Bionic finger, bionic hand and robot

Abstract

The utility model discloses a bionic finger, a bionic hand and a robot, and relates to the technical field of robots. Each bionic finger comprises a mounting seat, a first knuckle, a second knuckle and a first elastic piece; the mounting base comprises a first connecting arm assembly and a second connecting arm assembly located on the side, close to the holding side, of the first connecting arm assembly. The first knuckle comprises a linear driving piece and a shell, the end, away from an output shaft of the linear driving piece, of a main body structure of the linear driving piece is rotationally connected to the first connecting arm assembly, and the end, away from the output shaft, of the shell is rotationally connected to the second connecting arm assembly. The second knuckle comprises a third connecting arm assembly and a fourth connecting arm assembly located on the side, close to the holding side, of the third connecting arm assembly, the third connecting arm assembly is rotationally connected to the output shaft, and the fourth connecting arm assembly is rotationally connected to the end, away from the second connecting arm assembly, of the shell; the first elastic piece acts between the shell and the second connecting arm assembly. According to the bionic finger, the fitting degree of the bionic finger and an object to be fetched can be improved.

Description

Technical Field

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

[0002] With the continuous development of robotics technology, bionic dexterous hands have become one of the research hotspots in the field of robotics.

[0003] However, when existing bionic dexterous hands grasp objects, there is a blind spot between the fingers and the objects, resulting in a low fit between the fingers and the objects, which easily causes the objects to fall off the bionic dexterous hands. Utility Model Content

[0004] The present application provides a bionic finger, a bionic hand and a robot, so that the bionic finger can better fit the object to be picked up.

[0005] In a first aspect, the present application provides a bionic finger, wherein the bionic finger includes an extended state and is configured with a gripping side, and the bionic finger includes:

[0006] The mounting base includes a first connecting arm assembly and a second connecting arm assembly, wherein the second connecting arm assembly is located on a side of the first connecting arm assembly close to the gripping side;

[0007] The first finger joint includes a linear drive member and a housing, wherein the linear drive member is disposed in the housing, the linear drive member includes a main structure and an output shaft, the output shaft is telescopically disposed relative to one end of the main structure, the end of the main structure away from the output shaft is rotatably connected to the first connecting arm assembly, and the end of the housing away from the output shaft is rotatably connected to the second connecting arm assembly;

[0008] The second finger joint includes a third connecting arm assembly and a fourth connecting arm assembly, wherein the fourth connecting arm assembly is located on a side of the third connecting arm assembly close to the gripping side, the third connecting arm assembly is rotatably connected to the output shaft, and the fourth connecting arm assembly is rotatably connected to an end of the housing away from the second connecting arm assembly;

[0009] The first elastic member acts between the shell and the second connecting arm assembly. When the bionic finger is in the extended state, the first elastic member stores elastic potential energy for driving the first knuckle to rotate toward the gripping side.

[0010] Based on the above technical solution, the bionic finger provided in this application can make the first knuckle and the second knuckle move in sequence, approach and contact the object to be picked up in sequence, so that both the first knuckle and the second knuckle can contact and hold the object to be picked up, avoiding the occurrence of blind spots in holding, improving the fit between the bionic finger and the object to be picked up, improving the grasping stability, and reducing the risk of the object to be picked up slipping relative to the bionic finger during the grasping process.

[0011] In some possible embodiments, the first elastic member includes a first spring coil, a first torsion arm, and a second torsion arm. The first torsion arm and the second torsion arm are respectively provided at two ends of the first spring coil. The first torsion arm abuts against the second connecting arm assembly, and the second torsion arm abuts against the housing.

[0012] In some possible implementations, a first limiting portion is provided on a side of the second connecting arm assembly protruding toward the gripping side, and the first limiting portion is located on a rotation path when the shell rotates toward the gripping side.

[0013] In some possible implementations, a second limiting portion is configured on a side of the housing facing away from the gripping side;

[0014] The mounting base further includes a mounting base body, the first connecting arm assembly and the second connecting arm assembly are arranged at the same end of the mounting base body, and the mounting base body is provided with a limiting surface opposite to the second limiting portion at one end thereof facing the second connecting arm assembly;

[0015] The limiting surface is located on a rotation path of the second limiting portion when the second limiting portion rotates in a direction away from the holding side.

