Bionic manipulator

Abstract

The utility model discloses a kind of bionic manipulator, it is related to manipulator technical field, wherein, manipulator includes finger, three driving devices and multiple transmission mechanisms, finger is sequentially rotationally connected by end knuckle, middle knuckle and tip knuckle.Each driving device has telescopic driving portion along first direction, multiple transmission mechanisms include two first transmission mechanisms and a second transmission mechanism, and the first transmission mechanisms are symmetrically arranged on the two sides of finger, and the second transmission mechanism is connected with corresponding driving device and end knuckle or tip knuckle respectively.Adjusting piece one end connects driving portion, the other end connects transmission mechanism, for adjusting driving portion output axis, to adapt its position deviation with transmission mechanism in second, third direction, ensure that power is efficiently transmitted.Three driving devices are staggered as needed, avoid space conflict, while reserving space for wiring, control module and possible direct drive device, improve overall structural compactness and integration.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, and in particular to a bionic robotic arm. Background Technology

[0002] Currently, the transmission methods for robot motor-driven dexterous hands mainly include linkage transmission and chord transmission. Among them, linkage transmission is widely used in the design of dexterous hands due to its advantages such as high rigidity, fast grasping speed, and high transmission accuracy.

[0003] Existing robotic dexterous hands typically mount motors in the palm area, transmitting power via linkage mechanisms. While this reduces assembly complexity, the structural layout limits finger freedom to one or two degrees of freedom, resulting in insufficient dexterity. Furthermore, the concentrated arrangement of motors in the palm area occupies significant space, restricting the miniaturization of the dexterous hand and hindering its ability to meet the demands of applications requiring compact structures and high flexibility. Utility Model Content

[0004] The main purpose of this invention is to propose a bionic robotic hand that aims to solve the problem that existing bionic robotic hand fingers cannot be miniaturized while maintaining degrees of freedom.

[0005] To achieve the above objectives, the palm length, palm width, and palm thickness of the bionic robotic hand proposed in this invention are respectively set as a first direction, a second direction, and a third direction. The bionic robotic hand includes:

[0006] Fingers, including the distal phalanx, middle phalanx, and tip phalanx that are sequentially rotated and connected along their length;

[0007] Three drive units, each drive unit having a drive section that is retractable in the first direction; and

[0008] Multiple transmission mechanisms, including two first transmission mechanisms and a second transmission mechanism, each first transmission mechanism is connected to the corresponding drive device and the distal phalanx, and the second transmission mechanism is connected to another drive device and the tip phalanx. The two first transmission mechanisms are respectively located on both sides of the finger and are symmetrically arranged about the finger.

[0009] The bionic robotic hand also includes multiple adjustment components. One end of each adjustment component is connected to the drive unit of the corresponding drive device, and the other end is connected to the corresponding transmission mechanism to adjust the output axis of the drive unit of the corresponding drive device.

[0010] Optionally, the two first transmission mechanisms are respectively disposed on both sides of the second transmission mechanism and are symmetrically arranged with respect to the second transmission mechanism.

[0011] Optionally, the three drive devices include two first drive devices arranged side by side upwards on the third party;

[0012] The plurality of adjusting components includes two first adjusting components, the first adjusting components being connected to the drive unit of the first drive device and the first transmission mechanism;

[0013] The two first adjustment members are arranged from one end to the other along the second direction in a direction that is far apart from each other.

[0014] Optionally, the bionic robotic hand further includes a fixed base and a back rotation joint hinged to the fixed base. The distal phalanx is rotatably connected to the back rotation joint about a first rotation axis along the second direction, so that when the two drive parts of the two first drive devices move synchronously, the distal phalanx rotates relative to the back rotation joint about the first rotation axis extending in the second direction. When the two drive parts of the two first drive devices move at different speeds, the distal phalanx flips about the second rotation axis in the third direction.

[0015] Optionally, the first transmission mechanism includes a first connecting rod extending along the first direction, one end of the first connecting rod being hinged to one end of the first adjusting member, and the other end being hinged to one end of the distal phalanx.

[0016] Optionally, the first transmission mechanism further includes a first joint portion and a second joint portion respectively disposed at both ends of the first connecting rod, one end of the first connecting rod being connected to the first adjusting member through the first joint portion, and the other end of the first connecting rod being connected to one end of the distal phalanx through the second joint portion; and / or,

[0017] The distal phalanx includes two first rods spaced apart in the second direction, and the second transmission mechanism is located between the two first rods.

