Bionic dexterous hand
Patent Information
- Application Number
- CN202522296394.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-10-30
- Publication Date
- 2026-09-25
- Estimated Expiration
- 2035-10-30
AI Technical Summary
[0004]本实用新型的目的在于：提供一种仿生灵巧手，以解决外露线束造成的可靠性和美观度欠佳的问题
[0029]该仿生灵巧手的中部指节内形成第一线槽，根部指节内形成第二线槽和出线腔体，其中，第一线槽绕经中部指节与尖部指节之间的第一转轴设置，第二线槽绕经根部指节与中部指节之间的第二转轴设置，触觉传感器所连的第一线束穿设于第一线槽、第二线槽和出线腔体，第一直线电机所连的第二线束穿设于第二线槽和出线腔体，第二直线电机所连的第三线束穿设于出线腔体，最后第一线束、第二线束和第三线束一同从出线腔体穿出连接主控制板。仿生灵巧手提供了内置、规整的走线通道，将全部线束巧妙地收纳于指节内部，最终统一从根部指节的出线腔体集中引出，从而彻底解决了线束外露的问题，显著提高了可靠性，有效避免了外露线束易被磨损、拉扯的风险，降低线束在复杂环境中作业时的缠绕概率，提升综合性能，还改善了仿生灵巧手的外观整体性与美观度。
Smart Images
Figure CN224795716U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of bionic dexterous hand technology, and in particular to a bionic dexterous hand. Background Technology
[0002] Bionic dexterous hands mainly employ two technical solutions: fully actuated and underactuated. In the fully actuated solution, each finger joint is driven by an independent motor, and these motors are typically connected to a unified main control board via flexible wiring harnesses (such as ribbon cables or wires).
[0003] However, in existing fully driven dexterous hands, the wiring harnesses connecting the finger joint actuators and the internal control unit are mostly exposed directly outside the finger shells or backs of the hands. During frequent interactions between the dexterous hand and the external environment or objects, they are easily worn or even broken due to scratches and pulling, leading to signal transmission failure or short circuits. This seriously affects the reliability and service life of the entire dexterous hand system, and also damages the integrity and aesthetics of the humanoid form of the dexterous hand, making it difficult to meet the requirements of application scenarios that require a certain product appearance. Utility Model Content
[0004] The purpose of this invention is to provide a bionic dexterous hand to solve the problems of poor reliability and aesthetics caused by exposed wire harnesses.
[0005] On the one hand, this utility model provides a bionic dexterous hand, which includes dexterous fingers and a main control board. The dexterous fingers include a tip phalanx, a middle phalanx and a root phalanx connected in sequence. The tip phalanx is equipped with a tactile sensor, the middle phalanx is embedded with a first linear motor, and the root phalanx is embedded with a second linear motor.
[0006] The tactile sensor is connected to a first wiring harness, the first linear motor is connected to a second wiring harness, and the second linear motor is connected to a third wiring harness.
[0007] A first groove is formed within the middle phalanx, and the first groove passes around a first pivot between the middle phalanx and the tip phalanx;
[0008] A second wire groove and a wire outlet cavity are formed within the root phalanx. The second wire groove passes around a second pivot between the root phalanx and the middle phalanx. The wire outlet cavity is located at one end of the root phalanx near the main control board.
[0009] The first wire harness is sequentially threaded through the first wire groove, the second wire groove, and the outlet cavity; the second wire harness is sequentially threaded through the second wire groove and the outlet cavity; and the third wire harness is threaded through the outlet cavity.
[0010] The first wire harness, the second wire harness, and the third wire harness all exit from the outlet cavity and connect to the main control board.
[0011] As an optional technical solution for a bionic dexterous hand, the middle finger joint is provided with a first shell, a first arc-shaped wall and a plurality of first limiting walls. The first arc-shaped wall is arranged around the first rotating shaft. The first arc-shaped wall and the first limiting walls are spaced apart from the inner wall of the first shell to form the first groove.
