Bionic hand thumb and bionic hand

Abstract

The utility model relates to the technical field of robots, in particular to a bionic hand thumb and a bionic hand. The bionic hand thumb provided by the utility model comprises a thumb mounting platform; the thumb assembly is rotationally connected with the thumb mounting platform, and the thumb assembly is provided with a first push rod hinging part; the first linear expansion piece is arranged on the thumb mounting platform and used for enabling the thumb assembly to rotate around a first rotating axis relative to the thumb mounting platform, an included angle is formed between the first rotating axis and the mounting surface of the thumb mounting platform, and the first linear expansion piece comprises a first expansion piece and a second expansion piece; the first telescopic piece can linearly move in the direction of the first spiral axis through relative spiral rotation, the first telescopic piece is provided with a first screw hole part and a first connecting part, the first connecting part is connected with the side, away from the thumb assembly, of the first screw hole part, and a second push rod hinge part is arranged on the first connecting part; one end of the push rod is hinged to the first push rod hinge part, and the other end of the push rod is hinged to the second push rod hinge part.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of robots, and in particular, to a bionic thumb and a bionic hand. BACKGROUND

[0002] The significant increase in labor costs and the development trend of small and micro operation objects have put forward the demand for product miniaturization and precise and fine operation of automatic operation hardware. Under the impetus of the foregoing demand, the related technical field develops a multi-degree-of-freedom robot simulating the upper limb movement of a human primate under the guidance of bionics, and the technical frontier evolves to and promotes the development of a dexterous hand bionic robot simulating the movement of a human primate hand.

[0003] Under this background, the miniaturization of the mechanical bionic thumb related part is a problem to be solved in the prior art. CONTENT OF THE UTILITY MODEL

[0004] In view of the above analysis, the embodiments of the present disclosure aim to provide a bionic thumb and a bionic hand.

[0005] A first aspect of the embodiments of the present disclosure provides a bionic thumb, comprising:

[0006] a thumb mounting platform;

[0007] a thumb assembly, the thumb assembly being rotationally connected with the thumb mounting platform, the thumb assembly having a first push rod hinged part;

[0008] a first linear extender, the first linear extender being arranged on the thumb mounting platform and being configured to rotate the thumb assembly relative to the thumb mounting platform about a first rotation axis, the first rotation axis having an included angle with a mounting surface of the thumb mounting platform, the first linear extender comprising:

[0009] a first extensible member, the first extensible member being capable of linear movement along a first helical axis through relative helical rotation, the first extensible member having a first threaded hole part and a first connecting part, the first connecting part being connected to a side of the first threaded hole part away from the thumb assembly, the first connecting part being provided with a second push rod hinged part;

[0010] a push rod, one end of the push rod being hinged to the first push rod hinged part and the other end of the push rod being hinged to the second push rod hinged part.

[0011] In some embodiments, the first linear extender is configured to enable the thumb assembly to rotate about the first rotation axis by an angle in a range of 0-120 degrees, and the length direction of the push rod has an included angle with the projection of the first helical axis on the mounting surface of the mounting platform in a range of 30-60 degrees.

[0012] In some embodiments, the first linear extender further comprises a driving member, the driving member comprising:

[0013] a first screw rod, the first screw rod extending along a first helical axis;

[0014] a first motor, the first motor being connected with the first screw rod, and configured to drive the first screw rod to rotate;

[0015] the first linear extender comprises:

[0016] a first nut, the first nut being sleeved on the first screw rod

[0017] The first linear extender is capable of linear movement along the first helical axis through helical rotation between the first screw rod and the first nut.

[0018] In some embodiments, the first linear extender further comprises:

[0019] a first position sensing assembly, the first position sensing assembly comprising:

[0020] a first brush, the first brush being connected with the first nut;

[0021] a first conductor, the first conductor being connected with the first motor;

[0022] The first position sensing assembly is configured to maintain the first brush in sliding contact with the first conductor during linear movement of the first linear extender along the first helical axis.

[0023] In some embodiments, the first position sensing assembly further comprises: a first mounting plate, one end of the first mounting plate being connected with the first motor, the first mounting plate being arranged in parallel with the first helical axis; and the first conductor being arranged on the first mounting plate on a side close to the first brush.