[0018] Optionally, the plurality of adjusting members includes a second adjusting member, which is connected to the drive unit of the second drive device and the second transmission mechanism;

[0019] The second transmission mechanism includes:

[0020] A first transmission member has a first end and a second end disposed opposite to each other, the first end being transmissionally connected to the second adjusting member via a third joint; and...

[0021] The second transmission member has a first end and a second end disposed opposite to each other, the first end of the second transmission member being rotatably connected to the second end about a third rotation axis extending in the second direction; and,

[0022] The third transmission member has a first end and a second end that are arranged opposite to each other. The first end of the third transmission member is rotatably connected to the second end of the second transmission member about a fourth rotation axis extending in the second direction. The first end of the third transmission member is also rotatably connected to the other end of the distal phalanx about a fifth rotation axis extending in the second direction. The second end of the third transmission member is rotatably connected to one end of the tip phalanx about a sixth rotation axis extending in the second direction.

[0023] Optionally, the first transmission member has two connecting portions that both extend along the first direction, the two connecting portions being arranged at an included angle, and the two ends of the two connecting portions that are far apart from each other forming the first end and the second end, respectively.

[0024] Optionally, the two first driving devices are arranged side by side in a third direction, and the second driving device is arranged side by side with one of the two first driving devices in the second direction, and the two first driving devices and the second driving device together define a receiving area.

[0025] Optionally, the palm of the bionic robotic hand has a dorsal side and a palmar side in the third direction;

[0026] One of the two first driving devices is disposed corresponding to the back of the hand and the other is disposed corresponding to the palm side. The second driving device is disposed side by side with the first driving device disposed corresponding to the back of the hand.

[0027] The technical solution provided by this utility model has at least the following advantages:

[0028] The three drive units are staggered as needed to avoid spatial conflicts. At the same time, sufficient space is reserved for the internal wiring of the robot, the installation of control modules, and possible direct drive devices. By setting adjustment components, the output power of the drive unit in the first direction can be effectively transmitted to the power input end of the transmission mechanism. Even if there is a positional deviation between the two in the second and third directions, efficient transmission can be achieved. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0030] Figure 1 A schematic diagram of the structure of an embodiment of the bionic robotic hand provided by this utility model;

[0031] Figure 2 for Figure 1 Schematic diagram of the drive unit and adjusting components;

[0032] Figure 3 for Figure 2 Top view of the drive unit and adjustment components;

[0033] Figure 4 for Figure 1 Another structural diagram of the Chinese bionic robotic arm;

[0034] Figure 5 for Figure 1 A side view of the Chinese bionic robotic arm;

[0035] Figure 6 for Figure 1 A schematic diagram of the structure of the second drive device and the second transmission mechanism.

[0036] Explanation of icon numbers:

[0037] 100. Bionic robotic hand; 1. Finger; 11. Terminal phalanx; 111. First rod; 12. Middle phalanx; 13. Tip phalanx; 2. Drive device; 20. Drive unit; 21. First drive device; 22. Second drive device; 3. Transmission mechanism; 31. First transmission mechanism; 311. First connecting rod; 312. First joint; 313. Second joint; 32. Second transmission mechanism; 321. First transmission component; 3211. First end; 3212. Second end; 3210. Connecting part; 322. Second transmission component; 323. Third transmission component; 324. Third joint; 4. Adjusting component; 41. First adjusting component; 42. Second adjusting component; 51. Fixed base; 52. Back rotation joint; a. Reception area;

[0038] A. First axis of rotation; B. Second axis of rotation; C. Third axis of rotation; D. Fourth axis of rotation; E. Fifth axis of rotation; F. Sixth axis of rotation.

[0039] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0040] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present utility model.

[0041] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0042] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0043] Existing robotic dexterous hands typically mount motors in the palm area, transmitting power via linkage mechanisms. While this reduces assembly complexity, the structural layout limits finger freedom to one or two degrees of freedom, resulting in insufficient dexterity. Furthermore, the concentrated arrangement of motors in the palm area occupies significant space, restricting the miniaturization of the dexterous hand and hindering its ability to meet the demands of applications requiring compact structures and high flexibility.

[0044] This invention proposes a bionic robotic hand 100, which aims to solve the problem that the fingers 1 of the existing bionic robotic hand 100 cannot be miniaturized while ensuring the degree of freedom.