[0012] The root phalanx is provided with a second housing, a second arc-shaped wall and a plurality of second limiting walls. The second arc-shaped wall is arranged around the second rotating shaft. The second arc-shaped wall and the second limiting walls are spaced apart from the inner wall of the second housing to form the second groove.
[0013] As an optional technical solution for a bionic dexterous hand, a mounting plate is provided between the root phalanx and the main control board. The root phalanx is movably connected to the mounting plate, the mounting plate is fixed relative to the main control board, and the mounting plate is provided with wire passage holes.
[0014] The cable outlet cavity has an inlet port and an outlet port. The inlet port faces the second cable groove, and the outlet port faces the cable passage hole. The first cable bundle, the second cable bundle, and the third cable bundle all pass through the cable passage hole.
[0015] As an optional technical solution for a bionic dexterous hand, the inlet port is equipped with a first wire clamp, which is snapped into the inlet port. The first wire clamp has a first channel, and a limiting rod is provided at the entrance end of the first channel. The limiting rod divides the entrance end into a first wire hole and a second wire hole. The first wire bundle and the second wire bundle pass through the first wire hole into the first channel, and the third wire bundle passes through the second wire hole into the first channel.
[0016] A second wire clamp is installed in the wire passage hole, the second wire clamp is engaged with the wire passage hole, the second wire clamp has a second channel, and the second channel is oriented toward the wire outlet port.
[0017] As an optional technical solution for the bionic dexterous hand, the first channel has a first arc-shaped wall on both sides of the entrance end, and the side of the limiting rod has rounded corners;
[0018] Along the direction away from the outlet port, the second channel slopes from top to bottom, and the bottom of the second channel facing the outlet port is provided with a second arc-shaped wall.
[0019] As an optional technical solution for the bionic dexterous hand, the bionic dexterous hand also includes a third linear motor. The output end of the third linear motor is connected to the root phalanx. The third linear motor is used to drive the root phalanx to rotate relative to the mounting plate. A wire hole is provided through the main control board. The third linear motor is connected to a fourth wire harness, and the fourth wire harness passes through the wire hole.
[0020] As an optional technical solution for a bionic dexterous hand, the root knuckle is provided with a third rotating shaft and a fourth rotating shaft. Two third linear motors are arranged side by side, and the output ends of the two third linear motors are respectively universally hinged to the two ends of the third rotating shaft. A movable connecting piece is sleeved on the fourth rotating shaft, and the movable connecting piece is rotatably connected to the mounting plate along an axis perpendicular to the fourth rotating shaft.
[0021] As an optional technical solution for the bionic dexterous hand, the movable connector includes a sleeve portion and a rotating shaft portion. The sleeve portion is sleeved on the fourth rotating shaft, one end of the rotating shaft portion is connected to the sleeve portion, and the rotating shaft portion is rotatably connected to the mounting plate.
[0022] The root phalanx is provided with a first protrusion, and the end of the sleeve is provided with two first limiting flanges spaced apart in the circumferential direction. When the root phalanx rotates around the fourth rotating axis, the two first limiting flanges can abut against the first protrusion to limit the angle of rotation of the root phalanx around the fourth rotating axis.
[0023] The sleeve portion has a second protrusion on its peripheral wall, and the mounting plate has two spaced second limiting flanges. When the root phalanx swings around the pivot portion, the two second limiting flanges can abut against the second protrusion to limit the angle at which the root phalanx swings around the pivot portion.
[0024] As an alternative technical solution for a bionic dexterous hand, the body of the first linear motor is rotatably mounted on the middle finger joint via a fifth rotating shaft, and the output shaft of the first linear motor is rotatably connected to the tip finger joint.
[0025] The body of the second linear motor is rotatably mounted on the root finger joint via the sixth rotating shaft, and the output shaft of the second linear motor is rotatably connected to the middle finger joint;
[0026] The second wire harness is wound around the fifth rotating shaft, and the third wire harness is wound around the sixth rotating shaft.