[0016] In some possible implementations, the bionic finger further includes a gripping state, and the bionic finger further includes a second elastic member, wherein the second elastic member acts between the housing and the fourth connecting arm assembly;

[0017] When the bionic finger is in the gripping state, the second elastic member stores elastic potential energy for driving the second finger joint to rotate in a direction away from the gripping side.

[0018] In some possible embodiments, the second elastic member includes a second spring coil, a third torsion arm, and a fourth torsion arm. The third torsion arm and the fourth torsion arm are respectively provided at two ends of the second spring coil. The third torsion arm abuts against the fourth connecting arm assembly, and the fourth torsion arm abuts against the housing.

[0019] In some possible implementations, a third limiting portion is provided on a side of the housing protruding toward the gripping side, and the third limiting portion is located at an end of the housing close to the second knuckle;

[0020] The third limiting portion is located on a rotation path of the fourth connecting arm assembly when the fourth connecting arm assembly rotates toward the holding side.

[0021] In some possible implementations, a notch is formed on a side of the housing facing away from the gripping side for exposing the output shaft, and a sidewall of the notch is provided with a fourth limiting portion opposite to the third connecting arm assembly;

[0022] The fourth limiting portion is located on a rotation path of the third connecting arm assembly when the third connecting arm assembly rotates in a direction away from the holding side.

[0023] In a second aspect, the present application provides a bionic hand, comprising the bionic fingers provided in the above embodiments.

[0024] In a third aspect, the present application also provides a robot comprising the bionic fingers provided in the above embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. 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 relevant drawings can be obtained based on these drawings without creative work.

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

[0027] Figure 2 Another schematic diagram of the three-dimensional structure of a bionic finger in some embodiments is shown;

[0028] Figure 3 Shows a schematic structural diagram of a mounting base in some embodiments;

[0029] Figure 4 A schematic diagram of a three-dimensional structure of the first finger joint in some embodiments is shown;

[0030] Figure 5 Another schematic diagram of the three-dimensional structure of the first finger joint in some embodiments is shown;

[0031] Figure 6 Schematic diagrams showing the matching relationship between each elastic member and the first finger joint in some embodiments;

[0032] Figure 7 Shown Figure 6 A schematic diagram of the partially enlarged structure of part A;

[0033] Figure 8 Shown Figure 6A schematic diagram of the partially enlarged structure of part B;

[0034] Figure 9 A schematic structural diagram of the second knuckle in some embodiments is shown.

[0035] Description of main component symbols:

[0036] 1000-bionic finger; 1001-gripping side;

[0037] 100 - mounting seat; 110 - first connecting arm assembly; 111 - first connecting arm; 120 - second connecting arm assembly; 121 - second connecting arm; 1211 - first assembly flange; 1212 - first assembly groove; 1213 - first connecting shaft; 1214 - third accommodating groove; 130 - mounting seat body; 131 - limiting surface;

[0038] 200 - first finger joint; 210 - linear drive member; 211 - main structure; 212 - output shaft; 213 - fifth connecting arm; 220 - housing; 221 - sixth connecting arm; 2211 - first accommodating groove; 2212 - second assembly flange; 2213 - second assembly groove; 222 - first limiting portion; 223 - second limiting portion; 224 - seventh connecting arm; 2241 - second accommodating groove; 2242 - fourth assembly flange; 2243 - third assembly groove; 225 - third limiting portion; 226 - notch; 227 - fourth limiting portion;

[0039] 300 - second knuckle; 310 - third connecting arm assembly; 311 - third connecting arm; 320 - fourth connecting arm assembly; 321 - fourth connecting arm; 3211 - second connecting shaft; 3212 - third assembly flange; 322 - stop block; 330 - knuckle body; 331 - anti-slip groove;

[0040] 410 - first elastic member; 411 - first spring coil; 412 - first torsion arm; 413 - second torsion arm;

[0041] 420 - second elastic member; 421 - second spring coil; 422 - third torsion arm; 4221 - abutment section; 423 - fourth torsion arm;

[0042] 510-first rotating shaft; 520-second rotating shaft. DETAILED DESCRIPTION

[0043] The following describes in detail embodiments of the present application. 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 are not to be construed as limiting the present application.

[0044] 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 device or element referred to 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.