[0045] Please see Figures 1 to 3In one embodiment of this utility model, the palm length, palm width, and palm thickness of the bionic robotic hand 100 are respectively set as a first direction, a second direction, and a third direction. The bionic robotic hand 100 includes fingers 1, three driving devices 2, and multiple transmission mechanisms 3. The fingers 1 include a distal phalanx 11, a middle phalanx 12, and a tip phalanx 13 that are rotatably connected in sequence along their length direction. Each driving device 2 has a driving part 20 that is retractable in the first direction. The multiple transmission mechanisms 3 include two first transmission mechanisms 31 and a second transmission mechanism 32. The first transmission mechanism 31 is connected to the corresponding drive device 2 and the distal phalanx 11, and the second transmission mechanism 32 is connected to another drive device 2 and the tip phalanx 13. The two first transmission mechanisms 31 are respectively located on both sides of the finger 1 and are symmetrically arranged about the finger 1. The bionic robotic hand 100 also includes a plurality of adjustment components 4. One end of each adjustment component 4 is connected to the drive part 20 of the corresponding drive device 2, and the other end is connected to the corresponding transmission mechanism 3, so as to adjust the output axis of the drive part 20 of the corresponding drive device 2.

[0046] It should be noted that in the bionic robotic hand 100, the finger 1 is composed of the distal phalanx 11, the middle phalanx 12 and the tip phalanx 13 connected by rotation in sequence, and the relative movement between the phalanxes is realized through three main joints, namely the MP joint, the PIP joint and the DIP joint, so that each phalanx can perform bending or flipping movements under different degrees of freedom.

[0047] It should be noted that the MP joint (Metacarpophalangeal Joint) is located between the distal phalanx 11 and the palm, and is the part connecting the finger 1 to the palm. The MP joint allows the finger 1 to bend, extend, and even swing laterally to a certain extent in multiple degrees of freedom. In this embodiment, the movement of the MP joint is mainly driven by two symmetrically arranged first transmission mechanisms 31, thereby realizing the bending and lateral flipping functions of the distal phalanx 11.

[0048] The PIP joint (Proximal Interphalangeal Joint) is located between the distal phalanx 11 and the intermediate phalanx 12, and is the center of flexion in the middle segment of finger 1. The flexion movement of the PIP joint facilitates adaptability and flexibility when grasping objects. In this embodiment, the movement of the PIP joint is driven by the second transmission mechanism 32, thereby realizing the flexion movement of the intermediate phalanx 12 relative to the distal phalanx 11.

[0049] The DIP joint (Distal Interphalangeal Joint) is located between the middle phalanx 12 and the tip phalanx 13. It is the joint at the end of the finger 1, used for flexion and extension of the tip phalanx 13. The DIP joint facilitates fine motor tasks (such as picking up small objects). In this embodiment, the movement of the DIP joint can be achieved through the linkage of the second transmission mechanism 32.

[0050] There are three drive units 2, which provide power to each joint. The drive unit 2 can be a servo motor, stepper motor, linear electric cylinder, pneumatic actuator, etc., and the specific form can be flexibly selected according to the application scenario and space requirements. The drive section 20 refers to the part of the drive unit 2 that is used to output power, such as the output shaft of a servo motor, the push rod of an electric cylinder, or the piston rod of a pneumatic cylinder.

[0051] It should be noted that, in order to achieve miniaturization and compact layout of the overall structure, the drive units 20 of the three drive devices 2 are staggered on the planes of the second and third directions to avoid mutual interference, while reserving sufficient space for internal wiring, installation of control components and possible direct-drive electric cylinders (such as electric cylinders for DIP operation).

[0052] Two first transmission mechanisms 31 are respectively disposed on both sides of the finger 1 and arranged symmetrically about the finger 1. They are respectively connected to the corresponding drive device 2 and the distal phalanx 11 to realize the bending and lateral flipping functions of the distal phalanx 11. The second transmission mechanism 32 is connected to another drive device 2 and the tip phalanx 13 to realize the bending action of the middle phalanx 12 and the tip phalanx 13. The transmission mechanism 3 can adopt various structural forms, such as linkage mechanism, wire rope-pulley mechanism or gear-rack mechanism, etc. The specific design can be made according to the actual situation, and this specification does not limit it in this embodiment.

[0053] In related technologies, the arrangement of the drive unit 2 is limited by the setting of the transmission mechanism 3, making it impossible to compactly integrate multiple drive units 2 and achieve miniaturization of the robotic arm. Traditional designs typically connect the drive unit 2 directly to a specific transmission mechanism 3, thus requiring sufficient space to be reserved for each drive unit 2 to ensure its normal operation and ease of maintenance. Furthermore, since each drive unit 2 needs to correspond to a different transmission mechanism 3, but these transmission mechanisms 3 cannot be arranged closely, the overall structure becomes bulky, hindering the development of smaller devices.

