Bionic finger, bionic manipulator and humanoid robot

Abstract

The utility model relates to a bionic finger, a bionic manipulator and a humanoid robot. The bionic finger comprises at least two knuckles which are sequentially connected in a pivoted mode, a first wiring channel and a second wiring channel are formed in the far knuckle, and third wiring channels are formed in the other knuckles; the roller comprises a first section and a second section, and the diameter of the first section is smaller than that of the second section; the first traction rope is arranged close to the palm side of the bionic finger, one end of the first traction rope is fixedly connected with the first limiting piece, and the other end of the first traction rope sequentially penetrates through the first wiring channel and the third wiring channel to be fixed to the first section; the second traction rope is arranged close to the back side of the bionic finger, one end of the second traction rope is fixedly connected with the second limiting piece, and the other end of the second traction rope sequentially penetrates through the second wiring channel and the third wiring channel to be fixed to the second section.

Description

Technical Field

[0001] This utility model relates to the field of humanoid robot technology, and in particular to bionic fingers, bionic robotic hands, and humanoid robots. Background Technology

[0002] Currently, humanoid robots are widely used in numerous technological fields, primarily to replace manual labor in performing various mechanical tasks. As a core component of humanoid robots, the performance of the bionic robotic hand, which performs key operations such as grasping and movement, directly determines the robot's performance in practical applications.

[0003] However, there are some problems with bionic robotic hands in related technologies. For example, existing bionic fingers have low utilization of driving force during movement, especially when the bending angle of the bionic finger is large, resulting in the need for greater driving force to complete the bending process. Utility Model Content

[0004] This section provides a general overview of the present invention, rather than a complete disclosure of the full scope or all features of the present invention.

[0005] The purpose of this invention is to provide a bionic finger, a bionic robotic hand, and a humanoid robot that improves the utilization rate of driving force during bending.

[0006] To achieve the above objectives, according to one aspect of the present invention, a bionic finger is provided, comprising:

[0007] At least two phalanges are pivotally connected in sequence. The distal phalanx of the bionic finger has a first wiring channel and a second wiring channel, and the other phalanges have a third wiring channel. The distal phalanx has a first slot that communicates with the first wiring channel and a second slot that communicates with the second wiring channel. A first limiting member is provided in the first slot and a second limiting member is provided in the second slot.

[0008] The roller includes a first section and a second section, wherein the diameter of the first section is smaller than the diameter of the second section;

[0009] The first traction rope is located near the palm side of the bionic finger. One end of the rope is fixedly connected to the first limiting member, and the other end passes through the first wiring channel and the third wiring channel in sequence and is fixed to the first section.

[0010] The second traction rope is located near the back of the bionic finger. One end of the rope is fixedly connected to the second limiting member, and the other end passes through the second wiring channel and the third wiring channel in sequence and is fixed to the second section.

[0011] Optionally, in some embodiments, an elastic reset member is further provided in the first slot. The elastic reset member has a predetermined compression amount, and the first limiting member forms a pressing fit with the elastic reset member. One end of the second traction rope passes through the elastic reset member and is fixedly connected to the first limiting member.

[0012] Optionally, in some embodiments, both the first segment and the second segment are cylindrical in shape.

[0013] Optionally, in some embodiments, two adjacent phalanges of at least two phalanges are connected by a rotating shaft, and the rotating shaft is located between the first traction rope and the second traction rope.

[0014] Optionally, in some embodiments, a rotating member is sleeved on the rotating shaft, which is in close contact with both the first traction rope and the second traction rope, and is used to guide the movement of the first traction rope and the second traction rope.

[0015] Alternatively, in some embodiments, the rotating member can rotate relative to the rotation axis.

[0016] Optionally, in some embodiments, the bionic finger also includes a cover for opening and closing the first slot, the cover being detachably connected to the distal phalanx.

[0017] Optionally, in some embodiments, the bionic finger further includes a frame connector for connecting the proximal knuckle of the bionic finger to the palm.

[0018] According to another aspect of the present invention, a bionic robotic hand is provided, which includes a plurality of bionic fingers as described in any of the foregoing embodiments.

