Multi-degree-of-freedom bionic finger and dexterous hand having the same

Abstract

The utility model discloses a kind of multi-degree-of-freedom bionic finger and dexterous hand with it, the multi-degree-of-freedom bionic finger, comprising: base body;Finger body, by side swing joint is located on the base body;Driving assembly, located on the base body and is connected with the finger body, for drive the finger body side swing and bending;Wherein, the driving assembly at least includes the first drive unit for drive the finger body side swing, first drive unit is the driving structure with rotary output end, parallelogram mechanism is formed between the first drive unit and the side swing joint, the first drive unit and the side swing joint are respectively located on a pair of opposite distribution edge of the parallelogram mechanism.

Description

Technical Field

[0001] This utility model belongs to the field of robotic hand technology, specifically relating to a multi-degree-of-freedom bionic finger and a dexterous hand with it. Background Technology

[0002] With the continuous development of technology, dexterous hands have demonstrated enormous application potential in numerous fields such as medical rehabilitation, industrial production, aerospace, and service robots. Dexterous hands aim to mimic the structure and function of the human hand, providing users with a more natural and flexible operating experience.

[0003] Bionic fingers are a key component of dexterous hands. In existing technologies, the degrees of freedom of bionic fingers are mostly driven by actuators. The placement of these actuators significantly impacts the performance of the dexterous hand, for example, creating a conflict between spatial compactness and joint range of motion. Therefore, it is necessary to improve existing technologies to overcome these shortcomings. Utility Model Content

[0004] Therefore, the technical problem to be solved by this utility model is to provide a multi-degree-of-freedom bionic finger and a dexterous hand with it.

[0005] To solve the above-mentioned technical problems, this utility model provides a multi-degree-of-freedom bionic finger, comprising: a base; a finger body disposed on the base via a lateral swing joint; and a driving assembly disposed on the base and connected to the finger body for driving the finger body to lateral swing and bend. The driving assembly includes at least a first driving unit for driving the finger body to lateral swing. The first driving unit is a driving structure with a rotational output end. A parallelogram mechanism is formed between the first driving unit and the lateral swing joint. The first driving unit and the lateral swing joint are respectively located on a pair of oppositely distributed edges of the parallelogram mechanism.

[0006] In some embodiments, the first drive unit has a rotary output end connected to a swing arm, the swing arm being connected to the side swing joint via a side swing link, wherein the swing arm, the side swing link, the side swing joint, and the base form the parallelogram mechanism.

[0007] In some embodiments, the driving assembly further includes a second driving unit for driving the finger body to bend, wherein the first driving unit is disposed on the base and connected to the second driving unit or the lateral swing joint; the second driving unit connects the lateral swing joint and the finger body.

[0008] In some embodiments, the first drive unit is located at the proximal end of the base, and the second drive unit is located at the distal end of the base, wherein the second drive unit is a linear electric cylinder.

[0009] In some embodiments, the linear electric cylinder has a push rod with a mounting base at its top, and the finger body is connected to the mounting base. The linear electric cylinder also has a guide rod arranged parallel to the push rod, and the mounting base has a through hole that mates with the guide rod.

[0010] In some embodiments, the finger body includes an MCP joint, a PIP joint, and a DIP joint along the proximal to distal direction, and the second drive unit includes at least a first electric cylinder and a second electric cylinder, wherein the first electric cylinder is configured to control the rotation of the MCP joint, and the second electric cylinder is configured to control the rotation of the PIP joint and the DIP joint.

[0011] In some embodiments, the lateral swing joint includes a joint housing, which is pivotally connected to the base and the finger body, respectively. The second drive unit is disposed on the joint housing, and the joint housing has a receiving cavity for accommodating the second drive unit.

[0012] In some embodiments, the driving component is located on the outside of the finger body.

[0013] In some embodiments, the swing angle of the lateral joint ranges from 0 to 180°.

