A bionic finger, a bionic hand and a robot
By integrating electronic skin and optimizing the design of the support frame and flexible components in the bionic finger, the problem of poor flexibility caused by the large size of existing dexterous hand fingers has been solved, and a compact and flexible bionic finger structure has been achieved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- UBTECH ROBOTICS CORP LTD
- Filing Date
- 2025-05-30
- Publication Date
- 2026-07-14
AI Technical Summary
The fingers of existing dexterous hands are relatively large, resulting in poor dexterity and affecting the grasping and manipulation effects.
The electronic skin is integrated into the mounting slot in the finger body, and the integration and compactness are improved through the design of the support frame and flexible parts, reducing the additional space occupation.
The design achieves a compact bionic finger, improving flexibility and gripping ability while reducing maintenance costs.
Smart Images
Figure CN224489142U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of robotics, and more particularly to a bionic finger, a bionic hand, and a robot. Background Technology
[0002] Robots can use dexterous hands to simulate human hand movements, enabling them to grasp, manipulate, and interact with objects.
[0003] In related technologies, the design of detection devices and other structures results in larger finger sizes for dexterous hands, making them appear bulky and affecting their dexterity. Utility Model Content
[0004] This application provides a bionic finger, a bionic hand, and a robot to reduce the size of the bionic finger.
[0005] In a first aspect, this application provides a bionic finger, the bionic finger being configured with a gripping side, the bionic finger comprising:
[0006] A finger body, one end of which is provided with a mounting groove facing the gripping side;
[0007] An electronic skin is disposed in the mounting slot, and a sensing surface is provided on the side of the electronic skin facing the gripping side;
[0008] A flexible component covers the side of the mounting groove facing the gripping side and contacts the sensing surface.
[0009] In some possible implementations, the bionic finger further includes a support frame that covers the opening of the mounting slot and is connected to the finger body;
[0010] The flexible component includes a connected flexible component body and a contact portion, wherein the flexible component body covers the side of the support frame opposite to the finger body;
[0011] The contact portion protrudes from the side of the flexible component body facing the support frame, passes through the support frame, and the side surface of the contact portion away from the flexible component body is in contact with the sensing surface.
[0012] In some possible implementations, the bionic finger is equipped with a fingertip, and the bionic finger also includes a first locking member connected between the support frame and the finger body, the first locking member being connected to the end of the support frame away from the fingertip.
[0013] In some possible implementations, the bionic finger further includes a second locking member connected between the support frame and the finger body, the second locking member being connected to the end of the support frame facing the fingertip;
[0014] The locking direction of the first locking member intersects with the locking direction of the second locking member.
[0015] In some possible implementations, the flexible element has anti-slip textures on the side facing away from the electronic skin.
[0016] Secondly, this application also provides a bionic hand, comprising:
[0017] The palm has a first end and a second end;
[0018] A first bionic finger is connected to the first end, and the other end of the first bionic finger extends toward the second end;
[0019] Multiple second bionic fingers are connected to the second end, with the end of the second bionic finger away from the palm extending away from the first end;
[0020] The first bionic finger and / or the second bionic finger include the bionic fingers provided in the above embodiments.
[0021] In some possible implementations, both the first bionic finger and the second bionic finger include the bionic fingers provided in the above embodiments;
[0022] The palm includes a palm body, a first electronic skin, and a first flexible member. The first electronic skin is disposed on the side of the palm body facing the gripping side, and the first flexible member covers the side of the first electronic skin facing the gripping side and is in contact with the first electronic skin.
[0023] In some possible implementations, the first bionic finger includes the bionic finger provided in the above embodiments;
[0024] The finger body includes a mounting base, a first phalanx, and a second phalanx connected in sequence. The first phalanx includes a linear drive and a housing. The linear drive is disposed in the housing. The end of the linear drive near the mounting base and the end of the housing near the mounting base are both pivotally connected to the mounting base.