[0019] According to another aspect of the present invention, a humanoid robot is provided, which includes the bionic robotic arm in any of the foregoing embodiments.

[0020] According to the above technical solution, the roller drives the first and second traction ropes to move along their respective extension directions, thereby realizing the bending and extension of the bionic finger. Moreover, during the bending process, the driving force transmitted through the roller can be used to the maximum extent for the bending movement of the bionic finger, improving the utilization rate of the driving force. Attached Figure Description

[0021] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a structural diagram of a bionic finger provided according to an embodiment of the present invention.

[0023] Figure 2 for Figure 1 The diagram shows the extended state of the bionic finger.

[0024] Figure 3 for Figure 1 The diagram shows the structure of the phalanges in the bionic finger.

[0025] Figure 4 for Figure 1 The diagram shows a structure of the roller in the bionic finger.

[0026] Figure 5 for Figure 1 Another structural diagram of the roller in the bionic finger is shown.

[0027] Figure 6 for Figure 1 The diagram shows the bending state of the bionic finger.

[0028] In the diagram: 1: Bionic finger; 11: knuckle; 111: First wiring channel; 112: Second wiring channel; 113: Third wiring channel; 114: First slot; 115: Second slot; 12: Rotating shaft; 13: First limiting component; 14: Second limiting component; 15: Roller; 151: First section; 152: Second section; 16: First traction rope; 17: Second traction rope; 18: Rotating component; 19: Elastic reset component; 20: Cover; 21: Frame connector; 211: Fourth wiring channel; 212: Fifth wiring channel. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0030] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0031] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0032] In the description of this utility model, it should be noted that the terms "upper," "lower," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product is in use. They are used only for the convenience of describing this utility model and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0033] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection, etc. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0034] As mentioned earlier, existing bionic fingers have low utilization rates of driving force during movement. Specifically, existing bionic fingers mostly rely on elastic return mechanisms such as torsion springs or tension / compression springs to achieve their return to center. However, when a bionic finger bends, it typically requires a significant portion of the driving force to overcome the elastic reaction force of the torsion spring or tension / compression spring. Especially when the bending angle of the bionic finger is larger, the elastic reaction force that needs to be overcome is also greater, resulting in a larger driving force required for bending and low utilization of driving force.

[0035] Here, "reset" should be understood as the process by which the bionic finger returns from a bent state to an extended state.

[0036] Based on the above description, this invention aims to achieve the bending and extension of the bionic finger using only two traction ropes. This avoids overcoming the elastic force of torsion springs or tension / compression springs during bending, thus ensuring that the driving force can be effectively used for the bending process of the bionic finger, thereby improving the utilization rate of the driving force. Specifically, refer to... Figure 1 and Figure 2 According to an embodiment of the present invention, a bionic finger 1 is provided. The bionic finger 1 includes at least two phalanges 11 pivotally connected in sequence. Specifically, two adjacent phalanges 11 are connected by a rotation axis 12.

[0037] It should be noted that, in Figure 1 and Figure 2The diagram shows that the bionic finger 1 includes three phalanges 11. However, the bionic finger 1 may also include two phalanges 11. In this invention, the number of phalanges 11 included in the bionic finger 1 is not specifically limited.

[0038] Furthermore, for the convenience of subsequent technical solutions, in this utility model, the phalanx 11 furthest from the palm of the bionic robotic hand among the at least two phalanges 11 is referred to as the distal phalanx, the phalanx 11 closest to the palm among the at least two phalanges 11 is referred to as the proximal phalanx, and the phalanx 11 located between the distal and proximal phalanges is referred to as the middle phalanx.

[0039] like Figure 3 As shown, the distal phalanx of the bionic finger 1 has a first wiring channel 111 and a second wiring channel 112, while the other phalanges 11 each have a third wiring channel 113. Furthermore, the distal phalanx has a first slot 114 communicating with the first wiring channel 111 and a second slot 115 communicating with the second wiring channel 112. A first limiting member 13 is provided in the first slot 114, and a second limiting member 14 is provided in the second slot 115.

