Bionic finger and bionic hand

Abstract

The utility model discloses a kind of bionic finger and bionic manipulator, it is related to bionic manipulator technical field, wherein, bionic finger includes pedestal, multi-section finger body and drive mechanism. Finger body is hinged by end, middle and tip knuckle in turn, can be bent and side swing relative to pedestal. The motor of drive mechanism is installed in pedestal, output shaft is coaxially connected with screw rod, drives driving nut to move linearly along first direction. Linear guide structure is arranged between pedestal and driving nut, constrain its radial and rotational freedom, only keep axial movement. Driving rod two ends are connected driving nut and end knuckle root respectively, power transmission realizes bending. Motor is directly connected with screw rod, transmission chain is short, compact structure;Guiding structure makes nut pure axial stress, reduce abrasion, improve accuracy;Driving rod direct transmission, integration is high, space is fully utilized.

Description

Technical Field

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

[0002] In the design of motor-driven robotic arms, traditional solutions often rely on multi-stage transmission structures, resulting in complex systems, large sizes, and excessively long transmission chains. This leads to accumulated errors and inertial interference, affecting motion accuracy and response speed. While some parallel configurations offer high rigidity, their drive mechanisms require axial floating during movement due to branch chain adjustments, occupying significant space and hindering structural compactness, thus reducing the efficient use of internal space in the dexterous hand. Furthermore, when using a lead screw and nut for linear drive, assembly deviations or force eccentricity can easily introduce lateral loads and additional torque, causing localized wear of the nut, reduced transmission efficiency, and impacting system stability and lifespan. These problems restrict the development of high-performance robotic arms towards higher precision, higher dynamic response, and miniaturization. Therefore, there is an urgent need for a drive mechanism with a short transmission chain, compact structure, balanced force distribution, high space utilization, and reliable operation to overcome the many limitations of existing technologies. Utility Model Content

[0003] The main purpose of this invention is to propose a bionic finger and a bionic robotic hand, aiming to solve the problems of existing robotic fingers being complex in structure, prone to wear, low in precision, and occupying a large space.

[0004] To achieve the above objectives, the bionic finger proposed in this utility model includes:

[0005] Base;

[0006] A finger body comprising a distal phalanx, a middle phalanx, and a tip phalanx sequentially rotatably connected in a first direction, the finger body being flexible and laterally swingable relative to the base; and,

[0007] A driving mechanism for driving the movement of the finger body, the driving mechanism including at least one driving component, the driving component including:

[0008] A drive motor is mounted on the base, and the drive motor has an output shaft that is rotatably configured about a first rotation axis about the first direction.

[0009] The lead screw drive structure includes a lead screw extending along the first direction and coaxially connected to the output shaft, and a drive nut threadedly engaged with the lead screw;

[0010] A linear guide structure, disposed between the base and the drive nut, is used to provide independent linear guidance for the drive nut along the first direction and to constrain its radial displacement; and,

[0011] The drive rod has one end connected to the drive nut and the other end connected to the root of the distal phalanx.

[0012] In one embodiment, the base includes:

[0013] The main body extends along the first direction; and,

[0014] Two mounting portions protrude from the side of the main body and are spaced apart in the first direction;

[0015] The finger body and the drive assembly are respectively located on the two outer sides of the two mounting parts in the first direction. The lead screw extends between the two mounting parts. The linear guide structure is located between the main body and the drive nut, and is situated between the two mounting parts.

[0016] In one embodiment, the drive assembly further includes two bearings spaced apart in the first direction and respectively mounted on the two mounting portions;

[0017] The two ends of the lead screw are rotatably mounted to the two mounting parts via the two bearings.

[0018] In one embodiment, the bearing includes a radial thrust bearing.

[0019] In one embodiment, the linear guide structure includes a guide rail extending along the first direction and a slider that slides with the guide rail. The guide rail is fixedly installed on the main body, and the slider is fixedly connected to the drive nut.