[0025] The housing is provided with a limiting part at one end facing the mounting base, the limiting part being located on the side of the housing away from the gripping side; the mounting base is provided with a limiting surface at one end facing the first phalanx, the limiting surface being located on the rotation path of the limiting part when it rotates away from the gripping side.
[0026] The receiving groove is formed on the side of the second knuckle facing the gripping side.
[0027] In some possible implementations, the mounting base includes a first connecting arm and a second connecting arm, the second connecting arm being located on the side of the first connecting arm closer to the gripping side, the linear drive includes a main body structure and an output shaft, the main body structure being pivotally connected to the first connecting arm, the housing being pivotally connected to the second connecting arm, and the output shaft being telescopically disposed relative to the end of the main body structure away from the first connecting arm;
[0028] The second phalanx is provided with a third connecting arm and a fourth connecting arm at the end facing the first phalanx. The fourth connecting arm is located on the side of the third connecting arm closer to the gripping side. The third connecting arm is pivotally connected to the output shaft, and the fourth connecting arm is pivotally connected to the end of the housing away from the second connecting arm.
[0029] The bionic hand further includes a first elastic element and a second elastic element. The first elastic element acts between the housing and the second connecting arm and is used to drive the first phalanx to rotate relative to the mounting base toward the gripping side. The second elastic element acts between the housing and the fourth connecting arm and is used to drive the second phalanx to rotate relative to the first phalanx toward the gripping side.
[0030] Thirdly, a robot comprising the bionic hand provided in the embodiments described above.
[0031] The beneficial effects of this application are as follows: In the bionic finger provided by this application, the electronic skin is integrated into the assembly slot in the finger body, which does not require additional space outside the finger body. This can improve the integration of the bionic finger, make the structure of the bionic hand more compact, smaller in size, and simple in appearance, and also improve the flexibility of the bionic finger. Attached Figure Description
[0032] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.
[0033] Figure 1 Schematic diagrams of the bionic hand in some embodiments are shown;
[0034] Figure 2 Schematic diagrams of the exploded structure of the palm are shown in some embodiments;
[0035] Figure 3 A partial cross-sectional structural diagram of the palm is shown in some embodiments;
[0036] Figure 4 A schematic diagram of the structure of the first bionic finger in some embodiments is shown;
[0037] Figure 5 Schematic diagrams of the mounting base are shown in some embodiments;
[0038] Figure 6 A schematic diagram of the structure of the first phalanx is shown in some embodiments;
[0039] Figure 7 A schematic diagram of the structure of the second phalanx is shown in some embodiments;
[0040] Figure 8 A partial structural schematic diagram of the first finger body is shown in some embodiments;
[0041] Figure 9 A schematic diagram of the exploded structure of the first bionic hand in some embodiments is shown;
[0042] Figure 10 Schematic diagrams of the structure of the second flexible element in some embodiments are shown;
[0043] Figure 11 Schematic diagrams of the exploded structure of the second bionic hand in some embodiments are shown;
[0044] Figure 12 A schematic diagram of the structure of the third flexible element in some embodiments is shown.
[0045] Explanation of key component symbols:
[0046] 1000 - The first bionic finger;
[0047] 100-First finger body; 110-Mounting base; 111-First connecting arm; 112-Second connecting arm; 113-Limiting surface; 120-First knuckle; 121-Linear drive component; 1211-Main structure; 1212-Output shaft; 122-Housing; 1221-Limiting part; 130-Second knuckle; 131-Third connecting arm; 132-Fourth connecting arm; 133-First assembly groove; 141-First elastic element; 142-Second elastic element; 200-Second electronic skin; 210-Second sensing surface; 300-Second flexible element; 310-First flexible element body; 311-Second anti-slip texture; 320-First contact part; 330-First connecting post; 400-Second support frame; 410-Second hollow hole; 510-First locking component; 520-Second locking component;
[0048] 2000 - Second bionic finger; 2100 - Second finger body; 2101 - Second assembly slot; 2110 - Support block; 2200 - Third electronic skin; 2210 - Third sensing surface; 2300 - Third flexible component; 2310 - Second flexible component body; 2311 - Third anti-slip texture; 2320 - Second contact part; 2330 - Second connecting post; 2400 - Third support frame; 2410 - Third hollow hole;
[0049] 3000 - Palm; 3001 - First end; 3002 - Second end; 3100 - Palm body; 3200 - First electronic skin; 3210 - First sensing surface; 3300 - First flexible component; 3310 - First anti-slip texture; 3400 - First support frame; 3410 - First hollow hole;
[0050] 4000 - Grip side. Detailed Implementation
[0051] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.