[0040] In some examples, the first limiting member 13 and the second limiting member 14 can be spherical blocks.

[0041] In embodiments of this utility model, the first wiring channel 111 and the second wiring channel 112 can be Figure 3 The diagram shows a wiring hole on the distal phalanx, with the first wiring channel 111 located near the palmar side of the bionic finger 1 and the second wiring channel 112 located near the dorsal side of the bionic finger 1. The third wiring channel 113 can be a cavity for wiring located on the middle and proximal phalanges.

[0042] In the embodiments of this utility model, the following continues... Figure 1 and Figure 2 As shown, the bionic finger 1 also includes a roller 15. Figure 4 As shown, the roller 15 includes a first segment 151 and a second segment 152, and the diameter of the first segment 151 is smaller than the diameter of the second segment 152. Of course, in some embodiments, such as... Figure 5 As shown, both the first section 151 and the second section 152 have a cylindrical structure.

[0043] Continue as Figure 1 and Figure 2 As shown, the bionic finger 1 also includes a first traction rope 16 and a second traction rope 17, and the rotating shaft 12 is located between the first traction rope 16 and the second traction rope 17.

[0044] In some embodiments, a rotating element 18 is fitted onto the rotating shaft 12. In some examples, the rotating element 18 can be a pulley or a roller.

[0045] The rotating component 18 is in close contact with both the first traction rope 16 and the second traction rope 17, and is used to guide the movement of the first traction rope 16 and the second traction rope 17. In order to reduce the friction between the first traction rope 16, the second traction rope 17 and the rotating component 18, in some examples, the rotating component 18 can rotate relative to the rotation axis 12.

[0046] In some embodiments, the first traction rope 16 is disposed near the palm side of the bionic finger 1, one end of which is fixedly connected to the first limiting member 13, and the other end passes sequentially through the first wiring channel 111 and the third wiring channel 113 and is fixed to the first segment 151; and

[0047] The second traction rope 17 is located near the back of the bionic finger 1. One end of it is fixedly connected to the second limiting member 14, and the other end passes through the second wiring channel 112 and the third wiring channel 113 in sequence and is fixed to the second section 152.

[0048] It should be understood that the size of the first limiting member 13 is designed to be larger than the size of the first wiring channel 111, and the size of the second limiting member 14 is also larger than the size of the second wiring channel 112. This prevents the first traction rope 16 and the second traction rope 17 from detaching from the first slot 114 and the second slot 115, ensuring the stability of the bionic finger 1's movement.

[0049] In this invention, the roller 15 drives the first traction rope 16 or the second traction rope 17 to move along their respective extension directions, thereby achieving the bending or extension of the bionic finger 1. Specifically, when the roller 15 rotates clockwise, the first traction rope 16 is tensioned along the extension direction closest to the roller 15. During this process, two adjacent phalanges 11 rotate relative to each other towards the palm, causing the bionic finger 1 to bend. At this time, the second traction rope 17 is released along the extension direction away from the roller 15. Conversely, when the roller 15 rotates counterclockwise, the second traction rope 17 is tensioned along the extension direction closest to the roller 15. During this process, two adjacent phalanges 11 rotate relative to each other away from the palm, causing the bionic finger 1 to return to its extended state. At this time, the first traction rope 16 is released synchronously and returns to its initial state. It can be envisioned that when the roller 15 rotates to tension the first traction rope 16 and causes the bionic finger 1 to bend, the driving force transmitted through the roller 15 only needs to overcome the rolling friction of the roller 15, and the remaining driving force can be completely converted into the bending motion kinetic energy of the bionic finger 1, thus greatly improving the utilization rate of the driving force.

[0050] Here, "tension" should be understood as the first traction rope 16 or the second traction rope 17 becoming taut under the pulling force of the roller 15.