[0020] In one embodiment, the drive mechanism further includes:

[0021] A linkage, one end of which is hinged to the intermediate phalanx and the other end of which is hinged to the tip phalanx; and,

[0022] A driving part is movably disposed on the distal phalanx along the first direction. The driving part is hinged to the intermediate phalanx so that when the intermediate phalanx is driven to rotate relative to the distal phalanx, the tip phalanx is driven to rotate relative to the intermediate phalanx.

[0023] In one embodiment, the drive mechanism further includes a linear module mounted on the distal phalanx, the linear module having an electric push rod telescopically disposed in the first direction, the electric push rod forming the drive portion.

[0024] In one embodiment, the distal phalanx includes a housing, the housing being open at both ends in the first direction;

[0025] The linear module is disposed in the inner cavity of the housing, and the wiring of the linear module extends out from one of the openings of the housing near the drive motor, while the electric push rod extends out from the other opening of the housing.

[0026] In one embodiment, the two drive components are arranged side by side in a second direction;

[0027] The distal phalanx is hinged to the two drive components on both sides in the second direction. When the output shafts of the drive motors of the two drive components move at different speeds, the distal phalanx is driven to swing to the side.

[0028] In one embodiment, the drive mechanism further includes a lateral swing joint rotatably connected to the base about a third-direction extending axis;

[0029] The distal phalanx is rotatably connected to the lateral joint about a second rotation axis extending in the second direction.

[0030] In one embodiment, the intermediate phalanx is rotatably connected to the distal phalanx about a third rotation axis extending in the second direction;

[0031] The tip phalanx is rotatably connected to the middle phalanx about a fourth rotation axis extending in the second direction;

[0032] The drive rod is used to drive the distal phalanx to rotate about the second rotation axis so that the finger body can bend.

[0033] This utility model also proposes a bionic robotic hand, which includes the aforementioned bionic fingers.

[0034] The technical solution provided by this utility model has at least the following advantages:

[0035] By directly connecting the drive motor to the lead screw, intermediate transmission components are reduced, resulting in a compact overall layout, a short transmission chain, and reduced inertia and error accumulation. The linear guide structure constrains the drive nut in multiple degrees of freedom, allowing it to move only axially, avoiding torsional torque, improving the nut's stress state, reducing wear and deformation, and thus improving motion accuracy and system rigidity. The drive rod directly transmits power, enabling combined bending and lateral swing motions. The overall structure has high power density, a small motion envelope, and makes full use of internal space. Attached Figure Description

[0036] 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.

[0037] Figure 1 A schematic diagram of the structure of an embodiment of the bionic finger provided by this utility model;

[0038] Figure 2 for Figure 1 A schematic diagram of the drive mechanism;

[0039] Figure 3 for Figure 1 A schematic diagram of the explosion of the bionic finger;

[0040] Figure 4 for Figure 1 A schematic diagram of the internal structure of a bionic finger.

[0041] Explanation of icon numbers:

[0042] 100. Bionic finger; 1. Base; 11. Main body; 12. Mounting part; 2. Finger body; 21. Terminal phalanx; 211. Shell; 22. Middle phalanx; 23. Tip phalanx; 3. Drive mechanism; 30. Drive assembly; 31. Drive motor; 32. Lead screw; 33. Drive nut; 34. Linear guide structure; 341. Guide rail; 342. Slider; 35. Drive rod; 36. Side swing joint; 4. Linear module; 41. Drive part; 5. Linkage rod.

[0043] 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

[0044] 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.

[0045] 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.

[0046] 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.

[0047] In the design of motor-driven robotic arms, traditional solutions often rely on multi-stage transmission structures, resulting in complex systems, large sizes, and excessively long transmission chains. This leads to accumulated errors and inertial interference, affecting motion accuracy and response speed. While some parallel configurations offer high rigidity, their drive mechanisms require axial floating during movement due to branch chain adjustments, occupying significant space and hindering structural compactness, thus reducing the efficient use of internal space in the dexterous hand. Furthermore, when using a lead screw and nut for linear drive, assembly deviations or force eccentricity can easily introduce lateral loads and additional torque, causing localized wear of the nut, reduced transmission efficiency, and impacting system stability and lifespan. These problems restrict the development of high-performance robotic arms towards higher precision, higher dynamic response, and miniaturization. Therefore, there is an urgent need for a drive mechanism with a short transmission chain, compact structure, balanced force distribution, high space utilization, and reliable operation to overcome the many limitations of existing technologies.

