Bionic finger capable of swinging, bending and stretching and bionic hand capable of being opened, closed, bent and stretched

Abstract

The utility model belongs to the technical field of bionic machinery, and particularly provides a bionic finger capable of swinging, bending and stretching, which comprises a metacarpal bone, a phalanx component, a swinging component and a bending and stretching component, the phalanx assembly comprises a plurality of phalanx sections which are rotationally connected in sequence; the proximal phalanx of the phalanx assembly is rotationally connected with one end of the metacarpal bone; the swing assembly is connected with the phalanx assembly and used for driving the phalanx assembly to swing relative to the metacarpal bone. The flexion and extension assembly is connected with the phalanx assembly and used for driving the phalanx assembly to bend or extend. The bionic hand capable of being opened, closed, bent and stretched is further provided on the basis of the bionic finger, the structural form is simple, the control mode is simple and convenient, the palm can be opened, closed, bent and stretched simultaneously or independently, the hand back is of a certain radian after the hand makes a fist, and the bionic effect is further improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of bionic machinery, and in particular relates to a bionic finger which can swing and flex and extend, and a bionic hand which can open, close, flex and extend. Background Art

[0002] Currently, humanoid bionic hands in the robotics field mostly use electric motors as a driving source, combined with transmission methods such as tendons, connecting rods, gears, or worm gears to achieve motion control of the bionic hand. In the field of bionic robotics, the hand, as a key component of humanoid robots, is currently primarily designed with electric motors. Bionic hands can achieve finger flexion and extension movements, simulating the complex movement capabilities of the human hand, but lack control over the simultaneous opening and closing of the palm. Furthermore, in a natural state, the human hand is simultaneously bent and naturally opened or closed. When the human hand is clenched into a fist, the back of the hand forms a certain arc. Existing bionic hands do not meet the requirements of bionic hands when clenching a fist. Utility Model Content

[0003] The purpose of the utility model is to improve the movement flexibility and bionic effect of the bionic hand based on the requirement of strong anthropomorphic bionic effect of the bionic hand and starting from the skeletal structure of the human hand.

[0004] To this end, the present invention provides a bionic finger that can swing and flex and extend, including a metacarpal bone, a phalangeal assembly, a swinging assembly and a flexion and extension assembly; the phalangeal assembly includes multiple phalanges that are rotatably connected in sequence; the proximal phalange of the phalangeal assembly is rotatably connected to one end of the metacarpal bone; the swinging assembly is connected to the phalangeal assembly, and is used to drive the phalangeal assembly to swing relative to the metacarpal bone; the flexion and extension assembly is connected to the phalangeal assembly, and is used to drive the phalangeal assembly to flex or extend.

[0005] Specifically, the above-mentioned swinging assembly includes a swinging reset part, a swinging tendon rope and a swinging tendon rope pulling device; one end of the swinging tendon rope is connected to the swinging tendon rope pulling device, and the other end is connected to the proximal phalanx of the phalanx assembly; one end of the swinging reset part is fixed in the metacarpal bone, and the other end is connected to the proximal phalanx of the phalanx assembly.

[0006] Specifically, the above-mentioned swing reset component includes a swing reset spring and a reset tendon rope; the swing reset spring is installed in the metacarpal bone; one end of the reset tendon rope is connected to the swing reset spring, and the other end is connected to the proximal phalanx of the phalanx assembly.

[0007] Specifically, the above-mentioned flexion and extension assembly includes an extension reduction member, a flexion tendon rope and a flexion tendon rope pulling device; one end of the flexion tendon rope is connected to the flexion tendon rope pulling device, and the other end is connected to the phalanx of the phalanx assembly away from the metacarpal end; one end of the extension reduction member is fixed in the metacarpal bone, and the other end is connected to the distal phalanx of the phalanx assembly away from the metacarpal end.