[0024] In some embodiments, the first linear extender further comprises:

[0025] a sliding block, the sliding block being fixedly connected with the first nut;

[0026] a guide rail being arranged on the thumb mounting platform, the sliding block and the guide rail forming a sliding pair.

[0027] In some embodiments, the thumb assembly comprises:

[0028] a base, the base being rotatably connected with the thumb mounting platform about a first rotation axis;

[0029] a thumb body, the thumb body being rotatably connected with the base about a second rotation axis, the second rotation axis having an included angle with the first rotation axis;

[0030] a second linear extender, the second linear extender being arranged on the thumb body and configured to drive the thumb body to rotate about the second rotation axis, the second linear extender comprising:

[0031] The second telescopic part is capable of linear movement along a second screw axis by relative screw rotation, and the second telescopic part has a base hinged part hinged to the base.

[0032] The second aspect of the present disclosure provides a bionic hand, comprising:

[0033] The bionic hand thumb of any one of the above embodiments;

[0034] A palm frame, one side of the palm frame being connected to the thumb mounting platform;

[0035] At least two remaining finger assemblies, the remaining finger assemblies being connected to the other side of the palm frame, and the remaining finger assemblies being capable of bending;

[0036] The first screw axis is parallel to the width direction of the palm frame.

[0037] In some embodiments, the remaining finger assembly comprises a remaining finger tip part, and the remaining finger tip part is provided with a remaining finger clamping surface;

[0038] The thumb assembly comprises a thumb body, and the thumb body comprises:

[0039] A thumb knuckle part;

[0040] A thumb tip part, the thumb tip part being rotationally connected to the thumb knuckle part, and the thumb tip part being provided with a thumb clamping surface;

[0041] The thumb tip part of the thumb assembly is capable of contacting the remaining finger tip part of any one of the remaining finger assemblies, and the thumb tip part is capable of rotating relative to the thumb knuckle part so that the remaining finger clamping surface and the thumb clamping surface are in close contact.

[0042] In some embodiments, the clamping surface comprises a planar section and a curved section connected to each other, and the planar section is arranged away from the palm frame compared to the curved section. BRIEF DESCRIPTION OF DRAWINGS

[0043] The accompanying drawings are included to provide a further understanding of the embodiments, and are incorporated in and constitute a part of this specification, illustrate embodiments and together with the description serve to explain the principles of the present disclosure, and, wherein like reference numerals refer to like parts throughout the several views.

[0044] Figure 1 A bionic hand thumb rotation driving part structure schematic diagram provided by the embodiments of the present disclosure;

[0045] Figure 2 A bionic hand thumb structure schematic diagram provided by the embodiments of the present disclosure;

[0046] Figure 3 A bionic hand thumb structure top view provided by the embodiments of the present disclosure;

[0047] Figure 4A first linear extender structure schematic diagram of an embodiment of the present disclosure;

[0048] Figure 5 A first extender structure schematic diagram of an embodiment of the present disclosure;

[0049] Figure 6 A thumb mounting platform structure schematic diagram of an embodiment of the present disclosure;

[0050] Figure 7 A second linear extender structure schematic diagram of an embodiment of the present disclosure;

[0051] Figure 8 A second extender structure schematic diagram of an embodiment of the present disclosure;

[0052] Figure 9 A bionic hand structure schematic diagram provided by an embodiment of the present disclosure.

[0053] Reference signs:

[0054] 10, thumb of bionic hand; 11, thumb mounting platform; 111, thumb assembly mounting portion; 112, first linear extender mounting portion; 11a, fixed groove; 11b, guide rail; 12, thumb assembly; 121, base; 122, thumb body; 123, second linear extender; 123a, second extender; 123a1, base hinged portion; 123a2, transition connecting piece; 123a3, second screw hole portion; 123e, thumb hinged portion; 123b, second screw rod; 123c, second motor; 123d, second position sensing assembly; 123d1, second electric brush; 123d2, second conductor; 123d3, second mounting plate; 124, first push rod hinged portion; 13, first linear extender; 131, first extender; 131a, second push rod hinged portion; 131b, sliding connecting portion; 131c, first screw hole portion; 131d, first connecting portion; 132, push rod; 133, first screw rod; 134, first motor; 134a, fixed portion; 135, first position sensing assembly; 135a, first electric brush; 135b, first conductor; 135c, first mounting plate; 136, sliding block; 20, bionic hand; 2, palm frame; 3, remaining finger assembly; 31, remaining finger fingertip portion; 32, remaining finger clamping surface; 122a, thumb knuckle portion; 122b, thumb fingertip portion; 122c, thumb clamping surface; 122d, spring seat; 4, bionic nail. DETAILED DESCRIPTION