[0048] This invention proposes a bionic finger 100, which aims to solve the problems of existing mechanical fingers being complex in structure, prone to wear, low in precision, and occupying a large space.

[0049] Please see Figures 1 to 3In one embodiment of this utility model, the bionic finger 100 includes a base 1, a finger body 2, and a driving mechanism 3. The finger body 2 includes a distal phalanx 21, a middle phalanx 22, and a tip phalanx 23, which are sequentially hinged along a first direction. The finger body 2 can bend relative to the base 1 and can swing laterally about an axis perpendicular to the first direction. The driving mechanism 3 is used to drive the finger body 2 to perform bending and lateral swinging actions. The driving mechanism 3 includes at least one driving component 30, which includes a driving motor 31, a lead screw transmission structure, a linear guide structure 34, and a driving rod 35. The driving motor 31 is disposed on the base 1 and is used to output rotational motion. The lead screw transmission structure includes a lead screw 32 that can rotate about the first direction axis and a driving nut 33 that is threadedly engaged with the lead screw 32. The output shaft of the driving motor 31 is coaxially connected to the lead screw 32 to convert the rotational motion into the linear motion of the driving nut 33. A linear guide structure 34 is disposed between the base 1 and the drive nut 33 to provide independent linear guidance for the drive nut 33 along the first direction and constrain its radial displacement. A drive rod 35 is connected at one end to the drive nut 33 and at the other end to the root of the distal phalanx 21 to convert the linear motion of the drive nut 33 into the bending motion of the finger body 2.

[0050] Understandably, the base 1 serves as the mounting and support part of the bionic finger 100, used to fix the drive motor 31 and transmission components. The base 1 can be integrated into the palm or hand support.

[0051] The finger body 2 is composed of a terminal phalanx 21, a middle phalanx 22 and a tip phalanx 23, which are hinged together in sequence. The phalanxes are connected by pins or joint bearings to form a linkage mechanism that allows adjacent phalanxes to bend around a second direction axis, which is perpendicular to the first direction.

[0052] Specifically, a proximal interphalangeal joint (PIP joint) is formed between the distal phalanx 21 and the intermediate phalanx 22, a distal interphalangeal joint (DIP joint) is formed between the intermediate phalanx 22 and the distal phalanx 23, and a metacarpophalangeal joint (MP joint) is formed between the base of the distal phalanx 21 and the base 1.

[0053] The proximal interphalangeal joints, distal interphalangeal joints, and metacarpophalangeal joints all possess rotational degrees of freedom about a second direction, enabling flexion movements of the finger joints in a plane perpendicular to the first direction. The MP joint further possesses rotational degrees of freedom about a third direction perpendicular to the plane containing the first and second directions, allowing the finger as a whole to swing laterally within the palm plane, i.e., abduction and adduction movements. Each joint is hinged via a pin, pivot, or flexible hinge structure, and its rotation angle can be limited by structural constraints or drive control. The flexion movements of the PIP and DIP joints work synergistically to simulate the flexion and extension trajectory of the human finger, while the combined motion capability of the MP joint enhances the finger's adaptability to objects in different spatial positions. This specification does not limit the specific implementation method of each joint; sliding pairs, rolling bearings, universal joints, or flexible body structures can be used, depending on material properties, manufacturing processes, and application scenarios, and is not limited in this regard.

[0054] It should be noted that the drive motor 31 is located inside or on the surface of the base 1, and can be a rotary power device such as a DC motor, brushless motor, or voice coil motor, with its output shaft extending along the first direction. The output shaft of the drive motor 31 is coaxially connected to the lead screw 32, directly driving the lead screw 32 to rotate around the axis of the first direction, eliminating the need for intermediate gears or belt drives, thus reducing backlash and energy loss caused by the transmission links. The lead screw 32 and the drive nut 33 constitute a lead screw transmission structure, wherein when the lead screw 32 rotates, the drive nut 33 generates linear motion along the first direction under the action of the thread, realizing the conversion of rotational motion into linear motion.