[0027] As an optional technical solution for a bionic dexterous hand, the first, second, third, fourth, fifth, and sixth rotating shafts are all rotatably mounted via rolling bearings.
[0028] The bionic dexterous hand provided by this utility model has at least the following beneficial effects:
[0029] The bionic dexterous hand has a first groove formed in the middle phalanx and a second groove and a wire outlet cavity formed in the root phalanx. The first groove is arranged around a first pivot between the middle phalanx and the tip phalanx, and the second groove is arranged around a second pivot between the root phalanx and the middle phalanx. The first wire harness connected to the tactile sensor passes through the first groove, the second groove and the wire outlet cavity. The second wire harness connected to the first linear motor passes through the second groove and the wire outlet cavity. The third wire harness connected to the second linear motor passes through the wire outlet cavity. Finally, the first, second and third wire harnesses exit from the wire outlet cavity together and connect to the main control board. The bionic dexterous hand provides a built-in, well-organized wiring channel that cleverly houses all the wiring inside the knuckles, ultimately leading them out from the wiring cavity at the base of the knuckle. This completely solves the problem of exposed wiring, significantly improves reliability, effectively avoids the risk of exposed wiring being easily worn or pulled, reduces the probability of wiring getting tangled in complex environments, enhances overall performance, and also improves the overall appearance and aesthetics of the bionic dexterous hand. Attached Figure Description
[0030] Figure 1 This is a schematic diagram of the structure of the bionic dexterous hand in an embodiment of this utility model;
[0031] Figure 2 This is a partial structural cross-sectional view of the dexterous finger in an embodiment of this utility model;
[0032] Figure 3 This is a partial structural diagram of the dexterous finger in an embodiment of the present invention;
[0033] Figure 4 This is a schematic diagram of the structure of the first wire clamp in an embodiment of this utility model;
[0034] Figure 5 This is a schematic diagram of the structure of the second wire clamp in an embodiment of this utility model;
[0035] Figure 6 This is a schematic diagram of the connection structure between the root knuckle and the mounting plate in an embodiment of this utility model;
[0036] Figure 7 This is a schematic diagram of the structure of the movable connector in an embodiment of this utility model.
[0037] In the picture:
[0038] 100. Dexterous fingers;
[0039] 110. Tip of the finger joint;
[0040] 120. Middle joint; 121. First groove; 122. First housing; 123. First arc-shaped wall; 124. First limiting wall;
[0041] 130. Root knuckle; 131. Second groove; 132. Outlet cavity; 133. Second housing; 134. Second arc-shaped wall; 135. Second limiting wall; 136. First protrusion;
[0042] 140. Mounting plate; 141. Second limiting flange;
[0043] 11. Tactile sensor; 12. First linear motor; 13. Second linear motor; 14. Third linear motor;
[0044] 21. First wire harness; 22. Second wire harness; 23. Third wire harness; 24. Fourth wire harness;
[0045] 31. First rotating shaft; 32. Second rotating shaft; 33. Third rotating shaft; 34. Fourth rotating shaft; 35. Fifth rotating shaft; 36. Sixth rotating shaft; 37. Rolling bearing;
[0046] 4. First wire clamp; 41. First channel; 42. Limiting rod; 43. First wire hole; 44. Second wire hole; 45. First arc-shaped wall;
[0047] 5. Second wire clamp; 51. Second channel; 52. Second arc-shaped wall; 53. Snap-fit part;
[0048] 6. Movable connector; 61. Sleeve portion; 62. Rotating shaft portion; 63. First limiting flange; 64. Second protrusion;
[0049] 200. Main control board; 201. Wiring hole. Detailed Implementation
[0050] 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. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.
[0051] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this utility model and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The terms "first position" and "second position" refer to two different positions. Moreover, "above," "on top of," and "over" the first feature in relation to the second feature includes the first feature directly above and diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "under," and "below" the first feature in relation to the second feature includes the first feature directly below and diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.