[0008] Specifically, the stretch reset component includes a stretch reset spring and a stretch tendon rope; the stretch reset spring is installed in the metacarpal bone; one end of the stretch tendon rope is connected to the stretch reset spring, and the other end is connected to the distal phalanx of the phalanx assembly away from one end of the metacarpal bone.

[0009] Specifically, tendon threading holes are provided on the front and back of the above-mentioned phalanges; one end of the flexion tendon passes through the tendon threading holes on the front of multiple phalanges in sequence and is connected to the tendon threading holes on the front of the phalanges away from the metacarpal bones; one end of the extension tendon passes through the tendon threading holes on the back of multiple phalanges in sequence and is connected to the tendon threading holes on the back of the phalanges away from the metacarpal bones.

[0010] Specifically, the proximal phalanx of the phalanx assembly is rotatably connected to the metacarpal bone via a joint bearing.

[0011] Specifically, the multiple phalanges are rotatably connected in sequence via rotating pins.

[0012] The utility model also provides a bionic hand that can be opened, closed, flexed and extended. The bionic hand comprises a metacarpal bone support and a plurality of bionic fingers; the metacarpal bones of the bionic fingers are rotatably connected to the metacarpal bone support.

[0013] Specifically, the metacarpal bone end is provided with a metacarpal bone connecting seat; the metacarpal bone bracket is provided with an arc-shaped limiting groove; the metacarpal bone connecting seat is provided with a protrusion matching the arc-shaped limiting groove; the metacarpal bone connecting seat is rotatably connected to the metacarpal bone bracket, and the protrusion is slidably connected in the arc-shaped limiting groove.

[0014] Specifically, the metacarpal support is provided with two pin holes, and the two pin holes are symmetrically arranged on both sides of the arc-shaped limiting groove; the metacarpal connecting seat is hinged to the metacarpal support by a rotating pin passing through the two pin holes; a torsion spring is provided on the outer sleeve of the rotating pin.

[0015] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0016] The bionic fingers provided by this utility model, which can swing and flex simultaneously, achieve both swing and flexion motions through a combination of a swinging assembly and a flexion assembly. They feature a simple structure and easy control. The bionic hand composed of these bionic fingers can open, close, and flex the palm, offering high flexibility. Furthermore, the coordination of the arcuate retaining groove and the protrusion of the metacarpal connection seat allows the hinge at the base of the metacarpal bone to deflect slightly when the bionic hand is in a fist, creating a defined arc on the back of the hand and further enhancing the bionic effect.

[0017] The present invention will be described in further detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1This is a schematic diagram of a bionic finger that can swing and flex and extend provided by the utility model.

[0019] Figure 2 This is a cross-sectional view from the first perspective of the bionic finger provided by the utility model.

[0020] Figure 3 This is a cross-sectional view from a second perspective of the bionic finger provided by the utility model.

[0021] Figure 4 This is a schematic diagram of the bionic hand that can be opened, closed, flexed and extended provided by the utility model.

[0022] Figure 5 It is an enlarged schematic diagram of the connection part between the bionic metacarpal bone and the metacarpal bone support provided by the utility model.

[0023] Figure 6 This is a cross-sectional view of the connection portion between the bionic metacarpal bone and the metacarpal bone support provided by the utility model.

[0024] Figure 7 This is a schematic diagram of the bionic hand provided by the utility model in a clenched fist state.

[0025] Figure 8 This is a schematic structural diagram of the middle finger of a bionic hand in an embodiment provided by the utility model.

[0026] Figure 9 This is a cross-sectional view of the middle finger of a bionic hand in an embodiment provided by the utility model.

[0027] Figure 10 This is a schematic structural diagram of the thumb of a bionic hand in an embodiment of the present invention.

[0028] Figure 11 This is a first-perspective sectional view of the thumb of a bionic hand in an embodiment provided by the utility model.

[0029] Figure 12 This is a cross-sectional view from a second perspective of the bionic finger provided by the utility model.