[0014] This utility model also provides a dexterous hand, which includes the multi-degree-of-freedom bionic fingers as described above.

[0015] The technical solution provided by this utility model has the following advantages:

[0016] In this embodiment, the drive component is disposed on the base and located on the outside of the finger body. The drive component is disposed on the base, which can utilize the palm space of the dexterous hand. While ensuring the structure is compact, it does not restrict the movement space of the finger body joint, effectively solving the contradiction between spatial compactness and joint movement range.

[0017] In this embodiment, a second driving unit is provided on the lateral swing joint, or the lateral swing joint is the second driving unit. Whether the second driving unit is provided on the lateral swing joint or the second driving unit is the lateral swing joint, it can effectively simplify the overall structure of the bionic finger, making the structure more compact and small, and improving the compactness and environmental passability of the bionic finger.

[0018] In this embodiment, the parallelogram mechanism can directly convert the rotational motion of the first drive unit into the rotational motion of the side-swing joint. Compared to driving the side-swing joint with a linear electric cylinder, the linear output of the linear electric cylinder results in a larger space occupied by the actuator. In this embodiment, the parallelogram mechanism converts the rotational motion of the first drive unit to the side-swing joint, solving the stroke limitation of the linear electric cylinder. This not only reduces the space occupied but also has the advantages of simple structure and smooth and reliable motion.

[0019] In this embodiment, two linear electric cylinders are arranged at the rear to keep the finger body with a slender cross-section (diameter ≤16mm) and differentiated driving methods (proximal rotational driving method and distal linear driving method) to achieve a high degree of integration of three active degrees of freedom. Attached Figure Description

[0020] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0021] Figure 1 A three-dimensional structural schematic diagram of the multi-degree-of-freedom bionic finger provided by this utility model;

[0022] Figure 2 A schematic diagram of the multi-degree-of-freedom bionic finger provided by this utility model in the main viewing direction;

[0023] Figure 3 A partial structural exploded view of the multi-degree-of-freedom bionic finger provided by this utility model;

[0024] Figure 4 This is a diagram showing the positional relationship between the main body and the second drive unit;

[0025] Figure 5 for Figure 4 Partial structural decomposition diagram;

[0026] Figure 6 This is a schematic diagram of the structure of the second drive unit;

[0027] Figure 7 for Figure 6 Partial structural decomposition diagram;

[0028] Figure 8 A schematic diagram of the dexterous hand provided by this utility model. Detailed Implementation

[0029] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. The present utility model will be described in detail below with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this utility model can be combined with each other.

[0030] It should be noted that the terms "first," "second," etc., in the specification, claims, and drawings of this utility model are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0031] In this utility model, unless otherwise stated, directional terms such as "upper," "lower," "top," and "bottom" are generally used in relation to the direction shown in the accompanying drawings, or in relation to the vertical, perpendicular, or gravitational direction of the component itself; similarly, for ease of understanding and description, "inner" and "outer" refer to the inner and outer contours of each component itself, but the above directional terms are not used to limit this utility model.

[0032] This invention provides a multi-degree-of-freedom bionic finger and a dexterous hand incorporating it. The multi-degree-of-freedom bionic finger and dexterous hand can be applied in aerospace, medical surgery, precision assembly, and other fields. Of course, the applications of the multi-degree-of-freedom bionic finger and dexterous hand include, but are not limited to, the aforementioned fields; they can also be applied to domestic services, community security, and other areas.

[0033] Example 1

[0034] This invention provides a multi-degree-of-freedom bionic finger, which, in one application scenario, is used in a dexterous hand. For example... Figures 1 to 3 As shown, the multi-degree-of-freedom bionic finger includes a base 100, a finger body 300, and a drive assembly. The base 100 provides support and a mounting foundation for the finger body 300 and the drive assembly. The finger body 300 is mounted on the base 100 and can sway and bend relative to the base 100, mimicking the function of a human finger. The drive assembly is connected to the finger body 300 and is used to drive the finger body 300 to move, for example, sway and bend.