[0055] The linear guide structure 34 is independently disposed outside the lead screw drive structure, including a first guide component fixed to the base 1 and a second guide component fixed to the drive nut 33. The first and second guide components form a sliding fit pair. The linear guide structure 34 constrains the drive nut 33, restricting its rotational freedom around the axis of the lead screw 32 and its radial and angular movement freedom, allowing the drive nut 33 to move linearly only in the first direction. Therefore, the rotational torque introduced by the drive rod 35 during the movement of the drive nut 33 is borne by the linear guide structure 34, rather than resisted by the threaded pair, thus preventing the nut from operating under combined bending and torsional loads. The threaded pair mainly bears the axial load, and the stress state is basically a single axial tension and compression, which can reduce contact stress distribution, reduce friction loss, and prevent seizing.

[0056] One end of the drive rod 35 is connected to the drive nut 33, and the other end is connected to the root of the distal phalanx 21. When the drive nut 33 moves in the first direction, the drive rod 35 pulls or pushes the finger body 2, causing it to bend around the hinge point of the base 1. Since the finger body 2 also has a lateral swing degree of freedom, this driving method can achieve flexion and extension movements without hindering the execution of lateral swing.

[0057] It should be noted that the drive link 35 and the drive nut 33 transmit power through a movable connection, which can be a hinge, pin connection, or universal joint connection, allowing the drive link 35 to swing flexibly in space. The drive link 35 and the distal phalanx 21 also transmit power through a movable connection, which can also be a hinge or pin connection, ensuring that the finger body can swing laterally around the lateral joint while performing bending movements. This application does not limit the specific connection structure; any movable connection that enables rotational engagement between the drive link 35, the drive nut 33, and the distal phalanx 21 is within the scope of protection of this application.

[0058] This specification does not limit the specific form of the drive motor 31; it can be an electromagnetic drive, a piezoelectric drive, or a shape memory alloy drive, etc., and is not limited here. The hinge structure can adopt a pin, ball joint, or flexible hinge, and the specific choice can be made according to the material and process conditions. The lead screw 32 in the lead screw drive structure can be a trapezoidal lead screw 32, a ball screw 32, or a planetary roller screw 32, and the drive nut 33 can be matched accordingly. The structural form of the linear guide structure 34 can also be diversified, such as a guide rail 341, a slider 342, a linear bearing with an optical axis, or an integrated linear module. The specific implementation can be determined according to the spatial layout and load requirements, and the embodiments in this specification do not limit this.

[0059] The drive motor 31 is directly connected to the lead screw 32, reducing intermediate transmission components, making the overall layout compact, the transmission chain short, and reducing inertia and error accumulation. The linear guide structure 34 constrains the drive nut 33 in multiple degrees of freedom, making it only move axially, avoiding torsional torque, improving the stress state of the nut, reducing wear and deformation, and thus improving motion accuracy and system rigidity. The drive rod 35 directly transmits power to realize a composite motion of bending and lateral swing. The overall structure has high power density, small motion envelope, and full utilization of internal space.

[0060] Specifically, please refer to Figure 2 In this embodiment, the base 1 includes a main body 11 and two mounting portions 12 spaced apart in the first direction. The two ends of the lead screw 32 are rotatably mounted on the two mounting portions 12, and the length of the lead screw 32 is adapted to the distance between the two mounting portions 12. The lead screw drive structure and the linear guide structure 34 are arranged side by side in the space between the two mounting portions 12.

[0061] Understandably, the first guide component of the linear guide structure 34 is fixed to the main body 11 or mounting part 12 of the base 1, and the second guide component is connected to the drive nut 33. The two guide components slide together in the first direction. The screw drive structure and the linear guide structure 34 are arranged side by side in the space between the two mounting parts 12, that is, they are arranged side by side in the radial direction and are located in the same axial range, avoiding the superimposed extension of the transmission structure in the length direction, so as to minimize the overall axial dimension of the drive assembly 30.