[0030] Figure 13 This is a cross-sectional view from a third perspective of the bionic finger provided by the utility model.

[0031] Explanation of the accompanying reference numerals: 1. metacarpal bone; 101. metacarpal bone connecting seat; 102. protrusion; 2. phalangeal assembly; 201. proximal phalanx; 202. middle phalanx; 203. distal phalanx; 204. tendon threading hole; 3. joint bearing; 4. swing reset spring; 5. reset tendon; 6. swing tendon; 7. extension reset spring; 8. extension tendon; 9. flexion tendon; 10. metacarpal bone support; 11. arc-shaped limit groove; 12. torsion spring; 13. deep groove ball bearing. DETAILED DESCRIPTION

[0032] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0033] In the description of the present invention, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0034] 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 quantity of the technical features indicated. Therefore, features specified as "first" or "second" may explicitly or implicitly include one or more of such features; and in the description of this utility model, unless otherwise specified, "plurality" means two or more.

[0035] Reference Figure 1-3 The present invention provides a bionic finger capable of swinging and flexing and extending, comprising a metacarpal bone 1, a phalangeal assembly 2, a swinging assembly, and a flexion-extension assembly. The phalangeal assembly 2 comprises multiple phalanges rotatably connected in sequence. One end of the proximal phalanx 201 of the phalangeal assembly 2 is rotatably connected to one end of the metacarpal bone 1. The swinging assembly is connected to the phalangeal assembly 2 to drive the phalangeal assembly 2 to swing relative to the metacarpal bone 1. The flexion-extension assembly is connected to the phalangeal assembly 2 to drive the phalangeal assembly 2 to flex or extend. By adjusting the left-right swing or flexion-extension of the bionic finger through the swinging assembly and the flexion-extension assembly, the flexibility of the bionic finger is improved to accommodate a wider range of application scenarios.

[0036] Specifically, such as Figure 2 As shown, the swing assembly includes a swing reset member, a swing tendon 6, and a swing tendon pulling device. One end of the swing tendon 6 is connected to the swing tendon pulling device, and the other end is connected to the proximal phalanx 201 of the phalanx assembly 2. One end of the swing reset member is fixed within the metacarpal bone 1, and the other end is connected to the proximal phalanx 201 of the phalanx assembly 2. The connection points between the swing tendon 6 and the proximal phalanx 201 and the connection points between the swing reset member and the proximal phalanx 201 are preferably arranged on opposite sides of the proximal phalanx 201 to facilitate reset.

[0037] Furthermore, the swing reset member can be equipped with an elastic device as needed, preferably including a swing reset spring 4 and a reset tendon 5. The swing reset spring 4 is installed within the metacarpal bone 1. One end of the reset tendon 5 is connected to the swing reset spring 4, and the other end is connected to the proximal phalanx 201 of the phalanx assembly 2. When the finger is to swing, the swing tendon pulling device is activated to tighten the swing tendon 6, causing the phalanx assembly 2 to deflect relative to the metacarpal bone 1. When the swing tendon pulling device releases the pull on the swing tendon 6, the swing reset spring 4 and reset tendon 5 are used to pull the phalanx assembly 2 back to its initial position, thereby restoring the phalanx after the deflection.

[0038] The number of phalanges in the phalanx assembly 2 is designed as needed, typically comprising three: the distal phalanx 203, the middle phalanx 202, and the proximal phalanx 201. These three phalanges are connected sequentially, with one end of the proximal phalanx 201 connected to the metacarpal bone 1, forming the finger structure. The swinging tendon 6 and the restoring tendon 5 are respectively fixed to the left and right sides of the proximal phalanx 201. Their actual positions are determined by the desired finger swing direction: the swinging tendon 6 can be on the left and the restoring tendon 5 on the right, or the two can be reversed, with the swinging tendon 6 and restoring tendon 5 pulling the phalanx to swing left and right.