[0035] In existing technologies, to make the overall structure of the bionic finger more compact, the drive component is placed inside the finger (finger body) to make full and reasonable use of the space within the finger. While this arrangement of the drive component can reduce the external dimensions of the bionic finger to some extent, the limited space inside the finger restricts the movement space of the finger joints, thus affecting the performance of the bionic finger.

[0036] Therefore, in this embodiment of the present disclosure, the driving component is disposed on the base 100 and located on the outside of the finger body 300. The base 100 is used to connect the palm substrate or wrist substrate of the dexterous hand. The driving component is disposed on the base 100, which can utilize the palm space of the dexterous hand. While ensuring a compact structure, it does not restrict the movement space of the finger body 300 joints, effectively solving the contradiction between spatial compactness and joint range of motion.

[0037] Furthermore, a lateral swing joint 200 is pivotally connected to the base 100, and the finger body 300 is pivotally connected to the lateral swing joint 200. There is a first pivot axis X between the base 100 and the lateral swing joint 200, and a second pivot axis Y between the lateral swing joint 200 and the finger body 300, wherein the first pivot axis X and the second pivot axis Y are perpendicularly distributed.

[0038] The drive assembly includes a first drive unit 400 for driving the finger body 300 to laterally swing and a second drive unit 500 for driving the finger body 300 to bend. The first drive unit 400 is located at the proximal end of the base 100, and the second drive unit 500 is located at the distal end of the base 100. The first drive unit 400 is disposed on the base 100 and connected to the lateral swing joint 200 or the finger body 300. Preferably, the first drive unit 400 is connected to the lateral swing joint 200, which is closer to the base 100 than the finger body 300, thus facilitating a compact structure and easier connection to the first drive unit 400 on the base 100.

[0039] In this embodiment of the disclosure, in order to reduce space occupancy and make the overall structure of the bionic finger more compact, the lateral joint 200 is provided with the above-mentioned driving component, or the lateral joint 200 is part of the above-mentioned driving component.

[0040] In one embodiment, the second drive unit 500 is disposed on the lateral swing joint 200 and connected to the finger body 300. Specifically, as shown... Figure 3 As shown, the lateral swing joint 200 includes a joint housing 210, which is pivotally connected to the base 100 and the finger body 300, respectively. The second drive unit 500 is disposed on the joint housing 210. Furthermore, the joint housing 210 is provided with a receiving cavity 211 for accommodating the second drive unit 500. The receiving cavity 211 provides installation space for the second drive unit 500, making the overall structure more compact.

[0041] In another embodiment, the second drive unit 500 is directly connected to the base 100 and the finger body 300. Specifically, the proximal end of the second drive unit 500 is connected to the distal end of the base 100, and the distal end of the second drive unit 500 is connected to the finger body 300. In this case, the second drive unit 500 serves as the lateral swing joint 200. Whether the second drive unit 500 is placed on the lateral swing joint 200 or used as the lateral swing joint 200, the overall structure of the bionic finger can be effectively simplified, making the structure more compact and small, and improving the compactness and environmental adaptability of the bionic finger.

[0042] Regarding the types of the first drive unit 400 and the second drive unit 500, such as Figure 3 and Figure 4 As shown, the first drive unit 400 is a drive structure with a rotary output end, and the second drive unit 500 is an electric cylinder capable of linear reciprocating motion. The first drive unit 400 can be any type of rotary actuator, preferably a servo motor. Of course, the second drive unit 500 includes, but is not limited to, a linear electric cylinder, and can also be other types of linear actuators (including electric, pneumatic, hydraulic, etc.).