[0062] This manual does not limit the specific shape of the mounting part 12, which can be a vertical plate, a bracket, or a box side wall structure; the distance between the two mounting parts 12 can be adjusted according to the length of the lead screw 32 and the drive stroke requirements, and is not limited thereto.

[0063] By arranging the lead screw drive structure and the linear guide structure 34 side by side in a limited space, the transmission chain is avoided from stacking in the axial direction, the overall length is reduced, the motion envelope is compressed, and the space utilization rate is improved.

[0064] Further, please refer to Figure 2 In this embodiment, the linear guide structure 34 is located between the main body 11 and the drive nut 33, and is situated within the area between the two mounting portions 12.

[0065] It is understandable that the main body 11 and the two spaced-apart mounting parts 12 together form a relatively enclosed storage space.

[0066] The first guide component of the linear guide structure 34 is fixed to the side of the main body 11 facing the mounting portion 12 and extends along the first direction; the second guide component is connected to the drive nut 33 and slides with the first guide component. The axis of the guide unit is parallel to the axis of the lead screw 32, and the two are arranged side by side in the radial direction. The linear guide structure 34 is closer to the side of the main body 11, and by utilizing the axial clearance between the main body 11 and the drive nut 33, an additional structure extending outside the mounting portion 12 is avoided.

[0067] With this configuration, since the linear guide structure 34 is completely housed within the area between the two mounting portions 12, the projection of the overall drive assembly 30 in the first direction does not exceed the end face of the mounting portion 12. This allows the linear guide structure 34 to not occupy any extra space outside or to the side of the mounting portion 12, thus minimizing the thickness of the finger module in the palm direction. At the same time, it avoids the bearing support structures at both ends of the lead screw 32, preventing assembly interference.

[0068] This specification does not limit the specific form of the first guide component, which can be a guide rail 341, a guide rod, a linear bearing housing, or a guide groove structure integrated on the main body 11; the second guide component can be a slider 342, a sliding sleeve, or a connecting plate structure, forming a sliding pair with the first guide component. The cross-sectional shape, material, and fitting method of the guide unit can be adjusted according to load and accuracy requirements, and the specific implementation method can be determined based on the manufacturing process and assembly conditions, and is not limited thereto.

[0069] Specifically, in this embodiment, the lead of the lead screw 32 corresponds to the maximum linear drive stroke of the drive nut 33, and the drive stroke is set to meet the motion requirements of the bending and lateral swinging movements of the finger body 2.

[0070] In other words, the lead of the lead screw 32 is set according to the maximum linear drive stroke required by the drive nut 33. This drive stroke refers to the axial distance that the drive nut 33 can move on the lead screw 32, and its length directly determines the pulling or pushing range of the drive rod 35, thereby affecting the bending angle range of the finger body 2.

[0071] The lead is set based on the displacement required for the finger to complete a full range of flexion, extension, and lateral swing combined movements, ensuring that the drive nut 33 can drive the distal phalanx 21 to achieve the target movement posture within its stroke limits. Preferably, the drive stroke does not exceed the actual requirements, avoiding unnecessary extension of the lead screw 32 due to excessively long lead.

[0072] The distance between the two mounting parts 12 is adapted to the length of the lead screw 32, which is determined by the lead and the effective thread length. By precisely matching the drive stroke to the motion requirements of the drive nut 33, the effective axial dimension of the lead screw 32 can be minimized, thereby reducing the distance between the two mounting parts 12. This minimizes the length of the base 1 in the first direction and reduces the axial space occupied by the drive assembly 30.

[0073] This manual does not limit the specific value of the lead screw's 32-stroke pitch. Single-start or multi-start threads can be selected based on finger size, transmission ratio, and motion range requirements. The specific pitch range is determined based on a balance between load and accuracy. The drive stroke setting is based on kinematic simulation or experimental calibration to cover the combined motion envelope of the MP, PIP, and DIP joints.

[0074] Specifically, in this embodiment, the lead screw 32 is rotatably mounted on the mounting part 12 via a bearing structure, the bearing structure including a radial thrust bearing or an angular contact bearing.