[0055] The preferred embodiments of the present disclosure will be described in detail below with reference to the drawings, wherein the drawings constitute a part of the present disclosure and are used to explain the principles of the embodiments of the present disclosure, but are not used to limit the scope of the present disclosure.

[0056] In the description of the embodiments of the present disclosure, it should be noted that unless specifically defined and limited otherwise, the term "connected" should be construed broadly, for example, it can be fixedly connected, or detachably connected, or integrally connected, which can be mechanically connected, or electrically connected, which can be directly connected, or indirectly connected through an intermediate medium. For those skilled in the art, the specific meaning of the above-mentioned term in the present disclosure can be understood according to the specific circumstances.

[0057] The terms "top", "bottom", "above", "under" and "on" used throughout the description are relative positions of components of the device, for example, the relative positions of the top and bottom substrates inside the device. It can be understood that the device is multifunctional, regardless of their orientation in space.

[0058] The general working surface of the present disclosure can be a plane or a curved surface, which can be inclined or horizontal. For the convenience of description, the embodiments of the present disclosure are placed on a horizontal plane and used on the horizontal plane, and "high and low" and "up and down" are defined accordingly.

[0059] Some embodiments of the present disclosure provide a bionic thumb. The root of the bionic thumb has a voluntary degree of freedom of rotation around a first helical axis. Optionally, the root of the bionic thumb also has a voluntary degree of freedom of rotation around a second helical axis. Optionally, the bionic thumb includes two knuckles, and the two knuckles have a voluntary degree of freedom of relative rotation.

[0060] Optionally, the rotational movement of the two axes of the root of the bionic finger can be realized by a linear extender; the relative rotation between the two knuckles of the bionic thumb can also be realized by a linear extender.

[0061] Figure 1 (not shown) and Figure 2 Some embodiments of the present disclosure provide a bionic thumb 10. As shown in Figure 1 The bionic thumb 10 includes a thumb mounting platform 11, a thumb assembly 12 and a first linear extender 13.

[0062] Specifically, the thumb mounting platform 11 is used to mount the thumb assembly 12 and the first linear extender 13.

[0063] In an optional embodiment, as Figure 3 and Figure 5As shown, the thumb mounting platform 11 comprises a thumb assembly mounting portion 111 and a first linear extender mounting portion 112, which are connected. Optionally, the thumb assembly mounting portion 111 is located at one side of the end of the thumb mounting platform 11. The thumb assembly mounting portion 111 and the first linear extender mounting portion 112 can have different height dimensions, which are the dimensions perpendicular to the mounting surface of the thumb mounting platform 11. The thumb assembly mounting portion 111 can be, for example, a circular truncated cone, which has a larger height dimension than the first linear extender mounting portion 112.

[0064] The thumb assembly 12 is rotationally connected with the thumb mounting platform 11. Optionally, the thumb assembly 12 is rotationally connected with the thumb assembly mounting portion 111 of the thumb mounting platform 11 and can rotate relative to the thumb assembly mounting portion. As shown, Figure 1 The thumb assembly 12 has a first push rod hinged portion 124.

[0065] The first linear extender 13 is arranged on the thumb mounting platform 11 and is used to rotate the thumb assembly 12 relative to the thumb mounting platform 11 about the first rotation axis. Optionally, the first linear extender 13 is arranged on the first linear extender mounting portion 112 of the thumb mounting platform 11.

[0066] The thumb assembly 12 has an included angle with the mounting surface of the thumb mounting platform 11 relative to the first rotation axis of the thumb mounting platform 11. The included angle can be, for example, 90 degrees or other angles.