[0052] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.
[0053] The embodiments of this utility model 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 utility model, and should not be construed as limiting this utility model.
[0054] like Figures 1 to 7 As shown, this embodiment provides a bionic dexterous hand, which includes dexterous fingers 100 and a main control board 200. The dexterous fingers 100 include a tip phalanx 110, a middle phalanx 120, and a root phalanx 130 connected in sequence. The tip phalanx 110 is provided with a tactile sensor 11. The middle phalanx 120 is embedded with a first linear motor 12. The root phalanx 130 is embedded with a second linear motor 13. The tactile sensor 11 is connected to a first wiring harness 21. The first linear motor 12 is connected to a second wiring harness 22. The second linear motor 13 is connected to a third wiring harness 23. The first wiring harness 21, the second wiring harness 22, and the third wiring harness 23 are all conductive wiring harnesses used for electrical connection to the main control board 200.
[0055] Furthermore, the middle knuckle 120 and the tip knuckle 110 are rotatably connected by a first rotating shaft 31, and the root knuckle 130 and the middle knuckle 120 are rotatably connected by a second rotating shaft 32. The first rotating shaft 31 and the second rotating shaft 32 are parallel. A first wire groove 121 is formed in the middle knuckle 120 and the first wire groove 121 passes around the first rotating shaft 31. A second wire groove 131 and a wire outlet cavity 132 are formed in the root knuckle 130. The second wire groove 131 passes around the second rotating shaft 32, and the wire outlet cavity 132 is located at the end of the root knuckle 130 near the main control board 200. The first wire harness 21 is sequentially threaded through the first wire groove 121, the second wire groove 131 and the outlet cavity 132, the second wire harness 22 is sequentially threaded through the second wire groove 131 and the outlet cavity 132, and the third wire harness 23 is threaded through the outlet cavity 132; the first wire harness 21, the second wire harness 22 and the third wire harness 23 all exit from the outlet cavity 132 and are connected to the main control board 200.
[0056] Specifically, in this embodiment, a first groove 121 is formed in the middle phalanx 120, a second groove 131 and a wire outlet cavity 132 are formed in the root phalanx 130. The first groove 121 is arranged around a first pivot 31 between the middle phalanx 120 and the tip phalanx 110, and the second groove 131 is arranged around a second pivot 32 between the root phalanx 130 and the middle phalanx 120. The first wire harness 21 connected to the tactile sensor 11 passes through the first groove 121, the second groove 131 and the wire outlet cavity 132. The second wire harness 22 connected to the first linear motor 12 passes through the second groove 131 and the wire outlet cavity 132. The third wire harness 23 connected to the second linear motor 13 passes through the wire outlet cavity 132. Finally, the first wire harness 21, the second wire harness 22 and the third wire harness 23 together exit from the wire outlet cavity 132 and connect to the main control board 200. The bionic dexterous hand provides a built-in, well-organized wiring channel, cleverly storing all the wires inside the knuckles, and finally leading them out from the wire outlet cavity 132 at the root knuckle 130. This completely solves the problem of exposed wires, significantly improves reliability, effectively avoids the risk of exposed wires being easily worn or pulled, reduces the probability of wires getting tangled when working in complex environments, improves overall performance, and also improves the overall appearance and aesthetics of the bionic dexterous hand.
[0057] For example, the middle finger joint 120 is provided with a first housing 122, a first arc-shaped wall, and a plurality of first limiting walls 124. The first arc-shaped wall is arranged around a first rotating shaft 31. The first arc-shaped wall and the first limiting walls 124 are spaced apart from the inner wall of the first housing 122 to form a first wire groove 121. The first wire groove 121 extends along the length direction of the middle finger joint 120. Specifically, at least two first limiting walls 124 are spaced apart along the length direction of the middle finger joint 120. In this embodiment, two first limiting walls 124 are spaced apart. The two first limiting walls 124 are located at both ends of the length direction of the middle finger joint 120, which can limit the first wire bundle 21 to a position close to the inner wall of the first housing 122. The structure is simple and effective, and has strong practicality. The first arc-shaped wall is set on the outer periphery of the first rotating shaft 31 along the arc curve. On the one hand, it prevents the first wire harness 21 from contacting the first rotating shaft 31 and avoids friction and wear. On the other hand, the arc-shaped wall guides the extension direction of the first wire harness 21, making the contact surface smoother and further reducing wear.