[0039] Further, refer to Figure 3 The flexion and extension assembly includes an extension reset member, a flexion tendon rope 9, and a flexion tendon rope pulling device; one end of the flexion tendon rope 9 is connected to the flexion tendon rope pulling device, and the other end is connected to the phalanx of the phalanx assembly 2 away from the metacarpal bone 1, that is, the distal phalanx 203; one end of the extension reset member is fixed in the metacarpal bone 1, and the other end is connected to the distal phalanx 203 of the phalanx assembly 2 away from the metacarpal bone 1. When the finger needs to be flexed, the flexion tendon rope 9 is pulled by the flexion tendon rope pulling device. Due to the rotational connection between the phalanges, when the flexion tendon rope 9 pulls the distal phalanx 203, it drives the rotation of the phalanges to achieve finger flexion. When the flexion tendon rope pulling device releases the pulling of the flexion tendon rope 9, the extension reset member is used to rotate the phalanx in the opposite direction and pull it back to the initial position to achieve phalanx extension.

[0040] Specifically, the extension reset member can be configured with an elastic device as needed, preferably including an extension reset spring 7 and an extension cord 8. The extension reset spring 7 is mounted within the metacarpal bone 1. One end of the extension cord 8 is connected to the extension reset spring 7, and the other end is connected to the distal phalanx 203 of the phalanx assembly 2, distal from the metacarpal bone 1. The extension reset spring 7 and the extension cord 8 cooperate to rotate the phalanx in the opposite direction, returning it to its initial position and achieving phalanx extension. The multiple phalanges are preferably connected in sequence via a rotating pin, facilitating relative rotation under the action of the flexion cord 9, thereby achieving finger flexion.

[0041] To facilitate smoother bending of the multi-segmented phalanges, tendon threading holes 204 are provided on both the front and back surfaces of the phalanges. The flexion tendon 9 is passed through the tendon threading holes 204 on the front surfaces of the multi-segmented phalanges and then fixedly connected to the tendon threading holes 204 on the front surfaces of the distal phalanges 203 by tying a knot or other suitable means. The extension tendon 8 is passed through the tendon threading holes 204 on the back surfaces of the multi-segmented phalanges and then fixedly connected to the tendon threading holes 204 on the back surfaces of the distal phalanges 203 by tying a knot or other suitable means. Pulling the flexion tendon 9 causes the multi-segmented phalanges to rotate inwards synchronously, then, under the action of the extension return spring 7 and the extension tendon 8, rotates outwards until the fingers are straightened.

[0042] The above-mentioned swing tendon rope pulling device or the flexion fitness pulling device can select a power device that can pull the corresponding tendon rope according to actual needs, preferably bionic muscles, and the number can be set according to needs.

[0043] Preferably, one end of the phalanx assembly 2, i.e., one end of the proximal phalanx 201, is preferably rotatably connected to the metacarpal bone 1 via a joint bearing 3, so as to facilitate the phalanx assembly 2 to swing or rotate relative to the metacarpal bone 1 under the action of the swing assembly and the flexion-extension assembly.

[0044] Reference Figure 4-7 The present invention also provides a bionic hand that can be opened and closed and flexed and extended. The bionic hand includes a metacarpal support 10 and a plurality of the above-mentioned bionic fingers; the metacarpal bones 1 of the bionic fingers are rotatably connected to the metacarpal support 10, and the rotation direction is the same as the rotation direction of the phalanges. The hand movement mainly includes three parts: one is the extension and flexion of a single finger achieved by the flexion and extension component; the second is the synchronous opening and closing of the fingers achieved by the cooperation of the swing components of each finger; and the third is the synchronous extension and flexion of the fingers. The opening, closing, flexion, and extension movements of the bionic hand fingers are all driven by the corresponding swing components or flexion and extension components. When tendon ropes are used, pulling the flexion tendon ropes 9 of the bionic hand can make the fingers flex synchronously or make a single finger flex; the extension tendon rope 8 realizes passive extension of the fingers; pulling the swing tendon rope 6 on the side of the bionic hand can make the fingers open synchronously, and the swing reset tension spring 4 on the opposite side makes the fingers close synchronously.