[0067] The first linear extender 13 comprises a first extender 131 and a push rod 132. The first extender 131 can perform linear movement along the first screw axis through screw rotation. Optionally, the first extender 131 is, for example, a nut, which can perform linear movement through screw rotation relative to a screw rod. The first extender 131 has a second push rod hinged portion 131a, one end of the push rod 132 is hinged with the first push rod hinged portion and the other end is hinged with the second push rod hinged portion 131a.

[0068] In an optional embodiment, the thumb mounting platform 11 has a vertical plane passing through the first screw axis, the first push rod hinged part 131a is located on one side of the vertical plane, and the second push rod hinged part 124 is located on the other side of the vertical plane. During the movement of the first telescopic part 131 along the first screw axis, the first push rod hinged part 131a is always located on one side of the vertical plane, and the second push rod hinged part 124 is always located on the other side of the vertical plane. This also makes the hinged axis of the push rod hinged part 131a be in a non-planar relationship with the first screw axis, and the length direction of the push rod 132 always has an angle with the first screw axis. In this way, the rotation angle of the thumb assembly 12 around the first rotation axis can have a larger range in the limited space of the thumb mounting platform 11, which is beneficial to reducing the size of the thumb mounting platform, and further beneficial to reducing the size of the bionic hand.

[0069] In some embodiments, the first linear telescopic device 13 is configured to enable the thumb assembly 12 to rotate around the first rotation axis by an angle in the range of 0-120 degrees, and the angle between the length direction of the push rod 132 and the projection of the mounting surface of the mounting platform on the first screw axis is in the range of 30-60 degrees.

[0070] The embodiments of the present disclosure can convert the linear movement of the first telescopic part 131 into a larger range of rotation of the thumb assembly 12 in the limited space of the thumb mounting platform 11, so that the thumb assembly 12 has a larger working range.

[0071] In some optional embodiments, as shown in Figure 4 the first linear telescopic device 13 further includes a driving part, the driving part includes a first screw rod 133 and a first motor 134, the first screw rod 133 extends along the first screw axis, and the first motor 134 is connected with the first screw rod 133 and used to drive the screw rod to rotate. Optionally, the first screw rod 133 can be connected with the output shaft of the first motor 134, or the first screw rod 133 can serve as the output shaft of the first motor 134.

[0072] The first telescopic part 131 is, for example, a first nut, which is sleeved on the first screw rod 133. The first telescopic part 131 can perform linear movement along the first screw axis through the screw rotation between the first screw rod 133 and the first nut. In this way, the linear movement of the first telescopic part 131 along the first screw axis is realized.

[0073] In an optional embodiment, as shown in Figure 5 the first nut has a first screw hole part 131c and a first connecting part 131d. The first screw hole part 131c has a screw hole and is sleeved on the first screw rod 133. The first connecting part 131d is connected with the side of the first screw hole part 131c away from the thumb assembly 12, and the first connecting part 131d is also connected with the second push rod connecting part 131a.

[0074] Optionally, the first connecting portion 131d is located on the side of the first screw axis opposite to the thumb assembly 12 when viewed along the normal of the mounting surface. The second push rod articulation 131a on the first connecting portion 131d is then located on one side of the vertical plane, while the first push rod articulation 124 on the thumb assembly 12 is located on the other side of the vertical plane. Since the second push rod articulation 131a can only move along the first screw axis with the first nut and cannot cross the vertical plane, the first push rod articulation 124 is always located on one side of the vertical plane and the second push rod articulation 131a is always located on the other side of the vertical plane during the movement of the first telescopic member 131 along the first screw axis. In this way, the articulation axis of the first push rod articulation 131a is non-coplanar with the first screw axis, and the length direction of the first push rod articulation 132 connecting the second push rod articulation 131a and the first push rod articulation 124 always has an angle with the first screw axis.