[0075] During assembly, applying appropriate preload to the bearings eliminates internal clearance, thereby improving the axial positioning accuracy of the lead screw 32. The axial constraint formed after preload increases the axial stiffness of the lead screw 32 assembly, enhancing its ability to resist external axial loads. Simultaneously, the angular contact bearing, under preload, can share some of the radial force or overturning moment transmitted from the drive rod 35, reducing the deflection deformation of the lead screw 32 caused by eccentric loads, thus maintaining the normal meshing state of the threaded pair.

[0076] This manual does not limit the specific model or contact angle of the bearing. Different specifications of angular contact ball bearings or paired radial thrust bearings can be selected according to the diameter, speed, load direction and stiffness requirements of the lead screw 32. The preload method can be spring preload, shim adjustment or nut locking. The specific implementation method is determined according to the assembly process and performance requirements, and is not limited thereto.

[0077] Specifically, in this embodiment, the linear guide structure 34 includes a sliding fit structure of a guide rail 341 and a slider 342, a linear bearing, or a guide rod and a linear sleeve.

[0078] For more specific details, please refer to Figure 1 and Figure 3 In this embodiment, the linear guide structure 34 includes a guide rail 341 extending along the first direction and a slider 342 that slides with the guide rail 341. The guide rail 341 is fixedly installed on the main body 11, and the slider 342 is fixedly connected to the drive nut 33. Thus, the screw drive structure can withstand torque loads from three orthogonal directions and axial pressure in one direction can suppress the rotational tendency of the drive nut 33 in the radial plane. When the drive rod 35 applies an eccentric force, the slide rail pair can share the load, reducing local deformation, so that the drive nut 33 can only move linearly along the first direction.

[0079] Specifically, the drive motor 31 includes a rotary motor, which is mounted on the base 1. The output shaft of the rotary motor, extending along the first direction, is directly connected to the lead screw 32. No intermediate transmission components such as gears, belts, or worm gears are required.

[0080] This configuration minimizes the power transmission path in the direct-drive structure, reducing backlash, elastic deformation, and frictional nonlinearity issues associated with multi-stage transmissions in related technologies. The motor's output torque acts directly on the lead screw 32, avoiding cumulative stiffness losses in the transmission links and improving the overall system rigidity. Furthermore, eliminating intermediate transmission components simplifies the structural hierarchy, reduces accumulated assembly errors, and enhances motion accuracy and response speed.

[0081] It should be noted that the control signal of the rotary motor is introduced through wires, and the wiring path can be along the inside or side of the base 1 to avoid interfering with the moving parts.

[0082] Further, please refer to Figure 4 In this embodiment, the driving mechanism 3 further includes a connecting rod 5 and a driving part 41. One end of the connecting rod 5 is hinged to the intermediate phalanx 22, and the other end is hinged to the tip phalanx 23. The driving part 41 is movably disposed on the tip phalanx 21 along the first direction. The driving part 41 is hinged to the intermediate phalanx 22 so that when the intermediate phalanx 22 rotates relative to the tip phalanx 21, it drives the tip phalanx 23 to rotate relative to the intermediate phalanx 22.

[0083] Because one end of the linkage 5 is hinged to the middle phalanx 22 and the other end is hinged to the root of the tip phalanx 23, a four-bar linkage structure is formed. When the drive unit 41 extends and retracts in the first direction, it pushes the middle phalanx 22 to rotate around the PIP joint between it and the tip phalanx 21. At the same time, the linkage 5 drives the tip phalanx 23 to bend or extend synchronously around the DIP joint, thus eliminating the need for a long-range transmission chain as much as possible, thereby simplifying the overall configuration, reducing motion delay, and improving space utilization.

[0084] Further, please refer to Figure 3 In this embodiment, the drive mechanism 3 further includes a linear module 4, which is mounted on the distal phalanx 21. The linear module 4 has an electric push rod that is telescopically arranged in the first direction, and the electric push rod forms the drive part 41.