[0052] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and 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, and therefore should not be construed as a limitation of this application.
[0053] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.
[0054] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.
[0055] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.
[0056] like Figure 1 As shown in the embodiment, a bionic hand is provided that can be applied in robots to provide grasping function.
[0057] In some embodiments, the bionic hand includes a palm 3000, a first bionic finger 1000, and four second bionic fingers 2000. The first bionic finger 1000 may be a thumb. The four second bionic fingers 2000 may correspond one-to-one with the index finger, middle finger, ring finger, and little finger.
[0058] In some embodiments, the bionic hand may also include two, three, or five or more second bionic fingers 2000.
[0059] In this embodiment, the palm 3000 includes a first end 3001 and a second end 3002. The first end 3001 may be the end closer to the wrist, and the second end 3002 may be the end farther from the wrist. One end of a first bionic finger 1000 may be connected to the first end 3001 of the palm 3000, and the other end of the first bionic finger 1000 may extend towards the second end 3002. A plurality of second bionic fingers 2000 are all connected to the second end 3002 of the palm 3000, and the ends of the second bionic fingers 2000 farther from the palm 3000 may extend away from the first end 3001.
[0060] In addition, the bionic hand may have a gripping side 4000, and the first bionic finger 1000 and the second bionic finger 2000 can be bent toward the gripping side 4000 to cooperate with the palm 3000 to achieve the grasping function.
[0061] like Figures 1 to 3 As shown, in some embodiments, the palm 3000 includes a palm body 3100, a first electronic skin 3200, a first support frame 3400, and a first flexible member 3300. The first electronic skin 3200 is disposed on the side of the palm body 3100 facing the gripping side 4000, and the first electronic skin 3200 can be positioned corresponding to the center of the palm 3000. The first support frame 3400 is fixedly connected to the palm body 3100 by means of screws or other methods, and covers the periphery of the palm body 3100.
[0062] Additionally, the first electronic skin 3200 has a first sensing surface 3210 disposed on the side facing the gripping side 4000. A first perforation 3410 is formed on the first support frame 3400, opposite to the first sensing surface 3210. The first sensing surface 3210 can be exposed through the first perforation 3410. In some embodiments, a first flexible member 3300 is embedded in the first support frame 3400 and opposite to the first electronic skin 3200. The first flexible member 3300 can fit against the first sensing surface 3210, thereby allowing pressure on the first flexible member 3300 to be transmitted to the first electronic skin 3200.
[0063] In some embodiments, the first flexible member 3300 can be connected to the first support frame 3400 by means of injection molding, hot melt connection or adhesive bonding, which can prevent the first flexible member 3300 from detaching from the first support frame 3400 at will.
[0064] In some embodiments, the side of the first flexible member 3300 opposite to the first electronic skin 3200 is further provided with a first anti-slip texture 3310, which can reduce the probability of items falling off the bionic hand. The first anti-slip texture 3310 can be a structure such as raised dots or raised ridges.