[0045] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0046] In this application, unless otherwise expressly specified or limited, terms such as "mounted," "connected," "connect," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components or interactions between two components. Those skilled in the art will understand the specific meanings of these terms in this application based on specific circumstances.

[0047] In this application, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it 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. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0048] like Figure 1 As shown, an embodiment provides a bionic finger 1000 that can be applied to a bionic hand of a robot. In some embodiments, the bionic finger 1000 can be a thumb structure.

[0049] In other embodiments, the bionic finger 1000 may also be a part of the index finger, a part of the middle finger, or a part of another structure of the bionic finger 1000 .

[0050] like Figures 1 to 9 As shown, in the embodiment, the bionic finger 1000 can include an extended state and a gripping state. In addition, the bionic finger 1000 is further configured with a gripping side 1001. The gripping side 1001 of the bionic finger 1000 can refer to the side of the bionic finger 1000 that contacts the object to be picked up when gripping the object to be picked up.

[0051] In some embodiments, the bionic finger 1000 includes a mounting base 100 , a first joint 200 , a second joint 300 , and a first elastic member 410 .

[0052] The mounting base 100 includes a first connecting arm assembly 110 and a second connecting arm assembly 120. The second connecting arm assembly 120 may be located on a side of the first connecting arm assembly 110 close to the gripping side 1001.

[0053] The first finger joint 200 includes a linear drive member 210 and a housing 220, wherein the linear drive member 210 is disposed in the housing 220. In an embodiment, the linear drive member 210 includes a main structure 211 and an output shaft 212, wherein the output shaft 212 is telescopically arranged relative to one end of the main structure 211. The end of the main structure 211 away from the output shaft 212 is rotatably connected to the first connecting arm assembly 110. The end of the housing 220 away from the output shaft 212 is rotatably connected to the second connecting arm assembly 120. In some embodiments, the rotation axis between the main structure 211 and the first connecting arm assembly 110 is parallel to the rotation axis between the housing 220 and the second connecting arm assembly 120.

[0054] The second finger joint 300 includes a third connecting arm assembly 310 and a fourth connecting arm assembly 320. The fourth connecting arm assembly 320 may be located on a side of the third connecting arm assembly 310 that is closer to the gripping side 1001. In an embodiment, the third connecting arm assembly 310 is rotatably connected to the output shaft 212, and the fourth connecting arm assembly 320 is rotatably connected to an end of the housing 220 that is away from the second connecting arm assembly 120. The rotation axis between the fourth connecting arm assembly 320 and the housing 220 may be parallel to the rotation axis between the third connecting arm assembly 310 and the output shaft 212. Furthermore, the rotation axis between the fourth connecting arm assembly 320 and the housing 220 may be parallel to the rotation axis between the housing 220 and the second connecting arm assembly 120.

[0055] The first elastic member 410 can act between the housing 220 and the second connecting arm assembly 120. When the bionic finger 1000 is in the extended state, the first elastic member 410 can store elastic potential energy for driving the first knuckle 200 to move toward the gripping side 1001.

[0056] When the bionic finger 1000 needs to grasp an object, the linear drive element 210 is activated, causing the output shaft 212 to gradually extend. During this process, the first elastic member 410 can drive the first knuckle 200 to move toward the gripping side 1001. Even if the first knuckle 200 moves toward the inner side of the palm to approach the object, the second knuckle 300 can remain fixed relative to the first knuckle 200. When the first knuckle 200 contacts the object, it stops moving, and the output shaft 212 of the linear drive element 210 continues to extend. Driven by the linear drive element 210, the second knuckle 300 can rotate relative to the first knuckle 200 and toward the gripping side 1001, i.e., move closer to the palm, gradually approaching and contacting the object. When the second knuckle 300 contacts the object, the linear drive element 210 can stop moving, completing the grip of the object.

[0057] When it is necessary to place an object to be picked up, the linear drive member 210 is activated, and the output shaft 212 is gradually shortened relative to the main structure 211. During this process, the output shaft 212 can first pull the second phalanx 300 to rotate relative to the first phalanx 200, and rotate it in a direction away from the gripping side 1001 to expand, even if the second phalanx 300 rotates away from the center of the palm. After the second phalanx 300 is reset, the output shaft 212 continues to shorten. Under the action of the linear drive member 210, the elastic potential energy of the first elastic member 410 can be overcome, causing the first phalanx 200 to rotate relative to the mounting base 100 and rotate it in a direction away from the gripping side 1001 to expand, even if the first phalanx 200 rotates away from the center of the palm, until the first phalanx 200 is reset, and then the linear drive member 210 stops.