[0045] The number of bionic fingers is designed according to the actual situation. In a detailed embodiment, there are five bionic fingers, including the thumb, index finger, middle finger, ring finger and little finger. All of them can adopt the above-mentioned bionic finger structure that can swing and flex. The length of the phalanges and metacarpal bones 1 of the five fingers varies according to the actual situation. For example, in one embodiment, the structure of the ring finger is as follows: Figure 1-3 As shown, the thumb structure is as follows Figure 10-13 As shown, the phalanges of the thumb are different in size from those of the ring finger, but their flexion, extension, and swinging structures are the same, all achieved through corresponding tendons, tendon pulling devices, and reset components.

[0046] In another embodiment, in order to simplify the structure and control of the bionic hand, the index finger, little finger, ring finger and thumb adopt the above-mentioned bionic fingers that can swing and flex. Figure 8-9 The middle finger has a similar structure to the other fingers, but lacks a swing assembly. Instead, the swing return springs for the index finger, pinky finger, ring finger, and thumb are located near the middle finger. That is, when the palm is open, the middle finger remains stationary, while the other four fingers swing left and right relative to the middle finger. In this case, a deep groove ball bearing 13 can be used between the metacarpal bone 1 of the middle finger and the proximal phalanx 201 of the phalanx assembly 2, replacing the joint bearing 3.

[0047] In an optimized implementation, Figure 5-6 As shown, the metacarpal bone 1 has a metacarpal connector 101 at its end; the metacarpal support 10 has an arcuate retaining groove 11; and the metacarpal connector 101 has a protrusion 102 that matches the arcuate retaining groove 11. The metacarpal connector 101 is pivotally connected to the metacarpal support 10, and the protrusion 102 slides within the arcuate retaining groove 11. Driven by tendons, the fingers can deflect slightly along the hinge at the base of the metacarpal bone 1, so that the back of the hand forms a certain arc when the bionic hand is clenched into a fist, further enhancing the bionic effect.

[0048] Specifically, the metacarpal support 10 is provided with two pin holes, and the two pin holes are symmetrically arranged on both sides of the arc-shaped limiting groove 11; the metacarpal connector 101 is hinged to the metacarpal support 10 by a rotating pin passing through the two pin holes. The rotating pin is preferably sheathed with a torsion spring 12 for reset.

[0049] When the bionic hand is designed with five fingers, arc-shaped limit grooves 11 can be provided only at the corresponding locations where the metacarpal support 10 connects with the pinky and ring fingers, and protrusions 102 can be provided on the metacarpal connection seats 101 of the pinky and ring fingers. When making a fist, the ring and pinky fingers can be deflected slightly along the hinges at the base of their metacarpal bones 1 under the action of their respective flexion and extension components, so that the back of the hand forms a certain arc after making a fist, simplifying the overall structure of the bionic hand.

[0050] The above examples are merely illustrative of the present invention and do not constitute a limitation on the scope of protection of the present invention. Any design that is identical or similar to the present invention falls within the scope of protection of the present invention.

Claims

1. A bionic finger capable of swinging and flexing, characterized by: The invention comprises a metacarpal bone (1), a phalangeal assembly (2), a swing assembly and a flexion-extension assembly; the phalangeal assembly (2) comprises a plurality of phalanges that are rotatably connected in sequence; the proximal phalange (201) of the phalangeal assembly (2) is rotatably connected to one end of the metacarpal bone (1); the swing assembly is connected to the phalangeal assembly (2) and is used to drive the phalangeal assembly (2) to swing relative to the metacarpal bone (1); the flexion-extension assembly is connected to the phalangeal assembly (2) and is used to drive the phalangeal assembly (2) to flex or extend.