[0054] To ensure a smooth connection between the drive unit 2 and the transmission mechanism 3, an adjusting member 4 is provided between them. It should be noted that the adjusting member 4 can be a universal joint, a ball joint structure, an eccentric adjusting rod, or a flexible connecting member, etc. One end of the adjusting member 4 is connected to the drive unit 20 of the drive unit 2, and the other end is connected to the power input end of the corresponding transmission mechanism 3. This effectively transmits the output power of the drive unit 20 of the drive unit 2 in the first direction to the transmission mechanism 3, even if there is a positional deviation between the drive unit 20 and the power input end of the transmission mechanism 3 in the second and third directions.

[0055] Specifically, the transmission mechanism 3 inputs or outputs power along the first direction (i.e., the length direction of finger 1), while the drive unit 20 of the drive device 2, although it can extend or move in the first direction, is often misaligned with the power input end of the transmission mechanism 3 in the second and third directions to achieve miniaturization and space optimization of the overall structure. By setting the adjusting member 4, a spatial transition between the drive unit 20 and the transmission mechanism 3 can be achieved, allowing the linear or rotational motion of the drive unit 20 in the first direction to be transmitted to the transmission mechanism 3 through the structural characteristics of the adjusting member 4, thereby overcoming the transmission obstacle caused by the positional deviation.

[0056] The adjusting component 4 is provided to accommodate misalignment between the drive unit 20 and the transmission mechanism 3 within a certain range. For example, when a universal joint or ball joint structure is used, it can absorb positional deviations in the second and third directions without changing the direction of power, thereby ensuring the continuity and stability of the transmission path. In addition, the adjusting component 4 can also achieve fine-tuning through an eccentric structure or elastic deformation to further improve transmission efficiency and system reliability.

[0057] The three drive units 2 are staggered as needed to avoid spatial layout conflicts. At the same time, sufficient space is reserved for the internal wiring of the robot, the installation of control modules, and possible direct drive devices. By setting the adjustment component 4, the output power of the drive unit 20 in the first direction can be effectively transmitted to the power input end of the transmission mechanism 3. Even if there is a positional deviation between the two in the second and third directions, efficient transmission can be achieved.

[0058] For further information, please refer to [link / reference]. Figure 1 In some embodiments, the two first transmission mechanisms 31 are respectively disposed on both sides of the second transmission mechanism 32 and are symmetrically arranged with respect to the second transmission mechanism 32.

[0059] It is understandable that the second transmission mechanism 32 is mainly used to drive the bending action of the PIP joint and DIP joint between the middle phalanx 12 and the tip phalanx 13, and is usually located on or near the central axis of the finger 1; while the two first transmission mechanisms 31 are respectively located on both sides of the second transmission mechanism 32, that is, on the left and right sides of it in the second direction, and are mirror symmetrical about the second transmission mechanism 32 in spatial structure.

[0060] This arrangement avoids the stacking of each transmission mechanism 3 in the third direction, thereby reducing the space occupied in the overall thickness direction and providing more available space for the compact arrangement of the drive device 2, the adjustment component 4 and the control module. In addition, it can better realize the synchronous drive of the end finger joint 11 (MP joint) on both sides, ensuring that it maintains the consistency and stability of its movements during bending and lateral flipping.

[0061] For further information, please refer to [link / reference]. Figure 2 and Figure 3 In some embodiments, the three drive devices 2 include two first drive devices 21 arranged side by side in the third direction; the plurality of adjustment members 4 include two first adjustment members 41, the first adjustment members 41 being connected to the drive part 20 of the first drive device 21 and the first transmission mechanism 31; the two first adjustment members 41 are arranged extending from one end to the other along the second direction in a direction away from each other.

[0062] It is understandable that the two first drive devices 21 are arranged side by side along a third direction, for example, two servo motors or linear cylinders, installed inside the palm structure and arranged sequentially along the palm thickness direction, to avoid wasting space and stacking structures in that direction.

[0063] In addition, another drive device 2 (i.e. another drive device 2 for driving the second transmission mechanism 32) is preferably arranged at intervals from the two first drive devices 21 in the second direction to achieve a spatially staggered distribution of the overall drive device 2.

[0064] Two first transmission mechanisms 31 are symmetrically arranged on both sides of the finger 1, and are symmetrical about the central axis of the finger 1. To achieve power transmission between the two first transmission mechanisms 31 and the two first drive devices 21, two first adjusting members 41 are provided. The two first adjusting members 41 extend from one end to the other along a second direction in a mutually distancing direction. This allows the adjusting members 41 to accommodate the positional deviation between the drive portion 20 of the first drive device 21 and the power input end of the first transmission mechanism 31.