[0058] For example, the root phalanx 130 is provided with a second housing 133, a second arc-shaped wall, and a plurality of second limiting walls 135. The second arc-shaped wall is arranged around the second rotating shaft 32. The second arc-shaped wall and the second limiting wall 135 are spaced apart from the inner wall of the second housing 133 to form a second wire groove 131. The second wire groove 131 extends along the length direction of the root phalanx 130. Specifically, along the length direction of the middle phalanx 120, at least two first limiting walls 124 are spaced apart. In this embodiment, two second limiting walls 135 are spaced apart. The two second limiting walls 135 are located at both ends of the length direction of the root phalanx 130, which can limit the first wire bundle 21 and the second wire bundle 22 to a position close to the inner wall of the second housing 133. The structure is simple and effective, and has strong practicality. The second arc-shaped wall is set on the outer periphery of the second rotating shaft 32 along the arc curve. On the one hand, it prevents the first wire harness 21 and the second wire harness 22 from contacting the second rotating shaft 32 and avoids friction and wear. On the other hand, the arc-shaped wall guides the extension direction of the first wire harness 21 and the second wire harness 22, making the contact surface smoother and further reducing wear.
[0059] For example, a mounting plate 140 is provided between the root knuckle 130 and the main control board 200. The root knuckle 130 is movably connected to the mounting plate 140, and the mounting plate 140 is fixed relative to the main control board 200. Specifically, both the mounting plate 140 and the main control board 200 are fixed to the palm frame. The mounting plate 140 is provided with a wire passage hole. The wire outlet cavity 132 has an inlet port and an outlet port. The inlet port is set towards the second wire groove 131, and the outlet port is set towards the wire passage hole. The first wire harness 21, the second wire harness 22, and the third wire harness 23 all pass through the wire passage hole to limit the first wire harness 21, the second wire harness 22, and the third wire harness 23 to only bend in one direction, so as to avoid the twisting stress of the wire harness and the bonding force of the mating terminals, which would affect the product life.
[0060] For example, a first wire clamp 4 is installed at the inlet port, and the first wire clamp 4 is snapped into the inlet port. The first wire clamp 4 has a first channel 41, and a limiting rod 42 is provided at the entrance end of the first channel 41. The limiting rod 42 divides the entrance end into a first wire hole 43 and a second wire hole 44. The first wire bundle 21 and the second wire bundle 22 pass through the first wire hole 43 into the first channel 41, and the third wire bundle 23 passes through the second wire hole 44 into the first channel 41. Specifically, the limiting rod 42 divides the entrance end of the first channel 41 into two parts, namely the first wire hole 43 and the second wire hole 44. The first wire bundle 21, the second wire bundle 22, and the third wire bundle 23 enter the first channel 41 along their respective paths, improving the neatness of the cable management.
[0061] For example, the first channel 41 has a first arc-shaped wall on both sides of the entrance end, and the side of the limiting rod 42 has a rounded corner. The first arc-shaped wall and the rounded corner make the entrance end of the first channel 41 smoother, reducing friction and wear on the wire harness. At the same time, the first arc-shaped wall also plays a certain guiding role.
[0062] For example, a second wire clamp 5 is installed in the wire hole. The second wire clamp 5 is engaged with the wire hole by a protrusion-shaped snap-fit part 53. The second wire clamp 5 is provided with a second channel 51. One end of the second channel 51 is set towards the wire outlet port. This end is located on the first side of the main control board 200. The other end of the second channel 51 is located on the second side of the main control board 200. The first wire harness 21, the second wire harness 22 and the third wire harness 23 are all led to the second side of the main control board 200 through the second wire clamp 5.