2. The bionic finger capable of swinging and flexing as claimed in claim 1, characterized in that: The swing assembly comprises a swing reset member, a swing tendon rope (6) and a swing tendon rope pulling device; one end of the swing tendon rope (6) is connected to the swing tendon rope pulling device, and the other end is connected to the proximal phalanx (201) of the phalanx assembly (2); one end of the swing reset member is fixed in the metacarpal bone (1), and the other end is connected to the proximal phalanx (201) of the phalanx assembly (2).

3. The bionic finger capable of swinging and flexing as claimed in claim 2, characterized in that: The swing reset member comprises a swing reset tension spring (4) and a reset tendon rope (5); the swing reset tension spring (4) is installed in the metacarpal bone (1); one end of the reset tendon rope (5) is connected to the swing reset tension spring (4), and the other end is connected to the proximal phalanx (201) of the phalanx assembly (2).

4. The bionic finger capable of swinging and flexing as claimed in claim 1, characterized in that: The flexion and extension assembly comprises an extension reset member, a flexion tendon rope (9) and a flexion tendon rope pulling device; one end of the flexion tendon rope (9) is connected to the flexion tendon rope pulling device, and the other end is connected to the distal phalanx (203) of the phalanx assembly (2) away from the metacarpal bone (1); one end of the extension reset member is fixed in the metacarpal bone (1), and the other end is connected to the distal phalanx (203) of the phalanx assembly (2) away from the metacarpal bone (1).

5. The bionic finger capable of swinging and flexing as claimed in claim 4, characterized in that: The stretch reset member comprises a stretch reset spring (7) and a stretch tendon (8); the stretch reset spring (7) is installed in the metacarpal bone (1); one end of the stretch tendon (8) is connected to the stretch reset spring (7), and the other end is connected to the distal phalanx (203) of the phalanx assembly (2) away from the metacarpal bone (1).

6. The bionic finger capable of swinging and flexing as claimed in claim 5, characterized in that: Tendon threading holes (204) are provided on the front and back of the multiple phalanges; one end of the flexion tendon (9) passes through the tendon threading holes (204) on the front of the multiple phalanges in sequence and is connected to the tendon threading hole (204) on the front of the phalanges away from the metacarpal bones (1); one end of the extension tendon (8) passes through the tendon threading holes (204) on the back of the multiple phalanges in sequence and is connected to the tendon threading hole (204) on the back of the phalanges away from the metacarpal bones (1).

7. The bionic finger capable of swinging and flexing as claimed in claim 1, characterized in that: The proximal phalanx (201) of the phalanx assembly (2) is rotatably connected to the metacarpal bone (1) via a joint bearing (3).

8. A bionic hand that can be opened, closed, flexed, and extended, characterized by: The bionic hand comprises a metacarpal bone support (10) and a plurality of bionic fingers according to any one of claims 1 to 7; the metacarpal bones (1) of the bionic fingers are rotatably connected to the metacarpal bone support (10).

9. The bionic hand capable of opening, closing, flexing and extending as claimed in claim 8, characterized in that: The end of the metacarpal bone (1) is provided with a metacarpal bone connecting seat (101); the metacarpal bone support (10) is provided with an arc-shaped limiting groove (11); the metacarpal bone connecting seat (101) is provided with a protrusion (102) matching the arc-shaped limiting groove (11); the metacarpal bone connecting seat (101) is rotatably connected to the metacarpal bone support (10), and the protrusion (102) is slidably connected in the arc-shaped limiting groove (11).

10. The bionic hand capable of opening, closing, flexing and extending as claimed in claim 9, characterized in that: The metacarpal support (10) is provided with two pin holes, and the two pin holes are symmetrically arranged on both sides of the arc-shaped limiting groove (11); the metacarpal connecting seat (101) is hinged to the metacarpal support (10) by a rotating pin passing through the two pin holes; the rotating pin outer sleeve is provided with a torsion spring (12).

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