[0065] Since the two first drive devices 21 are arranged side by side along the third direction, and the two first transmission mechanisms 31 are symmetrically distributed on both sides of the second transmission mechanism 32 in the second direction, the relative distances between the drive parts 20 of the two first drive devices 21 and their respective first transmission mechanisms 31 are not equal.

[0066] Therefore, the two first adjusting members 41 can be designed with different lengths according to the actual transmission path requirements, thereby ensuring that the output power of each drive device 2 can be smoothly transmitted to the corresponding transmission mechanism 3, avoiding efficiency reduction or structural interference caused by excessively long transmission paths or unreasonable angles. Through the above arrangement, not only is the compact arrangement of the drive devices 2 in the third direction achieved, but the positional difference between the drive unit 20 and the transmission mechanism 3 in the second direction is also overcome through the reasonable design of the adjusting members 4.

[0067] For details, please continue reading Figure 4 In this embodiment, the bionic robotic hand 100 further includes a fixed base 51 and a back rotation joint 52 hinged to the fixed base 51. The distal phalanx 11 is rotatably connected to the back rotation joint 52 about a first rotation axis A along the second direction, so that when the two drive parts 20 of the two first drive devices 21 move synchronously, the distal phalanx 11 is driven to rotate relative to the back rotation joint 52 about the first rotation axis A extending in the second direction. When the two drive parts 20 of the two first drive devices 21 move differentially, the distal phalanx 11 is driven to flip about the second rotation axis B in the third direction.

[0068] The distal phalanx 11 is rotatably connected to the dorsal rotation joint 52 about a first rotation axis A extending in the second direction (i.e., the width direction of finger 1), thereby enabling bending and extension movements relative to the fixed base 51 (i.e., the palm structure). The first rotation axis A is defined as the bending degree of freedom of the distal phalanx 11 in the first direction (the length direction of finger 1).

[0069] Furthermore, to achieve the flipping function (i.e., lateral flipping) of the distal phalanx 11 in the second direction, this embodiment also provides two first driving devices 21, whose driving parts 20 are respectively connected to two symmetrically arranged first transmission mechanisms 31 through two first adjusting members 41. When the driving parts 20 of the two first driving devices 21 move synchronously, the two first transmission mechanisms 31 apply power symmetrically, causing the distal phalanx 11 to bend or extend around the first rotation axis A; while when the two driving parts 20 move at different speeds (i.e., there is a speed or displacement difference in the output motion), the two first transmission mechanisms 31 apply asymmetrical torques to the distal phalanx 11, thereby causing the distal phalanx 11 to flip around the second rotation axis B extending along the third direction (i.e., the palm thickness direction).

[0070] Thus, based on the symmetrical arrangement of the two first transmission mechanisms 31 in the second direction, by setting the fixed seat 51 and the back rotation joint 52, and combining the differential control of the two first drive devices 21, as well as the asymmetrical extension of the adjustment member 4 in the second direction, the end finger 11 not only has a basic bending function, but can also achieve lateral flipping.

[0071] For details, please continue reading Figure 1 In this embodiment, the first transmission mechanism 31 includes a first connecting rod 311 extending along the first direction. One end of the first connecting rod 311 is hinged to one end of the first adjusting member 41, and the other end is hinged to one end of the end finger joint 11.

[0072] Specifically, the first link 311, as the core component of the first transmission mechanism 31, has its length direction consistent with the length direction of the finger 1 (i.e., the first direction). One end of it is connected to the first adjusting member 41 through a hinge structure to receive power from the first driving device 21; the other end is connected to the end phalanx 11 through another hinge structure to transmit power to the end phalanx 11 and drive it to move around the back rotation joint 52.

[0073] The hinge point between the first link 311 and the first adjusting member 41 can have a certain degree of freedom in the second and third directions to accommodate positional deviations between the drive unit 20 and the transmission mechanism 3. At the same time, the hinge point between the first link 311 and the end finger 11 is located near the root of the end finger 11 to ensure that power can be effectively transmitted to the end finger 11 and drive it to achieve bending or lateral flipping movements around the back rotation joint 52.

[0074] Specifically, please refer to Figure 1 In this embodiment, the first transmission mechanism 31 further includes a first joint portion 312 and a second joint portion 313 respectively disposed at both ends of the first connecting rod 311. One end of the first connecting rod 311 is connected to the first adjusting member 41 through the first joint portion 312, and the other end of the first connecting rod 311 is connected to one end of the distal phalanx 11 through the second joint portion 313.