[0063] For example, the second channel 51 is inclined from top to bottom along the direction away from the outlet port. The bottom of the second channel 51 facing the outlet port is provided with a second arc-shaped wall. The arrangement of the second arc-shaped wall makes the inlet end of the second channel 51 smoother and reduces friction and wear on the wire harness.
[0064] For example, both the first clamp 4 and the second clamp 5 are made of plastic.
[0065] For example, the bionic dexterous hand also includes a third linear motor 14. The output end of the third linear motor 14 is connected to the root phalanx 130. The third linear motor 14 is used to drive the root phalanx 130 to rotate relative to the mounting plate 140. A wire hole 201 is provided through the main control board 200, which connects the first side and the second side of the main control board 200. The third linear motor 14 is located on the first side of the main control board 200 and is connected to a fourth wire harness 24. The fourth wire harness 24 passes through the wire hole 201. The wire hole 201 guides the fourth wire harness 24 to the second side of the main control board 200, restricting the fourth wire harness 24 to only bend in one direction, avoiding the twisting stress of the wire harness and the bonding force of the mating terminals, which would affect the product life.
[0066] For example, the root knuckle 130 is rotatably provided with a third rotating shaft 33 and a fourth rotating shaft 34. Two third linear motors 14 are arranged side by side. The output ends of the two third linear motors 14 are universally hinged to the two ends of the third rotating shaft 33 through universal hinge structures such as ball joints. A movable connector 6 is sleeved on the fourth rotating shaft 34. The movable connector 6 is rotatably connected to the mounting plate 140 along the axis perpendicular to the fourth rotating shaft 34. The root knuckle 130 is universally connected to the mounting plate 140 through the fourth rotating shaft 34 and the movable connector 6.
[0067] For example, the movable connector 6 includes a sleeve portion 61 and a rotating shaft portion 62. The sleeve portion 61 is sleeved on the fourth rotating shaft 34, one end of the rotating shaft portion 62 is connected to the sleeve portion 61, and the rotating shaft portion 62 is rotatably connected to the mounting plate 140 via a bearing.
[0068] For example, the root phalanx 130 is provided with a first protrusion 136, and the end of the sleeve portion 61 is provided with two first limiting flanges 63 spaced apart in the circumferential direction. When the root phalanx 130 rotates around the fourth pivot 34, the two first limiting flanges 63 can abut against the first protrusion 136 to limit the angle of rotation of the root phalanx 130 around the fourth pivot 34.
[0069] Furthermore, the root phalanx 130 has a first protrusion 136 on each of its opposite sides, and the sleeve portion 61 has two first limiting flanges 63 at both ends, so as to jointly limit the angle of rotation of the root phalanx 130 around the fourth pivot 34.
[0070] For example, the sleeve portion 61 has a second protrusion 64 on its peripheral wall, and the mounting plate 140 has two spaced second limiting flanges 141. When the root knuckle 130 swings around the pivot portion 62, the two second limiting flanges 141 can abut against the second protrusion 64 to limit the angle of swing of the root knuckle 130 around the pivot portion 62.
[0071] Furthermore, the sleeve portion 61 is provided with second protrusions 64 on both the left and right sides symmetrical about the pivot portion 62, and the mounting plate 140 is provided with two sets of second limiting flanges 141 to jointly limit the angle of the root finger joint 130 swinging around the pivot portion 62.