[0051] Furthermore, since the first traction rope 16 and the second traction rope 17 are located close to the palm and back sides of the bionic finger, respectively, the change in rope length between the two ropes will differ during the bending and extension of the bionic finger 1. Therefore, in this embodiment of the invention, the first traction rope 16 and the second traction rope 17 are respectively fixed to the first section 151 and the second section 152 of the roller 15 with different diameters. By precisely controlling the diameter of the first section 151 and the second section 152, the change in rope length of the first traction rope 16 and the second traction rope 17 is dynamically matched, thereby ensuring the smooth and continuous movement trajectory of the bionic finger 1 during bending and extension.

[0052] Furthermore, in this embodiment of the invention, the ratio of the length changes of the first traction rope 16 and the second traction rope 17 is set to be equal to the ratio of the diameters of the first segment 151 and the second segment 152. In this case, it can be ensured that the retraction and extension movements of the first traction rope 16 and the second traction rope 17 remain synchronized during the bending or extension of the bionic finger 1, thereby making the movement trajectory of the bionic finger 1 smoother and more continuous.

[0053] It should be noted that the first traction rope 16 and the second traction rope 17 can be fixed to the surface of the roller 15 by winding. Of course, in some embodiments, the other end of the first traction rope 16 and the first section 151, and the other end of the second traction rope 17 and the second section 152 can also be mechanically connected by screws, welding or other methods.

[0054] In some examples, the roller 15 can be driven to rotate by a motor assembly, but it can also be driven to rotate by other means.

[0055] According to the above technical solution, the roller 15 drives the first traction rope 16 and the second traction rope 17 to move along their respective extension directions, thereby realizing the bending and extension of the bionic finger 1. Moreover, during the bending process, the driving force transmitted through the roller 15 can be used to the maximum extent for the bending movement of the bionic finger 1, improving the utilization rate of the driving force.

[0056] In some implementations, continue as Figure 2 As shown, the first slot 114 is also provided with an elastic reset member 19, which has a predetermined compression amount, and the first limiting member 13 forms a pressing fit with the elastic reset member 19. One end of the second traction rope 17 passes through the elastic reset member 19 and is fixedly connected to the first limiting member 13.

[0057] In some examples, the elastic reset element 19 may be a component with elastic reset function, such as a compression spring or an elastic sleeve.

[0058] like Figure 2 As shown, the first limiting member 13 is located at the end of the elastic reset member 19 near the fingertip of the bionic finger 1. The second traction rope 17 can pass through, for example, the central hollow region extending along the axis of a compression spring and be connected to the first limiting member 13.

[0059] When the bionic finger 1 is Figure 2 The extended state towards Figure 6 When the bending state changes, the second traction rope 17 is released, causing the first limiting member 13 to move towards the fingertip of the bionic finger 1, while the elastic potential energy of the elastic reset member 19 is released. Understandably, if the release of the second traction rope 17 is delayed, the elastic reset member 19 actively pushes the first limiting member 13 towards the fingertip using its stored elastic potential energy, assisting the rapid release of the second traction rope 17 and preventing jamming during the rotation of the knuckle 11. When the second traction rope 17 is released too quickly, the damping effect of the elastic reset member 19 can buffer the problem of excessive release of the second traction rope 17 and prevent sudden rebound of the knuckle 11.

[0060] When the bionic finger 1 is Figure 6 The bending state towards Figure 2 When the fingertips change from their extended state, the second traction rope 17 tightens, causing the first limiting member 13 to move away from the fingertips, while the first limiting member 13 compresses the elastic reset member 19. It is understood that when the second traction rope 17 contracts too quickly, the elastic reset member 19 resists the movement of the first limiting member 13 away from the fingertips through the restoring force generated by the compression, thereby slowing down the contraction speed of the second traction rope 17.

[0061] Based on the setting of the elastic reset member 19, it dynamically compensates for the asynchrony problem of the first traction rope 16 and the second traction rope 17 during the contraction and release process, thereby ensuring that the movement of the bionic finger 1 is smooth and continuous.

[0062] To facilitate the installation and replacement of the elastic reset member 19 within the first slot 114, such as Figure 1 As shown, the bionic finger 1 also includes a cover 20 for opening and closing the first slot 114. The cover 20 can be configured to be detachable. For example, the cover 20 can be connected to the first slot 114 by screws, or the cover 20 can be detachably connected to the first slot 114 by a snap-fit.