[0075] Specifically, the first joint portion 312 is disposed at one end of the first connecting rod 311 near the first adjusting member 41, and is used to realize the movable connection between the first connecting rod 311 and the first adjusting member 41. The first joint portion 312 is preferably a ball joint, a universal hinge, or a flexible hinge structure, having multiple degrees of freedom, and is able to adapt to changes in the relative position between the first adjusting member 41 and the first connecting rod 311 in the second direction and the third direction.

[0076] The second joint 313 is located at the end of the first connecting rod 311 away from the first adjusting member 41, and is used to realize the movable connection between the first connecting rod 311 and the distal phalanx 11. The second joint 313 is also preferably a ball joint or a hinge structure, and its hinge axis is preferably consistent with or parallel to the rotation axis of the distal phalanx 11 about the dorsal rotation joint 52 (i.e., the first rotation axis A), so as to ensure that the power transmission direction matches the movement direction of the distal phalanx 11.

[0077] Specifically, please refer to Figure 1 and Figure 4 In this embodiment, the distal phalanx 11 includes two first rods 111 spaced apart in the second direction; the second transmission mechanism 32 is located between the two first rods 111.

[0078] Specifically, the distal phalanx 11 is composed of two first rods 111, which are spaced apart from each other in a second direction, i.e., located on both sides of the width of the finger 1, forming a receiving space between the two first rods 111. The second transmission mechanism 32 is disposed inside this receiving space, i.e., between the two first rods 111, and extends along the first direction, for driving the bending action of the intermediate phalanx 12 and the distal phalanx 13.

[0079] By setting the distal phalanx 11 as two first rods 111 spaced apart in the second direction, and arranging the second transmission mechanism 32 between the two first rods 111, the space occupied by the mechanism in the palm thickness direction (third direction) is avoided, thereby improving the structural compactness of the bionic robotic hand 100 and the spatial integration of the transmission system.

[0080] Specifically, please refer to Figure 5 and Figure 6 In this embodiment, the plurality of adjusting members 4 includes a second adjusting member 42, which is connected to the driving part 20 of the second driving device 22 and the second transmission mechanism 32.

[0081] The second transmission mechanism 32 includes a first transmission member 321, a second transmission member 322, and a third transmission member 323. The first transmission member 321 has a first end 3211 and a second end 3212 disposed opposite to each other. The first end 3211 is connected to the second adjusting member 42 via a third joint 324. The second transmission member 322 has a first end and a second end disposed opposite to each other. The first end of the second transmission member 322 is rotatably connected to the second end 3212 about a third rotation axis C extending in the second direction. The third transmission member 323 has a first end and a second end disposed opposite to each other. The first end of the third transmission member 323 is rotatably connected to the second end of the second transmission member 322 about a fourth rotation axis D extending in the second direction. The first end of the third transmission member 323 is also rotatably connected to the other end of the distal phalanx 11 about a fifth rotation axis E extending in the second direction. The second end of the third transmission member 323 is rotatably connected to one end of the tip phalanx 13 about a sixth rotation axis F extending in the second direction.

[0082] Specifically, the first transmission member 321 has a first end 3211 and a second end 3212 disposed opposite to each other. The first end 3211 is connected to one end of the second adjusting member 42 via a third joint 324, and receives power input from the second drive device 22. It should be noted that the third joint 324 is preferably a ball joint structure, a universal joint, or a flexible hinge, having multiple degrees of freedom to accommodate positional deviations between the drive unit 20 and the first transmission member 321 in the second and third directions.

[0083] The second transmission member 322 has a first end and a second end arranged opposite to each other. The first end is rotatably connected to the second end 3212 of the first transmission member 321 via a third rotation axis C extending about a second direction (i.e., the width direction of finger 1). This arrangement allows the second transmission member 322 to swing about the third rotation axis C, thereby realizing the transmission of power and the conversion of direction.

[0084] The third transmission member 323 also has a first end and a second end arranged opposite to each other. Its first end is rotatably connected to the second end of the second transmission member 322 around a fourth rotation axis D extending in a second direction. At the same time, the first end of the third transmission member 323 is also rotatably connected to the other end of the distal phalanx 11 around a fifth rotation axis E extending in the same direction, realizing linkage with the distal phalanx 11. Its second end is rotatably connected to one end of the tip phalanx 13 around a sixth rotation axis F, thereby driving the bending action of the tip phalanx 13.

[0085] Through the above structural design, the second transmission mechanism 32 forms a multi-stage linkage structure driven by the first transmission component 321, transmitted by the second transmission component 322, and output by the third transmission component 323. It can transmit the power of the second driving device 22 to the middle finger joint 12 and the tip finger joint 13 in sequence, so as to realize their bending motion in the first direction.