[0058] It can be seen that the bionic finger 1000 provided in the present application can enable the first knuckle 200 and the second knuckle 300 to move in sequence, approach and contact the object to be picked up in sequence, so that the first knuckle 200 and the second knuckle 300 can both contact and hold the object to be picked up, avoiding the occurrence of blind spots in holding, improving the fit between the bionic finger 1000 and the object to be picked up, improving the gripping stability, and reducing the risk of the object to be picked up slipping relative to the bionic finger 1000 during the gripping process.

[0059] like Figure 3 As shown, the mount 100 may further include a mount body 130. In some embodiments, the mount body 130 may be integrally formed with the first connecting arm assembly 110 and the second connecting arm assembly 120. The first connecting arm assembly 110 and the second connecting arm assembly 120 may protrude from the same end of the mount body 130. The end of the mount body 130 distal from the first connecting arm assembly 110 may be used to connect to the palm of the bionic hand.

[0060] like Figure 3 、 Figure 4 and Figure 6 As shown, in some embodiments, the first connecting arm assembly 110 may include two first connecting arms 111 spaced apart and facing each other. A first rotating shaft 510 is connected between the two first connecting arms 111. The first rotating shaft 510 may be fixedly connected to the two first connecting arms 111. A fifth connecting arm 213 is provided on one end of the main structure 211 of the linear drive member 210 that protrudes toward the mounting seat 100. The fifth connecting arm 213 may be an integral structure with the main structure 211. The fifth connecting arm 213 is rotatably mounted on the first rotating shaft 510. In this way, a rotational connection between the main structure 211 and the first connecting arm assembly 110 can be achieved.

[0061] In other embodiments, the first rotating shaft 510 may be rotatably disposed relative to the two first connecting arms 111, and the first rotating shaft 510 may be fixedly connected to the fifth connecting arm 213. Alternatively, the first rotating shaft 510 may be rotatably connected to the two first connecting arms 111, and the first rotating shaft 510 may be rotatably connected to the fifth connecting arm 213.

[0062] like Figure 1 、 Figure 3 and Figure 6 As shown, in some embodiments, the second connecting arm assembly 120 may include two spaced-apart, opposed second connecting arms 121. The second connecting arm 121 may be located on a side of the first connecting arm 111 facing the gripping side 1001. Along the axial direction of the first rotating shaft 510, the two second connecting arms 121 may be disposed on both sides of the first connecting arm assembly 110.

[0063] Two sixth connecting arms 221 are protruding from one end of the housing 220, facing the mounting base 100. The two sixth connecting arms 221 can be disposed on either side of the mounting base 100 along the axial direction of the first rotating shaft 510. The two sixth connecting arms 221 can be rotatably connected to the two second connecting arms 121 in a one-to-one correspondence. In this embodiment, the connection between the two sets of second connecting arms 121 and the sixth connecting arms 221 can be similar. The following uses one set as an example for detailed description.

[0064] In some embodiments, a first connecting shaft 1213 is provided on a side of the second connecting arm 121 that protrudes toward the sixth connecting arm 221. The first connecting shaft 1213 can be rotatably connected to the sixth connecting arm 221 via a bearing.

[0065] like Figure 3 、 Figure 4 、 Figure 6 and Figure 7As shown, in some embodiments, the bionic finger 1000 may include a first elastic member 410. The first elastic member 410 may be disposed between one of the second connecting arms 121 and the sixth connecting arm 221. Specifically, a first assembly flange 1211 is provided on one side of the second connecting arm 121 that protrudes toward the sixth connecting arm 221. The first assembly flange 1211 may be disposed around the periphery of the first connecting shaft 1213 and located at the end of the first connecting shaft 1213 away from the sixth connecting arm 221. Furthermore, an annular third accommodating groove 1214 is defined around the periphery of the first assembly flange 1211.