[0065] like Figure 1 , Figures 4 to 8 As shown, in some embodiments, the first bionic finger 1000 includes a first finger body 100, electronic skin (i.e., second electronic skin 200), and a flexible component (i.e., second flexible component 300). The first finger body 100 may include a mounting base 110, a first knuckle 120, and a second knuckle 130 in sequence. The end of the mounting base 110 away from the first knuckle 120 can be fixedly connected to the end of the palm body 3100 near the first end 3001 by means of bolts or other methods.
[0066] In some embodiments, a first connecting arm 111 and a second connecting arm 112 are disposed at the end of the mounting base 110 away from the palm body 3100, and the second connecting arm 112 may be located on the side of the first connecting arm 111 near the gripping side 4000. In an embodiment, the first knuckle 120 includes a linear drive 121 and a housing 122, with the linear drive 121 disposed in the housing 122. The linear drive 121 may include a main structure 1211 and an output shaft 1212. One end of the main structure 1211 is pivotally connected to the first connecting arm 111, and correspondingly, the linear drive 121 can rotate relative to the first connecting arm 111. The output shaft 1212 is telescopically disposed relative to the end of the main structure 1211 away from the first connecting arm 111. The end of the housing 122 facing the mounting base 110 is pivotally connected to the second connecting arm 112.
[0067] In some embodiments, a third connecting arm 131 and a fourth connecting arm 132 are disposed at the end of the second phalanx 130 facing the first phalanx 120, with the fourth connecting arm 132 located on the side of the third connecting arm 131 near the gripping side 4000. The third connecting arm 131 is pivotally connected to the end of the output shaft 1212 away from the mounting base 110, and the fourth connecting arm 132 is pivotally connected to the end of the housing 122 away from the second connecting arm 112.
[0068] In some embodiments, the first finger body 100 further includes a first elastic element 141 and a second elastic element 142. The first elastic element 141 may be a torsion spring, and the first elastic element 141 may be sleeved on the pivot at the connection position between the second connecting arm 112 and the housing 122. One elastic arm of the first elastic element 141 may abut against the housing 122, and the other elastic arm of the first elastic element 141 may abut against the second connecting arm 112. In an embodiment, the first elastic element 141 may be used to drive the housing 122 to rotate relative to the mounting base 110 toward the gripping side 4000, that is, the first elastic element 141 may be used to drive the first phalanx 120 to rotate relative to the mounting base 110 toward the gripping side 4000.
[0069] In some embodiments, the second elastic member 142 may be a torsion spring. The second elastic member 142 may be sleeved on the pivot at the connection position between the housing 122 and the fourth connecting arm 132. One elastic arm of the second elastic member 142 may abut against the housing 122, and the other elastic arm may abut against the fourth connecting arm 132. The second elastic member 142 may be used to drive the second knuckle 130 to rotate relative to the first knuckle 120 in a direction away from the gripping side 4000.
[0070] In some embodiments, a limiting portion 1221 is provided at one end of the housing 122 facing the mounting base 110, and the limiting portion 1221 is located on the side of the housing 122 away from the gripping side 4000. A limiting surface 113 is provided at one end of the mounting base 110 facing the first phalanx 120, and the limiting surface 113 may be located on the rotation path of the limiting portion 1221 when it rotates away from the gripping side 4000. Thus, the limiting portion 1221 and the limiting surface 113 can cooperate to limit the extreme position of the first phalanx 120 when it rotates away from the gripping side 4000.
[0071] When the bionic hand needs to grasp an object, the linear drive 121 is activated, causing the output shaft 1212 to gradually extend. During this process, the first elastic element 141 drives the first phalanx 120 to move towards the gripping side 4000, or even towards the palm to approach the object, while the second phalanx 130 remains fixed relative to the first phalanx 120. Once the first phalanx 120 touches the object, it stops moving, and the output shaft 1212 of the linear drive 121 continues to extend. Under the driving action of the linear drive 121, the second phalanx 130 overcomes the elastic potential energy of the second elastic element 142 and rotates relative to the first phalanx 120, moving towards the gripping side 4000, i.e., towards the palm, to gradually approach and contact the object. Once the second phalanx 130 contacts the object, the linear drive 121 stops, thus achieving object grasping.