[0075] Optionally, the first connecting portion 131d extends from the side of the first threaded hole portion 131c away from the mounting platform 11 to the normal of the mounting surface. In other words, the height of the first connecting portion 131d is higher than that of the first threaded hole portion. Optionally, the height of the first push rod articulation 131a on the first connecting portion 131d matches that of the thumb assembly 124. In this way, the push rod 132 can connect the two push rod articulations across the first lead screw 133, so that the length direction of the first push rod articulation 132 always has an angle with the first screw axis, saving the size of the first linear telescopic actuator 13 in the palm width direction.

[0076] In some embodiments, as shown in Figure 4 and Figure 5 The first linear telescopic actuator 13 further comprises a first position sensing assembly 135, which comprises a first brush 135a and a first conductor 135b. The first brush 135a is connected to the first nut, and the first conductor 135b is connected to the first motor 134. The first brush 135a and the first conductor 135b maintain sliding contact during the linear movement of the first telescopic member 131 along the first screw axis.

[0077] Optionally, as shown in Figure 5 The first brush 135a is fixedly installed on one side of the first threaded hole portion 131c, and the side on which the first brush 135a is located is perpendicular to the mounting surface.

[0078] In the embodiments of the present disclosure, the first brush 135a and the first conductor 135b form a sliding resistance structure. During the movement of the first telescopic member 131 along the first screw rod 133, the first brush 135a slides along the surface of the first conductor 135b, and the movement distance of the first telescopic member 131 is monitored by reading the resistance value change of the first conductor 135b connected to the circuit. When the first linear telescopic device 13 is used to realize the rotation of the thumb assembly 12, the first position sensing assembly 135 can be used to monitor the rotation angle between two components.

[0079] In some embodiments, as shown in Figure 4 The first position sensing assembly 135 can further include a first mounting plate 135c, one end of the first mounting plate 135c being connected to the first motor 134, the first mounting plate 135c being arranged parallel to the first screw axis, and the first conductor 135b being arranged on the first mounting plate 135c close to one side of the first brush 135a. Optionally, the first mounting plate 135c is arranged perpendicular to the mounting surface.

[0080] By arranging the first mounting plate 135c on the first motor 134, the first mounting plate 135c being arranged parallel to the direction of the first screw axis, the embodiments of the present disclosure can ensure that the first brush 135a and the first conductor 135b maintain sliding contact during the movement of the first telescopic member 131. The first mounting plate 135c is directly connected to the first motor 134, without the need to arrange additional fixing structures. In addition, by fixing the first conductor 135b and the first brush 135a to form the first position sensing assembly 135 through the first mounting plate 135c of the embodiments of the present disclosure, only a slight increase in size exists in the radial direction of the first linear telescopic device 13, which does not affect the installation arrangement and is beneficial to reducing the size of the first linear telescopic device 13.

[0081] In some embodiments, a fixing portion 134a is arranged on the first motor 134, and a fixing groove 11a is arranged on the thumb mounting platform 11, the fixing groove 11a being used to cooperate with the fixing portion 134a to fix the first motor 134. Optionally, the first mounting plate 135c is connected to the first motor 134 through the fixing portion 134a.

[0082] In some embodiments, as shown in Figure 5 and Figure 6As shown, the first linear extender 13 further comprises a slider 136, and the first nut is provided with a sliding connection portion 131b fixedly connected with the first nut. Optionally, the sliding connection portion 131b is arranged on the first threaded hole portion 131c away from the first brush 135a. The thumb mounting platform 11 is provided with a guide rail 11b, and the slider 136 forms a sliding pair with the guide rail 11b. The guide rail 11b and the slider 136 are arranged between the first nut and the thumb mounting platform 11, and utilize the space between the first screw rod 133 and the mounting surface, so that the movement of the first nut is more stable.

[0083] In some embodiments, as shown in Figure 2 As shown, the thumb assembly 12 comprises a base 121, a thumb body 122, and a second linear extender 123. The base 121 is rotationally connected with the thumb mounting platform 11 about a first rotation axis, and the thumb body 122 is rotationally connected with the base 121 about a second rotation axis having an included angle with the first rotation axis. The second linear extender 123 is arranged on the thumb body 122 and is used to rotate the thumb body 122 about the second rotation axis. In this way, the two degrees of freedom of the thumb body 122 can be realized.