[0066] The side of the sixth connecting arm 221 facing the second connecting arm 121 is provided with a first receiving groove 2211 and an annular second mounting flange 2212. The first receiving groove 2211 is disposed around the circumference of the second mounting flange 2212. The end of the first connecting shaft 1213 facing the sixth connecting arm 221 is inserted into the second mounting flange 2212 and rotatably engages with the second mounting flange 2212 via a bearing.

[0067] In some embodiments, a torsion spring can be used as the first elastic member 410. The first elastic member 410 includes an integrated first spring coil 411, a first torsion arm 412, and a second torsion arm 413. The first torsion arm 412 and the second torsion arm 413 are respectively provided at two ends of the first spring coil 411.

[0068] In this embodiment, the first spring coil 411 is sleeved around the first assembly flange 1211 and the second assembly flange 2212. A first assembly groove 1212 communicating with the third accommodating groove 1214 is further defined on the side of the second connecting arm 121 facing the sixth connecting arm 221. The first assembly groove 1212 can be generally linear. The first torsion arm 412 can be inserted into the first assembly groove 1212 and abut against the sidewall of the first assembly groove 1212. The second assembly groove 2213 communicating with the first accommodating groove 2211 is further defined on the side of the sixth connecting arm 221 facing the second connecting arm 121. The second assembly groove 2213 can be generally linear. The second torsion arm 413 can be inserted into the second assembly groove 2213 and abut against the sidewall of the second assembly groove 2213.

[0069] Combined together Figure 1 When the bionic finger 1000 is in an extended state, the first elastic member 410 can be in a twisted state under the squeezing action of the shell 220 and the mounting base 100, and store corresponding elastic potential energy, so as to drive the first knuckle 200 to rotate toward the gripping side 1001, that is, toward the palm side, when the bionic finger 1000 switches to a gripping state.

[0070] In other embodiments, the first elastic member 410 may also be an elastic structure such as a tension spring or elastic cord. The first elastic member 410 may be connected between the sixth connecting arm 221 and the second connecting arm 121. The connection between the first elastic member 410 and the sixth connecting arm 221 is located on a side of the connection between the first elastic member 410 and the second connecting arm 121 that is away from the gripping side 1001. When the bionic finger 1000 is in an extended state, the first elastic member 410 may be in a stretched state.

[0071] In other embodiments, the first elastic member 410 may also be an elastic structure such as a tension spring or elastic cord. The first elastic member 410 may be connected between the sixth connecting arm 221 and the second connecting arm 121. The connection between the first elastic member 410 and the sixth connecting arm 221 is located on the side of the connection between the first elastic member 410 and the second connecting arm 121 that is closer to the gripping side 1001. When the bionic finger 1000 is in an extended state, the first elastic member 410 may be in a compressed state.

[0072] In other embodiments, the bionic finger 1000 may also include two first elastic members 410 , and one first elastic member 410 may be disposed between the two groups of sixth connecting arms 221 and the second connecting arms 121 in a one-to-one correspondence.

[0073] like Figure 1 、 Figure 3 and Figure 6 As shown, in some embodiments, a first stopper 222 is further provided at one end of the sixth connecting arm 221 away from the second connecting arm 121. Along the axial direction of the first connecting axis 1213, the first stopper 222 may be located on the side of the sixth connecting arm 221 facing the second connecting arm 121. Furthermore, the first stopper 222 is located on the side of the sixth connecting arm 221 closer to the gripping side 1001. Furthermore, the second connecting arm 121 may protrude relative to the side of the sixth connecting arm 221 closer to the gripping side 1001 and be located along the rotational path of the first stopper 222 when rotating toward the gripping side 1001. When the first knuckle 200 rotates toward the gripping side 1001 relative to the mounting base 100 to a certain extent, the first stopper 222 may abut against the second connecting arm 121. Thus, the first stopper 222 and the second connecting arm 121 cooperate to limit the first knuckle 200 to a certain limit of rotation toward the gripping side 1001.