[0072] When an item needs to be placed, the linear drive 121 is activated, and the output shaft 1212 gradually shortens relative to the main structure 1211. During this process, the second knuckle 130 can rotate relative to the first knuckle 120 under the action of the output shaft 1212 and the second elastic element 142, and rotate in a direction away from the gripping side 4000 to unfold, that is, the second knuckle 130 rotates away from the palm. After the second knuckle 130 returns to its original position, the output shaft 1212 continues to shorten. Under the action of the linear drive 121, the elastic potential energy of the first elastic element 141 can be overcome, causing the first knuckle 120 to rotate relative to the mounting base 110 and rotate in a direction away from the gripping side 4000 to unfold, that is, the first knuckle 120 rotates away from the palm, until the first knuckle 120 returns to its original position. Subsequently, the linear drive 121 stops operating.
[0073] In this embodiment, when the object is large, the first phalanx 120 can open away from the gripping side 4000 under the action of the object. The limiting portion 1221 of the first phalanx 120 can abut against the limiting surface 113 on the mounting base 110 and achieve limiting. During the gripping process, the maximum force applied by the bionic hand to the object can be equal to the sum of the forces applied by the four second bionic fingers 2000 to the object, and can be canceled by the force applied by the limiting surface 113 of the first bionic finger 1000 to the limiting portion 1221. It will not directly act on the linear drive component 121, thereby protecting the linear drive component 121, extending the service life of the linear drive component 121, reducing the later maintenance cost of the bionic hand, and also improving the load capacity of the bionic hand. During this period, the second phalanx 130 can rotate relative to the first phalanx 120.
[0074] like Figure 1 , Figure 9 , Figure 10 and Figure 12 As shown, the second phalanx 130 has a mounting groove (i.e., a first mounting groove 133) at the end away from the first phalanx 120, and the first mounting groove 133 may be located on the side of the second phalanx 130 facing the gripping side 4000. In some embodiments, the side of the first mounting groove 133 facing the gripping side 4000 may be configured as an opening, and the opening of the first mounting groove 133 may be inclined. Specifically, the opening of the first mounting groove 133 may gradually tilt away from the gripping side 4000 from the end near the first phalanx 120 to the end away from the first phalanx 120.
[0075] In this embodiment, the second electronic skin 200 can be disposed in the first mounting groove 133 and can be fixedly connected to the bottom of the first mounting groove 133 by means of screws or the like. A sensing surface (i.e., the second sensing surface 210) can be disposed on the side of the second electronic skin 200 facing the opening of the first mounting groove 133, that is, the second sensing surface 210 is disposed facing the gripping side 4000. Furthermore, the second sensing surface 210 can be approximately parallel to the opening of the first mounting groove 133.
[0076] In some embodiments, the first bionic finger 1000 further includes a support frame (i.e., a second support frame 400), which can cover the opening of the first mounting groove 133. The end of the second support frame 400 facing the first phalanx 120 can be fixedly connected to the second phalanx 130 via a first locking member 510. It is understood that the distance between the end of the second support frame 400 away from the first phalanx 120 and the first locking member 510 is relatively short, thus the second support frame 400 can be completely fixed to the second phalanx 130 by the first locking member 510. In some embodiments, the first locking member 510 can be a screw, which can be sequentially passed through the second support frame 400 and the second phalanx 130 and screwed to the second phalanx 130.
[0077] In other embodiments, the first locking member 510 may also be a structure such as a rivet or a hot-melt column, and is fixedly connected between the second support frame 400 and the second finger joint 130.
[0078] In other embodiments, the end of the second support frame 400 away from the first phalanx 120 may also be connected to the second phalanx 130 via the second locking member 520. The second locking member 520 may be a structure such as a screw or rivet.