[0072] For example, a fifth rotating shaft 35 is rotatably mounted in the middle finger joint 120, and the body of the first linear motor 12 is rotatably mounted in the middle finger joint 120 via the fifth rotating shaft 35. The output shaft of the first linear motor 12 is rotatably connected to the housing of the tip finger joint 110. A sixth rotating shaft 36 is rotatably mounted in the root finger joint 130, and the body of the second linear motor 13 is rotatably mounted in the root finger joint 130 via the sixth rotating shaft 36. The output shaft of the second linear motor 13 is rotatably connected to the first housing 122 of the middle finger joint 120. The second wire harness 22 is wound around the fifth rotating shaft 35, and the third wire harness 23 is wound around the sixth rotating shaft 36. The rotation amplitude of the fifth rotating shaft 35 and the sixth rotating shaft 36 is small, resulting in low frictional impact on the wire harnesses. By limiting the direction of the second wire harness 22 through the fifth rotating shaft 35 and the direction of the third wire harness 23 through the sixth rotating shaft 36, the regularity of the wire harness routing can be improved, the risk of wire breakage caused by pulling can be reduced, and the contact surface will be arc-shaped, further reducing the wear of the wire harness.
[0073] For example, the first rotating shaft 31, the second rotating shaft 32, the third rotating shaft 33, the fourth rotating shaft 34, the fifth rotating shaft 35, and the sixth rotating shaft 36 are all rotatably mounted via rolling bearings 37. In other words, all the rotating shafts in the dexterous finger 100 are rotatably mounted using rolling bearings 37. The use of all rolling pairs can improve the transmission efficiency of the dexterous finger 100's movement, reduce friction and wear, and extend the overall design life of the bionic dexterous hand.
[0074] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.
Claims
1. A bionic dexterous hand, characterized in that, The device includes a dexterous finger (100) and a main control board (200). The dexterous finger (100) includes a tip knuckle (110), a middle knuckle (120), and a root knuckle (130) that are rotatably connected in sequence. The tip knuckle (110) is equipped with a tactile sensor (11). The middle knuckle (120) is embedded with a first linear motor (12). The root knuckle (130) is embedded with a second linear motor (13). The tactile sensor (11) is connected to the first wiring harness (21), the first linear motor (12) is connected to the second wiring harness (22), and the second linear motor (13) is connected to the third wiring harness (23). A first groove (121) is formed in the middle phalanx (120), and the first groove (121) passes around a first pivot (31) between the middle phalanx (120) and the tip phalanx (110). A second wire groove (131) and a wire outlet cavity (132) are formed in the root joint (130). The second wire groove (131) passes around the second pivot (32) between the root joint (130) and the middle joint (120). The wire outlet cavity (132) is located at one end of the root joint (130) near the main control board (200). The first wire harness (21) is sequentially threaded through the first wire groove (121), the second wire groove (131) and the outlet cavity (132), the second wire harness (22) is sequentially threaded through the second wire groove (131) and the outlet cavity (132), and the third wire harness (23) is threaded through the outlet cavity (132). The first wire harness (21), the second wire harness (22) and the third wire harness (23) all pass through the outlet cavity (132) and are connected to the main control board (200).
2. The bionic dexterous hand according to claim 1, characterized in that, The middle finger joint (120) is provided with a first housing (122), a first arc-shaped wall and a plurality of first limiting walls (124). The first arc-shaped wall is arranged around the first rotating shaft (31). The first arc-shaped wall and the first limiting walls (124) are spaced apart from the inner wall of the first housing (122) to form the first groove (121). The root finger joint (130) is provided with a second housing (133), a second arc-shaped wall and a plurality of second limiting walls (135). The second arc-shaped wall is arranged around the second rotating shaft (32). The second arc-shaped wall and the second limiting walls (135) are spaced apart from the inner wall of the second housing (133) to form the second groove (131).
3. The bionic dexterous hand according to claim 1, characterized in that, A mounting plate (140) is provided between the root finger joint (130) and the main control board (200). The root finger joint (130) is movably connected to the mounting plate (140). The mounting plate (140) is fixed relative to the main control board (200). The mounting plate (140) is provided with wire holes. The cable outlet cavity (132) has an inlet port and an outlet port. The inlet port faces the second cable groove (131), and the outlet port faces the cable passage hole. The first cable bundle (21), the second cable bundle (22), and the third cable bundle (23) all pass through the cable passage hole.