[0074] like Figure 1 and Figure 2As shown, in some embodiments, the end of the sixth connecting arm 221 facing the mounting base 100 is further configured with a second limiting portion 223. Along the axial direction of the first connecting axis 1213, the second limiting portion 223 may be located on the side of the sixth connecting arm 221 facing the second connecting arm 121. Furthermore, a step structure may be formed between the mounting base body 130 and the second connecting arm 121, facing the second limiting portion 223. Accordingly, a limiting surface 131 may be configured on the end of the mounting base body 130 facing the second connecting arm 121, opposing the second limiting portion 223. The limiting surface 131 may be located along the rotational path of the second limiting portion 223 when the second limiting portion 223 rotates away from the gripping side 1001. When the first knuckle 200 rotates away from the gripping side 1001 to a certain extent relative to the mounting base 100, the second limiting portion 223 may abut against the limiting surface 131. Therefore, the second limiting portion 223 cooperates with the limiting surface 131 to limit the limit position of the first knuckle 200 when it rotates away from the gripping side 1001 .

[0075] like Figure 1 and Figure 5 As shown, in some embodiments, the linear drive member 210 can be a linear electric cylinder, a pneumatic cylinder, a hydraulic cylinder, or an electric push rod. The output shaft 212 of the linear drive member 210 can face away from the mounting base 100.

[0076] like Figure 9 As shown, in some embodiments, the second knuckle 300 further includes a knuckle body 330 , which can be used to contact an object to be picked up to provide a gripping function. The third connecting arm assembly 310 and the fourth connecting arm assembly 320 can be disposed at the same end of the knuckle body 330 .

[0077] like Figure 5 and Figure 9 As shown, in some embodiments, the third connecting arm assembly 310 may include two spaced-apart, opposing third connecting arms 311. The two third connecting arms 311 may be disposed on either side of the output shaft 212. In one embodiment, the two third connecting arms 311 may be rotationally connected to the output shaft 212 via a second rotating shaft 520. Specifically, the second rotating shaft 520 may be rotatably disposed within the output shaft 212 and may be perpendicular to the output shaft 212. The two third connecting arms 311 may be fixedly connected to the ends of the second rotating shaft 520 in a one-to-one correspondence.

[0078] In other embodiments, the second rotating shaft 520 is rotatably connected to the two third connecting arms 311, and the second rotating shaft 520 is fixedly connected to the output shaft 212. Alternatively, the second rotating shaft 520 is rotatably connected to the two third connecting arms 311, and the second rotating shaft 520 is also rotatably connected to the output shaft 212.

[0079] like Figure 5 and Figure 9 As shown, in some embodiments, the fourth connecting arm assembly 320 may include two spaced-apart, opposing fourth connecting arms 321. Two spaced-apart, opposing seventh connecting arms 224 are protruding from one end of the housing 220 facing the second knuckle 300. The two seventh connecting arms 224 are disposed on either side of the fourth connecting arm assembly 320 along the extension direction of the rotation axis between the fourth connecting arm 321 and the housing 220. The two seventh connecting arms 224 may be rotationally connected to the two fourth connecting arms 321 in a one-to-one correspondence. In this embodiment, the two sets of seventh connecting arms 224 may be connected to the fourth connecting arms 321 in a similar manner.

[0080] In some embodiments, a second connecting shaft 3211 is provided on a side of the second connecting arm 121 that protrudes toward the seventh connecting arm 224. The second connecting shaft 3211 can be rotatably connected to the seventh connecting arm 224 via a shaft bearing.

[0081] like Figure 5 、 Figure 6 、 Figure 8 and Figure 9 As shown, in some embodiments, the bionic finger 1000 further includes a second elastic member 420. The second elastic member 420 can be disposed between a set of seventh connecting arms 224 and the fourth connecting arm 321. Specifically, a third mounting flange 3212 is provided on the fourth connecting arm 321, protruding from one side of the seventh connecting arm 224. The third mounting flange 3212 can be disposed around the circumference of the second connecting shaft 3211 and is located at the end of the second connecting shaft 3211 away from the seventh connecting arm 224.

[0082] The side of the seventh connecting arm 224 facing the fourth connecting arm 321 is provided with a second receiving groove 2241 and an annular fourth mounting flange 2242. The second receiving groove 2241 is disposed around the circumference of the fourth mounting flange 2242. The end of the second connecting shaft 3211 facing the seventh connecting arm 224 is inserted into the fourth mounting flange 2242 and rotatably engages with the fourth mounting flange 2242 via a bearing.