[0084] Optionally, the base 121 can be rotationally connected with the thumb assembly mounting portion 111 about the first rotation axis, and the base 121 can have a corresponding outer contour with the thumb assembly mounting portion 111.

[0085] Optionally, as shown in Figure 1 and Figure 3 The second push rod hinged portion 124 is arranged on the base 121. Optionally, the base 121 has an eccentric disc, and the second push rod hinged portion 124 is arranged in a groove of the eccentric disc.

[0086] In some embodiments, as shown in Figure 7 As shown, the second linear extender 123 comprises a second extender 123a capable of linear movement along a second screw axis through relative screw rotation, and the second extender 123a has a base hinged portion 123a1 hinged with the base 121.

[0087] The second linear extender 123 further comprises a second motor 123c and a second screw rod 123b connected with each other and used to drive the second extender 123a to linearly move along the second screw axis. Optionally, the second screw rod 123b can be connected with an output shaft of the second motor 123c, or the second screw rod 123b can serve as an output shaft of the second motor 123c.

[0088] Optionally, the second extender 123a has a second threaded hole portion 123. The second threaded hole portion has a threaded hole sleeved on the second screw rod 123b. Optionally, asFigure 8 As shown, the base hinge part 123a1 can be connected with the second threaded hole part through a transition connector 123a2.

[0089] In an optional embodiment, the base hinge part 123a1 is arranged away from the second motor 123c relative to the second threaded hole part in the direction of the second screw axis, which is conducive to reducing the radial dimension of the passive module 12, so that the second telescopic part 123, and even the second linear telescopic device 123, is adapted to be externally mounted between the thumb body 122 and the palm frame. Optionally, the transition connector 123a2 extends from the end surface of the second threaded hole part away from the second motor 123c to the base hinge part 123a1 in the direction of the second screw axis.

[0090] In an optional embodiment, the rotation axis of the base hinge part 123a1 is in a non-coplanar perpendicular relationship with the second screw axis. In this way, a constraint on the circumferential movement of the second telescopic part 123a can be formed. Compared with the structure of a general screw nut pair that needs to cooperate with a sliding block guide rail to limit the circumferential movement of the nut, the embodiment of the present disclosure can omit this part.

[0091] In an optional embodiment, a thumb hinge part 123e is arranged on the side wall of the motor housing of the second motor 123c. The installation and fixation of the second motor 123c can be realized through the thumb hinge part 123e on the side wall of the motor housing. Arranging the thumb hinge part 123e on the side wall of the motor housing reduces the axial dimension of the second linear telescopic device 123.

[0092] In an optional embodiment, the second linear telescopic device 123 does not have a shell, and the second telescopic part 123 has a small size, which reduces the possibility of interference and increases the movable range of the thumb assembly 12.

[0093] Optionally, the second linear telescopic device 123 further comprises a second position sensing assembly 123d, which comprises a second brush 123d1 and a second conductor 123d2. The second brush 123d1 is connected with the second threaded hole part, and the second conductor 123d2 is connected with the second motor 123c. When the second telescopic part 123a moves along the second screw axis, the second brush 123d1 and the second conductor 123d2 maintain sliding contact.

[0094] Optionally, as Figure 8As shown, the second brush 123d1 is fixedly installed on the second screw hole portion on the side away from the transition connecting piece 123a2. In the embodiment of the present disclosure, the second brush 123d1 and the second conductor 123d2 form a sliding variable resistance structure. During the movement of the second telescopic piece 123a along the second screw rod 123b, the second brush 123d1 slides along the surface of the second conductor 123d2, and the movement distance of the second telescopic piece 123a is monitored by reading the resistance value change of the second conductor 123d2 connected to the circuit. The second linear telescopic device 123 can be used to monitor the rotation angle between the thumb body 122 and the base 121.

[0095] In some embodiments, as shown in Figure 7 and Figure 8 As shown, the second position sensing assembly 123d can further include a second mounting plate 123d3, one end of the second mounting plate 123d3 is connected to the motor housing of the second motor 123c and is arranged in parallel with the second screw axis direction, and the second conductor 123d2 is arranged on the second mounting plate 123d3 on the side close to the second brush 123d1.