[0063] To facilitate the connection between the bionic finger 1 and the humanoid robot's hand, such as Figure 1 As shown, the bionic finger 1 also includes a frame connector 21 for connecting the bionic finger 1 to the palm.

[0064] In practice, the frame connector 21 is configured to rotate with the proximal knuckle and is detachably connected to the palm.

[0065] It should be understood that, for ease of assembly, the frame connector 21 is configured to be rotatably connected to the proximal knuckle via a rotating shaft 12, and a rotating element 18 is similarly fitted onto this rotating shaft 12. Furthermore, to allow the first traction rope 16 and the second traction rope 17 to pass through the frame connector 21 and connect to the roller 15, the frame connector 21 is also provided with a fourth cable routing channel 211 and a fifth cable routing channel 212. These fourth and fifth cable routing channels can be... Figure 2 The wiring hole shown.

[0066] In addition, this embodiment of the present invention also provides a bionic robotic hand, which includes the bionic finger 1 in the foregoing embodiments of the present invention.

[0067] Finally, this embodiment of the invention also provides a humanoid robot, which includes the bionic robotic arm according to the foregoing embodiments of the invention.

[0068] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A bionic finger, characterized in that, The bionic finger includes: At least two phalanges (11) are pivotally connected in sequence. The distal phalanx of the bionic finger has a first wiring channel (111) and a second wiring channel (112), and the remaining phalanges (11) have a third wiring channel (113). The distal phalanx has a first slot (114) connected to the first wiring channel (111) and a second slot (115) connected to the second wiring channel (112). The first slot (114) is provided with a first limiting member (13), and the second slot (115) is provided with a second limiting member (14). The roller (15) includes a first section (151) and a second section (152), wherein the diameter of the first section (151) is smaller than the diameter of the second section (152); The first traction rope (16) is located near the palm side of the bionic finger. One end of the rope is fixedly connected to the first limiting member (13), and the other end passes through the first wiring channel (111) and the third wiring channel (113) in sequence and is fixed to the first section (151). The second traction rope (17) is located near the back of the bionic finger. One end of the rope is fixedly connected to the second limiting member (14), and the other end passes through the second wiring channel (112) and the third wiring channel (113) in sequence and is fixed to the second section (152).

2. The bionic finger according to claim 1, characterized in that, The first slot (114) is also provided with an elastic reset member (19), the elastic reset member (19) has a predetermined compression amount, and the first limiting member (13) forms a pressing fit with the elastic reset member (19), wherein one end of the second traction rope (17) passes through the elastic reset member (19) and is fixedly connected to the first limiting member (13).

3. The bionic finger according to claim 1, characterized in that, Both the first section (151) and the second section (152) have a cylindrical structure.

4. The bionic finger according to any one of claims 1 to 3, characterized in that, Two adjacent phalanges (11) of the at least two phalanges (11) are connected by a rotating shaft (12), and the rotating shaft (12) is located between the first traction rope (16) and the second traction rope (17).

5. The bionic finger according to claim 4, characterized in that, A rotating component (18) is sleeved on the rotating shaft (12). The rotating component (18) is in close contact with both the first traction rope (16) and the second traction rope (17) to guide the movement of the first traction rope (16) and the second traction rope (17).

6. The bionic finger according to claim 5, characterized in that, The rotating component (18) is capable of rotating relative to the rotating shaft (12).

7. The bionic finger according to any one of claims 1 to 3, characterized in that, The bionic finger also includes a cover (20) for opening and closing the first slot (114), the cover (20) being detachably connected to the distal phalanx.

8. The bionic finger according to any one of claims 1 to 3, characterized in that, The bionic finger also includes a frame connector (21) for connecting the proximal knuckle of the bionic finger to the palm.

9. A bionic robotic hand, characterized in that, The bionic robotic hand includes a plurality of bionic fingers as described in any one of claims 1 to 8.

10. A humanoid robot, characterized in that, The humanoid robot includes the bionic robotic hand according to claim 9.

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