4. The bionic dexterous hand according to claim 3, characterized in that, The inlet port is equipped with a first wire clamp (4), which is snapped into the inlet port. The first wire clamp (4) has a first channel (41), and a limiting rod (42) is provided at the entrance end of the first channel (41). The limiting rod (42) divides the entrance end into a first wire hole (43) and a second wire hole (44). The first wire bundle (21) and the second wire bundle (22) pass through the first wire hole (43) into the first channel (41), and the third wire bundle (23) passes through the second wire hole (44) into the first channel (41). The wire hole is equipped with a second wire clamp (5), which is snapped into the wire hole. The second wire clamp (5) is provided with a second channel (51), which is oriented toward the wire outlet port.
5. The bionic dexterous hand according to claim 4, characterized in that, The first channel (41) has a first arc-shaped wall on both sides of the entrance end, and the side of the limiting rod (42) has a rounded corner; Along the direction away from the outlet port, the second channel (51) slopes from top to bottom, and the bottom of the second channel (51) facing the outlet port is provided with a second arc-shaped wall.
6. The bionic dexterous hand according to claim 3, characterized in that, The bionic dexterous hand also includes a third linear motor (14), the output end of which is connected to the root phalanx (130). The third linear motor (14) is used to drive the root phalanx (130) to rotate relative to the mounting plate (140). A wire hole (201) is provided through the main control board (200). The third linear motor (14) is connected to a fourth wire harness (24), which passes through the wire hole (201).
7. The bionic dexterous hand according to claim 6, characterized in that, The root knuckle (130) is rotatably provided with a third rotating shaft (33) and a fourth rotating shaft (34). Two third linear motors (14) are arranged side by side. The output ends of the two third linear motors (14) are respectively universally hinged to the two ends of the third rotating shaft (33). A movable connecting piece (6) is sleeved on the fourth rotating shaft (34). The movable connecting piece (6) is rotatably connected to the mounting plate (140) along the axis perpendicular to the fourth rotating shaft (34).
8. The bionic dexterous hand according to claim 7, characterized in that, The movable connector (6) includes a sleeve portion (61) and a rotating shaft portion (62). The sleeve portion (61) is sleeved on the fourth rotating shaft (34). One end of the rotating shaft portion (62) is connected to the sleeve portion (61). The rotating shaft portion (62) is rotatably connected to the mounting plate (140). The root phalanx (130) is provided with a first protrusion (136), and the end of the sleeve portion (61) is provided with two first limiting flanges (63) spaced apart in the circumferential direction. When the root phalanx (130) rotates around the fourth rotating axis (34), the two first limiting flanges (63) can abut against the first protrusion (136) to limit the angle of rotation of the root phalanx (130) around the fourth rotating axis (34). The sleeve portion (61) has a second protrusion (64) on its peripheral wall, and the mounting plate (140) has two spaced second limiting flanges (141). When the root finger (130) swings around the pivot portion (62), the two second limiting flanges (141) can abut against the second protrusion (64) to limit the angle of swing of the root finger (130) around the pivot portion (62).
9. The bionic dexterous hand according to claim 7, characterized in that, The body of the first linear motor (12) is rotatably mounted on the middle finger joint (120) via the fifth rotating shaft (35), and the output shaft of the first linear motor (12) is rotatably connected to the tip finger joint (110); The body of the second linear motor (13) is rotatably mounted on the root finger joint (130) via the sixth rotating shaft (36), and the output shaft of the second linear motor (13) is rotatably connected to the middle finger joint (120); The second wire harness (22) is wound around the fifth rotating shaft (35), and the third wire harness (23) is wound around the sixth rotating shaft (36).
10. The bionic dexterous hand according to claim 9, characterized in that, The first rotating shaft (31), the second rotating shaft (32), the third rotating shaft (33), the fourth rotating shaft (34), the fifth rotating shaft (35) and the sixth rotating shaft (36) are all rotatably mounted via rolling bearings (37).