[0096] In the embodiment of the present disclosure, by arranging the second mounting plate 123d3 of the second conductor 123d2 on the second motor 123c, the second mounting plate 123d3 is arranged in parallel with the second screw axis direction, so that the second brush 123d1 and the second conductor 123d2 can always maintain sliding contact during the movement of the second telescopic piece 123a. The second mounting plate 123d3 is directly connected to the motor housing, without the need to arrange additional fixing structures. This is conducive to reducing the size of the second linear telescopic device 123.

[0097] Figure 9 It is shown that some embodiments of the present disclosure provide a bionic hand 20. As shown in Figure 9 The bionic hand 20 includes the bionic thumb 10 according to any of the above embodiments, a palm frame 2, and at least two remaining finger assemblies 3, one side of the palm frame 2 is connected to the thumb mounting platform 11, and the remaining finger assemblies 3 are connected to the other side of the palm frame 2, and the remaining finger assemblies 3 can generate bending; wherein the first screw axis of the bionic thumb 10 is parallel to the width direction of the palm frame 2.

[0098] In the embodiment of the present disclosure, one side of the palm frame 2 is connected to the thumb mounting platform 11, the first screw axis of the bionic thumb 10 is parallel to the width direction of the palm frame 2, the thumb mounting platform 11 has a vertical plane passing through the first screw axis, and during the movement of the first telescopic piece 131 along the first screw axis, the first push rod hinged portion is always located on one side of the vertical plane, and the second push rod hinged portion is always located on the other side of the vertical plane. In this way, the rotation angle of the thumb assembly 12 around the first rotation axis can have a larger range, and the size of the palm width direction of the bionic hand is reduced.

[0099] In some optional embodiments, the residual finger assembly 3 comprises a residual finger tip portion 31, which is provided with a residual finger clamping surface 32. The thumb assembly 12 comprises a thumb body 122, which comprises a thumb knuckle portion 122a and a thumb tip portion 122b, and the thumb tip portion 122b is provided with a thumb clamping surface 122c. The residual finger clamping surface 32 and the thumb clamping surface 122c can complete the “pinch” action, or can cooperate with each other to complete the clamping of the operation object.

[0100] It can be understood that the residual finger clamping surface 32 and the thumb clamping surface 122c can be in close contact or close to each other by the rotation of the thumb body 122 in two directions (rotation around the first rotation axis and rotation around the second rotation axis) and the flexion and extension movement of the residual finger assembly 3, so as to complete the “pinch” action or clamping action. By controlling the rotation angle of the thumb body 122 around the first rotation axis, the thumb clamping surface 122c can be close to the residual finger clamping surface 32 of any residual finger assembly 3.

[0101] In possible embodiments, the thumb tip portion 122b is rotationally connected to the thumb knuckle portion 122a. In this way, for example, when performing the “pinch” action, the contact force between the thumb tip portion 122b and the residual finger tip portion 31 causes the thumb tip portion 122b to produce adaptive rotation relative to the thumb knuckle portion 122a. When performing the clamping action, the clamping object between the thumb tip portion 122b and the residual finger tip portion 31 exerts a force on the thumb tip portion 122b, which causes the thumb tip portion 122b to produce adaptive rotation relative to the thumb knuckle portion 122a.

[0102] It can be understood that the adaptive rotation of the thumb tip portion 122b relative to the thumb knuckle portion 122a, i.e., the passive rotation of the thumb tip portion 122b, can cause the residual finger clamping surface 32 and the thumb clamping surface 122c to be in close contact.

[0103] Optionally, a restoring force is provided for the thumb knuckle portion 122a when the thumb tip portion 122b produces adaptive rotation relative to the thumb knuckle portion 122a. For example, the thumb body 122 further comprises a spring seat 122d connected to the thumb knuckle portion 122a, and a spring is arranged on the spring seat 122d and abuts against the opposite side of the clamping surface of the thumb tip portion 122b. When the thumb tip portion 122b produces adaptive rotation relative to the thumb knuckle portion 122a, the spring is deformed under force to provide a restoring force for the thumb knuckle portion 122a, so that when the thumb tip portion 122b is separated from the thumb knuckle portion 122a, the thumb knuckle portion 122a returns to the initial position; other forms of rotation reset mechanisms can also be provided for the thumb knuckle portion 122a.