[0079] In some embodiments, the second support frame 400 may have a second hollow hole 410 opposite to the second sensing surface 210. The second flexible member 300 may include an integral first flexible member body 310 and a first contact portion 320. The first flexible member body 310 may cover the side of the second support frame 400 opposite to the second phalanx 130, and the peripheral edge of the first flexible member body 310 may extend to the periphery of the second support frame 400 and abut against the end face of the second phalanx 130 facing the opening of the first mounting groove 133. In addition, the surface of the first flexible member body 310 opposite to the support frame may be on the same arc surface as the surface of the second phalanx 130 opposite to the first mounting groove 133. Thus, the appearance of the first bionic finger 1000 can be consistent and more concise.
[0080] In some embodiments, the side of the first flexible member body 310 facing away from the support frame is also provided with a second anti-slip texture 311. The second anti-slip texture 311 may be a structure such as arrayed protrusions or ridges, which can increase the friction between the second flexible member 300 and the object, reduce the probability of the object slipping off the bionic hand, and ensure the safety of gripping the object.
[0081] In this embodiment, the first contact portion 320 may protrude from the side of the first flexible component body 310 facing the second support frame 400. The first contact portion 320 may pass through the second hollow hole 410, and the surface of the first contact portion 320 facing away from the first flexible component body 310 may be in contact with the second sensing surface 210. Thus, the force applied to the second flexible component 300 can be smoothly transmitted to the second electronic skin 200.
[0082] In some embodiments, a first connecting post 330 is provided protruding from the side of the first flexible member body 310 facing the second support frame 400. The first connecting post 330 can be inserted into the support frame and can be fixedly connected to the support frame by means of heat fusion or bonding, thereby preventing the flexible member from detaching from the support frame at will.
[0083] like Figure 1 , Figure 11 and Figure 12 As shown, in some embodiments, the second bionic finger 2000 may include a finger body (i.e., the second finger body 2100), electronic skin (i.e., the third electronic skin 2200), and a flexible component (i.e., the third flexible component 2300). The second finger body 2100 may have three phalanges, which are pivotally connected in sequence. One end of the second finger body 2100 is pivotally connected to the second end 3002 of the palm body 3100.
[0084] In other embodiments, the second finger body 2100 may also have two or four knuckles.
[0085] In addition, the bionic hand also includes a drive mechanism (not shown) for driving the movement of the second finger body 2100, which may be located on the side of the palm body 3100 away from the gripping side 4000 and / or inside the second finger body 2100.
[0086] In some embodiments, the second finger body 2100 has a mounting groove (i.e., a second mounting groove 2101) at the end away from the palm 3000. The side of the second mounting groove 2101 facing the gripping side 4000 may be configured as an opening, and the opening of the second mounting groove 2101 may be inclined. Specifically, the opening of the second mounting groove 2101 may gradually tilt away from the gripping side 4000 from the end near the palm 3000 to the end away from the palm 3000.
[0087] In this embodiment, the third electronic skin 2200 can be disposed in the second assembly groove 2101 and can be fixedly connected to the bottom of the second assembly groove 2101 by means of screws or the like. A sensing surface (i.e., the third sensing surface 2210) can be disposed on the side of the third electronic skin 2200 facing the opening of the second assembly groove 2101, i.e., the third sensing surface 2210 is disposed facing the gripping side 4000. Furthermore, the third sensing surface 2210 can be approximately parallel to the opening of the second assembly groove 2101.
[0088] In some embodiments, the second bionic finger 2000 further includes a support frame (i.e., a third support frame 2400), which can cover the opening of the second mounting groove 2101. The end of the third support frame 2400 facing the palm 3000 can be fixedly connected to the second finger body 2100 via a first locking member 510. The end of the third support frame 2400 away from the palm 3000 can be fixedly connected to the second finger body 2100 via a second locking member 520, that is, the end of the third support frame 2400 near the fingertip of the second bionic finger 2000 can be fixedly connected to the second finger body 2100 via a second locking member 520. In some embodiments, both the first locking member 510 and the second locking member 520 connected to the third support frame 2400 can be screws. The first locking member 510 can be sequentially inserted through the third support frame 2400 and the second finger body 2100 and screwed onto the second finger body 2100. The second locking member 520 can be sequentially inserted into the third support frame 2400 and the second finger body 2100, and screwed to the second finger body 2100.