[0085] Linear module 4 is a "miniature electric actuator" or "integrated linear actuator". It converts the rotation of the motor into a controllable linear push / pull force, and through mechanisms such as linkages or tendons, it ultimately drives the joints of the fingers such as MCP and PIP to complete fine movements such as grasping and pinching.

[0086] Furthermore, in this embodiment, the distal phalanx 21 includes a housing 211, which has openings at both ends in the first direction; the linear module 4 is disposed in the inner cavity of the housing 211, the connecting wire of the linear module 4 extends from one of the openings of the housing 211 near the drive motor 31, and the electric push rod extends from the other opening of the housing 211.

[0087] In this way, the linear module 4 is built into the internal cavity of the distal phalanx 21, making full use of the phalanx's own structural space, avoiding the need for an external drive module, and reducing the overall external dimensions. At the same time, eliminating the need for an external drive module and a long-distance transmission mechanism reduces the external envelope, improves integration, and enhances structural compactness.

[0088] Specifically, in this embodiment, two drive components 30 are arranged side by side, and the two drive components 30 are respectively connected to the two sides of the distal phalanx 21 in the second direction; the two sides of the distal phalanx 21 in the second direction are respectively hinged to the two drive components 30, and when the output shafts of the drive motors 31 of the two drive components 30 move at different speeds, the distal phalanx 21 is driven to swing to the side.

[0089] Thus, each drive assembly 30 includes a drive source 31, a lead screw transmission structure 32, a drive nut 33, a linear guide structure 34, and a drive connecting rod 35. The structure is symmetrical and can be controlled independently. When the drive motors 31 of the two drive assemblies 30 output the same speed and direction, the two drive rods 35 extend and retract synchronously, jointly driving the finger body 2 to perform bending motion.

[0090] When the two drive motors 31 output different speeds or opposite directions, the two drive rods 35 generate a length difference, forming a torque around a third-direction axis, which pushes the end phalanx 21 to drive the entire finger body 2 to rotate around the third-direction axis, thus achieving lateral swinging.

[0091] Specifically, in this embodiment, the driving mechanism 3 further includes a lateral swing joint 36, which is rotatably connected to the base 1 about a third axis extending in the third direction. The distal phalanx 21 is rotatably connected to the lateral swing joint 36 about a second axis extending in the second direction. The intermediate phalanx 22 is rotatably connected to the distal phalanx 21 about a third axis extending in the second direction; the tip phalanx 23 is rotatably connected to the intermediate phalanx 22 about a fourth axis extending in the second direction; the driving rod 35 is used to drive the distal phalanx 21 to rotate about the second axis of rotation, so that the finger body 2 can bend.

[0092] It should be noted that the lateral swing joint 36 can adopt a pin-shaft combined with a bearing or a joint bearing structure to achieve low-friction rotation, so that the fingers can perform abduction and adduction movements in the palm plane.

[0093] The PIP joint connects the distal phalanx 21 to the intermediate phalanx 22, and the DIP joint connects the intermediate phalanx 22 to the distal phalanx 23. The rotation axes of the two joints remain parallel and aligned, which can avoid torsional deformation or lateral displacement during movement.

[0094] This design ensures that when the fingers perform a bending motion, each phalanx moves in a coordinated manner along the same arc trajectory, simulating the natural flexion shape of a human finger. Simultaneously, the third directional axis of the MP joint or lateral swing joint 36 is perpendicular to the second direction, forming an orthogonal joint configuration that guarantees the lateral swing motion is independent of the bending plane.

[0095] This utility model also proposes a bionic robotic hand, which includes a control device, a bionic palm, and bionic fingers 100. The specific structure of the bionic fingers 100 is as described in the above embodiments. Since this bionic robotic hand adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be described in detail here.