[0104] The thumb clamping surface 122c and the remaining finger clamping surface 32 each include a planar section and a curved section connected to each other, and the planar section is arranged further away from the palm frame 2 than the curved section. When the planar section of the remaining finger clamping surface 32 and the planar section of the thumb clamping surface 122c are in contact with each other, the remaining finger clamping surface 32 and the thumb clamping surface 122c can achieve surface contact. When the curved section of the remaining finger clamping surface 32 and the curved section of the thumb clamping surface 122c are in contact with each other, the remaining finger clamping surface 32 and the thumb clamping surface 122c can achieve line contact.

[0105] It can be understood that the planar section of the remaining finger clamping surface 32 and the planar section of the thumb clamping surface 122c can be in contact or close to each other, and the curved section of the remaining finger clamping surface 32 and the curved section of the thumb clamping surface 122c can also be in contact or close to each other, through the rotation of the thumb body 122 in two directions (rotation around the first rotation axis and rotation around the second rotation axis) and the flexion and extension movement of the remaining finger assembly 3. The cooperation of the planar sections is conducive to ensuring the clamping accuracy and stability, and the cooperation of the curved sections can be suitable for various clamping tasks.

[0106] In some embodiments, the thumb clamping surface 122c and the remaining finger clamping surface 32 can be formed of elastic materials, so that the thumb clamping surface 122c and the remaining finger clamping surface 32 can be adaptively deformed according to the operation object to ensure the stability of clamping.

[0107] In some embodiments, at least one of the remaining finger fingertip part 31 and the thumb fingertip part 122b is provided with a bionic nail 4, which can be used for a poking action of applying a tangential force along the bionic nail surface or a pushing action of applying a normal force along the bionic nail surface.

[0108] Some embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between various embodiments can be referred to each other.

[0109] The above description is only the preferred specific implementation of the present disclosure, but the protection scope of the present disclosure is not limited thereto. Any changes or replacements within the technical range disclosed by the present disclosure can be easily thought by those skilled in the art, which should be covered within the protection scope of the present disclosure.

Claims

1. A bionic thumb, characterized in that, The application relates to a thumb mounting platform, a thumb assembly, a first linear extender, a first linear extender, a push rod, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear extender, a first linear ​ ​ ​ ​ ​ 2. The bionic hand thumb of claim 1, wherein, ​ 3. The bionic hand thumb of claim 1, wherein, ​ ​ ​ ​ ​ ​ 4. The bionic hand thumb of claim 3, wherein, ​ ​ ​ ​ ​ 5. The bionic hand thumb of claim 4, wherein, ​ 6. The bionic hand thumb of claim 3, wherein, ​ ​ ​ 7. The bionic hand thumb of claim 1, wherein, ​ ​ ​ ​ A second telescopic member capable of linear movement along a second helical axis by relative helical rotation, the second telescopic member having a base articulation that articulates with the base.

8. A bionic hand, characterized in that, Comprising: The bionic thumb of any one of claims 1-7; A palm frame, one side of the palm frame connected with a thumb mounting platform of the bionic thumb; At least two residual finger assemblies connected to the other side of the palm frame, the residual finger assemblies capable of bending; Wherein the first helical axis of the bionic thumb is parallel to the width direction of the palm frame.

9. The bionic hand according to claim 8, wherein, The residual finger assembly comprises a residual finger tip portion, the residual finger tip portion provided with a residual finger clamping surface; The thumb assembly comprises a thumb body, the thumb body comprising: A thumb knuckle portion; A thumb tip portion rotatably connected to the thumb knuckle portion, the thumb tip portion provided with a thumb clamping surface; The thumb tip portion of the thumb assembly is capable of contacting the residual finger tip portion of any one of the residual finger assemblies; the thumb tip portion is capable of rotating relative to the thumb knuckle portion so that the residual finger clamping surface and the thumb clamping surface are in close contact.

10. The bionic hand according to claim 9, wherein, The clamping surface comprises a planar section and a curved section connected together, the planar section being arranged further away from the palm frame than the curved section.

Images