[0043] In this embodiment, a parallelogram mechanism is formed between the first drive unit 400 and the side swing joint 200, with the first drive unit 400 and the side swing joint 200 located on a pair of oppositely distributed edges of the parallelogram mechanism. That is, the first drive unit 400 is connected to the side swing joint 200 via the parallelogram mechanism. The parallelogram mechanism can directly convert the rotational motion of the first drive unit 400 into the rotational motion of the side swing joint 200. Understandably, the parallelogram mechanism translates the rotational output of the first drive unit 400 to the side swing joint 200 to achieve the swinging motion of the side swing joint 200.

[0044] Compared to driving the side swing joint 200 with a linear electric cylinder, the linear output of the linear electric cylinder results in a larger space occupied by the actuator. In this embodiment, the rotational motion of the first drive unit 400 is converted to the side swing joint 200 by a parallelogram mechanism, which solves the stroke limitation of the linear electric cylinder. This not only reduces the space occupied, but also has the advantages of simple structure and smooth and reliable motion.

[0045] Specifically, the first drive unit 400 has a rotary output end (not shown), which is connected to a swing arm 410. The swing arm 410 is connected to the side swing joint 200 via a side swing link 420. The swing arm 410, the side swing link 420, the side swing joint 200, and the base 100 form a parallelogram mechanism.

[0046] When the first drive unit 400 drives the swing arm 410 to move, the swing arm 410 drives the side swing joint 200 to pivot around the first pivot axis X via the side swing link 420. The swing arm 410 and the side swing joint 200 have the same angular velocity, enabling synchronous movement between them. Preferably, the parallelogram mechanism can also adopt a symmetrical double-link arrangement (not shown) to further improve the smoothness of the transmission.

[0047] In this embodiment, the swing angle of the lateral swing joint 200 ranges from 0 to 180°. The swing angle can be 10°, 20°, 30°, 40°, 50°, 60°, 70°, 80°, 90°, 100°, 110°, 120°, 130°, 140°, 150°, 160°, 170°, 180°, etc., and can increase in 1° increments between 0 and 180°. Preferably, the swing angle of the lateral swing joint 200 is 90°.

[0048] like Figures 3 to 5 As shown, in one embodiment, the finger body 300 includes a first phalanx 311 pivotally connected to a lateral joint 200, a second phalanx 321 pivotally connected to the distal end of the first phalanx 311, and a third phalanx 331 pivotally connected to the distal end of the second phalanx 321. The lateral joint 200 is pivotally connected to the proximal end of the first phalanx 311, forming an MCP joint 310 at the pivot point. The pivot point between the distal end of the first phalanx 311 and the proximal end of the second phalanx 321 forms a PIP joint 320. The pivot point between the distal end of the second phalanx 321 and the proximal end of the third phalanx forms a DIP joint 330.

[0049] Of course, the number of joints in the finger body 300 along the proximal to distal direction is not limited to three, and may also include other numbers of joints, depending on the number of phalanges of the bionic finger. In this embodiment, the finger body 300 is a thumb, including the MCP joint 310, PIP joint 320, and DIP joint 330. When the finger body 300 is a finger other than the thumb (index finger), the number of joints increases accordingly. The following description uses the finger body 300 including the three joints MCP joint 310, PIP joint 320, and DIP joint 330 as an example, but based on the above description, the scope of protection of this utility model is not limited thereto.

[0050] The second drive unit 500 includes at least a first electric cylinder 510 and a second electric cylinder 520. The first electric cylinder 510 controls the rotation of the MCP joint, and the second electric cylinder 520 controls the rotation of the PIP joint and the DIP joint. The MCP joint 310 has a first pivot axis between the lateral joint 200 and the first phalanx 311; the PIP joint has a second pivot axis between the first phalanx 311 and the second phalanx 321; and the DIP joint has a third pivot axis between the second phalanx 321 and the third phalanx 331. In one embodiment, the first pivot axis at the MCP joint 310 is located at the junction of the distal end of the joint housing 210 and the proximal end of the first phalanx 311.

