segment 100 is more convenient to be pivotally connected with the adjacent finger segment or the palm 300 around the second axis through the adapter 3.

[0072] Specifically, the cross-sectional outer contour of the second through hole 31 matches the cross-sectional outer contour of the second end of the second rotating shaft 22 and is rectangular, and this arrangement facilitates the rapid alignment of the third mounting hole 222 and the fourth mounting hole 32. The second fastener may be a positioning pin that is interference-fitted with the third mounting hole 222 and the fourth mounting hole 32.

[0073] The manipulator according to the embodiment of the utility model includes a bionic joint structure as in any of the above embodiments.

[0074] The technical advantages of the manipulator according to the embodiment of the utility model are the same as the technical advantages of the bionic joint structure of the above-mentioned embodiment, which will not be repeated here.

[0075] The robot according to the embodiment of the utility model includes the manipulator as described in the above embodiment.

[0076] The technical advantages of the robot according to the embodiment of the utility model are the same as the technical advantages of the manipulator in the above-mentioned embodiment, which will not be repeated here.

[0077] In the description of the present invention, 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 invention 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 invention.

[0078] 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. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present utility model, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0079] In the present invention, 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 one; it can be a mechanical connection, an electrical connection, or communication with each other; 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, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0080] In the present utility model, unless otherwise clearly specified and defined, the first feature being "on" or "under" the 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, the first feature being "above", "over" and "on top of" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "below" and "beneath" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply indicates that the first feature has a lower horizontal height than the second feature.

[0081] In the present utility model, the terms "an embodiment", "some embodiments", "example", "specific example", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present utility model. 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, without contradiction, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0082] Although the above embodiments have been shown and described, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present utility model. Any changes, modifications, substitutions, and variations made by those of ordinary skill in the art to the above embodiments are within the protection scope of the present utility model.

Claims

1. A bionic joint structure, characterized in that: The invention comprises a first finger segment, wherein the first finger segment comprises: ontology; A rotating mechanism, the rotating mechanism comprising a first connecting member and a second connecting member, the first connecting member being connected to the body, the second connecting member being pivotally connected to the first connecting member around a first axis, the second connecting member being used to be pivotally connected to a palm or other finger segments around a second axis, the first axis and the second axis forming an angle α, wherein 45°≤α≤135°.

2. The bionic joint structure according to claim 1, characterized in that: 75°≤α≤105°。 3. The bionic joint structure according to claim 1, characterized in that: The first connecting member includes a first rotating shaft, the second connecting member includes a second rotating shaft, and the axis of the first rotating shaft and the axis of the second rotating shaft both coincide with the first axis.

4. The bionic joint structure according to claim 3, characterized in that: One of the first end face of the first rotating shaft and the first end face of the second rotating shaft is provided with a limiting hole, and the cross-sectional area of ​​at least part of the limiting hole gradually increases or increases in a stepwise manner toward the opening direction away from the limiting hole, and the other of the first end face of the first rotating shaft and the first end face of the second rotating shaft is provided with a protrusion, and the protrusion can be pivotally engaged in the limiting hole.

5. The bionic joint structure according to claim 4, characterized in that: The inner wall surface of the limiting hole and / or the outer surface of the protrusion is provided with a first damping coating; And / or, the first end surface of the first rotating shaft and / or the first end surface of the second rotating shaft is provided with a second damping coating, and the first end surface of the first rotating shaft is in close contact with the first end surface of the second rotating shaft through the second damping coating.

6. The bionic joint structure according to claim 1, characterized in that: The rotating mechanism includes a driving motor, one of a housing and a rotating shaft of the driving motor is the first connecting member, and the other of the housing and the rotating shaft of the driving motor is the second connecting member.

7. The bionic joint structure according to any one of claims 1 to 6, characterized in that: The bionic joint structure further comprises a second finger segment, the second connecting member is pivotally connected to the second finger segment around the second axis, the second finger segment is pivotally connected to the palm around a third axis, and the third axis is parallel to or at an angle to the second axis; Alternatively, the bionic joint structure also includes a second finger segment for constituting a fingertip of the bionic joint structure, one of the second connecting member and the main body is pivotally connected to the palm around the second axis, and the other of the second connecting member and the main body is pivotally connected to the second finger segment around a third axis, and the third axis is parallel to or at an angle to the second axis.

8. The bionic joint structure according to any one of claims 1 to 6, characterized in that: The number of the first finger segments is at least two, wherein the second connecting member of one of the first finger segments is pivotally connected to the body of an adjacent first finger segment around the second axis.

9. The bionic joint structure according to claim 3, characterized in that: A first mounting hole is provided on the outer circumferential surface of the first rotating shaft, and the first mounting hole penetrates the first rotating shaft in the radial direction of the first rotating shaft; The body also includes a bracket and a first fastener, the outer surface of the bracket is provided with a first through hole and a second mounting hole, the axis of the first through hole coincides with the first axis, the second mounting hole extends radially along the first through hole and is connected to the first through hole, the second end of the first rotating shaft is fitted in the first through hole, and the first fastener is inserted in the first mounting hole and the second mounting hole.

10. The bionic joint structure according to claim 3, characterized in that: A third mounting hole is provided on the outer circumferential surface of the second rotating shaft, and the third mounting hole penetrates the second rotating shaft in the radial direction of the second rotating shaft; The first finger segment also includes an adapter and a second fastener, a second through hole and a fourth mounting hole are provided on the outer surface of the adapter, the axis of the second through hole coincides with the first axis, the fourth mounting hole extends radially along the second through hole and is connected to the second through hole, the second end of the second rotating shaft is fitted in the second through hole, and the second fastener is inserted in the third mounting hole and the fourth mounting hole.

11. A robot, characterized in that: Comprising a bionic joint structure according to any one of claims 1-10.

12. A robot, characterized in that: Comprising a robot according to claim 11.

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