[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 finger (100), characterized in that, include: Base (1); The finger body (2) includes a distal phalanx (21), a middle phalanx (22), and a distal phalanx (23) that are rotatably connected in a first direction. The finger body (2) is flexible and laterally swingable relative to the base (1); and, A driving mechanism (3) for driving the finger body (2) to move, the driving mechanism (3) including at least one driving component (30), the driving component (30) including: A drive motor (31) is mounted on the base (1), and the drive motor (31) has an output shaft that is rotatably arranged about a first rotation axis about the first direction; The lead screw drive structure includes a lead screw (32) extending along the first direction and coaxially connected to the output shaft, and a drive nut (33) threadedly engaged with the lead screw (32); A linear guide structure (34) is provided between the base (1) and the drive nut (33) to provide the drive nut (33) with independent linear guidance along the first direction and to constrain its radial displacement; as well as, A drive rod (35) is connected at one end to the drive nut (33) and at the other end to the root of the end finger (21).

2. The bionic finger (100) as described in claim 1, characterized in that, The base (1) includes: The main body (11) extends along the first direction; and, Two mounting portions (12) protrude from the side of the main body portion (11) and are spaced apart in the first direction; The finger body (2) and the drive assembly (30) are respectively located on the two outer sides of the two mounting parts (12) in the first direction. The lead screw (32) extends between the two mounting parts (12). The linear guide structure (34) is located between the main body (11) and the drive nut (33) and between the two mounting parts (12).

3. The bionic finger (100) as described in claim 2, characterized in that, The drive assembly (30) further includes two bearings spaced apart in the first direction and respectively mounted on the two mounting portions (12); The two ends of the lead screw (32) are rotatably mounted to the two mounting parts (12) via the two bearings.

4. The bionic finger (100) as described in claim 3, characterized in that, The bearing includes a radial thrust bearing.

5. The bionic finger (100) as described in claim 2, characterized in that, The linear guide structure (34) includes a guide rail (341) extending along the first direction and a slider (342) that slides with the guide rail (341). The guide rail (341) is fixedly installed on the main body (11), and the slider (342) is fixedly connected to the drive nut (33).

6. The bionic finger (100) as described in claim 1, characterized in that, The drive mechanism (3) further includes: Linkage rod (5), one end of which is hinged to the intermediate phalanx (22) and the other end of which is hinged to the tip phalanx (23); and, A drive unit (41) is movably disposed on the distal phalanx (21) along the first direction. The drive unit (41) is hinged to the intermediate phalanx (22) so that when the intermediate phalanx (22) is driven to rotate relative to the distal phalanx (21), the tip phalanx (23) is driven to rotate relative to the intermediate phalanx (22).

7. The bionic finger (100) as described in claim 6, characterized in that, The drive mechanism (3) further includes a linear module (4), which is mounted on the end finger joint (21). The linear module (4) has an electric push rod that is telescopically arranged in the first direction, and the electric push rod forms the drive part (41).

8. The bionic finger (100) as described in claim 7, characterized in that, The distal phalanx (21) includes a housing (211) which is open at both ends in the first direction; The linear module (4) is located in the inner cavity of the housing (211). The connecting wire of the linear module (4) extends from one of the openings of the housing (211) near the drive motor (31), and the electric push rod extends from the other opening of the housing (211).

9. The bionic finger (100) as described in claim 1, characterized in that, The two drive components (30) are arranged side by side in the second direction; The distal phalanx (21) is hinged to the two drive components (30) on both sides in the second direction. When the output shafts of the drive motors (31) of the two drive components (30) move at different speeds, the distal phalanx (21) is driven to swing sideways around the axis extending in the third direction.

10. The bionic finger (100) as described in claim 9, characterized in that, The drive mechanism (3) further includes a side swing joint (36), which is rotatably connected to the base (1) about a third-direction extending axis; The distal phalanx (21) is rotatably connected to the lateral joint (36) about a second rotation axis extending in the second direction.

11. The bionic finger (100) as described in claim 10, characterized in that, The intermediate phalanx (22) is rotatably connected to the distal phalanx (21) about a third rotation axis extending in the second direction; The tip phalanx (23) is rotatably connected to the middle phalanx (22) about a fourth rotation axis extending in the second direction; The drive rod (35) is used to drive the distal phalanx (21) to rotate about the second rotation axis so that the finger body (2) can be bent.

12. A bionic robotic hand, characterized in that, Including the bionic finger (100) as described in any one of claims 1 to 11.

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