[0089] In other embodiments, the first locking member 510 and the second locking member 520 connected to the third support frame 2400 may also be made of rivets, hot melt columns or other structures, and fixedly connected between the third support frame 2400 and the second finger body 2100.
[0090] In some embodiments, the locking direction of the first locking member 510 may be perpendicular to the locking direction of the second locking member 520. This allows for multi-directional limiting connections of the third support frame 2400, ensuring the connection stability between the third support frame 2400 and the second finger body 2100. In some embodiments, the locking direction of the second locking member 520 connected to the third support frame 2400 may be approximately parallel to the axial direction of the second bionic hand. A support block 2110, opposite to the third support frame 2400, may protrude from the bottom of the second mounting groove 2101, and the end of the second locking member 520 away from the third support frame 2400 may be connected to the support block 2110.
[0091] In some embodiments, the third support frame 2400 may have a third hollow hole 2410 opposite to the third sensing surface 2210. The third flexible member 2300 may include an integral second flexible member body 2310 and a second contact portion 2320. The second flexible member body 2310 may cover the side of the third support frame 2400 opposite to the second finger body 2100, and the peripheral edge of the second flexible member body 2310 may extend to the periphery of the third support frame 2400 and abut against the end face of the second finger body 2100 facing the opening of the second mounting groove 2101. In addition, the surface of the second flexible member body 2310 opposite to the third support frame 2400 may be on the same arc surface as the surface of the second finger body 2100 opposite to the second mounting groove 2101. Thus, the appearance of the second bionic finger 2000 can be consistent and more concise.
[0092] In some embodiments, the second flexible member body 2310 is further provided with a third anti-slip texture 2311 on the side opposite to the support frame. The third anti-slip texture 2311 may be a structure such as arrayed protrusions or ridges, which can increase the friction between the third flexible member 2300 and the object, reduce the probability of the object slipping off the bionic hand, and ensure the safety of gripping the object.
[0093] In this embodiment, the second contact portion 2320 may protrude from the side of the second flexible component body 2310 facing the third support frame 2400. The second contact portion 2320 may pass through the third hollow hole 2410, and the surface of the second contact portion 2320 facing away from the second flexible component body 2310 may be in contact with the third sensing surface 2210. Thus, the force applied to the third flexible component 2300 can be smoothly transmitted to the third electronic skin 2200.
[0094] In some embodiments, a second connecting post 2330 is also provided on the side of the second flexible member body 2310 facing the third support frame 2400. The second connecting post 2330 can be inserted into the third support frame 2400 and can be fixedly connected to the third support frame 2400 by means of heat fusion or bonding, thereby preventing the third flexible member 2300 from detaching from the third support frame 2400 at will.
[0095] In some embodiments, the second locking member 520 connected to the third support frame 2400 can be concealed by the second flexible member body 2310. This reduces the number of exposed screws on the bionic hand, improving its appearance and making it more streamlined.
[0096] In this embodiment, the electronic skin on the bionic finger is integrated into the assembly slot in the finger body, which does not require additional space outside the finger body. This improves the integration of the bionic finger, making the structure of the bionic hand more compact, smaller in size, and simpler in appearance.
[0097] The embodiments also provide a robot, including the bionic hand provided in the embodiments.
[0098] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.
[0099] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.