[0083] In some embodiments, the second elastic member 420 can be a torsion spring. The second elastic member 420 includes an integral second spring coil 421, a third torsion arm 422, and a fourth torsion arm 423. The third torsion arm 422 and the fourth torsion arm 423 are disposed at opposite ends of the second spring coil 421. In this embodiment, the second spring coil 421 is sleeved around the third mounting flange 3212 and the fourth mounting flange 2242.

[0084] In some embodiments, the third torsion arm 422 may be L-shaped. An abutment section 4221 may be disposed on the end of the third torsion arm 422 away from the second spring coil 421 and parallel to the second connecting axis 3211. A stop block 322 may be disposed between the two fourth connecting arms 321, located on the side of the fourth connecting arm 321 facing the third connecting arm assembly 310. The abutment section 4221 of the third torsion arm 422 may abut against the side of the stop block 322 facing the first knuckle 200.

[0085] The seventh connecting arm 224 is further provided with a third assembly slot 2243 on one side thereof facing the fourth connecting arm 321. The third assembly slot 2243 is substantially linear and communicates with the second accommodating slot 2241. The fourth torsion arm 423 is inserted into the third assembly slot 2243 and abuts against the sidewall of the third assembly slot 2243.

[0086] When the bionic finger 1000 is in the extended state, the second elastic member 420 can be in a natural state or a twisted state. When the second elastic member 420 is in the twisted state, the second elastic member 420 stores elastic potential energy for driving the second knuckle 300 to rotate away from the gripping side 1001.

[0087] In other embodiments, the second elastic member 420 may also be an elastic structure such as a tension spring or elastic cord. The second elastic member 420 may be connected between the seventh connecting arm 224 and the fourth connecting arm 321. The connection between the second elastic member 420 and the seventh connecting arm 224 is located on the side of the connection between the second elastic member 420 and the fourth connecting arm 321 away from the gripping side 1001. When the bionic finger 1000 is in the extended state, the second elastic member 420 may be in a naturally extended or stretched state.

[0088] In other embodiments, the second elastic member 420 may also be an elastic structure such as a tension spring or elastic cord. The second elastic member 420 may be connected between the seventh connecting arm 224 and the fourth connecting arm 321. The connection between the second elastic member 420 and the seventh connecting arm 224 is located on the side of the connection between the second elastic member 420 and the fourth connecting arm 321 that is closer to the gripping side 1001. When the bionic finger 1000 is in the extended state, the second elastic member 420 may be in a naturally extended state or a compressed state.

[0089] In other embodiments, the bionic finger 1000 may also include two second elastic members 420 , and one second elastic member 420 may be disposed between the two groups of seventh connecting arms 224 and the fourth connecting arms 321 in a one-to-one correspondence.

[0090] like Figure 1 、 Figure 2 、 Figure 5 and Figure 9As shown, in some embodiments, a third stopper 225 is further provided on the side of the seventh connecting arm 224 facing the gripping side 1001. The third stopper 225 can be located along the rotation path of the second knuckle 300 when it rotates toward the gripping side 1001. When the second knuckle 300 rotates toward the gripping side 1001 to a certain angle, it abuts against the third stopper 225. Thus, the third stopper 225 limits the second knuckle 300 to a maximum position when rotating toward the palm.

[0091] In some embodiments, a notch 226 is defined on the side of the housing 220 facing away from the gripping side 1001. The notch 226 may be located at the end of the housing 220 facing the second phalanx 300, exposing the end of the output shaft 212 for connection to the third connecting arm assembly 310. Accordingly, a fourth stopper 227 may be formed on the end of the housing 220 facing the second phalanx 300, opposite the third connecting arm assembly 310. The fourth stopper 227 may be a portion of the sidewall of the notch 226. Furthermore, the fourth stopper 227 is located along the rotation path of the third connecting arm assembly 310 when the third connecting arm assembly 310 rotates away from the gripping side 1001. When the second phalanx 300 rotates relative to the first phalanx 200 away from the gripping side 1001, it may abut against the fourth stopper 227 when the second phalanx 300 reaches a certain angle. Thus, the fourth stopper 227 limits the second phalanx 300 to a certain limit when rotating away from the palm.