[0051] Specifically, such as Figure 5 As shown, the first electric cylinder 510 has a first push rod 511, which is pivotally connected to a first connecting rod 301. The first connecting rod 301 is pivotally connected to the proximal end of the first phalanx 311 and is located outside the first phalanx 311. When the first push rod 511 performs a linear reciprocating motion, it causes the first phalanx 311 to rotate around a first pivot axis at the MCP joint 310.

[0052] A second link 302 is pivotally connected to the first link 301, and the second link 302 is located within the first knuckle 311. The second electric cylinder 520 has a second push rod 521, which is pivotally connected to a third link 303. One end of the third link 303 is pivotally connected to the second push rod 521, and the other end is pivotally connected to the second link 302. The second link 302 is a triangular link. A fourth link 304 is also pivotally connected to the second link 302. The fourth link 304 is housed within the first knuckle 311 and extends toward the second knuckle 321.

[0053] The second phalanx 321 contains a fifth link 305. The proximal end of the fifth link 305 is connected to the proximal end of the second phalanx 321 via a first pin 3051, and the distal end is pivotally connected to the proximal end of the third phalanx 331 via a second pin 3052. The proximal end of the fourth link 304 is pivotally connected to the second link 302, and the distal end is pivotally connected to the proximal end of the fifth link 305.

[0054] When the second push rod 521 performs linear reciprocating motion, the fourth link 304 drives the fifth link 305 to move. The fifth link 305 drives the second phalanx 321 to rotate around the second pivot axis at the PIP joint 320. At the same time, the fifth link 305 can also drive the third phalanx 331 to rotate around the third pivot axis at the DIP joint 330.

[0055] The fifth link 305, the second joint 321, and the third joint 331 form a reverse quadrilateral mechanism. The first pin 3051 to the second pin 3052 at the fifth link 305 form an active crank, the PIP joint 320 to the DIP joint 330 form a driven crank, and the DIP joint 330 to the second pin 3052 form a driven link.

[0056] In the embodiments disclosed herein, such as Figure 6 and Figure 7 As shown, the top (free end) of the first push rod 511 is also provided with a first mounting base 512, and the first connecting rod 301 is pivotally connected to the first mounting base 512. Similarly, the top (free end) of the second push rod 521 is also provided with a second mounting base 522, and the third connecting rod 303 is pivotally connected to the second mounting base 522.

[0057] Furthermore, the top of the first electric cylinder 510 is also provided with a first guide rod 513 arranged parallel to the first push rod 511, wherein the first mounting base 512 is provided with a first through hole 5121 for the first guide rod 513 to pass through. The top of the second electric cylinder 520 is also provided with a second guide rod 523 arranged parallel to the second push rod 521, wherein the second mounting base 522 is provided with a second through hole 5221 for the second guide rod 523 to pass through. By setting the first guide rod 513 and the second guide rod 523, the reliability and accuracy of the movement of the finger body 300 can be ensured.

[0058] Furthermore, the first guide rod 513 and the second guide rod 523 are disposed on the shelf 530, which is fixed to the top of the first electric cylinder 510 and the second electric cylinder 520. The shelf 530 connects the first electric cylinder 510 and the second electric cylinder 520 into a whole, so as to facilitate the placement of the first guide rod 513 and the second guide rod 523 on the first electric cylinder 510 and the second electric cylinder 520, and also to facilitate the installation of the first electric cylinder 510 and the second electric cylinder 520 on the joint housing 210.

[0059] Regarding the joint housing 210, the joint housing 210 is mounted on the base 100 via the bearing seat 220. The outer wall of the joint housing 210 is also provided with a pivot part 230, and the side swing link 420 is connected to the joint housing 210 via the pivot part 230.

[0060] Example 2

[0061] This utility model provides a dexterous hand, such as Figure 8 As shown, the dexterous hand includes multi-degree-of-freedom bionic fingers. A dexterous hand can be a structure that mimics the hand of a human or animal. Figure 1This is a schematic diagram mimicking the human hand. A dexterous hand may include a palm and one or more bionic fingers located on the palm. The bionic fingers can be used to form the fingers of a dexterous hand. The number of bionic fingers can be determined according to specific application scenarios and design requirements. For example, a dexterous hand may include one, two, three, four, or five bionic fingers.