Claims
1. A bionic finger, characterized in that, The bionic finger is provided with a gripping side, and the bionic finger includes: A finger body, one end of which is provided with a mounting groove facing the gripping side; An electronic skin is disposed in the mounting slot, and a sensing surface is provided on the side of the electronic skin facing the gripping side; A flexible component covers the side of the mounting groove facing the gripping side and contacts the sensing surface.
2. The bionic finger according to claim 1, characterized in that, The bionic finger also includes a support frame, which covers the opening of the assembly slot and is connected to the finger body; The flexible component includes a connected flexible component body and a contact portion, wherein the flexible component body covers the side of the support frame opposite to the finger body; The contact portion protrudes from the side of the flexible component body facing the support frame, passes through the support frame, and the side surface of the contact portion away from the flexible component body is in contact with the sensing surface.
3. The bionic finger according to claim 2, characterized in that, The bionic finger is equipped with a fingertip, and the bionic finger also includes a first locking member, which is connected between the support frame and the finger body, and the first locking member is connected to the end of the support frame away from the fingertip.
4. The bionic finger according to claim 3, characterized in that, The bionic finger also includes a second locking member, which is connected between the support frame and the finger body, and is connected to the end of the support frame facing the fingertip; The locking direction of the first locking member intersects with the locking direction of the second locking member.
5. The bionic finger according to claim 1, characterized in that, The flexible component has anti-slip textures on the side facing away from the electronic skin.
6. A bionic hand, characterized in that, include: The palm has a first end and a second end; A first bionic finger is connected to the first end, and the other end of the first bionic finger extends toward the second end; Multiple second bionic fingers are connected to the second end, with the end of the second bionic finger away from the palm extending away from the first end; The first bionic finger and / or the second bionic finger include the bionic finger as described in any one of claims 1 to 5.
7. The bionic hand according to claim 6, characterized in that, Both the first bionic finger and the second bionic finger include the bionic finger as described in any one of claims 1 to 5; The palm includes a palm body, a first electronic skin, and a first flexible member. The first electronic skin is disposed on the side of the palm body facing the gripping side, and the first flexible member covers the side of the first electronic skin facing the gripping side and is in contact with the first electronic skin.
8. The bionic hand according to claim 6, characterized in that, The first bionic finger includes the bionic finger as described in any one of claims 1 to 5; The finger body includes a mounting base, a first phalanx, and a second phalanx connected in sequence. The first phalanx includes a linear drive and a housing. The linear drive is disposed in the housing. The end of the linear drive near the mounting base and the end of the housing near the mounting base are both pivotally connected to the mounting base. The housing is provided with a limiting part at one end facing the mounting base, the limiting part being located on the side of the housing away from the gripping side; the mounting base is provided with a limiting surface at one end facing the first phalanx, the limiting surface being located on the rotation path of the limiting part when it rotates away from the gripping side. The receiving groove is formed on the side of the second knuckle facing the gripping side.
9. The bionic hand according to claim 8, characterized in that, The mounting base includes a first connecting arm and a second connecting arm, the second connecting arm being located on the side of the first connecting arm closer to the gripping side. The linear drive includes a main body structure and an output shaft. The main body structure is pivotally connected to the first connecting arm, the housing is pivotally connected to the second connecting arm, and the output shaft is telescopically connected relative to the end of the main body structure away from the first connecting arm. The second phalanx is provided with a third connecting arm and a fourth connecting arm at the end facing the first phalanx. The fourth connecting arm is located on the side of the third connecting arm closer to the gripping side. The third connecting arm is pivotally connected to the output shaft, and the fourth connecting arm is pivotally connected to the end of the housing away from the second connecting arm. The bionic hand further includes a first elastic element and a second elastic element. The first elastic element acts between the housing and the second connecting arm and is used to drive the first phalanx to rotate relative to the mounting base toward the gripping side. The second elastic element acts between the housing and the fourth connecting arm and is used to drive the second phalanx to rotate relative to the first phalanx toward the gripping side.
10. A robot, characterized in that, Including the bionic hand as described in any one of claims 6 to 9.