[0086] In addition, the rotational connection structures between each transmission component (such as the third rotation axis C, the fourth rotation axis D, the fifth rotation axis E, and the sixth rotation axis F) all extend along the second direction, consistent with the width direction of finger 1, to ensure the consistency of the movement direction of each joint and avoid motion errors or structural interference caused by axis offset.

[0087] Specifically, please refer to Figure 6 In this embodiment, the first transmission member 321 has two connecting portions 3210 that both extend along the first direction. The two connecting portions 3210 are arranged at an included angle, and the two ends of the two connecting portions 3210 that are far apart from each other form the first end 3211 and the second end 3212, respectively.

[0088] Understandably, the two connecting portions 3210 originate from a common root and extend along a first direction, moving away from each other in a "V" shape. Their ends are defined as the first end 3211 and the second end 3212, respectively. The first end 3211 is connected to one end of the second adjusting member 42 via the third joint 324, receiving power input from the second driving device 22. The second end 3212 is rotatably connected to the first end of the second transmission member 322, further transmitting power to the second transmission member 322.

[0089] By setting it to an angled structure, the first transmission component 321 can adjust the direction of power transmission. Since there is a certain angular deviation between the second adjusting component 42 and the second transmission component 322 in terms of spatial layout, the first transmission component 321 can naturally adapt to this deviation through the angled structure between the two connecting parts 3210, and complete the direction conversion while transmitting power.

[0090] Further, please refer to Figure 2 and Figure 3 In this embodiment, the two first driving devices 21 are arranged side by side in the third direction, and the second driving device 22 is arranged side by side with one of the two first driving devices 21 in the second direction. The two first driving devices 21 and the second driving device 22 together define the receiving area a.

[0091] Because the two first drive devices 21 are arranged side by side in the third direction, that is, arranged sequentially along the thickness direction of the palm, stacking in this direction is avoided, thereby improving the space utilization rate of the overall structure in the thickness direction. At the same time, the second drive device 22 is arranged side by side with one of the first drive devices 21 in the second direction, forming an "L"-shaped three drive device 2 layout.

[0092] With the above arrangement, a receiving area a is enclosed between the three drive devices 2. This receiving area a is located between the two first drive devices 21 and the second drive device 22, and its size is approximately equivalent to the volume of one drive device 2. This receiving area a can be used to install other functional modules, such as controllers, sensors, power modules, or micro actuators for direct-drive DIP joints, greatly improving the integration and utilization of the internal space of the bionic robotic hand 100.

[0093] Furthermore, since each drive unit 2 is staggered or arranged side by side in the second and third directions, the connecting pipelines (such as wires, signal lines, etc.) between the drive units 2 are laid out in a more orderly manner, which also facilitates maintenance and replacement.

[0094] Specifically, please refer to Figure 1 and Figure 5 In this embodiment, the palm of the bionic robotic hand 100 has a back side and a palm side facing each other in the third direction; one of the two first driving devices 21 is arranged corresponding to the back side and the other is arranged corresponding to the palm side; the second driving device 22 is arranged side by side with the first driving device 21 arranged corresponding to the back side.

[0095] Because the two first drive devices 21 are arranged side by side along a third direction, one near the back of the hand and the other near the palm, they are separated by the palm structure and each is connected to a corresponding adjustment member 4, thereby driving the corresponding transmission mechanism 3. The second drive device 22 is arranged side by side with the first drive device 21 located on the back of the hand in the second direction (the width direction of the fingers 1), forming a staggered but compact spatial arrangement. In addition, the second drive device 22 is arranged side by side with the first drive device 21 on the back of the hand, so that it is closer to the back rotation joint 52 and related transmission components, which can shorten the transmission chain length, reduce energy loss, and improve response speed.

[0096] The above description is merely an exemplary embodiment of the present utility model and does not limit the patent scope of the present utility model. Any equivalent structural transformations made based on the technical concept of the present utility model and the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. A bionic robotic hand (100), characterized in that, The palm length, palm width, and palm thickness of the bionic robotic hand (100) are respectively set as a first direction, a second direction, and a third direction. The bionic robotic hand (100) includes: The finger (1) comprises a distal phalanx (11), a middle phalanx (12) and a distal phalanx (13) that are rotatably connected in the longitudinal direction; Three drive units (2), each drive unit (2) having a drive section (20) extendable in the first direction; and, Multiple transmission mechanisms (3) include two first transmission mechanisms (31) and a second transmission mechanism (32). Each first transmission mechanism (31) is connected to the corresponding drive device (2) and the distal phalanx (11). The second transmission mechanism (32) is connected to another drive device (2) and the tip phalanx (13). The two first transmission mechanisms (31) are located on both sides of the finger (1) and are symmetrically arranged about the finger (1). The bionic robotic arm (100) further includes multiple adjusting components (4), one end of each adjusting component (4) is connected to the driving part (20) of the corresponding driving device (2), and the other end is connected to the corresponding transmission mechanism (3) to adjust the output axis of the driving part (20) of the corresponding driving device (2).