[0092] like Figure 1 and Figure 9 As shown, the side of the knuckle body 330 facing the gripping side 1001 is further provided with an anti-slip pattern 331, which increases the friction between the second knuckle 300 and the object to be picked up, thereby reducing the possibility of the object being separated from the bionic finger 1000. In some embodiments, the anti-slip pattern 331 can be a combination of anti-slip bumps, anti-slip ridges, and other structures.

[0093] The embodiment further provides a bionic hand, which may include a palm and a bionic finger 1000 provided in the embodiment. The bionic finger 1000 may be rotatably connected to the palm via a mounting base 100 .

[0094] In addition, the embodiment further provides a robot, which may include the bionic finger 1000 provided in the embodiment.

[0095] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" 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 can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0096] 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: The bionic finger includes an extended state, and the bionic finger is configured with a gripping side, and the bionic finger includes: The mounting base includes a first connecting arm assembly and a second connecting arm assembly, wherein the second connecting arm assembly is located on a side of the first connecting arm assembly close to the gripping side; The first finger joint includes a linear drive member and a housing, wherein the linear drive member is disposed in the housing, the linear drive member includes a main structure and an output shaft, the output shaft is telescopically disposed relative to one end of the main structure, the end of the main structure away from the output shaft is rotatably connected to the first connecting arm assembly, and the end of the housing away from the output shaft is rotatably connected to the second connecting arm assembly; The second finger joint includes a third connecting arm assembly and a fourth connecting arm assembly, wherein the fourth connecting arm assembly is located on a side of the third connecting arm assembly close to the gripping side, the third connecting arm assembly is rotatably connected to the output shaft, and the fourth connecting arm assembly is rotatably connected to an end of the housing away from the second connecting arm assembly; The first elastic member acts between the shell and the second connecting arm assembly. When the bionic finger is in the extended state, the first elastic member stores elastic potential energy for driving the first knuckle to rotate toward the gripping side.

2. The bionic finger according to claim 1, characterized in that: The first elastic member includes a first spring coil, a first torsion arm and a second torsion arm. The first torsion arm and the second torsion arm are respectively provided at two ends of the first spring coil. The first torsion arm abuts against the second connecting arm assembly, and the second torsion arm abuts against the housing.

3. The bionic finger according to claim 1 or 2, characterized in that: A first limiting portion is protruded from one side of the second connecting arm assembly toward the holding side, and the first limiting portion is located on a rotation path when the shell rotates toward the holding side.

4. The bionic finger according to claim 1 or 2, characterized in that: A second limiting portion is disposed on a side of the housing facing away from the gripping side; The mounting base further includes a mounting base body, the first connecting arm assembly and the second connecting arm assembly are arranged at the same end of the mounting base body, and the mounting base body is provided with a limiting surface opposite to the second limiting portion at one end thereof facing the second connecting arm assembly; The limiting surface is located on a rotation path of the second limiting portion when the second limiting portion rotates in a direction away from the holding side.

5. The bionic finger according to claim 1, characterized in that: The bionic finger further includes a gripping state, and the bionic finger further includes a second elastic member, the second elastic member acting between the housing and the fourth connecting arm assembly; When the bionic finger is in the gripping state, the second elastic member stores elastic potential energy for driving the second finger joint to rotate in a direction away from the gripping side.

6. The bionic finger according to claim 5, characterized in that: The second elastic member includes a second spring coil, a third torsion arm, and a fourth torsion arm. The third torsion arm and the fourth torsion arm are respectively provided at two ends of the second spring coil. The third torsion arm abuts against the fourth connecting arm assembly, and the fourth torsion arm abuts against the housing.

7. The bionic finger according to claim 1, 5 or 6, characterized in that: A third limiting portion is provided on a side of the housing that protrudes toward the gripping side, and the third limiting portion is located at an end of the housing that is close to the second knuckle; The third limiting portion is located on a rotation path of the fourth connecting arm assembly when the fourth connecting arm assembly rotates toward the holding side.

8. The bionic finger according to claim 1, 5 or 6, characterized in that: A notch is formed on a side of the housing away from the gripping side for exposing the output shaft, and a sidewall of the notch is provided with a fourth limiting portion opposite to the third connecting arm assembly; The fourth limiting portion is located on a rotation path of the third connecting arm assembly when the third connecting arm assembly rotates in a direction away from the holding side.

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

10. A robot, characterized in that: The bionic finger comprises the bionic finger according to any one of claims 1 to 8.

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