[0062] Among them, the above-mentioned bionic finger is the multi-degree-of-freedom bionic finger described in Embodiment 1. Since the dexterous hand adopts all the technical solutions of Embodiment 1, it has at least all the beneficial effects brought about by the technical solutions of Embodiment 1, which will not be elaborated here.

[0063] Obviously, the embodiments described above are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, those skilled in the art can make other variations or modifications without creative effort, and all such variations or modifications should fall within the protection scope of this utility model.

Claims

1. A multi-degree of freedom bionic finger, characterized in that, include: Matrix (100); The main body (300) is mounted on the base (100) via a side-swing joint (200); A drive assembly, disposed on the base (100) and connected to the finger body (300), is used to drive the finger body (300) to sway and bend. The driving assembly includes at least a first driving unit (400) for driving the finger body (300) to sway sideways. The first driving unit (400) is a driving structure with a rotation output end. A parallelogram mechanism is formed between the first driving unit (400) and the sway joint (200). The first driving unit (400) and the sway joint (200) are respectively located on a pair of oppositely distributed edges of the parallelogram mechanism.

2. The multi-degree-of-freedom bionic finger according to claim 1, characterized in that, The first drive unit (400) has a rotary output end, which is connected to a swing arm (410). The swing arm (410) is connected to the side swing joint (200) through a side swing link (420). The swing arm (410), the side swing link (420), the side swing joint (200) and the base (100) form the parallelogram mechanism.

3. The multi-degree-of-freedom bionic finger according to claim 1, characterized in that, The drive assembly further includes a second drive unit (500) for driving the finger body (300) to bend, wherein the first drive unit (400) is disposed on the base (100) and connected to the second drive unit (500) or the lateral swing joint (200); the second drive unit (500) connects the lateral swing joint (200) and the finger body (300).

4. The multi-degree-of-freedom bionic finger of claim 1, wherein, The first drive unit (400) is located at the proximal end of the base (100), and the second drive unit (500) is located at the distal end of the base (100), wherein the second drive unit (500) is a linear electric cylinder.

5. The multi-degree-of-freedom bionic finger according to claim 4, characterized in that, The linear electric cylinder has a push rod, the top of which is provided with a mounting base. The finger body (300) is connected to the mounting base. The linear electric cylinder also has a guide rod arranged parallel to the push rod. The mounting base has a through hole that cooperates with the guide rod.

6. The multi-degree-of-freedom bionic finger of claim 3, wherein, The finger body (300) includes an MCP joint (310), a PIP joint (320), and a DIP joint (330) in the direction from the proximal end to the distal end. The second drive unit (500) includes at least a first electric cylinder (510) and a second electric cylinder (520). The first electric cylinder (510) is configured to control the rotation of the MCP joint, and the second electric cylinder (520) is configured to control the rotation of the PIP joint and the DIP joint.

7. The multi-degree-of-freedom bionic finger of claim 3, wherein, The lateral swing joint (200) includes a joint housing (210), which is pivotally connected to the base (100) and the finger body (300) respectively. The second drive unit (500) is disposed on the joint housing (210), and the joint housing (210) is provided with a receiving cavity (211) for accommodating the second drive unit (500).

8. The multi-degree-of-freedom bionic finger as claimed in claim 1, characterized in that, The drive component is located on the outside of the finger body (300).

9. The multi-degree-of-freedom bionic finger as claimed in claim 1, characterized in that, The side swing joint (200) has a swing angle ranging from 0 to 180 degrees.

10. A dexterous hand characterized by, The multi-degree-of-freedom bionic finger comprises the multi-degree-of-freedom bionic finger as claimed in any one of claims 1 to 9.

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