2. The bionic robotic hand (100) as described in claim 1, characterized in that, The two first transmission mechanisms (31) are respectively located on both sides of the second transmission mechanism (32) and are symmetrically arranged with respect to the second transmission mechanism (32).

3. The bionic robotic hand (100) as described in claim 1, characterized in that, The three drive units (2) include two first drive units (21) arranged side by side upwards on the third side; The plurality of adjusting members (4) includes two first adjusting members (41), the first adjusting members (41) being connected to the driving part (20) of the first driving device (21) and the first transmission mechanism (31); The two first adjustment members (41) are arranged to extend from one end to the other along the second direction in a direction that is far apart from each other.

4. The bionic robotic hand (100) as described in claim 3, characterized in that, The bionic robotic hand (100) also includes a fixed base (51) and a back rotation joint (52) hinged to the fixed base (51). The distal phalanx (11) is rotatably connected to the back rotation joint (52) about a first rotation axis (A) along the second direction. When the two drive parts (20) of the two first drive devices (21) move synchronously, the distal phalanx (11) rotates relative to the back rotation joint (52) about the first rotation axis (A) extending in the second direction. When the two drive parts (20) of the two first drive devices (21) move differentially, the distal phalanx (11) flips about the second rotation axis (B) in the third direction.

5. The bionic robotic hand (100) as described in claim 4, characterized in that, The first transmission mechanism (31) includes a first connecting rod (311) extending along the first direction. One end of the first connecting rod (311) is hinged to one end of the first adjusting member (41), and the other end is hinged to one end of the end finger joint (11).

6. The bionic robotic hand (100) as described in claim 5, characterized in that, The first transmission mechanism (31) further includes a first joint portion (312) and a second joint portion (313) respectively disposed at both ends of the first connecting rod (311). One end of the first connecting rod (311) is connected to the first adjusting member (41) through the first joint portion (312), and the other end of the first connecting rod (311) is connected to one end of the distal phalanx (11) through the second joint portion (313); and / or, The distal phalanx (11) includes two first rods (111) spaced apart in the second direction, and the second transmission mechanism (32) is located between the two first rods (111).

7. The bionic robotic hand (100) as described in claim 1, characterized in that, The plurality of adjusting members (4) includes a second adjusting member (42), which is connected to the driving part (20) of the second driving device (22) and the second transmission mechanism (32); The second transmission mechanism (32) includes: The first transmission member (321) has a first end (3211) and a second end (3212) disposed opposite to each other, the first end (3211) and the second adjusting member (42) being transmissionally connected via a third joint (324); and, The second transmission member (322) has a first end and a second end disposed opposite to each other, the first end of the second transmission member (322) being rotatably connected to the second end (3212) about a third rotation axis (C) extending in the second direction; and, The third transmission member (323) has a first end and a second end arranged opposite to each other. The first end of the third transmission member (323) is rotatably connected to the second end of the second transmission member (322) about a fourth rotation axis (D) extending in the second direction. The first end of the third transmission member (323) is also rotatably connected to the other end of the distal phalanx (11) about a fifth rotation axis (E) extending in the second direction. The second end of the third transmission member (323) is rotatably connected to one end of the tip phalanx (13) about a sixth rotation axis (F) extending in the second direction.

8. The bionic robotic hand (100) as described in claim 7, characterized in that, The first transmission member (321) has two connecting portions (3210) that both extend along the first direction. The two connecting portions (3210) are arranged at an included angle. The two ends of the two connecting portions (3210) that are far apart from each other form the first end (3211) and the second end (3212), respectively.

9. The bionic robotic hand (100) as described in any one of claims 1 to 8, characterized in that, The two first drive devices (21) are arranged side by side in a third direction, and the second drive device (22) is arranged side by side with one of the two first drive devices (21) in the second direction. The two first drive devices (21) and the second drive device (22) together define the receiving area (a).

10. The bionic robotic hand (100) as described in claim 9, characterized in that, The palm of the bionic robotic hand (100) has a dorsal side and a palmar side in the third direction. One of the two first driving devices (21) is provided corresponding to the back of the hand and the other is provided corresponding to the palm side. The second driving device (22) is provided side by side with the first driving device (21) provided corresponding to the back of the hand.

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